Ouster OS1-128 Instructions for use

OS1HardwareUserManual
For Rev 6 OS1 Sensors
Ouster
Dec24,2021

Contents
1 Important SafetyInformation 3
1.1 Safety&LegalNotices........................................ 3
1.2 ProperAssembly,MaintenanceandSafeUse . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 SensorCleaning............................................ 7
2 Sensor 9
2.1 Overview................................................ 9
2.2 OS1ProductModels ......................................... 9
3 MechanicalInterface 9
3.1 IncludedComponents ........................................ 9
3.2 MountingGuidelines......................................... 11
3.3 OperatingTemperatures....................................... 12
4 ElectricalInterface 12
4.1 PowerSupplyandOperatingVoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.2 ConnectionthroughtheInterfaceBox . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.3 DirectCableConnectionandPinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5 DigitalIO 14
5.1 SYNC_PULSE_IN...........................................14
5.2 MULTIPURPOSE_IO(M_IO)..................................... 16
6 OS1CADfiles 16
7 Accessories 17
7.1 Cables ................................................. 17
7.2 Interfaces ...............................................19
8 GPS/GNSS SynchronizationGuide 28
8.1 SettingupyourGPS/GNSS.....................................28
8.2 ConnectingtheHardware......................................28
8.3 ConfiguringtheOusterSensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
9 Support 31
2

1 ImportantSafetyInformation
1.1 Safety&LegalNotices
The OS1-128, OS1-64, and OS1-32 have been evaluated to be Class 1 laser products per 60825-1:
2014 (Ed. 3) andoperateinthe865nmband.
L’OS1-128,l’OS1-64,etl’OS1-32répondentauxcritèresdesproduitslaserdeclasse1,selonlanorme
IEC60825-1: 2014(3èmeédition)etémettentdansledomainedel’infrarouge,àunelongueurd’onde
de865nmenviron.
FDA 21CFR1040 Notice: OS1-128,OS1-64,and OS1-32complywithFDAperformancestandardsfor
laserproductsexceptfordeviationspursuanttoLaserNoticeNo. 56,datedJanuary19,2018.
Notice FDA 21CFR1040: L’OS1-128, l’OS1-64, et l’OS1-32 sont conformes aux exigences de perfor-
mances établies par la FDA pour les produits laser, à l’exception des écarts en application de l’avis
nº56,datédu19janvier2018.
Figure1.1: Class1LaserProduct
Figure1.2: Caution“SharpEdges”
Thefollowingsymbolsappearontheproductlabelandintheusermanualhavethefollowingmeaning.
CAUTIONS:
3

Figure1.3: Thissymbolindicatesthatthesensoremitslaserradiation.
Figure1.4: Thissymbolindicatesthepresenceofahotsurfacethatmaycauseskinburn.
TheOS1isahermeticallysealedunit,andisnonuser-serviceable.
Useofcontrols,oradjustments,orperformanceofproceduresotherthanthosespecifiedherein,
mayresultinhazardousradiationexposure.
Use of the OS1 is subject to the Terms of Sale that you agreed and signed with Ouster or your
distributor/integrator. Includedinthesetermsaretheprohibitionsof:
Removingorotherwiseopeningthesensorhousing
Inspectingtheinternalsofthesensor
Reverse-engineeringanypartofthesensor
Permittinganythirdpartytodoanyoftheforegoing
Operating the sensorwithout the attached mount that is shipped withthe sensor, or attaching
the sensor to a surface of inappropriate thermal capacity runs the risk of having the sensor
overheatundercertaincircumstances.
Thislidarsensorfeaturesamodularcapdesigntoenablemoreflexiblemountingandintegration
solutionsforthesensor.
The modular cap design increases design flexibility but it does not remove the need for ther-
mal management on top of the sensor. The attached radial cap serves an important thermal
managementpurposeandthesensorwillnotoperateproperlywithoutacap.
Operationforextendedperiodsoftimewithoutthecapwillresultinsystemerrorsandthesen-
sor overheating. The cap can be replaced with alternative solutions but it cannot be left off
altogether.
Ifyouwishtooperatethesensorwithacustommountingsolution,pleasecontactourFieldAp-
plication Team and we can answer your questions and provide guidance for achieving proper
operations.
This product emits Class 1 invisible laser radiation. The entire window is considered to be the
laseraperture. WhileClass1lasersareconsideredtobe“eyesafe”,avoidprolongeddirectview-
4

