Cytron Technologies LSA08 User manual

Advance Line Following Sensor Bar
LSA08
User’s Manual
V1.1
June 2012
Information contained in this publication regarding device applications and the like is intended through suggestion only and
may be superseded by updates. It is your responsibility to ensure that your application meets with your specifications. No
representation or warranty is given and no liability is assumed by Cytron Technologies Incorporated with respect to the
accuracy or use of such information or infringement of patents or other intellectual property rights arising from such use or
otherwise. Use of Cytron Technologies’s products as critical components in life support systems is not authorized except
with express written approval by Cytron Technologies. No licenses are conveyed, implicitly or otherwise, under any
intellectual property rights.

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Index
1.
Introduction and Overview
3
2.
Packing List
4
3.
Product Specification and Limitations
5
4.
Board or Product Layout
7
5.
Installation (hardware)
9
5.1 Sample connection with SK40C +MD10C
9
5.2 Sample connection with Mini Mobile Robot Controller (MC40A)
13
5.3 Sample connection with Interface Free Controller System (IFC)
16
5.4 Sample connection with MC40SE
20
5.5 Connection with other controllers
21
5.6 Multiple LSA08 to a Single Controller
22
6.
Getting Started
24
6.1 LSA08 Calibration
24
6.2 Setting Menu of LSA08
26
6.3 LSA08 default settings
33
6.4 Output Port
33
6.5 LSA08 UART Commands
39
7.
Warranty (6 months or 1 year)
46

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1. INTRODUCTION AND OVERVIEW
LSA08 (Advance Line Following Sensor Bar) consists of 8 sensors pair. LSA08 is
typically used for embedded system or robots for line following task. LSA08 can detect any
color of line which has brightness different with the background. LSA08 is capable to operate
on surface with color of Red, Green, Blue, White, Black, Gray and possibly other colors
which are not listed.
LSA08 has some special features which give advantages to the user. LSA08 has low
current consumption, typically around 26mA. Power polarity protection on LSA08 prevents
damage by applying reversed voltage. LSA08 provides multiple interface methods, namely
serial (UART), analog output and direct digital outputs (parallel output). LSA08 has total of 8
sensors spaced at 16mm. This minimizes the user effort of setup the sensor system for the
line following robot. Besides, LSA08 has LCD which displays the sensors and line
information. This LCD together with setting buttons (SEL and MODE) also enables instant
setting up of LSA08. Auto calibration feature of LSA08 calibrates the sensors to the line and
background surface easily. Furthermore, LSA08 with special selected transmitters and
receivers sensor is capable to work on reflective or glossy surface which is difficult to
normal infrared (IR) sensor.

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2. PACKING LIST
Please check the parts and components according to the packing list. If there is any
part missing, please contact us at [email protected] immediately.
1. LSA08 PCB with every component soldered properly.
2. LSA08 cable connector

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3. PRODUCT SPECIFICATION AND LIMITATIONS
3.1 Dimensions (mm):
135
127.3
45.7
16
3
38

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3.2 Electrical Specifications:
Absolute Maximum Rating
Parameter
Minimum
Typical
Maximum
Unit
Operating voltage
7.5
12
20
V
Maximum Current (I/O signal pins)
20
mA
Sensing distance (from board)
1
3
5
cm
Minimum Line width
15
mm
Refresh Rate
100
Hz
Parameter
Min
Typical
Maximum
Unit
Current Consumption (12V)
25.3
25.5
130
mA
Input signal, VIH
2
5
V
Input signal, VIL
0
0.8
V
Output Signal
5
V

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4. BOARD OR PRODUCT LAYOUT
4.1 Top:
A–2x8 LCD unit to display the line information and setting menus.
B–Main controller for data processing.
C–Reserved for Manufacturing purpose.
D–SEL button is used to enter the selected mode or setting.
E–MODE button is used to select mode or setting.
F–Port A is UART and Analog port
G–Port B is digital parallel output port
H–Power indicator LED (green) for indication of power supplied to LSA08.
D
E
C
B
H
A
F
G
Label
Function
Label
Function
A
2x8 LCD display
F
Port A (UART and Analog port)
B
Main Controller
G
Port B (Digital port)
C
Manufacturing Points
H
Power LED (PWR)
D
SEL button
E
MODE button

