Faselase F6 User manual

Industrial 2D LiDAR
F6
USER MANUAL
(Version V8.01For more info
&supports, please visit
http://www.top1sensor.com

Content
1. Safety................................................................................................................................ -1-
1.1 Use of the instrument................................................................................. - 1 -
1.1.1 Allowed use range:.........................................................................................-1-
1.1.2 Disabled use range:........................................................................................ -1-
1.2 Scope of liability........................................................................................... - 1 -
1.3 Significant risks of incorrect use.............................................................. - 2 -
2. Specifications....................................................................................................................-3-
3. LiDAR pictures...................................................................................................................-5-
4. The operating mode......................................................................................................... - 7 -
4.1 Fixed Device.......................................................................................................... - 7 -
4.2 Measurement Range Schematic..................................................................... - 8 -
4.3 Connect the device............................................................................................. - 8 -
4.3.1 Wiring............................................................................................................. - 8 -
4.3.2 Software Running.........................................................................................- 13 -
4.3.3 Power supply................................................................................................- 14 -
5. Software setting...................................................................................................................- 14 -
5.1 Software interface introduction.................................................................... - 14 -
5.2 Operation Instruction.......................................................................................- 17 -
6. Troubleshooting............................................................................................................. - 20 -
6.1 Factors affecting the measurement range.................................................- 20 -
7. Standard and optional accessories...................................................................................... - 21 -
8. Contact us............................................................................................................................ - 22 -

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1. Safety
The following guidelines will allow the person in charge and users of the F6 to know in advance
the possible dangers in the operation and prevent them. The person in charge of the instrument
should ensure that all users read and follow this instruction.
The F6 is a precision optical instrument. If it is integrated into a system, the system vendor must
be responsible for all safety related issues, such as manuals, labeling and guidance.
1.1 Use of the instrument
1.1.1 Allowed use range:
● Distance measurement.
● Area Protection.
1.1.2 Disabled use range:
● Use the instrument without following the instructions.
● Use outside the range of the declaration.
● Acts of destroying the security system, removing the instructions and danger signs.
● Open the device with tools such as a screwdriver.
● Modify or upgrade the instrument.
● Use accessories from other manufacturers that are not approved by Faselase.
● Direct aiming at the sun.
● Deliberately appearing other dazzling targets in the field of vision, including in the
darkness.
● Use in survey site without safety facilities. (such as on the road, etc.)
1.2 Scope of liability
Responsibility of the original equipment manufacturer Faselase:

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FaseLase is responsible for providing products under complete safety conditions, including this
manual, software and original accessories.
Responsibility of non-FaseLase accessory manufacturers:
Non-FaseLase accessory manufacturers are responsible for the development, availability, and
safety instructions for their products. They are also responsible for the secure connection to
FaseLase products.
1.3 Significant risks of incorrect use
Warning
Do not operate without knowing how to use F6. It is the responsibility of the person in charge of
the instrument to inform the user of its dangers and how to prevent them.
Use under conditions suitable for human survival. Do not use in flammable or explosive
environment.
Do not point the F6 laser directly at the sun, as it will damage the instrument.
Do not point the F6 laser directly at the human eye for a long time. Although the F6 uses a Class
I human eye safety laser, long-term direct laser exposure may also cause damage to the human
eyes.
If the instrument is used in violation of the prohibition, it may result in personal injury,
instrument malfunction and loss.
Compilation of non-specified control, adjustment, or execution programs may result in serious
damages of the sensor or errors of the measuring data.

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2. Specifications
Items
Parameters
Model
F6
Scanning range
0.05m~6m
Scanning angle range
Radial, 280°
Scanning frequency
10Hz~25Hz (continuously adjustable, rated15Hz)
Angular resolution1
0.18~0.45°，rated 0.27°
Measurement error 2
±3cm
Minimum distance resolution
1cm
Statistical error3
σ≤2cm
Hardware interface
4×I/O Digital Inputs&4×I/O Digital Outputs;
USB
Laser source
Laser diode 905nm, light-emitting power ≤1mW,
Class I laser human eye safety requirements
Power supply
DC12~24V, Start-up current＞1A (12V);
Power consumption＜4W
Start-up time
Within 3 seconds
Ambient light immunity
Less than 80,000lx
Dimensions
62×62×82 mm
Operation ambient temperature
and air humidity
－10℃~ +50℃
85% RH below, no condensation, no icing