ingofthelaseranddonotuseopticalinstrumentstoviewthelaser.
Whenoperatedinanambienttemperature>40�°C,themetallicsurfacesofthesensormaybe
hot enough to potentially cause skin burn. Avoid skin contact with the sensor’s base, lid and
the heatsink when the sensor is operated under these conditions. The sensor should not be
usedin an ambient temperatureabove 50°C. The maximumsafetycertified ambient operating
temperatureis50°C.
PRECAUTIONS:
L’OS1 est une unité hermétiquement scellée, qui ne peut être entretenue ou modifiée par
l’utilisateur.
L’utilisation de commandes, de réglages, ou l’exécution de procédures autres que celles spéci-
fiéesdansleprésentdocumentpeuvententraînerdesrayonnementslaserdangereux.
L’utilisation de l’OS1 est soumise aux conditions de vente signées avec Ouster ou le distribu-
teur/intégrateur,incluantl’interdictionde:
Retirerououvrirdequelquefaçonleboîtierducapteur
Analyserlescomposantsinternesducapteur
Pratiquerlarétro-ingénieriedetouteoupartieducapteur
Autoriserunetiercepersonneàmenerlesactionslistéesci-dessus
L’utilisation du capteur sans le support (fourni avec les capteur) ou sans contact avec une sur-
faceayantdescapacitésthermiquesadéquatespeutentraînerunesurchauffeducapteurdans
certainesconditions.
Ce capteur présente une conception avec un dissipateur thermique supérieur modulaire, ceci
pourapporterplusdeflexibilitédemontageetd’intégrationaucapteur.
Cette conception modulaire augmente la flexibilité de conception mais ne supprime pas le be-
soinde dissipationthermique au-dessusdu capteur. Ledissipateurthermique radialfourniest
essentiel à une bonne gestion thermique. Le capteur ne fonctionnera pas correctement sans
cettepièce.
Uneutilisationprolongéeducapteursansledissipateurthermiquesupérieurpeutrésulteràdes
erreurs système ainsi qu’à une surchauffe du capteur pouvant aller jusqu’à son extinction. Le
dissipateurthermiquefournipeutêtreremplacéparuneautresolutiondedissipationthermique
adéquate,maisnedoitpasêtresimplementretiré.
Sivoussouhaitezutiliservotrecapteuravecune dissipation thermique personnalisée,mercide
contacternotreÉquipeSupportquipourrarépondreàvosquestionsetvousapporterlesupport
etleconseilnécessaire.
Ce produit émet un rayonnement laser invisible de classe 1. L’ouverture de sortie du laser est
constituéeparlafenêtreducapteurdanssatotalité. Mêmesileslasersdeclasse1nesontpas
considéréscommedangereuxpourlesyeux,neregardezpasdirectementlerayonnementlaser
defaçonprolongéeetn’utilisezpasd’instrumentsoptiquespourobserverlerayonnementlaser.
Lorsd’une utilisation àtempératureambiante supérieureà 40°C, la surfacemétallique ducap-
5