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4.2 Bottom:
Pair of sensors

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5. INSTALLATION (HARDWARE)
LSA08 is powered from VIN and GND pin of either PORT A or PORT B. sections
below are example of hardware connection setup for LSA08. User may use either PORT A or
PORT B or both PORTs at the same time.
5. 1 Sample connection with SK40C +MD10C
5.1.1 PORT A UART:
SK40C can be used as the main controller for a line following task. Motor driver is
needed to drive the motors. This example uses 2 unit of MD10C to drive the left and right
motors. MD10C requires very simple control signals which are the PWM signal and
Direction signal (Sign-Magnitude PWM). PWM signal (pulse width) determines the speed of
the motors and DIR signal determines the direction of rotation of the motors.
MD40C
Motor Ports
PORTA
SK40C
LCD
LSA08

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Figures above show the schematic of the connections for the PORTA of LSA08 to
SK40C and also the MD10C to SK40C. This sample uses the serial UART communication
with LSA08 to retrieve the line position from LSA08. JPULSE connection is trivial in this
case since user can retrieve the cross junction count information using UART command. The
Sample source code can be downloaded from Cytron’s official website. Figure below shows
the complete setup using DC Geared Mobile Robot Base set. All the parts needed as listed
below can be found from Cytron’s product range.
1. DC Geared Mobile Robot Base Set (HD-BSC-SPG-G), inclusive of robot base, DC
geared motors, Nylon wheels, DC motor Couplings and Castors.
2. Enhanced 40 pins PIC Start-UP kit (SK40C) with LCD (optional)
3. Enhanced 10Amp DC Motor Driver (MD10C)
Vin
GND
UEN
RX
TX
SK40C-RC5
SK40C-TX/RC6
SK40C-RX/RC7
PORT A

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4. Advance Auto-Calibrating Line Sensor (LSA08)
5. Battery pack
5.1.2 PORTA Analog:
Analog pin (Pin 4) of LSA08 PORT A can be used to retrieve line position also.
Voltage on this pin represents the line position. The setup connection using this method is
simple. Only 3 wires connections are required i.e. VIN, GND and AN pin. If user needs to do
cross junction counting, then 4th connection is required to the JPULSE pin. Any digital IO
port pin can be used for JPULSE pin connection. Figure following shows the sample
connection to SK40C.
LSA08
DC Geared Mobile
Robot Base Set
SK40C
LCD
Nylon Wheel
Baterry Pack
DC Geared Motor
(SPG30-20K)

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5.1.3 PORT B Parallel Digital:
If user wants to use LSA08’s Port B on SK40C, the schematic below shows the
sample connection. This method is easy but requires more wiring. LSA08’s PORT B’s output
is parallel digital output. Every pin on LSA08’s Port B represents each of the sensor, where
‘1’ represents line detected and ‘0’ represent no line detected on that particular sensor.
VIN
GND
AN
PORT A

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5.2 Sample connection with Mini Mobile Robot Controller (MC40A)
5.2.1 PORTA UART:
Mini Mobile Robot Controller (MC40A) is a convenient robot controller for line
following purpose since the board has the motor driver integrated on board (motor driver
peak current is 1.2A). It was actually designed to be used with Auto-Calibrating Line Sensor
(LSS05) for line following. However, LSA08 can be used instead. User can use either Port
A’s UART or Port A’s Analog on LSA08 for the line position retrieval. Connection below
shows Port A’s UART setup for LSA08 to MC40A. TX pin of LSA08 is connected to RX pin
of MC40A and RX pin of LSA08 is connected to TX pin of MC40A for the communication.
O0
O1
O2
O3
O4
O5
O6
O7
VIN
GND
PORT B

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5.2.2 PORTA Analog:
Figure below shows setup of MC40A to use LSA08 Port A’s Analog for line
following. JPULSE pin is for cross junction counting and is optional if the line following task
does not requires the junction counting.
VIN
GND
UEN
TX
RX
UART PORT
PORT A
Vin(12V)
GND
RC0
RX
TX
VIN
GND
JPULSE
AN
Vin(12V)
GND
RC0
Analog port
PORT A

