HOKUYO AUTOMATIC UAM-05LP User manual

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Document No: C-61-00003-3
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Document No: C-61-00003-3
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Table of contents
1. Introduction................................................................................................................................................. 6
1.1 About this manual ................................................................................................................................. 6
1.2 Applicable products............................................................................................................................... 6
1.3 Abbreviations......................................................................................................................................... 6
1.4 Special markings and symbols ............................................................................................................. 6
1.5 Applicable directives and standards ....................................................................................................7
1.6 Registered trademarks.......................................................................................................................... 7
2. Safety precautions ....................................................................................................................................... 8
2.1 General precautions..............................................................................................................................8
2.2 Operating environment......................................................................................................................... 9
2.3 Installation of UAM............................................................................................................................... 9
2.4 Wiring..................................................................................................................................................... 9
2.5 Configuration....................................................................................................................................... 10
2.6 Inspection and maintenance...............................................................................................................10
3. Product overview....................................................................................................................................... 12
3.1 Features of UAM-05LP....................................................................................................................... 12
3.2 Components of UAM-05LP................................................................................................................13
3.3 Operation principle............................................................................................................................. 15
3.4 Scanning area....................................................................................................................................... 16
3.4.1 Protection zone............................................................................................................................... 16
3.4.2 Warning zone ................................................................................................................................. 18
3.5 Area switching...................................................................................................................................... 19
3.6 Incremental encoder............................................................................................................................ 23
3.6.1 Pulse per cm travel generated by incremental encoders............................................................24
3.6.2 Recommend incremental encoder specification..........................................................................25
3.6.3 Tolerances allowed for encoder ....................................................................................................25
3.6.4 Area switching by encoder input..................................................................................................26
3.7 OSSD .................................................................................................................................................... 27
3.7.1 Self-diagnostic function of OSSD .................................................................................................28
3.7.2 Lockout state.................................................................................................................................. 28
3.7.3 Interlock function.......................................................................................................................... 29
3.8 External device monitoring (EDM) function ....................................................................................31
3.9 Muting function................................................................................................................................... 32
3.9.1 Muting start condition................................................................................................................... 32
3.9.2 Muting stop condition ................................................................................................................... 33
3.9.3 Muting override function..............................................................................................................34
3.10 Reference monitoring function.........................................................................................................35
3.10.1 Area protection.............................................................................................................................35

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3.10.2 Access protection..........................................................................................................................36
3.11 Area sequence function...................................................................................................................... 38
3.12 Response time .................................................................................................................................... 38
3.13 Other outputs..................................................................................................................................... 39
3. 13.1 Warning output 1 (WARNING 1)..............................................................................................39
3. 13.2 Warning output 2 (WARNING 2)..............................................................................................39
3. 13.3 Muting output 1 (MUT_OUT 1)................................................................................................39
3. 13.4 Muting output 2 (MUT_OUT 2)................................................................................................39
3. 13.5 Reset Request 1 (RES _ REQ1).................................................................................................40
3.13.6 Reset Request 2 (RES _ REQ2).................................................................................................. 40
3.14 Information indicator........................................................................................................................ 40
3.14.1 LED............................................................................................................................................... 41
3.14.2 7-Segment display........................................................................................................................ 41
3.15 Ethernet communication ..................................................................................................................42
3.15.1 Ethernet Setting........................................................................................................................... 42
3.16 Function to configure UAM by SD card..........................................................................................43
3.17 Master-Slave Function...................................................................................................................... 43
3.18 Laser Off Mode.................................................................................................................................. 45
3.19 Scan Skip Function............................................................................................................................ 45
3.20 Optical Window Contamination Warning Function......................................................................46
4. Application examples of UAM.................................................................................................................. 47
4.1 Access protection (Horizontal application Stationary Protection zone 1) ......................................47
4.2 Access protection (Stationary Horizontal application with Dual Protection zone)........................49
4.3 Access protection (Vertical application- whole body detection) ......................................................50
4.4 Access protection (Vertical application Stationary)..........................................................................52
4.5 Area protection (Horizontal application Mobile) Fixed area ..........................................................54
4.6 Area protection (Mobile, Horizontal, Single Protection, Variable Area)........................................57
4.7 Area protection (Mobile, Horizontal, Single Protection, Encoder Input).......................................58
4.8 Area protection (Mobile, Horizontal, 2 Units Interconnected, Variable.........................................58
4.9 Area protection (Mobile, Horizontal, 4 Units Interconnected, Variable Area) ..............................59
4.10 Area protection (Mobile, Horizontal, Autonomous Navigation) ...................................................60
4.11 Default Values .................................................................................................................................... 60
5. Installation ................................................................................................................................................. 62
5.1 Light interference................................................................................................................................ 62
5.2 Mutual interference............................................................................................................................. 63
5.3 High reflective background ................................................................................................................65
5.4 Limited detection capability zone ......................................................................................................66
6. Wiring......................................................................................................................................................... 67

