HOKUYO AUTOMATIC PBS-03JN User manual

HOKUYO AUTOMATIC CO.,LTD.
Jul.3rd'02
Be sure to read this instruction manual carefully before using to make correct operation of this device.
Be sure to read this instruction manual and keep properly.
Symbol Amended reason Pages Date Corrector Amended No.
Approved by Checked by Drawn by Designed by Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
TERAWAKI Drawing
No. C-41-2342 1/19
MEASURING DISTANCE TYPE
OBSTACLE DETECTION SENSOR
PBS-03JN
INSTRUCTION MANUAL

HOKUYO AUTOMATIC CO.,LTD.
-NOTICE –
○Please keep this instruction manual on the side of operator and maintenance person.
○Be sure to read this instruction manual and relative documents before installation, operation and maintenance and
operate correctly in accordance with the directions on the knowledge of the device, information for safety,
operation and handling method of this device.
○Keep always the scope of this various specification described on the instruction manual and execute correct
maintenance to prevent possible malfunction.
○Don't remodel or break up by yourselves. We never repair them and never do guarantee of quality.
○When you have incomprehensible item, question and unclear point, please contact to our branch office referred
the last page.
○On the contents of this instruction manual we have intellectual property right. The contents may not, in whole or
part be revealed to any third party without prior written consent from us.
○The contents in this instruction manual is subject to change without pre-notice for the purpose of improvement of
the device.
○In case of happening inactivity or malfunction, please contact to our referred branch office with the following
information.
･The contents of relative name plate or specifications(model name, production No., type, production date etc.)
･Abnormal condition(more in detail including condition before and after)
･Ask our offices.
Noticeofsafety
Be sure to read carefully this instruction manual and relative documents before installation, operation and
maintenance of this device to operate correctly. Operate this device only after acquainting yourself all with
knowledge of device, safety notice and caution items. This instruction manual classifies caution items rank as
｢Danger｣, ｢Caution｣｢Prohibition｣and ｢Enforcement｣.
About statement of above CAUTION however, it is possible to cause more serious result according to
situation. Keep the above mentioned notice without fail since these are very important.
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 2/19
DANGER
CAUTION
PROHIBITION
ENFORCEMENT
Possible to cause a danger situation if mis-used and might be dead or
critical injury
Possible to cause a danger situation if mis-used and might be harmed
middle injury or slight injury or caused only physical damage
Supposed to cause a possible danger if mis-used and inform an action
prohibited.
Supposed to cause a possible danger if mis-used and inform an
action enforced.

