Lightware SF30/B User manual

SF30 Accelerated laser rangefinder
Product manual
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High speed laser
altimeter for
accurate mapping
and obstacle
detection.
Features:
•Update rate of 20K readings per second
•Accurate, reliable measurements unaffected by speed, wind, changes
in barometric pressure, noise, ambient light, terrain, or air temperature
•Configurable to measure distance or speed
•Serial port, analog voltage, alarm and USB interfaces
•Fully calibrated and ready to run

SF30 Accelerated laser rangefinder
Product manual
Table of contents
Table of figures
Figure 1 :: The main features of the SF30 3...............................................................................................................
Figure 2 :: LightWare Terminal showing menu options 5................................................................................................
Figure 3 :: Power from the USB port 7.....................................................................................................................
Figure 4 :: Regulated +5 V DC power supply connections 7.............................................................................................
Figure 5 :: USB communications 8..........................................................................................................................
Figure 6 :: Serial interface connections 9..................................................................................................................
Figure 7 :: Analog voltage connections 10.................................................................................................................
Figure 8 :: Alarm interface connections 11................................................................................................................
Figure 9 :: Labelling on the SF30 12........................................................................................................................
Figure 10 :: Dimension drawings of the SF30 13..........................................................................................................
Product ordering codes
!
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
the accuracy of the information contained herein.
Product ordering codes 2.....................................................................................................................................
1. Overview 3.................................................................................................................................................
2. Specifications of the SF30 4.............................................................................................................................
3. Quick start guide 5.......................................................................................................................................
4. Powering up the SF30 7..................................................................................................................................
5. Communicating with the USB port 8...................................................................................................................
6. System configuration 8...................................................................................................................................
7. Communicating with the serial port 9.................................................................................................................
8. The analog voltage interface 10........................................................................................................................
9. The alarm interface 11...................................................................................................................................
10. USB port settings 11......................................................................................................................................
11. Instructions for safe use 12.............................................................................................................................
Appendix A :: Dimensions 13.................................................................................................................................
Appendix B :: Main cable type 1, 35 cm 13.................................................................................................................
Revision history 14..............................................................................................................................................
Model family
Model name
Model description
SF30
SF30/B (50 m)
Laser altimeter, max 50 m
SF30
SF30/C (100 m)
Laser altimeter, max 100 m
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SF30 Accelerated laser rangefinder
Product manual
1. Overview
!
The SF30 high speed laser rangefinder is designed to detect obstacles or create maps from moving ground-based or arial vehicles.
Using a time-of-flight system to make very fast and accurate distance and speed measurements, accuracy is not affected by the
colour or texture of the surface, nor the angle of incidence of the laser beam. The SF30 is virtually immune to background light,
wind and noise, making it an ideal sensor to detect unexpected obstacles.
The SF30 can take up to 20010 readings per second and can be incorporated into scanning systems to create 2D SLAM maps or 3D
images. The configurable features and multiple hardware interfaces make the SF30 easy to connect with different types of
controllers.
Operating from a regulated 5 V DC supply, the SF30 includes serial port, analog voltage, alarm and USB interfaces that can be easily
connected to a flight controller or a standard processing platform. Each interface on the SF30 can be configured using a simple
software menu that is accessible through the built-in, micro-B USB port. The interfaces are as follows:
Serial port: Provides distance readings and other communications to an embedded host controller
Analog port: An analog voltage proportional to the distance reading
Alarm: A logic level signal that warns when the distance measured is below a preset value
USB port: Connects to a Terminal application for alarm set-point, update rate and exposure time customisation.
Readings can be taken as isolated “snapshots” at a moment determined by the update rate and exposure time settings, or they can
be combined using a digital filter into a smoothed time series. At the full speed of 20010 readings per second, a single flash of laser
light is used to take a measurement. The synchronisation signal marks the instant of the laser flash ensuring that the time of the
measurement is known precisely.
There are two members of the SF30 family: the SF30/B has a maximum measuring range of 50 meters; and the SF30/C has a
maximum measuring range of 100 meters.
