Datalogic LGS-N50 User manual

LGS-N50
USER MANUAL
Navigation LiDAR
Preliminary 13-Jan-2021

Datalogic S.r.l.
Via S. Vitalino, 13
40012 Calderara di Reno (BO)
Italy
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Disclaimer
Datalogic has taken reasonable measures to provide information in this manual that is complete and accu-
rate, however, Datalogic shall not be liable for technical or editorial errors or omissions contained herein,
nor for incidental or consequential damages resulting from the use of this material. Datalogic reserves the
right to change any specification at any time without prior notice.
Trademarks
Datalogic and the Datalogic logo are registered trademarks of Datalogic S.p.A. in many countries, including
the U.S.A. and the E.U.
LGS-N50 is a trademark of Datalogic S.p.A. and/or its affiliates. All other trademarks and brands are prop-
erty of their respective owners.
Patents
See www.patents.datalogic.com for patent list.
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USER MANUAL iii
CONTENTS
PREFACE ..................................................................................................................IV
About this Manual ........................................................................................................... iv
Manual Conventions ........................................................................................................................... iv
Technical Support ........................................................................................................... iv
Support Through the Website ............................................................................................................ iv
Reseller Technical Support ................................................................................................................ iv
DOCUMENT DESCRIPTION........................................................................................... 1
SAFETY INSTRUCTIONS..............................................................................................2
Handle laser device properly ............................................................................................ 2
Handle electrical connection properly ............................................................................... 2
WORKING PRINCIPLES ...............................................................................................3
INSTALLATION AND USAGE .......................................................................................4
Mechanical connection ..................................................................................................... 4
Back mounting ....................................................................................................................................4
Base mounting ....................................................................................................................................5
Electrical connection ........................................................................................................ 5
Power connector .................................................................................................................................6
I/O connector .......................................................................................................................................6
Ethernet connector ..............................................................................................................................7
Communication ................................................................................................................ 7
LEDs ............................................................................................................................... 9
DATA PACKET FORMAT ............................................................................................ 10
Overview .......................................................................................................................10
Definition of Header ....................................................................................................... 11
Definition of Block .......................................................................................................... 11
Data conversion ............................................................................................................. 12
Angle calculation ...............................................................................................................................12
Distance calculation ..........................................................................................................................12
Calculation of signal strength ...........................................................................................................12
PARAMETER CONFIGURATION.................................................................................. 13
Web server configuration ............................................................................................... 13
configuration through LGS Viewer PC software ............................................................... 14
Operating environment .....................................................................................................................14
Network environment .......................................................................................................................14
LGS Viewer: Windows Firewall ........................................................................................................15
Using LGS Viewer ..............................................................................................................................16
Menu icons ................................................................................................................................16
Basic measurement ..................................................................................................................17
Reset the LiDAR ........................................................................................................................17
Firmware upgrade ....................................................................................................................18
TECHNICAL PARAMETERS........................................................................................ 19
TROUBLESHOOTING ................................................................................................. 21
DATA PACKET .......................................................................................................... 22
MECHANICAL DIMENSIONS ...................................................................................... 23
EXAMPLE OF ELECTRICAL CONNECTION .................................................................. 25
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iv LGS-N50
PREFACE
ABOUT THIS MANUAL
This User Manual (UM) is provided for users seeking advanced technical information,
including connection, programming, maintenance and specifications.
Manual Conventions
The following conventions are used in this document:
The symbols listed below are used in this manual to notify the reader of key issues or
procedures that must be observed when using the reader:
NOTE
TECHNICAL SUPPORT
Support Through the Website
Datalogic provides several services as well as technical support through its website. Log
on to (www.datalogic.com).
For quick access, from the home page click on the search icon , and type in the name of
the product you’re looking for. This allows you access to download Data Sheets, Manu-
als, Software & Utilities, and Drawings.
Hover over the Support & Service menu for access to Services and Technical Support.
Reseller Technical Support
An excellent source for technical assistance and information is an authorized Datalogic
reseller. A reseller is acquainted with specific types of businesses, application software,
and computer systems and can provide individualized assistance.
Notes contain information necessary for properly diagnosing, repairing and
operating the reader.
CAUTION
The CAUTION symbol advises you of actions that could damage equipment
or property.