HOKUYO AUTOMATIC CO.,LTD.
Noticeofsafet
y
(tobecontinued)
* The critical injury stated above means causing after effect by loss of eyesight, injury, burn(high temperature, low
temperature), electric shock, fracture, poisoning etc., and necessity of hospitalization or long time attending to
hospital for care. The middle injury or slight injury means injury, burn, electric shock etc. which are not necessary
of hospitalization or long time attending to hospital for care. The physical damage means damage of property
and equipment and enlarged damage relevant to damage of equipment.
* These notice for safety informs more important supplementary contents regarding to HOKUYO Obstacle
Detection sensor. The customers should establish the safety measure according to various standards and criteria
for the sake of safety operation and maintenance of equipment & device.
The following danger mark is for HOKUYO Obstacle Detection Sensor. If this danger instruction may not be
kept, it is possible to cause an accident resulting injury or death. Please note that the order of this instruction is
never adopted order in important level and instruction stated here are all important matter.
DANGER Pages
* This product is auxiliary safety device and isn't complete safety device. When device is used for
application that may occur serious accident, make sure to prepare other safety device such as
bumper sensor etc. Also, take necessary measures such as backup circuit etc.
* This sensor is possible to cause malfunction or mis-detection by reasons of strong disturbance light,
electric noise or mechanical vibration.
* Make sure that the power source is off when maintenance and inspection.
* Take caution to handle the device and don't hit against or drop off.
* This device can't detect a dead space of view in beam scanning angle. If necessary detecting area
isn't enough, don't use it.
5
6
6
6
6,13
The following caution mark is for HOKUYO Obstacle Detection sensor. If this caution instruction may not be
kept, it is possible to cause an accident resulting injury or death. Please note that the order of this instruction is
never adopted order in important level and instruction stated here are all important matter.
CAUTION Pages
* Be sure to read the instruction manual carefully before servicing this device. Be sure to reach the
instruction manual to final user and be sure to keep the instruction manual by final user.
* This device doesn't operate for approx. 1 sec after putting power source on. Don’t use during this
period.
* Use power source with 1.5A or more, current capacity. Inrush current flows when putting power
source in. Voltage min. and max. value including ripple is18 to 30VDC.
* Avoid to install at the places where strong light over rated enters into reception part. It may cause
mis-operation.
* It takes approx. 1sec. from releasing emission-stop input to rebooting.
* If 2-scanning mode is used, response time is getting slower.
* If area is changed by outer input, response time is getting slower.
* Min. detectable object is getting larger under mirror reflecting avoidance mode.
* It can set detecting range up to 10m under within 218 degrees but we can't guarantee it.
* Area from scanning center of sensor to 0.2m is dead zone and it can't detect.
* When installation, don’t close light-projection/reception window or interrupt area.
* If cover is used, use cover with high transparency.
* Response time is delayed under much mutual interference
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6
6
9
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9
10
13
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Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 3/19

HOKUYO AUTOMATIC CO.,LTD.
Noticeofsafet
y
(tobecontinued)
The following prohibition mark is for HOKUYO Obstacle Detection Sensor. If this prohibition instruction may
not be kept, it is possible to cause an accident resulting injury or death. Please note that the order of this instruction
is never adopted order in important level and instruction stated here are all important matter.
PROHIBITION Pages
* Don't decompose this device. It may cause any troubles by short-circuit. Moreover it may cause
malfunction of device out of warranty.
* Keep this device out of soaking in water, oil or scales. Light-receiving amount is reduced and it
may cause mis-detection. Also, inner circuit corrodes and it may cause any troubles.
* Don't install or keep this device at the place where over rated heat, vibration or shock. It may
cause any troubles or malfunction.
* Avoid to use under solvent vapor and corrosive gas.
* Response time is delayed on 2-scanning operating mode under much mutual interference. Don't
use 2-scanning operating mode.
* Don't connect any other cable to RS232C signal cable except when detecting area is set by PC.
6
6
6
6
15
16
The following enforcement mark is for HOKUYO Obstacle Detection Sensor. If this enforcement instruction may
not be kept, it is possible to cause an accident resulting injury or death. Please note that the order of this instruction
is never adopted order in important level and instruction stated here are all important matter.
ENFORCEMENT Pages
* Clean up lens surface of both light-projecting and receiving part with soft cloth periodically. When
light-projecting and receiving part are dirty, it can't keep specific detection area.
* Don't make a wiring with power line such as driven motor or break.
* Earth frame ground terminal to the body when switching regulator is used as power source.
* Connect unused input cable to input common +(Red) or open it. Connect unused output cable to
output common –(Gray) or open it.
* Be sure to adjust, checking detection area data and real time data with application software for PC
setting when PC model. Make sure to check some operations after setting.
* Make a optical axis adjustment and check some operations before use.
* Install firmly not to dislocate optical axis by vibration or impact.
7
7
7
11
11
14
14
Introduction
CAUTION
* Be sure to read the instruction manual carefully before servicing this device. Be sure to reach the instruction
manual to final user and be sure to keep the instruction manual by final user.
General
(1) Operating principle
Operating principle is that semicircular field is scanned by LED(lambda = 880nm) and the coordinates is
calculated by measuring distance to object and its step angle and it detects obstacle in setting area.
(2)Detecting area setting
Shape of detecting and setting value can be changed by PC(RS-232C). Detecting distance with 3 steps output
for each detecting area can be set.
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 4/19