teur peut présenter des risques de brûlurespour la peau. Dans ces conditions, il est important
d’éviter tout contact avec la partie supérieure, la base ou le dissipateur thermique du capteur.
Le capteur ne doit pas être utilisé à une température ambiante supérieure à 50˚C. 50˚C est la
températuremaximalecertifiéed’opérationsûreducapteur.
EquipmentLabel: IncludesmodelandserialnumberandanoticethatstatestheunitisaClass1Laser
Product,isaffixedtotheundersideoftheSensorEnclosureBase. Itisonlyvisibleaftertheattached
mountwithwhichtheSensorisshipped,isremoved. ForlocationdetailspleaserefertofigureSensor
Components intheMechanicalInterfaceSection.
L’étiquettedel’équipement,comprenantlemodèle,lenumérodesérie,etlaclassificationduproduit
laser (ici, classe 1), est apposée au-dessous de la base du boîtier du capteur. Il n’est visible qu’après
avoirretirélediffuseur dechaleuraveclequel lecapteurestexpédié. L’emplacement estdécritavec
précisiondanslasectionSensor Components.
ElectromagneticCompatibility: TheOS1is an FCC47CfR 15 SubpartB device. Thisdevicecomplies
with part 15 of the FCC Rules. Operation is subject to the following conditions: (1) This device may
not cause harmful interference, and (2)this device mustaccept any interferencereceived, including
interferencethatmaycauseundesiredoperation.
“Ouster” and “OS1” are both registered trademarks of Ouster, Inc. They may not be used without
expresspermissionfromOuster,Inc.
Ifyouhaveanyquestionsabouttheabovepoints,contactusat[email protected].
1.2 ProperAssembly,MaintenanceandSafeUse
TheOS1canbeeasilysetupbyfollowingtheinstructionsoutlinedinMountingGuidelines. Anymount-
ingorientationisacceptable. Eachsensorisshippedwithanattachedmountthatcanbeusedfortest
ornormalusewithinthespecifiedoperatingconditions. Thesensormayalsobeaffixedtoanyother
user specific mount of appropriate thermal capacity. Please contact Ouster for assistance with ap-
provingtheuseofuserspecificmountingarrangements.
Any attempt to utilize the sensor outside the environmental parameters delineated in the OS1
datasheetmayresultinvoidingofthewarranty.
When power is applied, the sensor powers up and commences boot-up with the laser disabled. The
boot-upsequenceisapproximately60sinduration,afterwhichtheinternalsensoropticssubassem-
blycommencesspinning,thelaserisactivated,andtheunitoperatesinthedefault1024x10Hzmode.
Whenthesensorisrunning,andthelaserisoperating,afaintredflickeringlightmaybeseenbehind
theopticalwindow.
NotethattheOS1utilizesan865nminfraredlaserthatisonlydimlydiscernibletothenakedeye. The
sensoris fullyClass 1 eyesafe,thoughOuster strongly recommendsagainstpeering intotheoptical
windowatclose rangewhilethe sensoris operating. Oustersensorsare equipped witha multi-layer
seriesofinternalsafetyinterlockstoensurecompliancetoClass1LaserEyeSafelimits.
TheOS1isahermeticallysealedunit,andisnotuser-serviceable. Anyattempttounsealtheenclosure
hasthepotentialtoexposetheoperatortohazardouslaserradiation.
Thesensoruser interfacemaybe used toconfigure the sensortoanumberof combinations ofscan
6

ratesand resolutionsother thanthedefaultvalues of 1024x10Hz resolution. Inall availablecombi-
nations,theunithasbeenevaluatedbyanNRTLtoremainwithintheclassificationofaClass1Laser
DeviceasperIEC60825-1:2014(Ed. 3).
Assemblagecorrectet utilisation sûre
L’OS1s’installefacilementenfixantlabasesurunsupportpercéde trousconcordants,etensuivant
les instructions d’interconnexion décrites dans la section Mounting Guidelines. Toute orientation de
montage est acceptable. Chaque capteur est expédié équipé d’un dissipateur de chaleur, utilisable
enphase de test eten conditions normales. Néanmoins toutautre support présentant unecapacité
thermiqueappropriéepourl’applicationdel’utilisateurpeutêtreutilisé. VeuillezcontacterOusterdans
lecasoùunmontagespécifiqueàvotreapplicationseraitnécessaire.
Toute tentative d’utilisation du capteur en dehors des paramètres environnementaux définis dans la
fichetechniquedel’OS1peutentraînerl’annulationdelagarantie.
Lorsquelecapteurestsoustension,celui-cidémarreetcommencesoninitialisationaveclelaserdés-
activé. Letempsdedémarrageestd’environ60s,aprèsquoilesous-systèmeoptiqueentreenrotation
etlelaserestactivé,lecapteuropèrealorsdanssonmodepardéfautde1024x10Hz. Lorsquelecap-
teur est en marche et que le laser est activé, on peut apercevoir une faible lumière rouge vacillante
derrièrelavitreteintée. L’OS1utiliseunelongueurd’ondesinfra-rougede865nmnmàpeinepercep-
tible pour l’œil humain, et le rayonnement laser IR émis est sans danger pour les yeux. Cependant,
bienquelesrayonnementslaserdeclasse1soientsansdangerdansdesconditionsraisonnablement
prévisibles,Ousterrecommandefortementdenepasregarderfixementlavitreteintéependantquele
capteurestenmarche. L’OS1estuneunitéhermétiquementscellée,quinepeutpasêtreentretenue,
modifiée ou réparée par l’utilisateur. Toute tentative d’ouverture du boîtier a pour risque d’exposer
l’opérateuràunrayonnementlaserdangereux.
L’OS1 est une unité hermétiquement scellée, qui ne peut pas être entretenue, modifiée ou réparée.
Toutetentatived’ouvertureduboîtierapourrisqued’exposerl’opérateuràunrayonnementlaserdan-
gereux.
LescapteursOustersontéquipésd’unesériededispositifsdesécuritéàplusieursniveaux,defaçonà
assurerentoutescirconstanceslerespectdeslimitesd’irradiancecorrespondantauxrayonnements
lasersdeclasse1,sansdangerpourlesyeux.
L’interfaceutilisateurdulogicielducapteurpeutêtreutiliséepourconfigurerlecapteurselonuncer-
tainnombredecombinaisonsdevitessesdebalayageetderésolutionsautresquelesvaleursutilisées
pardéfaut,respectivementde1024x10Hz.
1.3 SensorCleaning
AllOusterSensorwindowaremadefrompolycarbonate. Basedonthesensorusageyoumayseedust,
bugsand/orlayersofmud/debrisonthewindow. Beforeyouattempttocleanyoursensor,pleaseread
theinstructionsbelowonbestpracticesforcleaningOusterSensors.
RequiredMaterials:
Fewcleanmicrofibercloths
7