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Storage ambient temperature
and air humidity
－20℃~ +70℃
85%RH below, no condensation, no icing
EMC specification
EN 61326-1：2013；EN 61326-2-3:2013
Vibration resistance
10 -55Hz bilateral amplitude 1.4mm X, Y, Z
direction 2 hours each
Shock resistant
196m/s2(20G) X, Y, Z direction 10 times each
Design life
Use under standard conditions, 5 years
(motor, laser diode life)
Protection level
IP65
Weight
210 g
Housing
Polycarbonate，Aluminum alloy
Table 1: Specification
Notes:
1. The angular resolution is affected by scanning frequency. Angle resolution is smaller when low scanning
frequency, point cloud data is denser.
2. Measurement error refers to 90% reflectivity (Kodak white) measurement.in the standard environment.
3. Statistical error refers to the error of measuring distance when the lidar scanning plane is parallel to 90%
reflectivity (Kodak white).
4. The difference between the scanning plane and the angle of incoming light needs to be greater than 5
degrees.

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3. LiDAR pictures
Figure 1: 3D rendering
Figure 2: Mechanical dimension drawing

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Figure 3: Front dimension drawing
LED status
Round
Triangular
Green
On
Working
Flash
Pause
Orange
On
Output3 triggered
Flash
Output1 triggered
Red
On
Fault
Flash
Changing input group
Blue
On
Output4 triggered
Flash
Output2 triggered
Table 2: LED Indicator Status

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The LEDs on the front board of LiDAR can indicate the current operation status, which are
divided into two categories: working status and trigger status. The working status class indicator
includes "Working", "Pause", "Fault", " Changing input group ", the priority is sorted from high
to low as fault, Pause, Changing input group, Working. The trigger class indicator is Output 1-4
triggered. In the case where multiple protection zones are triggered, the indicator status of the
LEDs triggered shows priority 1>2>3>4. For example, when there are obstacles in the four areas
1, 2, 3, and 4, the indicator light only shows an orange LED flashing, and when there are
obstacles in the two areas 2 and 4, the light only shows a blue light flashing. Digital output
signals can be detected independently when triggered despite of LED priority.
4. The operating mode
4.1 Fixed Device
Figure 4: the bottom fixed schematic
1.The back and bottom of the device is secured with M3 screws with a bottom depth of about
8mm and a back depth of about 6mm.
2.The device can also be secured on the back, see Figure 15, Figure16.

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4.2 Measurement Range Schematic
Figure 5: diagram of the scanning range
The measurement schematic is a top view, the shaded part of Figure 5 is the scanning area, the
scanning range is from 310 to 230 degrees and blind zone is between 230 and 310 degrees, no
measurement data output.
4.3 Connect the device
4.3.1 Wiring
Note: The voltage supply for both DC-Power and IO-Power is between 12V-24V, DC-GND and
IO-GND are not inner connected to ground. IO digital signal function will not be booted until
IO-Power and IO-GND are connected. The maximum value of the I/O output voltage signal is
determined by the I/O power supply and load circuit.

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Pin
Function
Color
Notes
Three-core line
1
DC-Power
Red
DC12V~24V ( +)
2
DC GND
Black
DC power ground (-)
3
Ground
Silver
Connect housing ground
Ten-core line
1
I/O_1 Out
Orange
Hardware interface Output 1
2
I/O_2 Out
Brown
Hardware interface Output 2
3
I/O_3 Out
Gray
Hardware interface Output 3
4
I/O_4 Out
Black
Hardware interface Output 4
5
I/O_4 In
Yellow
Hardware interface Input 4
6
I/O_3 In
Green
Hardware interface Input 3
7
I/O_2 In
Blue
Hardware interface Input 2
8
I/O_1 In
Purple
Hardware interface Input 1
9
I/O-GND
White
I/ODC power GND (-)
10
I/O-Power
Red
12V~24V DC Power Supply IO
(+)
Type-C interface line
Table 3: Pin Signal Description