Figure 1 :: The main features of the SF30
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SF30 Accelerated laser rangefinder
Product manual
2. Specifications of the SF30
SF30/B (50 m)
SF30/C (100 m)
Range
0.2 … 50 meters (natural targets)
0.2 … 175 meters (reflective targets)
0.2 … 100 meters (natural targets)
0.2 … 175 meters (reflective targets)
Resolution
1 cm
1 cm
Update rate
20010 readings per second (max)
20010 readings per second (max)
Accuracy
±0.10 meters (70% reflective target @ 20°C)
±0.10 meters (70% reflective target @ 20°C)
Power supply voltage
5.0 V ± 0.5 V DC
5.0 V ± 0.5 V DC
Power supply current
250 mA (maximum)
250 mA (maximum)
Outputs & interfaces
USB, serial & analog
USB, serial & analog
Dimensions
30 x 56.5 x 50 millimeters
30 x 56.5 x 50 millimeters
Weight
35 grams (excluding cables)
35 grams (excluding cables)
Connections
Plug & socket, micro USB
Plug & socket, micro USB
Laser power
20 W (peak), <11 mW (average), Class 1M
20 W (peak), <18 mW (average), Class 1M
Optical aperture
51 millimeters
51 millimeters
Beam divergence
0.2°
0.2°
Operating temp.
0 ... 40°C
0 ... 40°C
Approvals
FDA: 1410968-002 (2018/09)
FDA: 1410968-002 (2018/09)
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SF30 Accelerated laser rangefinder
Product manual
!
3. Quick start guide
3. CAUTION - The SF30 laser rangefinder contains a laser and should never be aimed at a person or an animal. Do not look
at the beam directly with optical instruments.
4. Download LightWare Terminal software from www.lightware.co.za > Library onto your PC. Open the installer package
and follow the installation instructions. Everything needed for communicating with SF30 will automatically be installed.
5. Plug the “micro-B to type A” USB cable provided into the SF30’s micro USB connector and connect the other end to your
PC. This provides both power and communication to the unit.
6. Start the LightWare Terminal software and click the “Connect” icon to open a communications port.
7. If the connection isn’t made automatically, click the “Laser” icon and select the correct USB port from the list shown.
8. Press the <SPACE> key to display the main menu. This menu includes a list of all the settings that can be changed in
the SF30.
9. Menu item number “1: Output type” selects which port will output the distance data. The value toggles between
“Serial” and “USB”. Set this to “USB” by pressing the <1> key.
10. Press the <SPACE> key to start taking distance measurements. The results will be displayed in the Terminal window.
11. Information regarding the other menu items, and how to use them for your application, is contained in the body of this
manual.
12. Press the “Disconnect” icon before unplugging the USB cable.
!
!
Figure 2 :: LightWare Terminal showing menu options
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SF30 Accelerated laser rangefinder
Product manual
!
A summary of the settings available through the USB port is given in the table below:
Setting
Values
Description
1: Output type
Distance over USB
Distance and strength over USB
Distance over serial
Analog voltage over USB
Selects the serial or USB port to output distance data.
2: Exposure time
20010 readings / sec
10005 readings / sec
5002 readings / sec
2501 readings / sec
1250 readings / sec
625 readings / sec
312 readings / sec
156 readings / sec
78 readings / sec
39 readings / sec
Selects the period of time the SF30 will use to capture
a single distance measurement. The shorter the
exposure time, the higher the update frequency.
3: USB port output rate
39 … 625 readings / sec
Set the rate at which new results are output from the
USB port when it is selected using “1: Output type”.
The maximum value is limited to 625 readings per
second, or the exposure time - whichever is smaller.
4: Serial port baud rate
9600 … 1440000 bps
Selects the baud rate for the serial port.
5: Serial port output rate
39 … 20010 readings / sec
Sets the rate at which new results are output from the
serial port when it is selected using “1: Output type”.
If the chosen serial baud rate is too low then this value
will be limited.
The maximum value is limited to the “2: Exposure
time” setting.
6: Analog range
1 m … 256 m
Selects the maximum distance that produces 2.048 V on
the analog port. This value changes the scale of the
analog output.
7: Analog port output rate
39 … 20010 readings / sec
Sets the rate at which the analog port is updated with
distance readings.
The maximum value is limited to the “2: Exposure
time” setting.
8: Alarm activation distance
0.5 m … 254 m
Sets the distance below which the alarm signal will
change to a low state.
9: Alarm hysteresis
0.06 m … 50 m
The distance the reading needs to travel from the “8:
Alarm activation distance”!before the alarm is
activated or deactivated.
A: Alarm latch
ON or OFF
Enables the alarm signal latch. This keeps the alarm in
the active low state after an alarm event until it is
cleared by sending “X” over the USB port.
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SF30 Accelerated laser rangefinder
Product manual
4. Powering up the SF30
The SF30 gets power from either a regulated +5 V DC supply on the main connector or via the USB port when it is connected to a PC.