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6.1 Precautions........................................................................................................................................... 67
6.2 Power supply........................................................................................................................................ 67
6.3 Wire color and function ...................................................................................................................... 67
6.4 Wiring example.................................................................................................................................... 68
6.5 Input/ Output circuit........................................................................................................................... 73
6.5.1 OSSD/ Warning Output circuit.................................................................................................... 73
6.5.2 Other output circuits..................................................................................................................... 73
6.5.3 Input circuit.................................................................................................................................... 74
7. Function configuration of UAM...............................................................................................................75
7.1 About UAM Project Designer application.........................................................................................75
7.2 System requirements........................................................................................................................... 75
7.3 Installatiion of UAM Project Designer..............................................................................................76
7.3.1 Uninstallation UAM Project Designer.........................................................................................76
7.4 Device driver installation....................................................................................................................77
7.4.1 Installing the driver in Windows 8...............................................................................................77
7.4.2 Installing the driver in Windows 7...............................................................................................79
7.4.3 Installing the driver in Windows XP............................................................................................84
7.4.4 Installing the driver in Windows 10.............................................................................................84
7.5 Starting the UAM Project Designer...................................................................................................85
7.5.1 Startup Main window....................................................................................................................85
7.5.2 Create new configuration..............................................................................................................86
7.5.3 Open configuration file .................................................................................................................87
7.5.4 Connect to UAM............................................................................................................................87
7.6 Components of UAM Project Designer .............................................................................................88
7.7 Menu bar.............................................................................................................................................. 89
7.7.1 File................................................................................................................................................... 89
7.7.2 Edit.................................................................................................................................................. 89
7.7.3 Mode............................................................................................................................................... 90
7.7.4 Connection...................................................................................................................................... 90
7.7.5 Option............................................................................................................................................. 91
7.7.6 Language........................................................................................................................................ 91
7.7.7 Help................................................................................................................................................. 92
7.8 Tool bar................................................................................................................................................. 93
7.9 Subpanel............................................................................................................................................... 94
7.9.1 Configuration tab .......................................................................................................................... 94
7.9.2 Monitor tab .................................................................................................................................. 105
7.9.3 Report tab..................................................................................................................................... 105
7.10 Status bar ......................................................................................................................................... 108
7.11 Connecting UAM with PC .............................................................................................................. 108

