Ouster OS-1-64 Installation manual
5/7/2019 OS-1 User Guide - Hardware(Draft) - Google Docs
https://docs.google.com/document/d/1dW1C6d0NyeACy_Tzxx1JJLPb-kY9JX-2Qi0MgafhBKY/edit# 1/19
OS-1-64/16 High Resolution Imaging Lidar
Hardware User Guide
5/7/2019 OS-1 User Guide - Hardware(Draft) - Google Docs
https://docs.google.com/document/d/1dW1C6d0NyeACy_Tzxx1JJLPb-kY9JX-2Qi0MgafhBKY/edit# 2/19
Table of Contents
Introduction 3
Safety & Legal Notices 4
Mechanical Interface 5
Included Components 5
Exterior Dimensions - 840_101396 (ODU-Type) Sensor 5
Exterior Dimensions - 840_101855 (Sinbon-Type) Sensor 6
Heat Sink Requirements 7
Electrical Interface 8
Interface Box 8
Direct Cable Connection 9
Drivers & Interface 11
Ethernet 11
Digital Input/Output 11
MULTIPURPOSE_IO Errata 13
Updating Firmware 14
Troubleshooting 14
Specifications 16
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1 Introduction
The OS-1 family of sensors offer a market leading combination of price, performance, reliability
and SWAP. They are designed for indoor/outdoor all-weather environments and long lifetime. As
the smallest high performance lidar on the market, the OS-1 can be directly integrated into
vehicle facias, windshield, side mirrors, and headlight clusters. The OS-1 family of sensors
consist of two models, the OS-1-16 and OS-1-64, with differing resolution, but of identical
mechanical dimensions.
HIGHLIGHTS
● Fixed resolution per frame operating mode
● Camera-like intensity, ambient, and range images
● Simultaneous and co-calibrated 2D and 3D output
● Multi-sensor crosstalk immunity
● Industry leading intrinsic calibration
●Open source drivers
For the purposes of this document, the term “OS-1” refers to the family of sensors, and only
where there is a difference in performance will each model will be referred to by its specific
model designation.
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2 Safety & Legal Notices
The OS-1-16 and OS-1-64 are Class 1 laser products per EN/IEC 60825-1:2014 and operate in
the 850nm band.
FDA 21CFR1040 Notice: OS-1-16 and OS-1-64 comply with FDA performance standards for
laser products except for deviations pursuant to Laser Notice No. 50, dated July 26th, 2001.
WARNING: The OS-1 is a sealed unit and is not user-serviceable.
Your use of the OS-1 is subject to the Terms of Sale that you signed with Ouster or your
distributor/integrator. Included in these terms is the prohibition on removing or otherwise
opening the sensor housing, inspecting the internals of the sensor, reverse-engineering any part
of the sensor, or permitting any third party to do any of the foregoing.
“Ouster” and “OS-1” are both registered trademarks of Ouster. They may not be used without
express permission from Ouster.
If you have any questions about the above points, contact us at legal@ouster.io .
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3 Mechanical Interface
3.1 Included Components
The OS-1 is shipped with the following items:
● OS-1-16 or -64 Sensor
● Sensor to interface box cable (5 m)
● Interface box
● Interface box AC/DC power supply (2 m)
● RJ45 cable (1 m)
● Heat sink (use is optional)
3.2 Exterior Dimensions - 840_101396 (ODU-Type) Sensor
The sensor has 4 x M3 mounting holes and 2 x 2.0 mm dowel pin holes
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3.3 Exterior Dimensions - 840_101855 (Sinbon-Type) Sensor
The sensor has 4 x M3 mounting holes and 2 x 2.0 mm dowel pin holes
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3.4 Heat Sink Requirements
The sensor typically consumes 14-16 Watts. The recommended T
heatsink
is < 25 ° C above
ambient -- meaning the sensor can get to 45-50 ° C with a heat sink, or even higher, without
performance degradation. A heat sink is required to achieve the full temperature spec of the
sensor, though Ouster internal testing has shown that a heat sink may not be required for use
on drones or other moderately or highly convective environments.
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4 Electrical Interface
4.1 Interface Box
The Interface Box that accompanies the OS-1 sensor is designed to allow the sensor to be
operated for test and evaluation purposes. It breaks out the OS-1 sensor cable, which is a
combination of power and ethernet, into their two constituent connectors.
It terminates the interface cable from the sensor, allows it to be powered up and provides
access to the Sensor Gigabit Ethernet Interface via a standard RJ-45 connector. DC Power to
the sensor is provided to the interface box by the accompanying 24 V DC supply.