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Vin of LSA08 is connected to the VIN (12V) of MC40A. Soldering of wires to the
board is needed for connecting the VIN, GND and JPULSE wire. JPULSE wire is connected
to any available digital input pin for example RC0 pin in this sample. This example uses
Analog to Digital converter (ADC) of the microcontroller to read the Analog pin of LSA08.
The Sample source code can be downloaded from Cytron’s official website. Figure below
shows the complete setup using DC Geared Mobile Robot Base set. All the parts needed as
listed below can be found from Cytron products range.
1. DC Geared Mobile Robot Base Set (HD-BSC-SPG-G), inclusive of robot base, DC
geared motors, Nylon wheels, DC motor Couplings and Castors.
2. Mini Mobile Robot Controller (MC40A) with LCD (optional)
3. Advance Auto-Calibrating Line Sensor (LSA08)
4. Battery pack
Vin is connected to this
pin, user can do soldering
on the board
GND can be soldered to
this pin
JPULSE is
connected to this
pin (RC0)

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5.3 Sample connection with Interface Free Controller System (IFC)
5.3.1 Port A Analog:
IFC-AI08 can be used to retrieve line position from LSA08 using analog method.
Sample connection is shown in the figure below. IFC-Main Board retrieves the analog value
from the IFC-AI08 and processes it to get the line position to do line following task. The
reference voltage jumper on IFC-AI08 is set to 5V.
LSA08
DC Geared Mobile
Robot Base Set
DC Geared Motor
(SPG30-20K)
Nylon Wheel
MC40A
Battery Pack

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5.3.2 Port B Parallel Digital:
IFC-DI08 card can be used for LSA08. The voltage selector jumper is set to 12V to
provide suitable voltage to LSA08. The sample connection from LSA08 to IFC-DI08 is
shown in the figure below. Port B of LSA08 which is the digital parallel port is used for this
setup. User can choose to connect the Vin of LSA08 from any of the positive voltage 12V of
IFC-DI08 sensor ports. Only one single connection is needed for the VIN and GND pin of
LSA08 from IFC-DI08.
VIN
PORT A
GND
AN
S
To IFC-Power Card (IFC-PC00)
12V
GND

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To setup a complete working IFC system for line following with LSA08, user will need:
1. IFC-Main Board (IFC-MB00),
2. IFC-Power Card (IFC-PC00),
3. IFC-Digital Input Card (IFC-DI08) or
Voltage
selector
jumper set to
12V
Break out
board
Port B
O8
O7
O6
O5
O4
O3
O2
O1
VIN
GND
PORT B

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4. IFC-Analog Input Card (IFC-AI08)
5. IFC-Dual Brush Motor Card (IFC-BH02) or
6. IFC-Brushless Motor Card (IFC-BL02)
7. IFC-Control Panel Card (IFC-CP04) (optional)
Example setup shown below used the following parts which can be found from Cytron’s
product list. All the parts used are listed as following.
1. DC Geared Mobile Robot Base Set (HD-BSC-SPG-G), inclusive of robot base, DC
geared motors, Nylon wheels, DC motor Couplings and Castors.
2. Interface Free Controller (IFC)
3. Advance Auto-Calibrating Line Sensor (LSA08)
4. Battery pack
IFC system is a convenient robot controller to use. Simply stacking up all the required
cards and the system is ready to be programmed for the line following task. IFC system
requires user to program IFC-Main Board (IFC-MB00) only, other slave cards are preloaded
with ready-use firmware already. Sample source code for simple PID controlled line
following can be downloaded from Cyton’s official website (www.cytron.com.my).
LSA08
Nylon Wheel
DC Geared Motor
(SPG30-20K)
IFC system
Battery Pack
DC Geared Mobile
Robot Base Set

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5.4 Sample connection with MC40SE:
LSA08 Connection with MC40SE is similar to other controller described previously.
Following sections show the connection to LSA08 using UART, analog and digital parallel
method.
5.4.1 PORT A UART:
5.4.2 PORTA Analog
JPULSE
GND
VIN
RB6
AN
PORTA
Jumper:12V selected
UEN
GND
VIN
RB6
GND
12V
TX
RX
RX
TX
PORT A