HOKUYO AUTOMATIC UST-05LN User manual

Document No: C-41-02490-9
Scanning Laser Range Finder
UST-05LN/UST-05LA
User’s Manual
)

Document No: C-41-02490-9
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1. Introduction.................................................................................................................................................3
1.1 About this document/manual ...............................................................................................................3
1.2 Applicable products...............................................................................................................................3
1.3 Special markings and symbols .............................................................................................................3
1.4 Cautions..................................................................................................................................................4
2. Safety precautions .......................................................................................................................................5
2.1 General precautions ..............................................................................................................................5
2.2 Operating environment.........................................................................................................................5
2.3 Installation of UST ................................................................................................................................5
2.4 Wiring.....................................................................................................................................................6
2.5 Configuration.........................................................................................................................................6
2.6 Inspection and maintenance.................................................................................................................6
3. Product overview.........................................................................................................................................7
3.1 Features of UST-05LN/UST-05LA.......................................................................................................7
3.2 Components of UST-05LN/UST-05LA.................................................................................................8
3.3 Operation principle.............................................................................................................................10
3.4 Area configuration............................................................................................................................... 11
3.5 Area switching......................................................................................................................................12
3.6 Detection condition..............................................................................................................................14
3.7 ON /OFFdelay.....................................................................................................................................15
3.8 Hysteresis function of detection area.................................................................................................17
3.9 Setting of UST......................................................................................................................................17
3.10 Output ................................................................................................................................................19
3.10.1 Output 1 to Output 3...................................................................................................................19
3.10.2 Malfunction output......................................................................................................................19
3.10.3 Synchronization output...............................................................................................................19
3.11 Input ...................................................................................................................................................19
3.11.1 Input 1 to Input 5.........................................................................................................................19
3.11.2 Synchronization input .................................................................................................................19
3.12 Indicator lamp ...................................................................................................................................20
3.13 Laser spot...........................................................................................................................................21
3.14 Data logging.......................................................................................................................................22
3.14.1 Record of log data........................................................................................................................22
3.14.2 Playing log data............................................................................................................................23
3.15 SD card log function (for UST-05LA only)......................................................................................24
3.16 Laser emission skip function ............................................................................................................25
3.16.1 Scan skip function........................................................................................................................25
Table of contents

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3.16.2 Laser pulse skip function ............................................................................................................26
4. Application examples of the UST.............................................................................................................27
4.1 Access protection (Horizontal application Stationary）..................................................................27
4.2 Protrusion detection (vertical placement).........................................................................................28
4.3 Area protection (Mobile).....................................................................................................................29
5. Installation.................................................................................................................................................31
5.1 Light interference................................................................................................................................31
5.2 Mutual interference.............................................................................................................................32
5.3 Synchronous operation .......................................................................................................................34
6. Wiring.........................................................................................................................................................35
6.1 Precautions...........................................................................................................................................35
6.2 Power supply........................................................................................................................................35
6.3 Wire color and function......................................................................................................................36
6.4 Input/Output circuit............................................................................................................................37
6.4.1 Input circuit ...................................................................................................................................37
6.4.2 Output circuit.................................................................................................................................37
6.5 RS422 (For UST-05LAonly)...............................................................................................................38
7. USTArea Designer application software.................................................................................................39
7.1 Area Designer.......................................................................................................................................39
7.2 System requirements...........................................................................................................................39
8. Inspection and maintenance.....................................................................................................................41
8.1 Pre-operation inspection.....................................................................................................................42
8.2 Operation inspection...........................................................................................................................42
8.3 Daily inspection ...................................................................................................................................43
8.4 Periodical inspection...........................................................................................................................44
8.5 Cleaning the optical window ..............................................................................................................45
9. Troubleshooting.........................................................................................................................................46
10. Specification.............................................................................................................................................47
11.Applicable directives and standards ......................................................................................................49
12. Package contents .....................................................................................................................................50
13. External Dimensions ...............................................................................................................................51
14. Revision history.......................................................................................................................................52