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4.2 Direct Cable Connection
The Ouster Senor can be operating without the use of an interface box; however, Ouster is not
responsible for any errors in wiring as a result of bypassing the interface box and this activity
may result in a voiding of your warranty if it results in damage to the sensor.
Ouster Cable Pinout
For 840_101396 Sensor with ODU-Type Connector
Net Name
Deprecated Name*
Pin Number
Wire
Twisted With
MULTIPURPOSE_IO
PPS_MASTER
1
Green, 28 AWG
N/A
SYNC_IN_PULSE
PPS_SLAVE
9
White, 28 AWG
N/A
VCC_24
-
10
Red, 22 AWG
N/A
GROUND
-
5
Black, 22 AWG
N/A
TRP_1_P (Ethernet)
-
4
White/Orange, 28 AWG
Orange
TRP_1_N (Ethernet)
-
3
Orange, 28 AWG
White/Orange
TRP_2_P (Ethernet)
-
7
White/Green, 28 AWG
Green
TRP_2_N (Ethernet)
-
6
Green (twisted), 28 AWG
White/Green
TRP_3_P (Ethernet)
-
2
Blue, 28 AWG
White/Blue
TRP_3_N (Ethernet)
-
11
White/Blue, 28 AWG
Blue
TRP_4_P (Ethernet)
-
12
White/Brown, 28 AWG
Brown
TRP_4_N (Ethernet)
-
8
Brown, 28 AWG
White/Brown
* This name appears on the silkscreen layer of 840-101452-01 Interface Boxes but will be updated in future revisions.
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Ouster Cable Pinout
For 840_101855 Sensor with Sinbon-Type Connector
Net Name
Pin Number
Wire
Twisted With
MULTIPURPOSE_IO
3
Purple, 26 AWG
N/A
SYNC_IN_PULSE
2
Yellow, 26 AWG
N/A
VCC_24
1
Red, 22 AWG
N/A
GROUND
7
Black, 22 AWG
N/A
TRP_1_P (Ethernet)
5
White/Orange, 26 AWG
Orange
TRP_1_N (Ethernet)
4
Orange, 26 AWG
White/Orange
TRP_2_P (Ethernet)
8
White/Green, 26 AWG
Green
TRP_2_N (Ethernet)
6
Green, 26 AWG
White/Green
TRP_3_P (Ethernet)
9
Blue, 26 AWG
White/Blue
TRP_3_N (Ethernet)
10
White/Blue, 26 AWG
Blue
TRP_4_P (Ethernet)
12
White/Brown, 26 AWG
Brown
TRP_4_N (Ethernet)
11
Brown, 26 AWG
White/Brown
For more information on interface options, see the latest Ouster OS-X Interface Control
Document . At the time of this document release the Interface Control Document is released at
revision 1.2.0.
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5 Drivers & Interface
5.1 Ethernet
The sensor will automatically turn on, start scanning, obtain an IP address, and start taking
measurements when provided power by the Interface Box. However, it will only stream UDP
data packets after receiving a destination IP address on TCP Port 7501. Instructions can be
found in the OS-1 Software User Guide and/or Ouster’s drivers on GitHub
( https://github.com/ouster-lidar ).
NOTE: If the sensor is not connected to Gigabit Ethernet, it will stop sending data and will
output an error code. This can be caused by faulty cabling, incorrect wiring, using an older
Ethernet switch, or any system-level issue impeding a 1000Mb/s + full duplex link.
5.2 Digital Input/Output
Please note that these nets are being renamed. Interface boxes may be labeled with the
deprecated name.
●PPS_MASTER has been renamed to: MULTIPURPOSE_IO (MIO)
●PPS_SLAVE has been renamed to: SYNC_PULSE_IN
SYNC_PULSE_IN is a dedicated input channel that can be driven from “SYNC_PULSE_IN” pin
of the Interface Box. This channel expects an input pulse sequence which can be used for time
synchronization. See the OS-1 Software User Guide for more information on configuring this
input. Any references to pulse polarity in the OS-1 Software User Guide references the signal
polarity on the “SYNC_PULSE_IN” pin of the OS-1 sensor. A wide valid range of input pulses
can activate the high speed current source (10mA) on the channel’s optoisolator.
SYNC_PULSE_IN Interface Requirements
Parameter
Min Voltage
Max Voltage
Min Driver Current
LOGIC LOW*
0 V
1 V
-
LOGIC HIGH*
1.7 V
15 V
10 mA
*Tested with 2m cable interface box connection at 2MHz
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MULTIPURPOSE_IO (MIO) is a configurable input or output channel connected to the
“MULTIPURPOSE_IO” pin of the Interface Box. Detailed information on how to configure this
channel using the Ouster Sensor TCP interface can be found in the OS-1 Software User Guide .