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7.12 Password .......................................................................................................................................... 109
7.12.1 Changing the password.............................................................................................................109
7.12.2 Reclaim the forgotten password............................................................................................... 110
7.13 Configuration mode ........................................................................................................................ 110
7.14 Function configuration.....................................................................................................................111
7.15 Area configuration........................................................................................................................... 112
7.15.1Area configuration by drawing tools........................................................................................ 113
7.15.2 Area configuration by teaching function ................................................................................. 115
7.15.3 Muting configuration ................................................................................................................ 117
7.15.4 Reference region configuration ................................................................................................ 118
7.16 Transmit configurations to UAM................................................................................................... 119
7.17 Save project file ............................................................................................................................... 120
7.18 Read configuration from UAM......................................................................................................122
7.19 Open project file.............................................................................................................................. 122
7.20 Recording the UAM data................................................................................................................ 123
7.21 Replay the log data.......................................................................................................................... 124
7.22 Save settings to SD card.................................................................................................................. 126
7.23 UAM configuration through SD card............................................................................................127
8. Inspection and maintenance................................................................................................................... 128
8.1 Pre-operation inspection................................................................................................................... 128
8.2 Operation inspection......................................................................................................................... 129
8.3 Daily inspection.................................................................................................................................. 130
8.4 Periodical inspection ......................................................................................................................... 131
8.5 Cleaning the optical window............................................................................................................. 133
8.6 Replacing the optical window........................................................................................................... 134
8.6.1 Method of replacing the optical window....................................................................................134
8.6.2 Adjustment of the optical window.............................................................................................. 135
9. Troubleshooting....................................................................................................................................... 137
10. Specification........................................................................................................................................... 141
10.1 UAM-05LP....................................................................................................................................... 141
11. Package contents.................................................................................................................................... 144
12. Options ................................................................................................................................................... 145
12.1 Base mounting bracket (Model: UAM-BK03).............................................................................. 145
12.2 Rear mounting bracket (Model: UAM-BK04)..............................................................................145
12.3 USB cable (Model: UAM-MUSB).................................................................................................. 145
12.4 Ethernet cable (Model: UAM-ENET)............................................................................................145
12.5 Configuration CD (Model: UAM-CD03)....................................................................................... 145
12.6 Optical window for replacement (Model: UAM-W002) ..............................................................146

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12.7 Cover Bracket (Type: UAM-BK05)............................................................................................... 146
12.8 Connector Cable (UAM-05LP-T301C Only) ................................................................................ 146
13. External dimension................................................................................................................................ 147
13.1 UAM-05LP....................................................................................................................................... 147
13.2 Base mounting bracket ................................................................................................................... 148
13.3 Rear mounting bracket................................................................................................................... 149
13.4 Cover Protection Bracket ............................................................................................................... 150
14. EC Declaration of conformity .............................................................................................................. 151
15. Revision history..................................................................................................................................... 153
16. Representative contacts......................................................................................................................... 154

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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 UAM-05LP.
1.1About this manual
UAM’s features, installation and handling method are described in this document.
Read this document carefully before installation, wiring, operation, inspection and maintenance.
User should have a copy of this document at an easy-to-access place for quick reference.
Information provided in this document is subject to change without prior notice. For the latest
information visit the company’s website http://www.hokuyo-aut.jp
Actual product may differ from the illustrations and figures in this document as they are used for
explanatory purpose only.
1.2 Applicable products
This document is for the following sensor model.
UAM-05LP-T301
UAM-05LP-T301C
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1.3 Abbreviations
The list below shows abbreviations used in this document.
Table 1-1 Abbreviations
Abbreviation Meaning
AGV Automated guided vehicle
AOPDDR Active optoelectronic protective device responsive to diffuse reflection
AWG American wire gage
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EDM External device monitoring
EMC Electromagnetic compatibility
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MSCE Machine secondary control element
OSSD Output signal switching device
SELV Safety extra low voltage
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1.4 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.