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Input pins
Groups
IO_1 IN
IO_2 IN
IO_3 IN
IO_4 IN
Group 1
0 (Low)
0 (Low)
0 (Low)
0 (Low)
Group 2
1 (High）
0 (Low)
0 (Low)
0 (Low)
Group 3
0 (Low)
1（High）
0 (Low)
0 (Low)
Group 4
1 (High）
1 (High）
0 (Low)
0 (Low)
Group 5
0 (Low)
0 (Low)
1 (High）
0 (Low)
Group 6
1 (High）
0 (Low)
1 (High）
0 (Low)
Group 7
0 (Low)
1 (High）
1 (High）
0 (Low)
Group 8
1 (High）
1 (High）
1 (High）
0 (Low)
Group 9
0 (Low)
0 (Low)
0 (Low)
1 (High）
Group 10
1 (High）
0 (Low)
0 (Low)
1 (High）
Group 11
0 (Low)
1 (High）
0 (Low)
1 (High）
Group 12
1 (High）
1 (High）
0 (Low)
1 (High）
Group 13
0 (Low)
0 (Low)
1 (High）
1 (High）
Group 14
1 (High）
0 (Low)
1 (High）
1 (High）
Group 15
0 (Low)
1 (High）
1 (High）
1 (High）
Group 16 (Default
input group)
1 (High）
1 (High）
1 (High）
1 (High）
Table 4: how to select group

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Table 4 shows the corresponding relation between input signals and Group. For example, if the
expected Group is Group 10 then input signals need to be IO_1 IN is high, IO_2 IN is low, IO_3
IN is low, IO_4 IN is high which means parallel Hardware interface Input 1 and 4 to 12V-24V
IO DC Power Supply (PIN10 from table 3), and connect Hardware interface Input 2 and 3 to IO
DC power GND (PIN9 from table 3). If all the Hardware interface Inputs are vacant (connected
to nothing), then the device would select Group 16 (as default group).

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Figure 6: digital output signal circuit diagram
Figure 7: digital input signal circuit diagram

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4.3.2 Software Running
Connect LiDAR device and PC with the provided type-C socket. Some PC can automatically
install the driver after LiDAR connected, if not, please download the CP210X driver in our
software package.
Double click the software exe file, the new COM port can be found in the login page of
provided software if CP210X driver installed successfully.
Figure 8: login window diagram
Be aware of the order of operation, which is first connect LiDAR and PC then power on LiDAR.
If not, there will be probability that the computer mouse become uncontrollable and PC need to
be restart.

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4.3.3 Power supply
Under normal circumstances, the device will automatically operate after power.12V~24V
voltage supply. The LED on the front board would be green on. If the startup current is too low,
the device will not be able to start normally. If the voltage/current is too high, there will be the
risk of burning the device components. The device needs more than 1A(rated 12V) current when
starting, the normal working state current is less than 300mA (rated 12V)
5. Software setting
5.1 Software interface introduction
Figure 9: software interface introduction
The device in located in the middle of Figure 9 and highlighted as a red dot. Top side is 0 degree,
right side is 90 degree and down side is 270 degree. Blind zone are in grey.
Icons on the top bar are: ①open file ②show the distances and angles of all the point cloud
in the current scan circle ③pause the device ④run the device ⑤zoom in the picture
⑥zoom out the picture ⑦show/hide the area setting column Right click on the grid when
area setting column is hiding, LiDAR settings, language, display settings can be shown.

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All Settings (LiDAR settings and area settings) in device can be read(upload), write(download)
by setting different parameters in FaseLase software.
Figure 10 : software interface with area setting column
In Figure 10, ①a notification to make sure the IO_IN of the device is connected correctly. For
example, if zone needs to be set in Group 3 Zone 1, please make sure that the hardware of
device is correctly connected( IO_1 IN, IO_3 IN, IO_4 IN are connected to High and IO_2 IN is
connected to Low in this case); ②select the Group and Zone that going to be set; ③the
number of zones set in the current Group and the total number of zones set in all Groups; ④
shows the status of device. Input Idx:1 means that the device is using stored Group 1 as
detection group. Protect 1, Protect 2, Protect 3, Protect 4 are the 4 zones. If the text are in green
indicates the Zone are not triggered, if the text become red then the Zone are triggered current
lidar internal scanning detection group.
Read Device Area: upload connected LiDAR device area information to FaseLase software.
Save All to Device: download all the area information in 16 groups from FaseLase software to
connected LiDAR device.
Save Selected Area: download area information in selected Group from FaseLase software to
connected LiDAR device, and keep area in other Groups unchanged.