HOKUYO AUTOMATIC CO.,LTD.
(3)Detecting area changeover
Max. 15 kinds of area changeover that was set by PC beforehand can be made by outer bit input.
(4)Trouble output
This device provides self-diagnosis function such as LED emission or motor revolution trouble and this output
executes when such trouble.
2.Structure(Light scanning image)
DANGER
* This product is auxiliary safety device and isn't complete safety device. When device is used for application
that may occur serious accident, make sure to prepare other safety device such as bumper sensor etc. Also,
take necessary measures such as backup circuit etc.
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 5/19
PBS
Power/input
/
output
AGV’s
control
device
180 degrees of scanning
angle with 100 steps
Max. 2m

HOKUYO AUTOMATIC CO.,LTD.
< Contents >
1. Caution for handling
It may cause misdetection even out of detection area because of characteristics in case that there is strong light
from mirror surface or retro-reflection plate. In that case, take measures to avoid such situation.
DANGER
* This sensor is possible to cause malfunction or mis-detection by reasons of strong disturbance light, electric
noise or mechanical vibration.
* Make sure that the power source is off when maintenance and inspection.
* Take caution to handle the device and don't hit against or drop off.
* This device can't detect a dead space of view in beam scanning angle. If necessary detecting area isn't enough,
don't use it.
CAUTION
* This device doesn't operate for approx. 1 sec after putting power source on. Don’t use during this period.
* Use power source with 1.5A or more, current capacity. Inrush current flows when putting power source in.
Voltage min. and max. value including ripple is18 to 30VDC.
* Avoid to install at the places where strong light over rated enters into reception part. It may cause
mis-operation.
PROHIBITION
* Don't decompose this device. It may cause any troubles by short-circuit. Moreover it may cause malfunction
of device out of warranty.
* Keep this device out of soaking in water, oil or scales. Light-receiving amount is reduced and it may cause
mis-detection. Also, inner circuit corrodes and it may cause any troubles.
* Don't install or keep this device at the place where over rated heat, vibration or shock. It may cause any
troubles or malfunction.
* Avoid to use under solvent vapor and corrosive gas.
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 6/19
Page 2
Page 2
Page 4
Page 4
Page 66
Page 6
Page 7
Page 9
Page 11
Page 11
Page 13
Page 15
Page 16
Page 17
Page 17
Page 18
Page 19
Notice
Notice of safety
Introduction
General/Structure
Contents
1. Caution for handle
2. Specifications
3. Functions
4. Connections and operating
5. Detecting area setting
6. Caution for installation
7. Mutual interference
8. Pin arrangement of RS-232C
9. Input/Output circuit
10. Q and A
11. Troubles
12. Reference

