Table 1.

Specifications of the ultrasonic sensor used in this work (model Sonar Bero PXS400 M30 K3, Siemens AG, Munich, Germany).

Parameter	Value
Sensing range	40 cm to 300 cm
Target dimensions for max. meas. dist.	5 cm × 5 cm
Response time	50 ms to 200 ms
Accuracy	±1.5%
Resolution	1 mm
Beam angle	Approx. 5°
Sensor output	0 VDC a 10 VDC
Ultrasound frequency	120 kHz
Weight	approx. 150 g
Ambient temperature (compensation)	−25 °C to +70 °C
Operating voltage	20 VDC to 30 VDC
Vibrating stress	11 to 55 Hz, 1 mm amplitude
Shock stress	30 g, 18 ms
Degree of protection	IP 65