Lightware SF40/C User manual

SF40/C
Product manual
SF40/C
Product manual
SF40/C -Product manual | 1 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za
LiDAR SENSOR
IJsselburcht 26
NL - 6825 BP Arnhem
Nederland
Tel. [phone]
[e-mail]
KVK 70937338

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Table of contents
Table of contents
1. About this document
1.1. Product support
1.2. Revision history
1.3. Disclaimer
2. Firmware change log
2.1. Upgrading
2.2. 1.4.0
2.3. 1.3.0
2.4. 1.2.0
2.5. 1.1.2
2.6. 1.1.1
2.7. 1.1.0
2.8. 1.0.1
3. Safety instructions
3.1. Overview
3.2. Labeling
3.3. Laser radiation information
4. Specications
5. Functional description
5.1. Overview
5.2. Data streaming
5.3. Alarms
5.4. Virtual laser range nder
6. Hardware
6.1. Connector wiring
6.2. Mounting on an airframe
6.3. Dimension drawings
6.4. Labeling
7. Serial interface
7.1. Overview
7.2. Packets
7.3. Checksum
7.4. Receiving packets
7.5. Handling request & response
8. Command list
9. Detailed command descriptions
9.1. Product name [0]
9.2. Hardware version [1]
9.3. Firmware version [2]
9.4. Serial number [3]
9.5. UTF8 textmessage [7]
9.6. User data [9]
9.7. Token [10]
SF40/C
Product manual
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9.8. Save parameters [12]
9.9. Reset [14]
9.10. Stage rmware [16]
9.11. Commit firmware [17]
9.12. Incoming voltage [20]
9.13. Stream [30]
9.14. Distance output[48]
9.15. Laser ring [50]
9.16. Temperature [55]
9.17. Baud rate [90]
9.18. Distance [105]
9.19. Motor state [106]
9.20. Motor voltage [107]
9.21. Output rate [108]
9.22. Forward oset [109]
9.23. Revolutions [110]
9.24. Alarm state [111]
9.25. Alarm 1 [112]
9.26. Alarm 2 [113]
9.27. Alarm 3 [114]
9.28. Alarm 4 [115]
9.29. Alarm 5 [116]
9.30. Alarm 6 [117]
9.31. Alarm 7 [118]
SF40/C
Product manual
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1. About this document
1.1. Product support
This document supports the followingdevices (See Firmware change log for rmware details):
Product Hardware Firmware Supported
SF40/C 1 1.4.0 Yes
SF40/C 1 1.3.0 Yes
SF40/C 1 1.2.0 Yes
SF40/C 1 1.1.2 Yes
SF40/C 1 1.1.1 Yes
SF40/C 1 1.1.0 Yes
SF40/C 1 1.0.1 No
1.2. Revision history
Revision Date Notes
6 04/02/2019 Updated dimension drawing.
5 23/01/2019 Added change log for version V1.4.0. Updated link to Upgrader tool.
4 08/11/2018 Added change log for version V1.3.0. Updated link to Upgrader tool. Modied
command Di st ance [ 105] .
3 02/10/2018 Added change log for version V1.1.2 & V1.2.0. Updated link to Upgrader tool.
2 27/09/2018 Added change log for version V1.1.1. Command Di st ance [ 105] now shows the
correct read/writebyte count.
1 26/09/2018
Added change log for version V1.1.0. Added link/descriptionfor Upgrader tool.
Modified command Di st ance [ 105] . UpdatedFDA approval.Updated range and
height specications.
0 4/09/2018 Initial pre-release draft.
1.3. Disclaimer
Informationfound in this document is used entirely at the readerʼs own risk and whilst every eort has been made to
ensure its validity, neither LightWare Optoelectronics (Pty) Ltd norits representatives make any warranties with
respect the accuracy of the informationcontained herein.
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2. Firmware change log
2.1. Upgrading
NOTE: The Upgrader tool only supports Microsoft Windows® at this time.
1. Download the LightWare Upgrader tool here: http://support.lightware.co.za/LightWareUpgrader-1.26.0.rar
2. Unzip the downloaded leto a location on your PC.
3. Run the le Li ght WareUpgr ader . exe in the unzippedfolder.
4. Connect your LightWare device via USB to your PC.
5. Click the COM port that appears.
6. If the device is not the latest version you can click the Upgr ade buttonto begin the process.
7. Wait until the upgrade has completed successfully and click OK .
2.2. 1.4.0
Changes
Improved noise issues.