HOKUYO AUTOMATIC CO.,LTD.
ENFORCEMENT
* Clean up lens surface of both light-projecting and receiving part with soft cloth periodically. When light-
projecting and receiving part are dirty, it can't keep specific detection area.
* Don't make a wiring with power line such as driven motor or break.
* Earth frame ground terminal to the body when switching regulator is used as power source.
2. Specifications
Model No. PBS-03JN
Power source 24VDC(Operating range 18 to 30VDC, ripple within 10%)
Current consumption 250mA or less(100mA or less when emission stops)
(Note) Except for I/O terminal current and rush current(500mA)
Detectable object and
detecting distance
White kent paper with 300×300mm(Placed in parallel with sensor projecting/
receiving surface)
Area with vertical direction 0.2 to 3m and width 2m(Origin point is scanning center
position) but within scanning angle 180 degrees
Hysteresis
It specifies the width when each area setting(Original value : 10%)
10% of detecting distance(It is not getting 60mm or less)
5% of detecting distance(It is not getting 30mm or less)
Output(Note)
Photo-coupler/open-collector output(30VDC 50mA Max.)
Output 1 : OFF when detected in area
Output 2 : OFF when detected in area
Output 3 : OFF when detected in area
Trouble output : ON during normal operation
(Note) Output 1 to 3 show the state it is detecting object when this output executes
Response time
Normal operating mode : 180ms or less(Scanning time 100ms/1 rev.)
Low-speed scanning mode : 200ms or less(Scanning time 110ms/1 rev.)
2-scanning operating mode : the above time + each scanning time
Note) When area changeover, further 1 scanning time is delayed.
Starting time Within 1s after putting power source on or stopping LED emission
Lamps
Power lamp(Green) : Flickers when troubled
Output 1 lamp(Orange) : Lights up when detected in area
Output 2 lamp(Orange) : Lights up when detected in area
Output 3 lamp(Orange) : Lights up when detected in area
Connection method Lead wire 1m long
Ambient illuminance
Halogen/mercury lamp : 10000lux or less
Fluorescent lamp : 6000lux(Max. illuminance)
Note) It may malfunction when receiving strong light such as sun light etc.
Ambient temperature/
humidity -10 to +50 degrees C, 85%RH or less(Not condensing and icing)
Vibration resistance 10 to 55Hz, double amplitude 1.5mm Each 2 hour in X, Y and Z directions
Impact resistance 490m/s2(50G) Each 10 time in X, Y and Z directions
Protective structure IP64
Weight 500g
Life 5 years during normal temperature(motor life)
Material Front case : Polycarbonate, rear case : ABS
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 7/19

HOKUYO AUTOMATIC CO.,LTD.
About detecting characteristics
If reflectance is extremely bad(mourning dress or oil-stained working clothes etc.), it is impossible to measure even
if detection distance is within 1m. Also, it can't detect mirror-surface objects such as stainless polished surface
stably. Detecting precision(Reference value) is +/- 0.1m up to 1m and is +/- 0.1 time against the distance at 1m or
more in case of kent paper with 300×300mm. Detecting error with lower reflectance is getting larger. We
recommend to test with a sample.
2. Specifications(Continued)
Setting of detecting area
Setting of output 1 : It is free to set from 0 to 10m for optical axis direction with 7
pointspointer.
Setting of output 2 : Linear setting to progressive direction
Fan-shapedsettingtoopticalaxisdirection
Percentage(%) setting against output 1 pointer
Settin
g
of out
p
ut 3 : Same as out
p
ut 2
2-scanning mode(When each detecting area setting, it sets individually for output
1 to 3.)
It judges existing obstacle with continuous 2-scanning
It judges with 1 scanning under normal operating
Mirror reflecting avoidance mode(It sets when each detecting area setting)
It hardly detects the objects with high reflectance 20m away but min. detecting
width at 3m is getting 400mm.
Operating mode
Low-speed scanning mode(Set by software switch)
Scanning time 110ms(100ms when normal operating)
Response delay by mutual interference with PBS with normal operating is made
Within 1 scanning.
Input and each area
Photo-coupler input(Anode common, Each input ON current 4mA)
Setting detecting area changeover
Set area No. by [Input 1], [Input 2], [Input 3] and [Input 4]
Stop emission by getting all [Input 1], [Input 2], [Input 3] and [Input 4] to ON
(OFF : H level input, ON : L level input)
[Input 1] [Input 2] [Input 3] [Input 4] Area patterns
ON ON ON ON Emission stop
OFF ON ON ON Area 1
ON OFF ON ON Area 2
OFF OFF ON ON Area 3
ON ON OFF ON Area 4
OFF ON OFF ON Area 5
ON OFF OFF ON Area 6
OFF OFF OFF ON Area 7
ON ON ON OFF Area 8
OFF ON ON OFF Area 9
ON OFF ON OFF Area 10
OFF OFF ON OFF Area 11
ON ON OFF OFF Area 12
OFF ON OFF OFF Area 13
ON OFF OFF OFF Area 14
OFF OFF OFF OFF Area 15
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 8/19