By default this channel is disabled.
● When configured in OUTPUT mode, this channel sends a pulse sequence which can be
used for time synchronization or event triggering outside the Ouster Sensor. For a full
description of output pulse triggering options, see the OS-1 Software User Guide . This
output is an opto-isolated open collector circuit, relying on an externally provided pull-up
resistor. This resistor is not provided on the Ouster Interface Box.
MULTIPURPOSE_IO - OUTPUT Interface Requirements
Parameter
Min
Max
Pull Up Voltage*
-
15 V
Sinking current*
-
25mA
*Output is an opto-isolated open collector. However current OS-1 units have an earlier
version of this port which requires an external circuit to utilize this port in output mode. See
the below “MULTIPURPOSE_IO ERRATA” section for more details.
● When configured in INPUT mode, this channel can accept a standard NMEA $GPRMC
UART message. These messages are a common way for GPS systems to share
timestamp information in UTC allowing the Ouster Sensor to synchronize with GPS time.
More information on this packet structure and supported baud rates can be found in the
OS-1 Software User Guide .
MULTIPURPOSE_IO - INPUT Interface Requirements
Parameter
Min Voltage
Max Voltage
Min Driver Current
LOGIC LOW*
0 V
1 V
-
LOGIC HIGH*
1.7 V
15 V
10 mA
*Tested with 2m cable interface box connection at 2MHz
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5.3 MULTIPURPOSE_IO Errata
Current OS-1 sensors have an require an external compensation circuit when the
MULTIPURPOSE_IO port is configured as an OUTPUT. Without this circuit, the resulting
waveform is low amplitude pulse train regardless of pull up voltage. The following example
circuit can correct the output waveform. Captured screenshot fixes pulse train to be of amplitude
3.3V as example circuit specified. An upcoming hardware fix will eliminate the need for this
buffer circuit.
Buffer circuit fix for MULTIPURPOSE_IO in OUTPUT mode:
MULTIPURPOSE_IO - OUTPUT Buffer Circuit Example
Parameter
MIO IN
SYNC_PULSE_OUT_MODE
SYNC_PULSE_OUT_MODE_WITH
_CORRECTED_AMPLITUDE
Example Waveform
LOGIC LOW
0 V
0 V
Example Waveform
LOGIC HIGH
1.2 V
3.3 V
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6 Updating Firmware
Sensor firmware can be updated with an Ouster-provided firmware file from
www.ouster.io/downloads (or directly from the deployment engineering team) by accessing the
sensor over http - e.g. http://os1-991900123456.local/ and uploading the file as prompted.
Always check your firmware version before attempting an update. Only update to a equal or
higher version number. Do not roll back firmware to lower numbered versions without having
been instructed to do so by Ouster deployment engineering.
7 Troubleshooting
Starting from FW v1.11, the sensor HTTP server page http://os1-991900123456.local/ has
Home , Diagnostics , Documentation and Reset Configuration buttons:
●Home : Current page that lists some basic sensor information, and allows sensor
firmware upgrade.
●Diagnostics : Diagnostic information and system journal that can be downloaded and
included when contacting Ouster for service.
●Documentation : Sensor User Guide
●Reset Configuration : Sensor factory configuration that can be reset to if desired.
This will erase any custom configuration that you set on the sensor previously.
To check for hardware errors, use the get_sensor_info command as described above.
If the watchdog is triggered (various temperatures limits exceeded, uplink/downlink status), an
error code (up to 8) will be appended to the end of TCP command get_sensor_info. The sensor
has an 8 deep buffer that will record the first 8 errors detected by the sensor with the code itself,
timestamp, and an info field (temperature that caused it to trip for temp failures, true/false for
uplink/downlink).
Do not attempt to open or repair the sensor yourself. Opening or tampering with the sensor is a
violation of the Ouster Terms of Sale and will result in voiding of your warranty.
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● Check power and Ethernet connections the Interface Box.
● Power cycle the sensor.
If you are still having trouble with your sensor, call us at 1-415-594-4032 ext. 444 or email us at
support@ouster.io .