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Table 1-2 Special markings and symbols
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
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Points that should be considered for the proper operation
1.5 Applicable directives and standards
UAM is certified by TUV SUD Product Service GmbH and UL/c-UL, FDA (CDRH) as a safety sensor
defined in EU Machine Directive (2006/42/EC).
Table 1-3 Applicable directives and standards
Certified authority Directives/Standard Details
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TUV SUD
EU directives
Machinery Directive: Directive 2006/42/EC
EMC Directive: Directive 2014/30/EU
EN standards
IEC standards
ISO standards
IEC61496-1:2012
EN 61496-1:2013
Type 3
IEC 61496-3:2008
Type 3
IEC 61508 Part1-7:2010
SIL2
EN 62061:2005/A2:
:
2015
SIL2
EN ISO13849-1:2015
Category 3, PLd
IEC60825-1:2014
Safety of laser products
Class 1
UL/c-UL
UL standards
IEC standards
ISO standards
CSA standards
UL 508:2010
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ANSI/UL 1998:2013
IEC 61496-1:2012
Type 3
IEC 61496-3:2008
Type 3
IEC 61508 Part1-7:2010
SIL2
ISO13849-1:2006
Category 3, PLd
CSA C22.2 No.14-13 :2013
FDA (CDRH) 21 CFR Part 1040.10
and 1040.11 Safety of laser products Class 1
1.6 Registered trademarks
MicrosoftⓇ, WindowsⓇare the registered trademarks of Microsoft Corporation USA.
PentiumⓇis the registered trademark of Intel Corporation.
Other products mentioned in the document are trademarks or registered trademarks of the respective
companies.

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2. Safety precautions
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2.1 General precautions
UAM is designed to protect human begins or systems by monitoring the hazardous area. It is not
designed for the protection from high speed objects or the electromagnetic radiation.
Perform pre-operation tests in order to verify the performance of UAM.
Do not modify or disassemble UAM. Such modifications will affect the detection capability leading to
injuries or death.
Do not modify or disassemble UAM to maintain its housing rating. Such modifications will void the
warranty.
The person-in-charge should be qualified to operate UAM. The person must be trained, on safety
requirements with necessary cautions for handling the device.
The person-in-charge should train the user with correct installation, operation, inspection and
maintenance procedures.
The person-in-charge is responsible to ensure the proper working environment for UAM.
The person-in-charge is responsible for the compliance with the local safety requirements, standards,
rules and regulations, laws of respective nations, states or districts when UAM is used in a
safety-related system.
UAM has been manufactured and shipped under the strict quality control. If you find any defect in the
product contact the nearest distributor or sales representative. Last page
Hokuyo cannot be held responsible for the damages or failure due to misuse of the product.
User should prepare test pieces for detection capability verification. The test piece should emulate the
smallest object that is intended to be detected during the operation.
Maximum level of homogeneous pollution for UAM to operate normally is under 30%. UAM will
report error if the pollution exceeds the stated limit. Always keep the optical window in clean condition
to avoid the error.
Before resetting the interlock of UAM, user must ensure the surrounding is safe especially the protected
area.
Apply sufficient measures to ensure safety of the protected area when decommissioning UAM.
Protective materials such as guards or light curtain should be used to prevent the passage to the
hazardous area.
UAM including its accessories are subject to change without prior notice for the improvement.
UAM should be disposed as industrial waste or in accordance with the local disposal directives.

Read the following guidelines for correct use o
f the UAM. Proper handling and
usage will ensure the UAM to operate accordingly.

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2.2 Operating environment
Make sure that UAM’s operating environment is within the stated specification (temperature, humidity,
vibration, ambient light, etc.)
Do not use or mount UAM near devices that could generate strong electromagnetic waves as it could
affect the operation of UAM.
Do not use or mount UAM in dusty, smoky, or misty environments, or where corrosive substances are
present. Operating under such environments may decrease the detection capacity of UAM.
This product is for indoor use only.
2.3 Installation of UAM
Install UAM on a firm surface or structure to avoid displacement.
UAM should be firmly mounted using the screws (recommended torque for screws is 3N.m.). Shock
and vibration should not loosen the mounting. Detection may fail if actual protection zone differs from
the intended zone due to displacement of UAM.
Safety distance should be determined before installing UAM. User must verify the function of UAM
after installation by placing a test piece at all the positions of protection zone (refer to chapter 4 for the
details on the safety distance calculation for various applications).
When installing the UAM, protective materials such as guards or light curtain should be used to prevent
any passage into the hazardous area.
Reset switch used for interlock, muting and override function should be mounted at a location away
from the protection zone.
Mutual interference can occur when identical UAMs are mounted at the same detection plane. Refer to
chapter 5 for countermeasures to avoid mutual interference.
UAM should be mounted at the location which has sufficient space for maintenance.
Do not add any protective materials such as, glass and transparent cover, in front of the optical window.
This could lead to loss of detection capability of the UAM.
Minimum detectable width varies with the distance. Refer to chapter 10 for details.
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 24V±10% (SELV circuit, Category II).
Reinforced insulation or double insulation for the primary and secondary circuit.
Holding time of the output should be above 20ms.
The power supply complies with the requirements of electromagnetic compatibility
regulations (EMC) of the respective country, state and district.
All the input/output signal cables should be installed away from machines power lines and high-
voltage cables.