2.3. 1.3.0
Changes
Modied Di st ance [ 105] commandto reportthe closest obstacle angle in 10thsof a degree.
2.4. 1.2.0
Features
Added a minimumdistance parameter for flightcontroller compatibility mode.
2.5. 1.1.2
Fixes
Flight controller compatibility mode now correctly uses the orientation setting.
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2.6. 1.1.1
Fixes
Version 1. 1. 0 had the LWNX protocoldisabled by default.It is now active by default.
2.7. 1.1.0
Features
Modied Di st ance [ 105] commandto accept a minimumrange parameter.
Modied Di st ance [ 105] commandto outputangle toclosest distance measurement.
Less aggressive power draw on the 5V line during start-up.
Supports ightcontroller proximitydetection when disabling LWNX mode.
Fixes
The Poi nt st ar t i ndex eldof the Di st ance out put [ 48] commandnow correctlytakes the Output
r at e [ 108] intoaccount.
2.8. 1.0.1
Notes
Initial release.
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3. Safety instructions
3.1. Overview
The SF40/C is a laser rangender that emits ionizinglaser radiation.The level of the laser emission is Class 1M
which indicates that the laser beam is safe to lookat 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 owhen working in the area.
CAUTION --Theuse of optical instruments with this product will increase eye hazard.
The SF40/C should not be disassembled or modiedin any way. The laser eye safety rating depends on the
mechanical integrityof the optics and electronics so if these are damaged do not continue using the SF40/C. There
are no user serviceable parts and maintenance or repair must only be carried out by the manufacturer or a qualied
service agent.
No regular maintenance is required for the SF40/C but if the lenses start to collect dust then they may be wiped with
suitable lens cleaning materials. Make sure that the SF40/C is switched OFF before lookingintothe lenses.
The SF40/C 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 aect the laser safety rating.
3.2. Labeling
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3.3. Laser radiation information
Specication Value /AEL Notes
Eye safety classication Class 1M
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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4. Specications
SF40/C
Range 0.2 ... 100 meters (natural targets)
Revolutions per second 5.5
Resolution 3 cm
Readings per revolution 3638
Readings per second 20010
Motor power supply
voltage 12.0 V DC (+-10%)
Motor power supply current 0.5 A (max)
Laser power supply voltage 5.0 V DC (+-10%)
Outputs & interfaces Serial UART 3.3V TTL
Dimensions 70 mm (height) x 79 mm (largest diameter)
Weight 256 g
Laser power 20W (peak), 11mW (average), Class 1M
Optical aperture 51 mm
Beam divergence 0.2°
Operating temperature 0 ... 40° C
Approvals FDA: 1410968-002(2018/09)
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5. Functional description
5.1. Overview
The SF40/C uses a scanning laser rangender to measure on a 360 degree disc witha radius of 100meters.
Collected data is stored in memory and continually refreshed as the laser scans around. The speed of rotationis 5.5
revolutions per second at a resolution of +-3 cm. This data can be used to triggerpredened alarm zones, give
informationabout target distances in any direction or streamed to a host controller withselectable outputrates.
5.2. Data streaming
Measurement data accumulated by the SF40/C can be outputto a host controllerfor immediate or deferred analysis.
The rate at which data is outputcan be selected as 20010,10005, 6670 or 2001points per second.
5.3. Alarms
Seven congurable alarms zones can be set within the measuring plane to alert obstacle proximity.Each zone can
be set with an individualized alarm distance, angular width and aiming direction. Typically, one zone would cover
360 degrees around the vehicle at close range to alert when people get too close to the moving parts. Additionally, a
forward lookingalarm zone is used to detect obstacles in the direction of motion.Other alarm zones can check that
specic directions are clear of obstructionsbefore course changes are made.
The status of the alarms can be read fromthe serial port througha command or from the streaming data. Once the
SF40/C is running the alarms are updated continuously withoutthe need for any external commands.
5.4. Virtual laser range nder
The virtual laser range nder(VLRF) tool is used to ndthe distance in any direction on the measuring plane. VLRF
can assist with keeping station at a xed distance froma target or measuring how far away an obstacle is. Any
number of VLRFs can be created that aim in dierentdirections. This allows for accurate position holdingwithina
conned space and provides conrmationof GPS location using adjacent buildingsor other known structures as
reference points.
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Product manual
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