There are a number of digital and analog interfaces on the main connector and either one or a combination of interfaces may be
connected to a host controller. The built-in micro-B USB port can be used to input settings and to test the performance of the SF30.
Power supply option 1: USB
The SF30 can be powered directly from the USB port of a PC or laptop. This is particularly useful for testing the SF30 before it is
installed in your system and also for changing the settings in readiness for the final application.
Figure 3 :: Power from the USB port
Power supply option 2: Regulated +5 V DC
The second power supply option is to connect a regulated voltage of 5 ± 10% V DC to the main connector. If the power wires are more
than 30 cm long, we recommend using a 100uF, 6.3V decoupling capacitor, or other noise suppression components to reduce the
chance interference being picked up or transmitted by the wires.
Figure 4 :: Regulated +5 V DC power supply connections
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SF30 Accelerated laser rangefinder
Product manual
5. Communicating with the USB port
The SF30 has a micro-B USB port that can be used to communicate with LightWare Terminal software on a PC. This connection also
gives power to the unit providing a quick way to test and configure the SF30. The LightWare Terminal software will automatically
detect the USB port that is connected to the SF30 and communications can be established by clicking on the “Connect” icon. If more
than one compatible device is present, click the “Laser” icon to select which USB port should be active.
Figure 5 :: USB communications
Once communication has been established, settings can be changed by pressing the <SPACE> key to access the menu and then
selecting the menu item that needs changing. Pressing the <SPACE> key again restarts the measuring process. The results outputted
during measuring include the distance, the analog voltage and the alarm status. More details of the menu items are discussed in the
sections that follow.
If you want to use a different serial emulation program then the USB serial protocol should be set to 115200 baud with 8 data bits, 1
stop bit and no parity or handshaking (8N1). All communications are in standard ASCII format.
6. System configuration
There are two settings that provide the overall system configuration for the SF30 and these affect the behaviour of each of the
interfaces.
The “1: Output type” selection directs the results to one of the two available data ports, either the serial port or the USB port. Only
one of these ports can be active at a time.
USB option: When connected to a PC with the USB cable, it is convenient to have the results displaying in the Terminal window.
Results are available in the following formats: distance in m; distance plus signal strength or analog voltage. The results from the
analog port are displayed continuously while the SF30 is running.
Serial option: When connected to a host controller the results should be directed to the serial port. The enu system is still available
using the USB port but readings (distance in m or speed in m/s) will not be displayed when the SF30 is running.
The “2: Exposure time” selection affects the way that distance readings are taken and presented to the output ports.
Exposure time controls how long a single measurement gathers data for its result. The SF30 always fires 20010 laser shots per
second, and it will use as many of these shots per result as the exposure time allows. For example, if the exposure time is set to ~50
microseconds then there is only enough time to use a single shot per result. This can be desired when your target is fast moving and
you do not want to risk 'blurring' the result by hitting other targets during the same exposure time. Likewise, by increasing the
exposure time you increase the amount of information which can be used to improve accuracy at range, and filter out noisy results.
Setting
Values
Description
1: Output type
Distance over USB
Distance and strength over USB
Distance over serial
Analog voltage over USB
Selects the serial or USB port to output distance data.
2: Exposure time
20010 readings / sec
10005 readings / sec
5002 readings / sec
2501 readings / sec
1250 readings / sec
625 readings / sec
312 readings / sec
156 readings / sec
78 readings / sec
39 readings / sec
Selects the period of time the SF30 will use to capture a single distance
measurement. The shorter the exposure time, the higher the update
frequency.
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SF30 Accelerated laser rangefinder
Product manual
The USB, serial, and analog output rates are decoupled from the exposure time setting. For example, you can still run with an
exposure time of ~50 microseconds, but only output at 40 results per second on the USB port. Each of these results will be made up
of a single laser shot, but by limiting the output you don't need to process all 20010 shots on your host controller.
7. Communicating with the serial port
The serial port is used to transmit distance readings to an embedded host processor such as the flight controller in a UAV. The
hardware interface uses 3.3 V logic levels and can be connected directly to any similar, compatible interface. The serial port
protocol should be set to 8 data bits, 1 stop bit and no parity or handshaking (8N1).
Figure 6 :: Serial interface connections
Distances are output as a 2 byte binary number. You can identify which byte you are reading by looking at the most significant bit. If
the MSB is not set then you have received the low byte, if the MSB is set then you have received the high byte. The high byte is
always sent first for an individual reading. The remaining 7 bits in each byte combine to make a 14 bit distance reading in
centimetres.