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Use the OSSD signal of UAM to control safety-related machines or control system. Do not use warning
signals to control safety related machine as these are non safety signals.
Both the OSSD1 and OSSD2 outputs should be connected to the safety-related machines or control
system. If OSSD3 and OSSD4 are used they must be connected in the same manner.
Use shield cable for the connection between OSSD signals and safety-related machines or systems.
Cable length should not exceed the specification.
2.5 Configuration
Configuration of safety functions are password protected. Only authorized users with password are
allowed to configure UAM.
UAM does not operate without initial configuration.
Pre-operation tests should be performed to verify the configurations before operating the UAM.
Increasing the response time of OSSD will increase the stability of UAM. However, this will reduce the
detection capability towards moving objects. User must perform risk assessment before using this
function.
Changes made during the configuration must be recorded and saved. Use the report function in the
UAM Project Designer for this purpose. page 100
2.6 Inspection and maintenance
User must perform inspection and maintenance by referring to the checklists provided in this document
Chapter 8, page 123
・Pre-operation inspection
・Operation inspection
・Daily inspection
・Periodic inspection
The 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.

For the repair of UAM, contact the nearest distributor or sales representative.
User should not repair or disassemble UAM.

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Figure 2-1 Example of product labels
Safety Standard Class 1 Laser of UAM-05LP: It is guaranteed as safety class
laser. Additional measures are not necessary to maintain the laser safety.
Caution - Use of controls or adjustments or performance of procedures other
than those specified herein may result in hazardous radiation exposure.

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3. Product overview
UAM emits pulsed laser beam which is reflected on a rotating mirror within the configured protection
zone. When the emitted laser beams are reflected back from an object its distance is measured. This chapter
describes the features and properties of UAM.
3.1 Features of UAM-05LP
Protection range: Maximum 5m page 136
Warning range: Maximum 20m page 136
Detection angle: 270°page 15
Minimum response time of 60ms (Configurable) page 39
32 set of areas (Configurable) 1 page 20
2 modes of scanning area setting page 20
Dual Protection Mode (Configurable) page 17
Scanning area switch through incremental encoder input (Configurable) page 24
Interlock function (Configurable) page 30
EDM function (Configurable) page 32
Muting /Override function (Configurable) page 33
Reference monitor function (Configurable) page 36
Area sequence function (Configurable) page 39
LED indicator for UAMs status page 41
7-segment display page 42
Ethernet communication page 43
A maximum of 4 sensors for master/slave operation page 44
Configuration with SD card page 44
Easy configuration with UAM configuration application software installed in PC page 73
*1: Depending on the used functions, maximum area varies from 2 to 32 sets of area.

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3.2 Components of UAM-05LP
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Figure 3-1 UAM-05LP components
Housing
7-segment display
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Connector Cable
Ethernet
Connector
SD card slot
Optical window
USB Connector

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Figure 3-2 Scanning range and detection zone origin (Top view)
Figure 3-3 Detection plane of UAM-05LP (Side view)