HOKUYO AUTOMATIC CO.,LTD.
2. Specifications(Continued)
Input response time Input taking-in cycle : 1 scanning time(100ms or 110ms)
(When selecting emission stop by external input, input taking-in cycle is 1msec)
(Note) It can set detecting area up to 10m but it isn't under our guarantee.
3. Functions
3-1. How to set detecting area
It can set detecting area which was made by software with serial input/output.
3-2. Stop emission
When this sensor is not required in the places where AGV stops etc., we recommend to use emission-stop
function because of preventing the interference. Scanning revolution and emission of LED stop when all
input(1 to 4) are getting ON(L level).
CAUTION
It takes approx. 1sec. from releasing emission-stop input to rebooting.
3-3. Setting detection area pattern changeover
Setting detection area pattern can be changed with [Input 1], [Input 2], [Input 3] and [Input 4].
CAUTION
* If area is changed by outer input, response time is getting slower.(Changeover time with approx. 100 to
110msec is added to response time.)
3-4. Trouble output
When revolution of scanner(Motor) stopped or it didn't receive LED's beam as standard emission light, trouble
output(Output 4) executes. Also, output 1, 2 and output 3 is the state it is detecting any obstacle. and power
lamp flickers with 1 sec interval.
3-5. 2-scanning operating mode
Normal mode executes output with 1 scanning result but this mode executes output with 2-scanning
continuous result and so malfunction by unstable reflective light hardly cause.
CAUTION
* If 2-scanning mode is used, response time is getting slower.
* In case of light interference, response time is widely delayed under 2-scanning mode.
3-6. Low-speed scanning mode
Scanning time is getting 110msec. This is used for holding response delay by mutual Interference(When
PBS's face each other) within 1 scanning.
CAUTION
* If low-scanning mode is used, response time is getting slower.
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 9/19

HOKUYO AUTOMATIC CO.,LTD.
3-7. Hysteresis changeover
When it sets detecting area near wall, make hysteresis small. If wall surface is within hysteresis range of
detecting area, output doesn't return.(After AGV or human being passed detecting area, it detects wall surface
and AGV can't move.)
3-8. Mirror reflecting avoidance mode
If there are polished stainless plate or retro-reflective plate about 20 meter along, it may malfunction because of
multi-reflection. Mirror reflecting avoidance mode reduces frequency of malfunction. If detecting object
is too small, it can't detect under this mode and so it takes 5 degrees as installing angle of PBS.(Refer to Caution
for installation.)
CAUTION
* Min. detectable object is getting larger under mirror reflecting avoidance mode.
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 10/19
Setting area
18 to 20m
AGV
PBS
Semi-conductor
manufacturing
equipment
(Stainless)

HOKUYO AUTOMATIC CO.,LTD.
4. Connection and operating
4-1. Colors and signals
Colors Functions
lack Output 1
White Output 2
White(Blue) Output 3
Orange Trouble output
Gray Output common minus
Red Input common plus
Green Input 1
Yellow Input 2
Purple Input 3
White(Yellow) Input 4
Brown +VIN
Blue -VIN
Yellow(Red) Serial input(RXD)
Yellow(Green) Serial output(TXD)
Yellow(Black) Serial GND
Colors in parenthesis indicate ink color of both sides line printing. Input/output direction is mentioned on the
basis of PBS.
ENFORCEMENT
* Connect unused input cable to input common +(Red) or open it. Connect unused output cable to
output common –(Gray) or open it.
4-2. Operating lamp
5. Detecting area setting
5-1. Detecting area setting software
Start application software and set detection area with mouse or numerical input, referring monitor of PC. It is
convenient to make a fine adjustment of detection area because of checking operating state with monitor of PC.
Each setting area can be saved in file. See instruction manual of software application in details.
ENFORCEMENT
Be sure to adjust, checking detecting area data and real time data with application software. Check
operating state after setting.
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 11/19
Output 3 Output 2 Output 1
Power(Flickers when trouble)