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1. Introduction
This user’s manual is designed with the purpose of providing guidelines and instructions for the machine
user or system designer while operating, installing, wiring and servicing the UST sensor (UST-05LN,
UST-05LA).
1.1 About this document/manual
The UST’s features, installation and handling method are described in this document.
Make sure to read carefully and understand this document before installation, wiring, operation,
inspection and maintenance.
User should have a copy of this document at an easy-to-access place for quick reference.
Any modifications or disassembly of the UST is prohibited. Modifications will affect sensor
performance and detection capability that could lead to critical injury and death.
Any modifications or disassembly of the UST will void the warranty.
All information in this user’s manual is subject to change without prior notice. For the latest
information visit our company’s website http://www.hokuyo-aut.jp
1.2 Applicable products
This document is for the following sensor models.
UST-05LN
UST-05LA
1.3 Special markings and symbols
Markings and symbols are used in this document to alert the user about safety-related issues. Follow the
instructions of these special markings and symbols to ensure safety during the operation.
Mark
Meaning
Procedures that could lead to dangerous situation, critical injury or death if not
carried out properly
Procedures that could lead to dangerous situation, serious injury or physical
damage if not carried out properly
Points that should be considered for the proper operation

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1.4 Cautions
The UST has been shipped upon strict quality control. If you find any defect in the product contact the
nearest distributor or sales representative.
Hokuyo cannot be held responsible for damages or failure due to misuse of the product.
The actual product may differ from the illustrations and figures in this document as they are used for
explanatory purposes only.

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2. Safety precautions
Make sure to read the following safety precautions for the correct use and operation of the UST.
2.1 General precautions
The UST is not a safety device. Do not use this sensor for the purpose of protecting humans.
The UST uses laser radiation for detecting objects within configured area.
Perform pre-operation tests in order to verify the performance of the UST.
User should prepare test pieces for detection capability verification test. The test piece should emulate
the smallest object that is intended to be detected during operation.
Operate the UST within the specifications described in this user’s manual. Perform necessary
maintenance to prevent deterioration of UST’s detection capability (refer to chapter 8)
Do not modify or disassemble the UST. This could compromise the IP65 housing rating. Such
modifications will void the warranty.
The detection capability of the UST will decrease if dust covers the optical window. Regular cleaning of
the optical window is necessary while working under dusty environment. (Refer to section 8.5)
The UST should be disposed as industrial waste or in accordance with the local disposal directives.
2.2 Operating environment
This product is for indoor use only.
Make sure that the UST’s operating environment is within the stated specification (temperature,
humidity, vibration, ambient light, etc.)
Do not use or mount the UST near devices that could generate strong electromagnetic waves as it
could affect the operation of the sensor.
Do not use or mount the UST in dusty, smoky, or misty environments, or where corrosive substances
are present. Working under such environments may decrease the detection capacity of the sensor.
2.3 Installation of UST
Install the UST on a firm surface or structure to avoid displacement.
Shock and vibration should not loosen the mounting. Detection result will be different if the sensor is
displaced due to such condition.
Mutual interference can occur when two or more UST sensors are mounted at the same detection plane.
Refer to chapter 5 (mutual interference and synchronous operation) for details.
The UST should be mounted with a provision of sufficient space for maintenance.
The UST should be mounted where indicator lamps are easily visible.
Do not put any object in the detection area of the UST. It is not possible for the sensor to detect objects
that lie behind the obstacle.
Do not add any protective materials such as glass, transparent cover, etc. in the front of the optical
window. This may lead to loss of detection capability of the UST.

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Avoid direct sunlight as it may cause sensor malfunction. Refer to chapter 5 (light interference) for
details.
Increasing the response time will also increase the stability of the UST. However, this will reduce the
detection capability towards moving objects. User must perform pre-operation tests before using this
function.
2.4 Wiring
Switch off all the power supplies during wiring.
When a converter is used for supplying the power, make sure it fulfills the following requirements.
・A rated output voltage within the range of DC 10V to 30V (above 1A)
・The power supply complies with the requirements of electromagnetic compatibility regulations
(EMC) of the respective country, states and district.
All the input/output signal cables should be installed away from machines, power lines and high-
voltage cables.
2.5 Configuration
Pre-operation test must be performed to verify the configurations before operating the UST.
Changes made during the configuration must be recorded and saved.
2.6 Inspection and maintenance
User must perform inspection and maintenance by referring to the following checklists provided in this
document (refer to chapter 8)
・Pre-operation inspection
・Operation inspection
・Daily inspection
・Periodical inspection
・Cleaning the optical window
Checklists in this document are provided as basic guidelines while performing the test and maintenance.
User must perform additional inspection and maintenance tasks deemed necessary for the respective
application.
Stop the machine and system if faults are detected during these tests.
Clean the optical window when it gets contaminated. If the optical window is damaged it should be
replaced by a new one so contact the nearest distributor or sales representative.