Composition of a reading:
Example of converting the high and low bytes into a reading:
Reading = ((Byte_H & 0x7F) * 128) + (Byte_L & 0x7F)
The “4: Serial port baud rate” selection toggles through all the standard baud rates from 9600 to 1440000.
The “5: Serial port output rate” setting allows the output rate of the serial port to be set to any value within the limits imposed by
the exposure time. Values will also be limited by the serial port baud rate.
Byte
Description
High byte
MSB (Bit 7) set to 1.
Low byte
MSB (Bit 7) set to 0.
Reading bits
13
12
11
10
9
8
7
6
5
4
3
2
1
0
High byte bits
6
5
4
3
2
1
0
Low byte bits
6
5
4
3
2
1
0
Setting
Values
Description
4: Serial port baud rate
9600 … 1440000 bps
Selects the baud rate for the serial port.
5: Serial port output rate
39 … 20010 readings / sec
Sets the rate at which new results are output from the serial port when
it is selected using “1: Output type”.
If the chosen serial baud rate is too low then this value will be limited.
The maximum value is limited to the “2: Exposure time” setting.
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SF30 Accelerated laser rangefinder
Product manual
8. The analog voltage interface
The analog interface on the main connector produces a linear voltage of between 0.00 V and 2.048 V that is proportional to the
measured distance. A distance reading of zero meters always produces a 0 V output.
Figure 7 :: Analog voltage connections
The “6: Analog range” selection changes the value in meters that equates to 2.048 V. This can be any value between 1 meter and 256
meters depending upon the requirements of the application.
The “7: Analog port output rate” setting allows the output rate of the analog port to be set to any value within the limits imposed by
the exposure time.
Setting
Values
Description
6: Analog range
1 m … 256 m
Selects the maximum distance that produces 2.048 V on the analog
port. This value changes the scale of the analog output.
7: Analog port output rate
39 … 20010 readings / sec
Sets the rate at which the analog port is updated with distance
readings.
The maximum value is limited to the “2: Exposure time” setting.
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SF30 Accelerated laser rangefinder
Product manual
9. The alarm interface
The alarm output is a 0 V to 3.3 V signal that becomes active low when the distance reading falls below a preset distance. The
distance value used to calculate the alarm state is taken from the analog port settings. However, the maximum range selection of
the analog port does not limit the operational range of the alarm.
Figure 8 :: Alarm interface connections
The “8: Alarm activation distance” setting determines the distance below which the alarm signal becomes active (low).
The “9: Alarm hysteresis” setting determines how far the distance needs to travel over the activation distance in order to change
state from activated to deactivated or deactivated to activated.
The “A: Alarm latch” selection turns on or off a latching function that keeps the alarm in an active state until a reset command is
received. The reset can be initiated from the USB port by sending an X.
10. USB port settings
The “9: USB port update rate” setting allows the user to adjust the update rate of the distance readings to make them more
readable in the Terminal window.
Setting
Values
Description
8: Alarm activation distance
0.5 m … 254 m
Sets the distance below which the alarm signal will change to a low state.
9: Alarm hysteresis
0.06 m … 50 m
The distance the reading needs to travel from the “8: Alarm activation
distance"!before the alarm is activated or deactivated.
A: Alarm latch
ON or OFF
Enables the alarm signal latch. This keeps the alarm in the active low state after
an alarm event until it is cleared by sending “X” over the USB port.
Setting
Values
Description
3: USB port output rate
39 … 625 readings / sec
Set the rate at which new results are output from the USB port when it is
selected using “1: Output type”.
The maximum value is limited to 625 readings per second, or the exposure
time - whichever is smaller.
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SF30 Accelerated laser rangefinder
Product manual
11. Instructions for safe use
The SF30 is a laser rangefinder that emits ionizing laser radiation. The level of the laser emission is Class 1M which indicates that
the laser beam is safe to look at with the unaided eye but must not be viewed using binoculars or other optical devices at a distance
of less than 15 meters. Notwithstanding the safety rating, avoid looking into the beam and switch the unit off when working in the
area.
CAUTION -- The use of optical instruments with this product will increase eye hazard.
The SF30 should not be disassembled or modified in any way. The laser eye safety rating depends on the mechanical integrity of the
optics and electronics so if these are damaged do not continue using the SF30. There are no user serviceable parts and maintenance
or repair must only be carried out by the manufacturer or a qualified service agent.
No regular maintenance is required for the SF30 but if the lenses start to collect dust then they may be wiped with suitable lens
cleaning materials. Make sure that the SF30 is switched OFF before looking into the lenses.