WARNING
The WARNING symbol advises you of actions that could result in harm or
injury to the person performing the task.
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USER MANUAL 1
CHAPTER 1
DOCUMENT DESCRIPTION
In order to maintain the normal performance of the product and prevent damage to the
device, please do not try to open the sensor.
• Read the description: please read all the safety and operation information before
using this product.
• Keep the description: please keep all the safety and operation information prop-
erlyfor future reference.
• Pay attention to the warnings: please read all the warnings in the manuals and on
the product carefully.
• Follow the instructions: please follow all the operation instructions in this manual.
• Maintenance instructions: please follow the instructions for troubleshooting, do
not try to repair the equipment by yourself. Contact our technicians promptly to
solve the problems.
• Any equipment damage caused by violating the above safety regulations shall not
be covered by the warranty.
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2 LGS-N50
CHAPTER 2
SAFETY INSTRUCTIONS
HANDLE LASER DEVICE PROPERLY
HANDLE ELECTRICAL CONNECTION PROPERLY
CAUTION
This product emits an invisible laser beam with a laser safety rating of
Class 1.
CAUTION
Please do not open the LiDAR cover without authorization because the
laser might be still on after the cover is removed and the operator would be
exposed to laser.
CAUTION
It is not guaranteed that the laser remains Class 1 safety status after open-
ing the cover.
CAUTION
Disconnect the power supply when connecting or disconnecting electrical
cables.
CAUTION
The power supply connected with the device must comply with the require-
ments included in the operation instructions.
CAUTION
Please connect the reference potential properly when using the device to
avoid injury caused by equal potential current.
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USER MANUAL 3
CHAPTER 3
WORKING PRINCIPLES
LGS-N50 is a 2D LiDAR sensor developed to meet the needs of Object Localization. The
output of this product is point cloud data (Ethernet port).
A laser beam emitted from LGS-N50 internal laser diode is projected around LiDAR
through a rotating mirror and then returns (the amount of returned laser energy
depends on the reflectivity of objects). The LiDAR obtains the detected distance and
angle information through calculation, as shown below.
Figure 1 - LGS-N50 LiDAR working principle
Based on the TOF (Time of Flight) principle, the distance between objects and LiDAR is
obtained according to the speed of light and time of flight of the laser. The calculation
method is as follows:
D=c*T/2
Where:
D = distance
T = flying time
c = speed of light
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4 LGS-N50
CHAPTER 4
INSTALLATION AND USAGE
MECHANICAL CONNECTION
LGS-N50 LiDAR can be installed in two ways: back mounting and base mounting.
Back mounting
There are four M5 screw holes at the back of the main frame for installation (hole
depth: 8mm).
Figure 2 - LGS-N50 Back Mounting interface
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ELECTRICAL CONNECTION
USER MANUAL 5
Base mounting
There are three M5 screw holes at the base of the main frame for installation (hole
depth: 8mm).
Figure 3 - LGS-N50 Base Mounting interface
ELECTRICAL CONNECTION
There are three connectors on the back of LGS-N50 for power supply, I/O and 4PIN
Ethernet connection respectively as shown below:
Figure 4 - LGS-N50 Connection
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INSTALLATION AND USAGE
6 LGS-N50
Power connector
Power supply interface adapts 12 to 32VDC. The pin definitions are as follows:
1+Vcc Brown
2Q2 White
3GND Blue
4Q1 Black
Figure 5 - Power connector
I/O connector
The pin definitions of the I/O connector are shown below:
1n.c. -
2n.c. -
3n.c. -
4n.c. -
5n.c. -
6n.c. -
7n.c. -
8n.c. -
Figure 6 - I/O connector
No. DEFINITION WIRING COLOR
No. DEFINITION WIRING COLOR
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COMMUNICATION
USER MANUAL 7
Ethernet connector
The pin definitions of Ethernet connector are as follows:
1Transmit data +
2Receive data +
3Transmit data -
4Receive data -
Figure 7 - Ethernet connector
COMMUNICATION
The LGS-N50 is connected to the computer through a standard Ethernet RJ-45 connec-
tor. The computer IP address must be set prior to establishing communication. Both the
LiDAR and the computer IP addresses must be set within the same subnet without con-
flicting with each other. The point cloud packet receiving port number is 2368.