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3. Product overview
This chapter describes the features and properties of UST-05LN/UST-05LA.
3.1 Features of UST-05LN/UST-05LA
Detection range : Maximum 5m
Detection angle : 270°
Angular resolution : 0.5°
31 set of areas (configurable)
LED indicates UST’s status
Easy configuration using PC installed with UST configuration application software (Area Designer)
Teaching function
For detail refer toArea Designer instruction manual
Minimum response time of 66ms (configurable)
Malfunction output: Activates malfunction output according to self-diagnosis function.
Synchronize function: A maximum of 3 sensors for master/slave operation is possible
Hysteresis function of detection area
ON delay and OFF delay function
Minimum detectable size set function
SD Card Log function (for UST-05LA only)
SCIP communication protocol (for UST-05LA only)
For details refer to the communication protocol specification “Document No. C-42-4049”
Laser emission skip function: It is possible to set laser pulse skip and scan skip.
*Non-supported in the firmware version below “1.00”.
Redundant slave function
*Not supported in the firmware version below “2.00”.
UST can be used for the following applications:
Security monitoring of a building and locations (entrances, passages, etc.)
In detecting the collapse of cargo at an automatic warehouse, detection of protruding objects from
shelves.
In automated guided vehicles (AGV), overhead transportation (OHT), robots, cranes, etc.
For automation process (detection of transported object)
Object detection
Other similar applications

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3.2 Components of UST-05LN/UST-05LA
Figure 3-1 shows the components of UST-05LN/UST-05LA
Figure 3-1 UST-05LN/UST-05LA components
Figure 3-2 shows the scanning range and detection zone origin of the UST, while figure 3-3 shows its
detection plane.
Cable
Optical window
Housing
LED display
USB Connector

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Figure 3-2 Scanning range and detection zone origin (Top view)
Figure 3-3 Detection plane of UST (Back view)
Detection plane
Detection plane marking
Detection zone origin
Scanning range

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3.3 Operation principle
Figure 3-4 Scanning range
Figure 3-4 shows the scanning range of the UST. The sensor emits pulsed laser beams which reflect on a
rotating mirror forming a fan-like scanning pattern over 270 ° field.
Maximum detection range is 5m for white Kent sheet. Detection range for objects of 10% diffused
reflectance is 2m.
User can configure output regions 1, 2, and 3 by using the Area Designer application. When the sensor
detects an object in the configured area, corresponding outputs are switched to OFF state.
When the emitted laser beams are reflected back from an object, its distance is measured by applying the
Time-of-Flight (TOF) principle. The duration of the reflected pulsed laser beam is taken for distance
calculation as shown below.
Where, L＝Distance of the object
C＝Speed of the light
T＝Time difference
0°
Output region 1
Output region 2
Output region 3
UST
270°

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The operation principle of TOF is shown in schematic diagram (Figure 3-5) below
Figure 3-5 TOF operation principle
3.4 Area configuration
The detection area of the UST consist the output regions 1, 2, and 3 respectively. Output 1 to Output 3 can
be configured by using the Area Designer application software through a USB cable. Area configuration
methods can be Independent and Dependent. A maximum of 31 sets of areas can be configured.
For the Independent method the following shapes are supported: Polygon, Arc and Rectangle (numerical
input is also available)
a) Polygon b) Arc c) Rectangle
Figure 3-6 Area configurations (Independent method)

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For the Dependent method, the following shapes are defined: Straight line, Fan, and Ratio (numerical
input is also available).
In the dependent method, output 1 serves as a basis for output 2. Similarly, output 2 can be set as the basis
for output 3.
a) Straight line b) Fan c) Ratio
Figure 3-7 Area configurations (Dependent method)
When setting the output region 2 as dependent on output region 1, the following dependent methods can
be selected: a) Straight line, b) Fan shape, c) Ratio. By moving the offset bar in the Y-axis, it changes the
size of output region 2. The output 2 cannot be made larger than the output 1. Similarly, the output region 3
is used as a basis output region 2.
For details on area configuration methods, refer to the Area Designer UST Series sensor configuration
tool Instruction manual.
When the sensor detects an object in the configured output region 1 to output region 3, the corresponding
outputs signals are switched to OFF state and the corresponding LEDs are also lit.
3.5 Area switching
A maximum of 31 sets of areas can be configured. For area switching, input signals 1 to 5 are required.
Table 3-1 below shows the combination of input signal to switch the area. Laser is switched off when all the
inputs 1 to 5 are switched ON.
Offset bar
Output region 1
Output region 2
Laser is switched ON only in the selected area.
User should prepare test pieces for detection capability verification test.