HOKUYO AUTOMATIC CO.,LTD.
5-2. Origin of detecting area setting
Origin point(X=0, Y=0) of detecting area setting is the center position of beam scanning.
5-3. Setting not for detecting the wall
Set detection area 100mm or more away from the wall. After checking operating state with detection area
setting software, adjust and change detecting area. PB9 is scanned by driving the mirror with pulse motor.
Make a far area setting as follows by considering step error because step error of pulse motor is +/- 0.9
degrees.
When width of passageway is 2W and max. detecting distance is L, calculate the area width of short distance
and long distance as follows:-
D1(mm) = W – 100 -30
D2(mm) = D1 – L*tan(0.9 degrees) tan(0.9 degrees) = 0.016
5-4. Detection guarantee range and detection area diagram
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 12/19
Center of beam scanning
X
,
Y = 0
Y
X
AGV
W
L
D1 D2
Wall, device
Wall, device
PBS
2
m
3
m
Scanning setting available range
Detection guarantee range
White kent paper with 300×300mm(Placed in
parallel with sensor projection/reception
surface)
Area with vertical direction 0.2 to 3m and width
2m but within scanning angle 180 degrees
(Width of detectable object is getting larger
under mirror reflecting avoidance mode.)
Setting value of detection area should be set
within 180 degrees as detection range.

HOKUYO AUTOMATIC CO.,LTD.
There are the following 3 kinds of detecting area setting for output 2 and output 3 and it can be free to
select.
DANGER
* This device can't detect a dead space of view in beam scanning angle. If necessary detecting area isn't enough,
don't use it.
CAUTION
* It can set detecting range up to 10m under within 218 degrees but we can't guarantee it.(Guarantee range is the
area with vertical direction 0.2 to 3m and width 2m but within scanning angle 180 degrees by white kent paper
with 300×300mm. Detecting characteristics are depending on reflectance of detecting object.)
* Area from scanning center of sensor to 0.2m is dead zone and it can't detect.(Setting origin point of detecting
distance is the center position of scanning.)
6. Caution for installation
6-1. Relation with cover
Install PBS so that it sticks 50mm or more away out of the cover. If it is 50mm or less, it detect shorter than
actual distance. If it can't stick, make detecting area view angle shorter or put the black seal on both sides of
PBS not to detect cover.
CAUTION
* Install it by sticking the tip of sensor out of AGV's cover etc. 50mm or more(Detection range 180
degrees) away. In case of 160 degrees as detection range, it should be 40mm or more.（Refer to
external dimension No.MC-40-3030)
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 13/19
Fa
n
-shaped settin
g
Percentage sett
i
n
g
PBS PBS
PBS
Output 1
Output 2
Output 3
50mm
Malfunctio
n

HOKUYO AUTOMATIC CO.,LTD.
CAUTION
* When installation, don’t close light-projection/reception window or interrupt area.
* If cover is used, use cover with high transparency.(It is using LED with wavelength 880nm.)
6-2. Relation with floor surface
Spread of sensor beam is 100mm(Reference value) in diameter at 3m. If it installs PBS near floor surface, it
may detect floor surface and may cause malfunction. Install it 60mm or more away. If it is 60mm or less,
install it 1 degree upward.
6-3. Optical axis adjustment
It can meet up/down angle with standard of mechanical axis if detecting object will be 300mm×300mm or
more. Make an adjusting mechanism in case of sever adjustment. Dispersion of optical axis against
mechanical axis is follows:-
Dispersion between optical axis and mechanical axis
ENFORCEMENT
* Install firmly not to dislocate optical axis by vibration or impact.
* Make a optical axis adjustment and check some operations before use.
6-4. Influence of mirror surface object far away
In case that mirror surface object such as stainless plate or retro-reflecting sheet is existing at 20m far away, it
may malfunction. In case that, put black tape in reflecting objects or taka an angle of elevation with 5 degrees
or more. If detecting objects is enough size to detect, it can use mirror reflecting avoidance mode.(Refer to
item 3.)
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 14/19
PBS
60mm floor surface
3m
100mm in diameter
Up/down angle
+/- 2 degrees
Scanning parallel
surface
Horizontal angle
+/- 0.9 degrees
Scanning side view

