HOKUYO AUTOMATIC UBG-05LN User manual

HOKUYO AUTOMATIC CO.,LTD.
Sep.5th'06
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 UBG-05LN Instruction Manual
MORI
Drawing
No. C-41-2384 1/17
MEASURING DISTANCE TYPE
OBSTACLE DETECTION SENSOR
UBG-05LN
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 UBG-05LN Instruction Manual
Drawing
No. C-41-2384 2/17
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
p
rohibited.
Supposed to cause a possible danger if mis-used and inform a
n
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
12
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. 10 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 area is changed by outer input, response time is getting slower.
* Area from scanning center of sensor to 0.1m 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
4
6
6
6
10
10
13
13
13
14
Title Measuring Distance Type Obstacle Detection
Sensor UBG-05LN Instruction Manual
Drawing
No. C-41-2384 3/17

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.
* Don't connect any other cable to RS232C signal cable except when detecting area is set by PC.
6
6
6
6
15
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
13
13
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
UBG-05LN is an obstacle detection sensor with 785nm wavelength laser light source. It detect objects in the
predefined area by scanning 180°semicircle and calculates the coordinates of the detected object by measuring
its distance and angle. The product is laser class 1 safe.
(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 UBG-05LN Instruction Manual
Drawing
No. C-41-2384 4/17

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 UBG-05LN Instruction Manual
Drawing
No. C-41-2384 5/17
UBG
Power/input
/
output
AGV’s
control
device
At 500 steps:-
Scanning angle 180°
Step angle 0.36°
Max. 10m

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. 10 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.
* 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 UBG-05LN Instruction Manual
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No. C-41-2384 6/17
Page 2
Page 2
Page 4
Page 4
Page 6
Page 6
Page 7
Page 10
Page 11
Page 11
Page 13
Page 15
Page 16
Page 16
Page 17
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. Pin arrangement of RS-232C
8. Input/Output circuit
9. External dimension
10. Q & A

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.
*About safety of laser beam
Safety standard of this device is Class 1.
Mean power : 0.8nw or less
Wavelength : 785nm(infra-red laser)
Frequency : 53.2MHz, 46.7MHz SIN wave
Beam diameter : 50mm or less(at 5m)
Standard : IEC60825-1
About Class 1 of laser safety standard
This class means laser beam is guaranteed as safe laser under the ordinary operating condition(predictable
condition reasonably). It just clarify as laser device and safety countermeasure is not required.
FDA approval(21 CFR part 1040.10 and 1040.11)
Class 1 laser products
Don’t look through a laser beam directly.
2. Specifications
Model No. UBG-05LN
Power source 24VDC(Operating range 18 to 30VDC, ripple within 10%)
Current consumption 150mA or less, Rush current with 300mA is required when starting-up(24VDC)
Light source Semiconductor laser(wavelength 785nm), in conformity with laser safety class 1
(FDA )
Detectable object and
detecting range
White sheet with 125×125mm(Placed in parallel with sensor projecting/
receiving surface)
Area with length 0.1 to 5m and width 4m(Origin point is scanning center position)
but within scanning angle 180 degrees
Accuracy*1
±20mm : up to 1m
2% of detecting distance : 1m or more
Repeatability ±10mm
Hysteresis
It specifies the width when each area setting(default 6.25%)
6.25% of detecting distance(It is not getting 60mm or less)
3.17% 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) All output 1 to 3 is OFF when this output executes
Response time 210msec or less(Scanning time 100msec/1 rev.)
Note) When area changeover, 1 more scanning time is delayed.
Title Measuring Distance Type Obstacle Detection
Sensor UBG-05LN Instruction Manual
Drawing
No. C-41-2384 7/17
CAUTION