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Table 3-1 Input states and corresponding area number
Area Number
Input1
Input2
Input3
Input4
Input5
Laser off
ON
ON
ON
ON
ON
Area1
OFF
ON
ON
ON
ON
Area2
ON
OFF
ON
ON
ON
Area3
OFF
OFF
ON
ON
ON
Area4
ON
ON
OFF
ON
ON
Area5
OFF
ON
OFF
ON
ON
Area6
ON
OFF
OFF
ON
ON
Area7
OFF
OFF
OFF
ON
ON
Area8
ON
ON
ON
OFF
ON
Area9
OFF
ON
ON
OFF
ON
Area10
ON
OFF
ON
OFF
ON
Area11
OFF
OFF
ON
OFF
ON
Area12
ON
ON
OFF
OFF
ON
Area13
OFF
ON
OFF
OFF
ON
Area14
ON
OFF
OFF
OFF
ON
Area15
OFF
OFF
OFF
OFF
ON
Area16
ON
ON
ON
ON
OFF
Area17
OFF
ON
ON
ON
OFF
Area18
ON
OFF
ON
ON
OFF
Area19
OFF
OFF
ON
ON
OFF
Area20
ON
ON
OFF
ON
OFF
Area21
OFF
ON
OFF
ON
OFF
Area22
ON
OFF
OFF
ON
OFF
Area23
OFF
OFF
OFF
ON
OFF
Area24
ON
ON
ON
OFF
OFF
Area25
OFF
ON
ON
OFF
OFF
Area26
ON
OFF
ON
OFF
OFF
Area27
OFF
OFF
ON
OFF
OFF
Area28
ON
ON
OFF
OFF
OFF
Area29
OFF
ON
OFF
OFF
OFF
Area30
ON
OFF
OFF
OFF
OFF
Area31
OFF
OFF
OFF
OFF
OFF

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3.6 Detection condition
In the configured area, if the detectable size (width) is more than the minimum detectable objects, an
output signal is displayed (for setting refer to section 3.9). The width of detectable object can be calculated
as shown in figure 3-8.
Figure 3-8 Schematic diagrams for the calculation of detection width
If the area is configured with anarrow width below the minimum detectable size, be careful that the
output signal may not be displayed for a short distance as shown in figure 3-9
Figure 3-9 Caution of area configurations when minimum detectable size
Detection object
d1
d2
d3
d4
d5
Detection width W = (d2+ d3+ d4)×2π／720
d：Distance value of each step
Detection width W ＞Minimum detectable size
Depending upon the laser spot, environment and detection object, the
actual width of detected objects may differ from the width measured.
User should verify detection capability before using actual object.
Min detectable size ：High
Area of distance 500mm and width 50mm

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3.7 ON /OFF delay
ON delay and OFF delay of the output signal can be set by using Area Designer within the range of 1scan
(66ms) to 128scan (3241ms) (default is 1scan (66ms))
ON delay is the response time changing from OFF state to ON state. OFF delay is the response time
changing from ON state to OFF state.
Increasing the response time will increase availability of the UST. However, this will reduce the detection
capability towards moving objects. User must perform verification tests before using ON/OFF delay
function.
Figure 3-10 ON delay /OFF delay
Schematic diagram for ON delay/OFF delay operation is as shown below.
1. Schematic diagram without OFF delay setting
1scan (Object absent) 2scan (Object present)
：Object absent
：Object present
Output judgment
Output judgment
Sensor detection
Output
ON
OFF
OFF delay
ON delay
Time
Object absent
Object present
Object absent
Detection object

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2. Schematic diagram when 2scan OFF delay setting
1scan (Object absent) 2scan (Object absent) 3scan (Object present)
3. Schematic diagram without ON delay setting
1scan (Object present) 2scan (Object absent)
4. Schematic diagram when 2scan ON delay setting
1scan (Object present) 2scan (Object present) 3scan (Object absent)
：Object absent
：Object present
Output judgment
Output judgment
Output judgment
：Object absent
：Object present
Output judgment
Output judgment
：Object absent
：Object present
Output judgment
Output judgment
Output judgment