Warmwater
Mildliquiddishwashingsoap
Spraybottlewithcleanwater
Spraybottlewithmildsoapywater
99%Isopropylalcohol
Warning:
Avoidgettingwaterintothepowerconnector.
Avoidusinghardwaterwhencleaningthesensor.
Donotuseacetonetocleanthewindow. Itwillembrittlethepolycarbonate.
Donotwipedirtdirectlyfromthesensor. Sprayitoffwithwarmwaterfirst.
Procedure:
Usingthe99%isopropylalcoholandacleanmicrofibertowel,wipeawaybugs/mud/debrisfrom
thesensor.
Spraythesensorwithwarm,mild-soapywaterandgentlywipethesensorwithacleanmicrofiber
towel. Wipealongthecurveofthesensor,nottop-to-bottom(thinkmovingwiththegrain).
Spraythesensorwithcleanwatertorinseoffthesoapanddrywithasecondmicrofibertowel.
Enjoyyourcleanwindow.
8

2 Sensor
2.1 Overview
The OS1 offers an industry-leading combination of price, performance, reliability, size, weight, and
power. Itisdesignedforindoor/outdoorall-weatherenvironmentsandalongoperatinglifetime.
The OS1 family of sensors consist of three models, the OS1-128, OS1-64, and OS1-32, with differing
verticalresolution,butidenticalmechanicaldimensions.
Forthepurposesofthisdocument,theterm“OS1”referstothefamilyofsensors,andonlywherethere
isadifferenceinperformancewilleachmodelbereferredtobyitsspecificmodeldesignation.
ThecontentsofthismanualareapplicableonlytoRev06sensors. [e-mail]
withthesensorserialnumbertofindoutyoursensorRevinformation. Forallothersensorhardware
revisions,pleaserefertotherespectivehardwareusermanualfoundHere.
2.2 OS1ProductModels
TheOS1isavailablewith128,64,or32beamsofverticalresolutionandwithUniform,Gradient,Above
Horizon,orBelowHorizonbeamspacingoptions. Productspecsandmoreinformationonthesecon-
figurationscanbefoundontheOS1productpage.
3 MechanicalInterface
3.1 IncludedComponents
TheOS1isshippedwiththefollowingitems:
OS1-128,OS1-64,orOS1-32
SensortoInterfaceBoxcable/connector
InterfaceBoxand24VAC/DCpowersupply(2meters)
RJ45cable(1meter)
BaseplateMount
DownloadableCADfilesfortheOS1canbefoundonlineatOusterDownloadPage
9

