Lightware SF000 User manual
SF000 LiDAR Sensor
Product guide
SF000 LiDAR sensor
MicroLiDAR for obstacle detection
Disclaimer
Information found in this document is used entirely at the reader’s own risk and whilst every effort has
been made to ensure its validity, neither LightWare Optoelectronics (Pty) Ltd nor its representatives make
any warranties with respect to the accuracy of the information contained herein.
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Overview
The SF000/B is an ultra-small and light laser LiDar sensor designed for size and weight constraint applications.
Using a time-of-flight system to make very fast, accurate distance measurements. Accuracy is not affected by the
colour or texture of the surface, nor the angle of incidence of the laser beam. The SF000/B is virtually immune to
background light, wind and noise, making it an ideal sensor to detect unexpected obstacles.
The SF000/B can take up to 388 readings per second and the configurable features and multiple hardware
interfaces make the SF000/B easy to connect with different types of controllers.
Product support
This document supports the following devices:
Product
Hardware
Firmware
Supported
SF000/B
1
1.2.0
Yes
Revision
Date
Notes
0
17/09/2021
Initial release
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Table of contents
Overview 2
Product support 2
Table of contents 2
Specifications 5
Quickstart guide 6
Package contents 11
Hardware 12
Dimensions 12
Components 12
Optical assembly 13
Heatsink & EMI shield 13
Connectors & indicators 14
Communication cable pinout 14
Installation 15
Mounting 15
Operating concepts 17
Distance measuring 17
Parameters 18
Firmware change log 20
Upgrading firmware 20
1.2.0 20
Safety & maintenance 21
Safety overview 21
Laser eye safety 21
Electrical safety 22
Mechanical safety 22
Laser radiation information 23
Service & maintenance 23
Cleaning 23
Serial interface 24
Overview 24
Packets 25
Checksum 25
Receiving packets 27
Handling request & response 28
I2C interface 29
Overview 29
Command list 30
Command descriptions 32
0. Product name 32
1. Hardware version 32
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
2. Firmware version 32
3. Serial number 33
7. UTF8 text message 33
9. User data 33
10. Token 34
12. Save parameters 34
14. Reset 34
27. Distance output 35
30. Stream 36
44. Distance data in cm 37
45. Distance data in mm 38
50. Laser firing 39
57. Temperature 39
66. Update Rate 40
74. Noise 41
75. Zero offset 41
76. Lost signal counter 41
79. Baud rate 42
80. I2C address 43
82. Median filter enable 43
83. Median filter size 44
84. Smoothing filter enable 44
85. Smoothing factor 45
93. Rolling average enable 45
94. Rolling average size 46
Document revision 47
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Specifications
Performance
Range
0.2 … 50 m ( white wall in daylight conditions)
Resolution
1 cm
Update rate
48 … 388 readings per second
Accuracy
±10 cm
Connections
Power supply voltage
4.5 V … 5.5 V
Power supply current
100 mA
Outputs & interfaces
Serial and I2C (3.3 V TTL, 5V tolerant)
Mechanical
Dimensions
24 mm x 34 mm x 21 mm
Weight
9.7 g (excluding cables)
Optical
Laser safety
Class 1M (Refer to www. lightware.co.za/safety for full details)
Optical aperture
10 mm
Beam divergence
< 1°
Environmental
Operating temperature
-10 ... +40°C
Shipping Temperature
- 40 … + 80 °C
Approvals
FDA: 1710193-000 (2020/09)
Enclosure rating
N/A
Accessories
Main cable
Digikey: 455-3238-ND
Breakout board
SKU: ACC.BOB.000
USB adaptor
SKU: ACC.USB.000
Default settings
Serial port settings
115200 baud, 8 data bits, 1 stop bit, no parity, no handshaking
I2C address
0x66 (Hex), 102 (Dec)
Update rate
40 readings per second
Main cable connections
1
Servo driver
2
SDA (I2C data line must be used with pin 4)
3
TXD/SCL (Serial/I2C)
4
RXD/SDA (Serial/I2C)
5
GND
6
+5V (4.5V - 5V operating range)
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Quickstart guide
LightWare Studio is an application (available for Windows, macOS, and Linux) that can configure, update, and
visualize data for the SF000/B.
In this guide we will use LightWare Studio to view distance data from the SF000/B.
LightWare Studio can be found here. Download the version compatible with your operating system and proceed
with installation. You can safely install over an existing version of LightWare Studio if you are upgrading.
Insert the communication cable into the SF000/B and a serial to USB adaptor**.
You will need a serial to USB adaptor to connect the SF000/B to a computer. Any serial TTL 3.3 V USB adaptor will
work, this guide uses one available from LightWare LLC here.
SF000/B being connected to a USB adaptor
Insert the USB adaptor into your computer.
The power LED on the back of the SF000/B will light up when the USB adaptor has been connected to a computer.
**USB adapter sold separately.
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
SF000/B power LED
Windows users: Please wait for Windows to install the generic communication driver after connecting the SF000/B
for the first time.
Run LightWare Studio. You will be presented with a home screen that shows devices connected to your computer.
Your USB adaptor will be recognized and displayed here.
LightWare Studio device connection screen
You can register your device by clicking on the Register to receive firmware update notifications banner.
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Click on the USB adaptor to establish a connection. From here you can access tools to inspect and configure the
SF000/B.