The IP address setup process is shown below:
• Computer IP: 192.168.1.10
• Computer subnet mask: 255.255.255.0
Factory default of LiDAR is as follows:
• LiDAR IP: 192.168.1.100
• LiDAR subnet mask: 255.255.255.0
The setting process in the computer is shown below:
Figure 8 - Computer IP Setting: Step 1
No. DEFINITION
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INSTALLATION AND USAGE
8 LGS-N50
Figure 9 - Computer IP Setting: Step 2
Figure 10 - Computer IP Setting: Step 3
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LEDS
USER MANUAL 9
LEDs
PWR Shows the status of powered devices (off = no power; on = powered)
Q1
Shows the status of “out of temperature range” (Tenvironment < Tmin or
Tenvironment > Tmax). In such a case, Q1 blinks and the “ERR” LED lights up
steadily.
Q2
Shows the status of “generic failure” (i.e. any failure other than Q1 such as
motor block, voltage out of specifications, etc.). According to the internal
diagnostic system, if some critical diagnostic test fails, Q2 blinks and the
“ERR” LED lights up steadily.
ERR
Shows the status of device availability. If switched off, then the device is in
normal operation. If it’s steadily on, then it shows an error condition (see Q1
and Q2). If it’s blinking, it indicates that the device is not ready to measure yet
(i.e. at start-up).
Figure 11 - LGS-N50 LEDs
LED MEANING
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10 LGS-N50
CHAPTER 5
DATA PACKET FORMAT
Information transmission between LGS-N50 and computer follows UDP/IP standard net-
work protocol. The data adapts Little-endian format with low byte at the front and high
byte at the end.
OVERVIEW
Total length of data packet is 1240 bytes, among which the header has 40 bytes, data
returned by laser has 1200 bytes.
Figure 12 - Format of point cloud information packet
The total length of a data frame is 1240 byes, including:
• Frame header: 40 bytes
• Data block: 150 x 8 = 1200 bytes
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DEFINITION OF HEADER
USER MANUAL 11
DEFINITION OF HEADER
Total length of data packet is 1240 bytes, among which 40 bytes represent the header,
and 1200 bytes represent the data returned by laser.
0 4 ID, it is always 0xFEF0010F
4 2 Protocol version code, the current code is 0x0200
6 1 Distance scale, actual distance = readout data x distance scale
(mm)
7 3 Brand name code. Use capital letters and digits. Us “\0” at the
end for missing code
10 12 Commercial type code: end with “\0”
22 2Internal type code
24 2Hardware version
26 2Software version
28 4Time stamp (ms) indicating hour, minute, second, millisecond
with 24 hour cycle
32 2Bit[14:0] : Rotation rate
Bit15 : Rotation direction (0: clockwise, 1: counterclockwise)
34 1
Safe zone status, same as the hardware INPUT/OUTPUT
BIT[3:0] : Same as OUTPUT[3:0]
BIT[7:4] : Same as INPUT[3:0]
35 1
Error status. A corresponding bit of “1” indicates an error.
BIT0 : Motor fault
BIT1 : Abnormal voltage
BIT2 : Temperature fault
36 4Reserved
DEFINITION OF BLOCK
The length of data block is 8 bytes as shown in the table below:
0 2
Angle, unsigned integer. Range: 0 to 35999
Unit: 0.01°/LSB, range 0° to 359.99°
Note: Data block is invalid if this value is greater than or equal
to 0xFF00
2 2
Distance readout data, unsigned integer
The distance is determined by “readout data x distance scale”
(mm)
4 2 Signal strength, indicates the strength of the received signal,
range 0 to 65535
6 2 Reserved
OFFSET LENGTH DESCRIPTION
OFFSET LENGTH DESCRIPTION
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DATA PACKET FORMAT
12 LGS-N50
DATA CONVERSION
Angle calculation
To calculate the angle of LGS-N50, follow the example below:
1. Obtain angle value: 0xaa & 0x1d
2. Swap high bits and low bits: 0x1d & 0xaa
3. Combine into an unsigned hexadecimal number: 0x1daa
4. Convert to decimal: 7594
5. Multiply by minimum resolution: 0.01°
6. Result: 75.94°
Distance calculation
To calculate the distance of LGS-N50, follow the example below:
1. Obtain distance value: 0x11 & 0x12
2. Swap high bits and low bits: 0x12 & 0x11
3. Combine into an unsigned hexadecimal number: 0x1211
4. Convert to decimal: 4625
5. Multiply by minimum resolution: 1mm
6. Result: 4625mm
Calculation of signal strength
To calculate the signal strength of LGS-N50, follow the example below:
1. Obtain signal strength value: 0x11 & 0x12
2. Swap high bits and low bits: 0x12 & 0x11
3. Combine into an unsigned hexadecimal number: 0x1211
4. Convert to decimal: 4625
5. Result: 4625mm
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USER MANUAL 13
CHAPTER 6
PARAMETER CONFIGURATION
WEB SERVER CONFIGURATION
LGS-N50 parameters are configured on the web server as follows:
• Open the web browser (recommended: Chrome, Firefox, Edge and other stan-
dards-compliant browsers). Enter the LiDAR IP address.