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3.3 Operation principle
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Figure 3-4 Scanning range
Figure 3-4 shows the scanning range of UAM. Protection zone and warning zones are configured using
the UAM Project Designer application software. Any object or human beings entering the protection zone
will lead the OSSD signal to change from ON-state to OFF-state. Similarly, an object detected in the warning
zones will lead the warning signals to change to OFF-state.
Distance to the object is measured using the Time of Flight (TOF) principle. Pulsed laser beams are
radiated into the scanning range of 270º by the rotating motor. These pulsed laser beams are reflected back
by objects inside the scanning range. The duration of reflected beams are used for distance calculation as
shown below:
Where, L＝Distance of the object
C＝Speed of the light
T＝Time difference
The operating principle of TOF is schematically shown in Figure 3-5. The angular resolution of UAM is
0.125°.
Protection zone
Warning zone 1
Warning zone 2

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Figure 3-5 TOF operation principle
3.4 Scanning area
Scanning area of UAM consists of protection zone and warning zones. Maximum 32 sets of area can be
configured. Further, two combinations for protection and warning zones can be selected for the operation.
Combination 1: Protection zone, Warning zone 1 and Warning zone 2
Combination 2: 2Protection zones (Dual Protection)
In dual protection mode, two protection areas can be configured but it is not possible to configure the
warning zones Protection and warning zones can be configured by using UAM Project Designer. Refer to
Chapter 7 for configuration details.
3.4.1 Protection zone
Protection zone is safety-critical and directly connected to the OSSD signal. When an obstacle is
detected in the protection zone, UAM will switch the OSSD to OFF-state (which should trigger a switch to
stop a machine or AGV). For mobile applications, the OSSD signal can be used as the emergency stop signal.
Figure 3-6 and 3-7 show the examples of protection zone configured using manual mode and teaching mode
respectively. User can configure these zones accordingly to ensure hazardous area is completely protected.
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Figure 3-6 Protection zone configured using manual mode
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Figure 3-7 Protection zone configured using teaching mode
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Figure 3-7 Protection zone configured using teaching mode

User should verify the detection capability using an actual object.

User should verify the configuration before actual operation.

The configured zone should be of minimum safety distance or more.

Minimum possible detectable width changes according to the distance.

Additional distance must be taken into account while configuring the
protection
zone.

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In dual protection mode, two protection zones can be configured independently. UAM will monitor these
zones simultaneously. OSSD1 and OSSD2 are dedicated to protection zone1 and OSSD3 and OSSD4 are
dedicated to protection zone2.
Figure 3-8 shows an example of the dual protection zone configuration. Warning zones cannot be
configured in dual protection mode.
Figure 3-8 Example of Dual protection zone configuration
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3.4.2 Warning zone
Warning zones are non-safety zones and are connected to Warning1 and Warning2 outputs. When the
obstacle is detected in the warning zones, UAM will switch the respective warning signal from ON-state to
OFF-state.
Warning signals can be used as an alert signal to avoid human beings or objects from approaching near
the protection zone. For mobile applications, warning signals can be used for reducing the speed of
automatic guided vehicle (AGV) to avoid collision. Figure 3-9 shows an example of warning zone
configuration.
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Figure 3-9 Warning zones
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3.5 Area switching
A maximum of 32 sets of area can be configured in UAM. However the maximum configurable area
number differs depending on the selected function such as, muting and dual protection. Table 3-1 shows the
maximum configurable area number according to the used mode.
External input signals are provided in UAM for switching the area. Each signal has a pair of normal and
inverted signal. For example, it is necessary to provide both input signal IN_A and inverse IN_Asignal to
switch the area. Error will occur if IN_A and inverse IN_A signals do not complement each other. Table 3-2
below shows the combination of input signal to switch the area. Area in use will be displayed in the 7
segment LED of UAM.
It is also possible to configure area input delay. Configure the necessary delay required for the system to
provide stable input signals to UAM. The default value is 30ms.
There are maximum 5 input pairs (a pair is combination of normal and inverted signal) in UAM therefore,

Warning zones are non-safety zones.

Warning signals should not be used for controlling any machine or vehicle for
the
safety-related purposes.
Protection zone
Warning zone 1
Warning zone 2


Warning signals are non safety-signal.

Warning signals and OSSD signal is not inter-related.