HOKUYO AUTOMATIC CO.,LTD.
7. Mutual interference
If several AGV are running near area, mutual interference occurs by shallow angle of incidence. AGV with 1m
width or more can detect the part without interference correctly.
CAUTION
Response time is delayed under much mutual interference.
Take an angle of elevation with 3 degrees or more due to take countermeasures against mutual interference. It is
necessary to install them in vertical opposite direction each other so that projecting light with angle of elevation
makes opposite direction against other receiving light.
In case of undermentioned applications, don't use 2-scanning mode because response is delayed and AGV's may
collide. Use other PBS with low-speed scanning mode due to be 110msec as response delay by interference.
PROHIBITION
Response time is delayed on 2-scanning operating mode under much mutual interference. Don't use
2-scanning operating mode.
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 15/19
AGV AGV
Running direction
Running direction
AGV
Running direction
10 degrees Width 500mm
Projecting light window
Receiving light window
AGV/RGV AGV/RGV
Running direction
Running direction
Normal mode(100msec) Low-speed scanning mode(110msec)

HOKUYO AUTOMATIC CO.,LTD.
8. Pin arrangement of RS-232C
a) Male connector of D-sub with 9 pins
(Right and left is reverse under female connector at cable side)
b) Female connector of D-sub with 25 pins
SG:Groundforsignal
FG : Frame ground
Contents of RS-232C signal cables
(Direction of I/O and functions seen from PC side)
Signal I/O Function
TXD(Transmit Data) Output Transmission of serial data
RXD(Receive Data) Input Reception of serial data
RTS(Ready to Send) Output Request to send data
CTS(Clear to Send) Input Response for RTS(Sounded transmission permission)
DTR(Data Terminal Ready) Output Request to be ready
DSR(Data Set Ready) Input Response for DSR(Check to be ready)
CD(Carrier Detect) Input Detection of carrier
CAUTION : Make sure to short-circuit about unused pin among RTS, CTS and CD and between DTR
andDSR.
c) Colors and functions of PBS's cable and wiring pattern for pin No. of PC
(Connect the following 3 pcs of pin only)
Color Signals Pin No. of D-sub with 9 pins Pin No. of D-sub with 25 pins
Yellow(Red) Serial input(RXD) 3(TXD) 2(TXD)
Yellow(Green) Serial output(TXD) 2(RXD) 3(RXD)
Yellow(Black) Serial GND 5(GND) 7(SG)
CAUTION : Use cable within 3m between PBS and PC because detection area can't be set by PC.
PROHIBITION
* Don't connect any other cable to RS232C signal cable except when detecting area is set by PC.
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 16/19
CD
RXD
TXD
DTR
GND
DSR
RTS
CTS
1
6
5
9
RXD
TXD
DTR
FG
DSR RTS
CTS
13
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HOKUYO AUTOMATIC CO.,LTD.
9. Input/Output circuit
10. Q and A
Q When PBS receives strong light (specification environment is exceeded) such as the afternoon sun directly,
how does output operate?
A To the direction where a strong disturbance light hit, output executes as no obstacle. About other detection,
it operates normally. (It is hardly affected in comparing with our PB6 and PB8).
Q How about mutual interference between PBS's?
A Basically, it interferes but it isn't affected by interfering light from except for the direction which interfering
light enters because it judges with 1.8 degrees/1 scanning respectively. See item 8 about mutual nterference.
Q Do you have any countermeasures to prevent interference
A Take a installation angle to PBS and see about "Mutual interference".
Q How about the influence to the other sensors?
A Since this device modulates emission wave length(λ=880nm) with 8/7.5MHz, there are any a possibilities
to affect to any device with similar modulation system. If you use it with such device at the same time,
check beforehand.
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 17/19
Load
Mai
n
circuit
Load power
Output 1, 2, 3 and 4
Output COM -
Power circuit
+
-
Input COM +
Input 1, 2, 3 and 4
or
1k
ohm
4.7
k
o
h
m
1k
ohm
+VIN
-VIN
4
.7
k
o
hm