HOKUYO AUTOMATIC CO.,LTD.
2. Specifications(Continued)
Starting time Within 10 sec after turning on the power source(it may take more time in some
case)
Lamps
Power lamp(Green) : Flickers when staring-up or 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 : 10,000lux or less
Fluorescent lamp : 6,000lux(Max. illuminance)
Note) It may malfunction when receiving strong light such as sun light etc.
Ambient temperature/
humidity -10 to +50℃, 85%RH or less(Not condensing and icing)
Vibration resistance 10～55Hz, double amplitude 1.5mm Each 2 hour in X, Y and Z directions
55～200Hz, 98m/s sweep 2 min. Each 1hour in X, Y and Z directions
Impact resistance 196m/s2(10G) Each 10 time in X, Y and Z directions
Protective structure IP64
Weight 185g/265g including cable
Life 5 years during normal temperature(motor life)
External dimension 60×60×75mm
Material Front case : Polycarbonate, rear case : ABS
Setting of detecting area
Setting of output 1 : It is free to set from 0 to 5m for optical axis direction with 7
pointspointer.
Setting of output 2 : Linear setting to progressive direction
Fan-shapedsettingtoopticalaxisdirection
Percentage(%) setting against output 1 pointer
Setting of output 3 : Same as output 2
*1 Accuracy value is depending on our inspection before shipment.
About detecting characteristics
If the 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 the retro-reflector stably.
Title Measuring Distance Type Obstacle Detection
Sensor UBG-05LN Instruction Manual
Drawing
No. C-41-2384 8/17

HOKUYO AUTOMATIC CO.,LTD.
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] [Input 5] Area patterns
ON ON ON ON ON Emission stop
OFF ON ON ON ON Area 1
ON OFF ON ON ON Area 2
OFF OFF ON ON ON Area 3
ON ON OFF ON ON Area 4
OFF ON OFF ON ON Area 5
ON OFF OFF ON ON Area 6
OFF OFF OFF ON ON Area 7
ON ON ON OFF ON Area 8
OFF ON ON OFF ON Area 9
ON OFF ON OFF ON Area 10
OFF OFF ON OFF ON Area 11
ON ON OFF OFF ON Area 12
OFF ON OFF OFF ON Area 13
ON OFF OFF OFF ON Area 14
OFF OFF OFF OFF ON Area 15
ON ON ON ON OFF Area 16
OFF ON ON ON OFF Area 17
ON OFF ON ON OFF Area 18
OFF OFF ON ON OFF Area 19
ON ON OFF ON OFF Area 20
OFF ON OFF ON OFF Area 21
ON OFF OFF ON OFF Area 22
OFF OFF OFF ON OFF Area 23
ON ON ON OFF OFF Area 24
OFF ON ON OFF OFF Area 25
ON OFF ON OFF OFF Area 26
OFF OFF ON OFF OFF Area 27
ON ON OFF OFF OFF Area 28
OFF ON OFF OFF OFF Area 29
ON OFF OFF OFF OFF Area 30
OFF OFF OFF OFF OFF Area 31
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)
Title Measuring Distance Type Obstacle Detection
Sensor UBG-05LN Instruction Manual
Drawing
No. C-41-2384 9/17

HOKUYO AUTOMATIC CO.,LTD.
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 AGV is under suspension, we recommend to use emission-stop function because of preventing the
interference. This sensor suspends the emission of LED when all input(1 to 5) 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], [Input 4] and [Input 5].
CAUTION
If area is changed by outer input, response time is getting slower.(Changeover time with approx. 100msec
is added to response time.)
3-4. Trouble output
When revolution of scanner(Motor) stopped or it didn't receive the laser beam at the standard point, trouble
output(Output 4) is executed. Also, output 1, 2 and output 3 is getting the state with detecting any obstacle.
and power lamp flickers with 1 sec interval.
3-5. Hysteresis changeover
When it sets the 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 the detecting area, it detects wall
surface and AGV can't move.)
Title Measuring Distance Type Obstacle Detection
Sensor UBG-05LN Instruction Manual
Drawing
No. C-41-2384 10/17
Setting area
Area grown 6.25% large
by hysteresis
Obstacle

HOKUYO AUTOMATIC CO.,LTD.
4. Connection and operating
4-1. Colors and signals
Colors Functions
Black 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
White(Purple) Input 5
Brown +VIN
Blue -VIN
Yellow(Red) Serial input(RXD)
Yellow(Green) Serial output(TXD)
Yellow(Black) Serial GND
Colors in parenthesis indicate each 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 UBG-05LN Instruction Manual
Drawing
No. C-41-2384 11/17
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. Detecting guarantee range and detecting area diagram
UBG shows the detectable area based on the scanning center position.
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.
Title Measuring Distance Type Obstacle Detection
Sensor UBG-05LN Instruction Manual
Drawing
No. C-41-2384 12/17
Center of beam scanning
X
,
Y = 0
Y
X
PBS
4
m
5
m
Scanning setting available range Detection guarantee range
White paper with 300×300mm(Placed in
p
arallel with sensor projection/receptio
n
surface)
Area with vertical direction 0.1 to 5m and widt
h
4m but within scanning angle 180 degrees
Fa
n
-shaped settin
g
Percentage settin
g
UB
G
UB
G
UB
G
Output 1
Output 2
Output 3
UBG