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8 Specifications
OPTICAL PERFORMANCE
Range
0.8 m - 120 m @ 80% reflective lambertian target, 100
klx sunlight, false positive rate of 1/10,000
0.8 m - 40 m @ 10% reflective lambertian target, 100
klx sunlight, false positive rate of 1/10,000
Range Accuracy
Zero bias for lambertian targets, slight bias for
retroreflectors
Range Resolution
1.2 cm
Range Repeatability
SNR = 100: ± 3 cm - 1 sigma
SNR = 12: ± 10 cm - 1 sigma
Vertical Resolution
OS-1-64: 64
OS-1-16: 16
Horizontal Resolution
512-2048 (configurable)
Field of View
Vertical: +16.6° to -16.6° (33.2°)
OS-1-64: uniform spacing
OS-1-16: multiple options, including uniform spacing,
tight around the horizon, and below the horizon
Horizontal: 360°
Angular Sampling Accuracy
Vertical: ±0.01° / Horizontal: ±0.01°
Rotation Rate
10 to 20 Hz (configurable)
# of Returns
1 (strongest)
LASER
Laser Product Class
Class 1 eye-safe per IEC/EN 60825-1: 2014
Maximum output of Laser radiation
< 100𝜇J
Laser Wavelength
850 nm
Beam Diameter Exiting Sensor
10 mm
Laser Pulse Width (FWHM)
8 ns
Beam Divergence
0.13° (FWHM)
LIDAR OUTPUT
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Connection
UDP over gigabit ethernet
Point Per Second
OS-1-64: 1,310,720
OS-1-16: 327,680
Data Per Point
Range, intensity, ambient, reflectivity, angle, timestamp
Timestamp Resolution
10 ns
Data Latency
< 10 ms
IMU OUTPUT
Connection
UDP over gigabit ethernet
Samples Per Second
1,000
Data Per Sample
3-axis gyro, 3-axis accelerometer
Timestamp Resolution
10 ns
Data Latency
< 10 ms
CONTROL INTERFACE
Connection
TCP over gigabit ethernet
Time Synchronization
Input sources:
● IEEE 1588 precision time protocol
● External PPS
● Internal 10 ppm drift clock
Output sources:
● Configurable 1-60 Hz output pulse
Lidar Operating Modes
Hardware triggered angle firing:
OS-1-64
● 64 ⨉ 2048 @ 10hz
● 64 ⨉ 1024 @ 20hz
● 64 ⨉ 1024 @ 10hz
● 64 ⨉ 512 @ 20hz
● 64 ⨉ 512 @ 10hz
OS-1-16
● 16 ⨉ 2048 @ 10hz
● 16 ⨉ 1024 @ 20hz
● 16 ⨉ 1024 @ 10hz
● 16 ⨉ 512 @ 20hz
● 16 ⨉ 512 @ 10hz
Each 50% the total number of points gathered is
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reduced. E.g., from 2048x10 to 1024x10, extends
range by 15-20%.
Fixed timing firing:
● Configurable measurement period between 50 µsec
and 1 sec and spin rates between 5 and 20hz.
Additional Programmability
Multi-sensor rotation phase tuning
Query-able intrinsic calibration information:
● Beam angles
● IMU pose correction matrix
MECHANICAL/ELECTRICAL
Power Consumption
14-16 W typical, 18 W peak
Operating Voltage
22-26 V, 24 V nominal
Connector
Proprietary pluggable connector (Power + data + DIO)
Dimensions
Diameter: 85 mm (3.34 in)
Height: 73 mm (2.87 in)
Weight
380 g (13.4 oz)
Mounting
4 x M3 screws / 2 locating 3 mm pins
OPERATIONAL
Operating Temperature
-20° C to +50° C with specified heat sink
Storage Temperature
-40° C to +105° C
Ingress
IP67
Shock
500 m/s
2
amplitude, 11 ms Half Sine
Vibration
10 Hz to 1,000 Hz, 3 Grms
Compliance
●Laser Safety:
○ IEC/EN 60825-1:2014 Class 1
○ US 21CFR1040: Complies with FDA performance
standards for laser products except for deviations
pursuant to Laser Notice No. 50, dated July 26th,
2001
●Product Safety: IEC/EN 62368-1:2014
●EMC:
○ FCC 47Cfr Part 15B, Class A
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○ EN 55032: 2012/AC: 2013, Class A
○ IEC/EN 61000-4-3,4,5,6
○ IEC/EN 61000-6-2:2005 Class A
○ IEC/EN 61000-6-4: 2007
●CE Mark: Future
● ROHS
ACCESSORIES
Included Interface Box
PolyCarb/FR4, 100 g, 75 mm ⨉ 50 mm ⨉ 25 mm (L ⨉ W
⨉ H), 2 m CAT6 cable, 24 V power adapter, 5 m sensor
cable
Optional Mount
Aluminum, 530, 100 mm ⨉ 100 mm ⨉ 20.5 mm
(L⨉W⨉H), 4⨉M8 thru holes
EXTERIOR DIMENSIONS
* Specifications are subject to change without notice.
WWW.OUSTER.IO
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