• The model and version are the product model and firmware version, shown on the
upper end of the interface.
• The Temperature and Voltage on the right side of the interface are LiDAR's real-
time parameters, which indicate the temperature and voltage information of spe-
cific modules inside. When the parameter font turns red, the LiDAR may not be
working properly.
• The current LiDAR settings are automatically loaded when the page is refreshed.
• Select the required speed value by Motor RPM: 600/900/1200/1500, correspond-
ing to the 10/15/20/25Hz LiDAR scanning frequency, confirm by clicking Set Con-
figs.
• Turn on/off DHCP: if ON, then LiDAR dynamically obtains the IP address from the
DHCP server. If OFF, then LiDAR needs to set the static IP address.
• Change LiDAR IP: HostIP and LiDAR IP should be in the same network segment;
click Set Network key to confirm, restart the LiDAR and the modification is com-
pleted.
Figure 13 - Web Page parameter configuration
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PARAMETER CONFIGURATION
14 LGS-N50
CONFIGURATION THROUGH LGS VIEWER PC SOFTWARE
The LGS Viewer software interface is shown below.
NOTE
NOTE
Figure 14 - Sample of PC software interface
Operating environment
The required environment for the software to run is as follows:
• OS: Windows 7 and above
• .NET Framework: 4.5.2
• Pcap: wpcap runtime
Network environment
The default factory static IP for LiDAR is as follows:
• LiDAR IP: 192.168.1.100
• Net mask: 255.255.255.0
The web page setting interface and PC software interface may change due
to product update.
If Windows Firewall is active on the configuration PC, a pop-up window will
appear. Follow the procedure described in "LGS Viewer: Windows Firewall"
on page 15.
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CONFIGURATION THROUGH LGS VIEWER PC SOFTWARE
USER MANUAL 15
The computer PC receiver sets the static IP as follows:
• Host IP: 192.168.1.10
• Net mask: 255.255.255.0
LGS Viewer: Windows Firewall
If Windows Firewall is active on the configuration PC, a pop-up window will appear.
NOTE
Do not close the pop-up window before allowing access to both private and public
networks of the PC to communicate and exchange data with the device through
the Ethernet port.
If you close the pop-up window before confirming the Firewall authorization, go to Con-
trol Panel > System and Security > Windows Defender Firewall > Allowed apps, and click
on “Change settings”.
If no firewall window appears, but an “Unable to connect” message is still
shown, it may be due to the antivirus firewall installed on you PC.
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PARAMETER CONFIGURATION
16 LGS-N50
Scroll down the list and check the boxes on the lgsview.exe row as shown in the figure
below, then click OK. The Firewall is now disabled on LGS Viewer.
Using LGS Viewer
Menu icons
The menu icons have the following functions:
Capture file: read a previously saved .pcap file containing a scanner measure data.
Alternatively, go to File > Open > Capture File.
Select Sensor: select and connect a scanner to read its measure data in real time.
Alternatively, go to File > Open > Select Sensor.
Color Coding: change the color coding representing the intensity value for each
point being displayed. The software will provide scheme level graphics in the Color
directory that loads the root at initialization. The graphic size is 256*23 ;*.bmp (24
bit).
Record: record a sequence of measure data and save it on a .pcap file.
Preliminary 13-Jan-2021