HOKUYO AUTOMATIC CO.,LTD.
CAUTION
* Guarantee range is the area with vertical direction 5m and width 4m but within scanning angle 180°by white
paper with 300×300mm. Detecting characteristics are depending on reflectance of detecting object.)
* Area from scanning center of sensor to 0.1m 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 UBG so that it sticks 30mm or more away out of the cover. If it is 30mm 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
UBG not to detect cover.
CAUTION
* Install it by sticking the tip of sensor out of AGV's cover etc. 30mm or more(Detection range 180
degrees) away.
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 diode with wavelength 785nm.)
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.
Title Measuring Distance Type Obstacle Detection
Sensor UBG-05LN Instruction Manual
Drawing
No. C-41-2384 13/17
30mm
Malfunctio
n
UBG
40mm floor surface
5m
50mm in diameter

HOKUYO AUTOMATIC CO.,LTD.
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 severe adjustment. Dispersion of optical axis against
mechanical axis is follows:-
Dispersion between an optical axis and a mechanical axis
ENFORCEMENT
* Install firmly not to dislocate optical axis by vibration or impact.
* Make an optical axis adjustment and check some operations before use.
6-4. Influence of retro-reflecting sheet
In case that retro-reflecting sheet is existing within area or far away, it may make false detection. In case that,
put black tape in reflecting objects or install retro-reflecting sheet at out of optical axis.
6.5. Mutual interference
If UBG would be used at any places where mutual interference would occur, response time is delayed widely.
In case that, take an angle of elevation with 2゜or more.
6.6. Long-term use
If UBG would be used for 1 year or more and absolute precision would be required, t is necessary to make a
correction.
Title Measuring Distance Type Obstacle Detection
Sensor UBG-05LN Instruction Manual
Drawing
No. C-41-2384 14/17
Up/down angle
±1°
Scanning parallel
surface
Horizontal angle
±0.3°
Scanning side view

HOKUYO AUTOMATIC CO.,LTD.
7. 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 the unused pin, RTS-CTS-CD and DTR-DSR.
c) Colors and functions of UBG'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) Signal GND 5(GND) 7(SG)
CAUTION : Use the cable within 3m between UBG and PC because the 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 UBG-05LN Instruction Manual
Drawing
No. C-41-2384 15/17
CD
RXD
TXD
DTR
GND
DSR
RTS
CTS
1
6
5
9
RXD
TXD
DTR
FG
DSR RTS
CTS
13
25
l
14
SG
CD

HOKUYO AUTOMATIC CO.,LTD.
8. Input/Output circuit
9. External dimension
Title Measuring Distance Type Obstacle Detection
Sensor UBG-05LN Instruction Manual
Drawing
No. C-41-2384 16/17
Load
Mai
n
circuit
Load power
Output 1, 2, 3 and 4
Output COM -
Power circuit
+
-
Input COM +
Input 1, 2, 3, 4 and 5
or
1
k
Ω
4.7
k
Ω
1
k
Ω
+VIN
-VIN
4.7
k
Ω
View angle
180゜
View angle
Scanning center
Laser emission range Laser emission range
LED
2-M4 depth 7
Grommet

HOKUYO AUTOMATIC CO.,LTD.
10. Q & A
If UBG would not operate correctly, stop to use and investigate it. If you couldn’t find out any troubled reason,
ask us. See the following Q & A:-
Q Power lamp doesn’t light up.
A * Check the wiring is correct or not.
* Check the power source.
Q It can’t change over detecting output.
A * Check the wiring of I/O.
* Check the installation.
* Check the detecting area.
* Check the hysteresis.
Q Power lamp is flickering and doesn’t stop it.
A * UBG has any troubles and so change it.
Title Measuring Distance Type Obstacle Detection
Sensor UBG-05LN Instruction Manual
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No. C-41-2384 17/17