LightWare Studio device information screen
Click on the Upgrade tool in the left panel. It is recommended to make sure your SF000/B has the latest firmware.
You can see the changes that have been made to each version, and the option of downgrading is also available. If
you choose to upgrade, then click the Install button and follow the instructions.
LightWare Studio device upgrade screen
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Click the Distance tool in the left panel. This tool shows you distance readings gathered by the SF000/B. Feel free to
point the SF000/B at various surfaces to measure their distances.
LightWare Studio SF000/B scanning screen
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Parameters are shown in the panel on the top right of the LightWare Studio window. Modify these parameters to
fit your application.
LightWare Studio SF000/B scanning parameters
For a detailed breakdown on what the parameters do and how they affect the operation of the SF000/B, see the
operating concepts section.
What's next?
The next step is to integrate the SF000/B into your platform of choice. Please follow one of the integration guides,
or consult the communication protocol reference for building your own system to interact with the SF000/B.
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Package contents
The SF000/B box includes:
1 x SF000/B MicroLiDAR unit 1 x SF000/B mounting bracket
2 x Communication cable (Digikey: 455-3238-ND) 5 x M3 x 12 SS Cap Screw
5 x M3 SS Hex Nut 5 x M3 SS Washer
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Optical assembly
The optical assembly is comprised of the laser and receiver lenses.
SF000/B optical assembly
Heatsink & EMI shield
The shield lowers EMI radiation entering or leaving the SF000/B. It also acts as a heatsink to draw heat away from
the SF000/B.
SF000/B shield
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Connectors & indicators
SF000/B connectors & indicators
Communication cable pinout
Communication cable (Digikey: 455-3238-ND) pinout
Pin
Function
Notes
1
Servo driver
2
SDA
I2C data line (must be used with pin 4)
3
TXD/SCL
TXD when using Serial, SCL when using I2C.
4
RXD/SDA
RXD when using Serial, SDA when using I2C.
5
GND
6
+5 V
4.5 V ... 5.5 V, 100 mA (typical).
Please note that when connecting to the device using I2C, both pins 2 and 4 need to be used together as the SDA
line.
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Installation
Mounting
Make sure the SF000/B is functional before installation. You can use LightWare Studio to verify operation. See the
quick start with LightWare Studio for details.
The SF000/B requires a clear line-of-sight to measure distance to a target surface. It can be mounted with a vertical
or horizontal lens orientation.
SF000/B mounting orientations
The SF000/B can be mounted in a downward facing orientation for altimetry, terrain following or precision landing
applications. For terrain following, install the LiDar sensor at an angle to reduce lag time in reaction. The angle
depends on the speed traveled, and the overall system lag, but should be between 20 and 45 degrees. The SF000/B
can be mounted forward facing orientation for sense-and-avoid or position-hold applications.
SF000/B mounting directions
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
The SF000/B includes a mounting bracket and mounting hardware which can be used to securely attach the LiDAR
to the required surface.
Mounting bracket installed onto the SF000/B
Take note:
●Make sure the SF000/B is securely mounted to prevent false readings or damage.
●Allow for proper ventilation.
●Secure the communication cable to prevent it from pulling on the connector.
Ensure that nothing is in the path of the laser beam. Ensure that no shiny or highly reflective surfaces are near the
path of the beam.
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Operating concepts
Distance measuring
The SF000/B is a single point distance measuring LiDAR. It uses time of flight technology to determine the distance
of a target at a configurable update rate of 48 Hz to 388 Hz.
The SF000/B can be connected to a host controller with the serial or I2C interface. The serial port (3.3 V logic level, 5
V tolerant) has a configurable baud rate. The I2C serial bus (3.3 V logic level and 3.3 k pull up resistors, 5 V tolerant)
has a configurable address and is an alternative to the serial port when multiple devices are connected on a
common bus.
LightWare Studio showing measurements from the SF000/B
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Parameters
SF000/B parameters can be adjusted with LightWare Studio or from the platform of your choice through the serial
or I2C communication interfaces.
LightWare Studio parameters screen
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Serial port baud rate
Controls the baud rate used by the serial UART interface in kbps.
(The baud rate should be as high as possible to accommodate high measurement update rates.)
I2C address
The address used to communicate on the I2C bus.
Startup mode
Determines the communication behaviour of the SF000/B when turned on.
Update rate
The number of measurements per second. From 48 Hz to 388 Hz.
Zero distance offset
An offset applied to the measured distance value.
Lost signal threshold
The number of failed measurements before a loss of signal is reported.
Enable median filter
The median filter is used to disregard short unwanted measurements.
Median filter size
Determines response time of median filter.
Enable rolling average filter
The rolling average filter averages over a specified number of distance measurements.
Rolling average size
The number of distance measurements to use for the rolling average filter.
Enable smoothing filter
The smoothing filter is used to remove noise from the measurements.
Smoothing filter strength
Determines response of the smoothing filter.
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
SF000 LiDAR Sensor
Product guide
Firmware change log
Upgrading firmware
The SF000/B firmware can be upgraded by using LightWare Studio. Download LightWare Studio here.
Follow the Quick start with LightWare Studio guide for details on downloading and using LightWare Studio.
1.2.0
Notes:
●Initial release.
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SF000 microLiDAR™ sensor - Product guide(Rev 5) | © LightWare Optoelectronics (Pty) Ltd, 2021 | www.lightwarelidar.com
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