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3.8 Hysteresis function of detection area
When a sensor detects an object near the boundary of the detection area, outputs 1 to 3 may oscillate
(changing to ON/OFF state) repeatedly. To prevent such oscillation, sensor has a hysteresis function that
temporarily increases the area size. Ratio of increase can be specified using the Area Designer application
software. Hysteresis can be selected from these 3 types: None (0%), Low (3.125%) which increases the size
of detection area, and High (6.25%) which also increases the size of detection area. If the object is not
detected on the temporary increased area setting, it will return to the original detection area setting.
3.9 Setting of UST
Setting of operating parameter of UST by Area Designer.
Table 3-2 describes UST’s parameters and settings.
Table 3-2 Parameter setting
Parameter
Description
Serial baud rate
When connecting with RS422 can set serial baud rate (available
only in UST-05LA). Select from below setting.
Setting
115.2kbps －Default
230.4kbps
460.8kbps
921.6kbps
Output logic
Inverting area output can be set. (Other outputs will not be
inverted) Select from below setting.
Setting
Description
Active High
Refer to section 3.10.
Active Low
Invert outputs
Scan skip count
(For details, refer to section 3.16.)
Scan skip count can be set. Select from below setting.
Setting
Description
0
No scan skip.
1
1 scan skip.
2
2 scan skip.
3
3 scan skip.
4
4 scan skip.
5
5 scan skip.

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Laser pulse skip
(For details, refer to section 3.16)
Laser pulse skip can be set. Select from below setting.
Setting
Description
OFF
No laser pulse skip.
ON
Laser pulse skip.
Motor speed
Motor speed ratio of UST can be set. Select from below setting.
*Can select only when motor sync mode is independent.
Setting
Description
2400rpm (100%)
Normal motor speed
2160rpm (90%)
90% of motor speed
Motor sync angle
To prevent mutual interference when Master/Slave is in
operation
In Slave mode motor synchronization angle can be set.
Setting
0 deg
180 deg
90 deg
270 deg
Motor sync mode
(For wiring refer to section 5.3)
Master/Slave function can be set. Select Master or Independent
when Master/Slave is not in operation.
Setting
Description
Master
Set the sensor as master.
Slave
Set the sensor as slave.
Slave
(Redundant mode)
Set the sensor as slave. Even if the
master fails, the slave continues its
operation.
Independent
Motor speed can be set.
Minimum detectable size
(For detail refer to section 3.6)
Width of minimum detectable size can be set.
Setting
Description
High
Detect the object of width 50mm or more
if present for 3 continuous steps.
Middle
Detect the object of width 30mm or more
if present for 3 continuous steps.
Low
Detect the object of width 20mm or more
if present for 3 continuous steps.
OFF
Detect the object if present for 3
continuous steps.

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3.10 Output
The UST has 3 types of outputs as below.
3.10.1 Output 1 to Output 3
Output 1:When the object is detected in the output region 1, output 1 will switch to OFF state.
Output 2:When the object is detected in the output region 2, output 2 will switch to OFF state.
Output 3:When the object is detected in the output region 3, output 3 will switch to OFF state.
3.10.2 Malfunction output
Sensor has self-diagnosis function as shown in table 3-3; switch from ON state to OFF state.
(*During malfunction state, output 1 to 3 will be in object present state.)
Table 3-3 Malfunction description
Malfunction mode
Malfunction condition
Motor malfunction
Motor is not operating or rotary detection part of motor is damaged.
Laser malfunction
Laser is not emitting or laser is not able to receive the light.
FPGA malfunction
FPGA is not operating.
Synchronization malfunction
When slave sensor could not recognize the signal of master sensor
for 2min.
*In case of Slave (Redundant mode), no malfunction is reported.
Simulation malfunction
When malfunction simulation is operated in “Area Designer”.
3.10.3 Synchronization output
When operating Master/Slave sensors, the synchronization signal is output from master sensor to slave
sensor(s).
3.11 Input
The UST has 2 types of inputs as below.
3.11.1 Input 1 to Input 5
These inputs are used in order to choose detection area. Table 3-1 shows the relation between input states
and corresponding area number.
3.11.2 Synchronization input
When operating Master/Slave sensors, the synchronization output signal from the master is used as input
for the synchronization input of a Slave. For details on the wiring of synchronization operation, refer to
chapter 5 (Synchronization operation)