HOKUYO AUTOMATIC CO.,LTD.
Q If a detection object is not more than white kent paper with 300 by 300mm, does it operate correctly?
A The standard of light amount margin is 1.5 times at 3m with 300 by 300mm white kent paper and so it can't
detect mourning dress or transparent plate etc. with low reflectance. In case of detecting object such as
mirror surface, it can 't detect stably. Moreover, in the case of a detection objects thinner than a width of
300mm, PBS can't detect if detection distance is 3m or more because PBS's beam which becomes fan-shape
with equal angle is stepped. However, in case of within 3m, thinner detection object can be detect.(100mm
or more at 1m)
Q What is detecting precision?
A It is +/- 10cm at within 1m and is +/- 0.1 time against setting value at 1m or more.
Q Is it possible to set 1m or more for width direction?
A When area is set for width direction, it is set within 1.5m and check actual area.
Q When installing PBS, how far can it cover except for light-projection/reception part?
A If it installs so that it may stick out 50mm or more, there is no problem. Consider installing status, referring
scanning angle and the following beam diameters. Since the beam spreads proportionally such as 20mm in
diameter for min., 50mm in diameter at 1m and 80mm in diameter at 2m and so install it not to interrupt such
area.
Q Is it possible to use under water splashing?
A Even if any drop of water attached, it can use after wiping but we can't guarantee to use at the places under
any drop of water.
Q When PBS suddenly receives a strong vibration during operating, how does it operate?
A It will not affect if it is within 70Hz is less than and double amplitude of 1.5mm (X, Y and Z directions).
When motor is getting unstable by over-rated vibration for the above value, detection output is forcibly getting
detection state once but if vibration time isn't beyond 1sec., return automatically within 1sec.(When motor is
during unstable, power lamp flickers with 0.1sec interval.) However, when same situation repeated with
1sec interval for 5 times, it is regards as motor trouble and trouble output executes and power lamp flickers
with 1sec interval. However, if such trouble(unstable motor) is temporary and there is no damage on motor,
trouble output returns after putting power source in again.
11. Trouble
When you felt irregular operation to this device, make sure to stop to use and inspect it. If you couldn't find out
any reason, contact our offices. Trouble-shooting is as per following table:-
Trouble Countermeasure
Power lamp doesn't light up * Check wiring is correct or not.
* Check power source voltage.
Detection output doesn't change * Check input/output wiring is correct or not.
* Check installation is correct or not.
* Check setting are is correct or not.
* Check area setting that is considered about sensor hysteresis or not.
* Check scanning view is within 180 degrees or not on area setting.
Power lamp keeps on flickering * Device is out of order. Replace it by new one.
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 18/19

HOKUYO AUTOMATIC CO.,LTD.
13. Reference
Tokyo Office
Shinbashi Ekimae No. 2 Bldg., 2-21-1 Shinbashi, Minato-Ku, Tokyo 105-0004, Japan
Tel : [phone]
Fax : [phone]
Nagoya Office
Ryoshin Bldg., 4-8-12 Meieki, Nakamura-Ku, Nagoya 450-0002, Japan
Tel : [phone]
Fax : [phone]
Osaka Office
1-10-9 Niitaka, Yodogawa-Ku, Osaka 532-0033, Japan
Tel : [phone]
Fax : [phone]
Kyushu Office
KMM Bldg., 2-11-15 Asano, Kokurakita-Ku, Kitakyushu 802-0001, Japan
Tel : [phone]
Fax : [phone]
Title Measuring Distance Type Obstacle Detection
Sensor PBS-03JN Series Instruction Manual
Drawing
No. C-41-2342 19/19