The SF30 should be mounted using the four holes provided in the circuit board. Do not hold or clamp the lens tubes as this may cause
damage and adversely affect the laser safety rating.
Laser radiation information and labels
Figure 9 :: Labelling on the SF30
Specification
Value / AEL
Notes
Laser wavelength
905 nm
Pulse width
< 20 ns
Pulse frequency
< 36 kHz
Peak power
< 10 W
50 millimeter aperture at 2 meters
Average power
< 0.6 mW
7 millimeter aperture
Average energy per pulse
< 300 nj
NOHD
15 m
Distance beyond which binoculars with may be used safely
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SF30 Accelerated laser rangefinder
Product manual
Appendix A :: Dimensions
Figure 10 :: Dimension drawings of the SF30
Appendix B :: Main cable type 1, 35 cm
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SF30 Accelerated laser rangefinder
Product manual
Revision history
Version
Date
Author
Comments
Rev 8
2018/12/10
TLP
Updated branding and layout of this document has resulted in page number changes to!
previous revision history entries.!
Update the maximum readings per second from “18317” to “20010” (pages 3, 4, 6, 8, 9,
10). Removed the sentence “Both SF30 models have settings to smooth the distance
measurements if higher resolution is required or use the raw results if higher speed is
needed.” (page 3). Update the FDA accession number “1410968-002 (2018/09)” in “2.
Specifications of the SF30” (page 4). Update the minimum range of “0.2” in “2.
Specifications of the SF30” (page 4). Updated references to the settings available
through the USB port. Removed references to “Synchronisation” logic level signal from
copy and Illustrations.
Rev 7
2016/09/13
TLP
Updated FDA accession number “1630995-000 (2016/09)” in “Appendix A ::
Specifications” (page 14). Update maximum update rate from “18316” to “18317”
readings per second (pages 1, 3, 5, 8, 10, 11, 12, 14). Update rate modified from
“2289” to “1665” readings per second (pages 5, 8, 10, 11). Update rate modified from
“1144” to “832” readings per second (pages 5, 12).
Rev 6
2016/01/29
TLP
Update FDA accession number “1410968-002 (2016/01)” in “Appendix A ::
Specifications” (page 14).
Rev 5
2015/12/17
TLP
Updates to this document revision are applicable from SF30/* SN: S30-00491, firmware
revision 7.0. Update rate modified from “36633” to “18316” readings per second (pages
1, 3, 5, 8, 10, 11, 12, 14). Amended the “1: Active data port” values available (pages 5,
7). Amended references of “2: Snapshot resolution” to “2: Resolution / Smoothing
filter” (pages 5, 7, 8, 11). Amended the “2: Resolution / Smoothing filter” values
available (pages 5, 7, 10). Updated the lowest resolution to 0.25 m (pages 5, 8, 10, 11,
14). Amended references to serial port transmitting two bytes at all update rates (pages
8, 10). Add serial port command “#pn:” (page 10). Updated the resolution and update
rate in “Appendix A :: Specifications” (page 14). Amended the values relating to the
relationship between update rate and resolution (pages 5, 8, 10, 11). Noted that the
speed function is active only when the resolution is set to “0.03 m” or
“Smoothed” (pages 5, 7).
Rev 4
2015/11/09
TLP
The amendments to this manual are applicable to SF30 serial numbers “SF30-00470”
onwards. Reformatted the “8: Alarm latch” command “#X:” to “#X” (pages 5, 10, 12).
Added new serial commands “N” and “Y” (page 10). Added new keyboard “hotkeys”
<X>, <Y> and <N> (page 12). Updated the minimum update rate for the serial, analog
and USB ports to 1 reading per second (pages 5, 8, 10, 12). Decrease the minimum
alarm activation distance to 0.5 meters (pages 5, 10). Amended details of the serial and
USB protocol to “8 data bits” and “8N1” (pages 7, 8). Amended details regarding USB
outputs at different update rates (page 7).
Rev 3
2015/09/23
TLP
Reformatted the “8: Alarm latch” command “#X:” (pages 5, 10).
Rev 2
2015/09/18
TLP
Update FDA accession number “FDA: 1410968-001 (2015/09)” in “Appendix A ::
Specifications” (page 14). Updated height dimension to “56.5 mm” (page 14).
Rev 1
2015/06/09
TLP
Updated product part code “Main cable type 1, 35 cm” (page 15).
Rev 0
2015/05/12
JEP
First edition
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