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Delete All: clear all the area plotted in FaseLase software then download to connected LiDAR
device (ripe software and device).
Please be aware that only ④in Figure 10 indicates the status of LiDAR device, software zone
and device zone can be different if Read Device Area button is not clicked.
Figure 11: example for detail settings
As shown in Figure 11, " Input Idx:16" refers to IO_1-4 IN are connected to High(or vacant).
Under the connection state of all IO_IN, LiDAR device will choose all 4 Zones in Group 16 as
judgment of trigger. The blue line in Figure 11 is the rendering of the data point cloud measured
by LiDAR device. 16-1 is Zone 1 and it is a 10 vertices of polygon area, including 92 data
points (Letter " F "in figure 11 and there is a "1:92"indicates there are 92 point cloud data inside
the area plotted in Zone 1) meet the conditions of the Threshold Number of Points (Threshold
Number of Point is the trigger condition. In figure 11 case, Threshold Number of Points is set as
5 and this refers to there are at least 5 point cloud data in Zone 1 to satisfy the trigger condition.
Actually there are 92 point cloud detected in Zone1 therefore Zone1 triggered) trigger IO_1 Out
a Low output (originally IO_1 Out is High, satisfy the trigger condition becomes Low output).
At the same time, the edges of the graph of Zone 1 changed from green to red, text "Protection
1" also changed from green to red. The LED on the front board changed to the corresponding
state. Similarly, there are 107, 55 and 75 data points of polygons in intervals 2, 3 and 4

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respectively, all of which meet the trigger condition of Threshold Number of Points of 10.
IO_2-4 OUT output Low digital signals respectively
5.2 Operation Instruction
Click the Pause icon to stop motor rotation before modifying any LiDAR device settings,
otherwise communication failure might occur. After the Pause, click the button “Read Device
Area” to upload all the areas from LiDAR device to FaseLase software (the graphics displayed
on the FaseLase software may be inconsistent with the ones stored in the LiDAR device,
therefore click Read Device Area to ensure areas in both device and software are the same).
After that, settings can be started.
If area is going to be plotted in Group 16 Zone 4, left click on 16-4 and the bar will be
highlighted, then left click at any position of grid diagram to set the first coordinate point. If the
plotted area graph is not closed connected, a new vertex can be added every left click and
automatically connect to the previous point. The coordinate of the vertex will be displayed on
the right side. As shown in Figure 12, 16-4 is selected. Left
click on the edge of the closed connected area graph to add coordinate points, drag to change the
graph. Currently the system supports up to ten vertexes. After setting, click Save All to Device
or Save Selected Area to download the set area protection to LiDAR device. Click Run the
Device icon to resume operation and the LiDAR device starts to detect whether obstacles are in
the protected area. The sides of triggered area
changes from green to red in the software graph, the text of triggered area become red, and the
I/O output level changes.

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Figure12: area settings
As shown in figure 13, right click at the coordinate point to pop up an option box. By editing
the status of the vertex, you can also choose to delete the selected vertex, or delete the area in
one Zone, or delete the areas in one Group, or delete all areas in 16 Groups. When finish
setting the areas, “Save as File” enable saving all the area information as a file and you can
setup a second new LiDAR device easily by "Load File"to read the saved areas. After loading the
saved file to FaseLase software, remember to click "Save All to Device" to download the areas
from software to device.
Figure 13: settings for vertex and side in area
Right click at the vertex or side of the area, choose Edit Area. In edit mode, you can fine-tune
the position of coordinate points by inputting specific coordinate values. The output signal level
when the area is triggered can be set in this section. Protection area can be polygon or sector.
Threshold points refer to the number of trigger points in the protection area, greater then