Figure3.1: SensorComponents
10

Warning: ThewateringressprotectionratingforthesensorisonlyvalidiftheI/Ocableisplugged
intothepanel mountconnectoron thebase of thesensor,and thelocking colletrotatedpastthe
détente click to the properly locked condition i.e past the détente position. The cable and plug
areanelementofthesensoringressprotectionsystem. Withouttheconnectedcabletheingress
protection rating may be compromised. Bending the cable at a sharp angle directly after egress
fromtheplugovermoldshouldalsobeavoided. Sharpbendsandhighaxialstressesonthecable
immediatelyadjacenttotheplugovermoldmaycreateamoistureingresspathintotheconnector.
Pleasenotethecableminimumbendradiusrequirementsbelow:
3.2 MountingGuidelines
Our sensors ship with modular mounting options. The sensor can be mounted in any orientation.
Propermountingwillensureoptimalsensorperformance,reducingnoisefromvibrationandproviding
efficientheatdissipation.
Mounttoa materialwithhigh thermalconductivity. The followingarerecommendedaluminum
alloysandtheirthermalconductivity:
1) 6061: 167W/m-K
2) 7075: 130W/m-K
3) 2024: 121W/m-K
Ensureinterfacesarecleanandfreefromdebris.
M3 screws are recommended for mounting the sensor. The screw hole pattern in presented in
theSensordrawingaboveSensor Components.
Torque bolts appropriately for the mount material and bolts. A torque of 146cNm is recom-
mendedfora2stainlesssteelscrews.
UseTIM(ThermalInterfaceMaterial)foranyirregularorunmachinedsurfaces.
Donotoverconstrainthesensorifmountingtoboththetopandthebottom.
Useathermallyconductivepadtoensuregoodconductivitywhilenotoverconstraining.
Ensure your implementation maintains the base and top of the sensor at no greater than 25ºC
aboveambientwithanambientlessthan50ºC.
Theshapeofanyheatsinkshouldmaximizethesurfaceareaforfreeandforcedconvectionwhile
beingthickenoughtoallowtheheattoconductthroughthematerial.
If you have questions about your specific mounting situation please contact the Ouster at sup-
[email protected].
11

3.3 OperatingTemperatures
Thermal requirements specific to Rev 06 are listed below. The sensor has three operating states in
order to manage high temperatures: Active, Shot Limiting, or Inactive. In the standard Active state
thesensor willperformto the rangeand precisionspecificationsof thedatasheet. When the sensor
reachesacertaintemperature(seetablebelowforreference),itentersShotLimitingstateandissues
analert. InShotLimitingstate,thesensorreducespowertothelasersinordertoreducethethermal
load. While in this state, sensor range and precision may degrade by up to 20%. When the sensor
reaches the maximum operating temperature specified below, the sensor may become Inactive and
shutoff.
Pleasecontact[email protected]withyoursensorserialnumbertofindoutyoursensorrevision.
Table3.1: MaximumthermalperformanceforRev06OS1Sensor
Convective Air Temp with Radial
HeatsinkandStandardBase
Maxtempbefore shot limiting 52ºC
Tempthatshotlimitingsaturated(sensormayturn
offabovethistemperature) 60ºC
4 ElectricalInterface
4.1 PowerSupplyandOperatingVoltage
The OS1 Rev 06 Sensors are meant to operate at 12V and 24V nominal input voltage. A low voltage
warningwillbetriggeredifthevoltageatthesensorconnectordropsbelow9.5V.Thesensorwillshut
downif thisinput voltagedropsto 9V. The maximuminput voltageis 34V forthe OS1sensor. When
usedwithouttheprovidedinterfacebox,ensurethatthepowersupplyiscompliantwiththeoperating
voltagespecifiedaboveandallowstosupplyatleast20W.
4.2 ConnectionthroughtheInterfaceBox
The Interface Box that accompanies the OS1 is designed to allow the sensor to be operated for test
andevaluationpurposesinindoorenvironmentsonly. Itcanbeconnectedtothe sensor with a cable
equipped with connectors on both ends. It allows the sensor to be powered up and provides access
to the sensor gigabit Ethernet Interface via a standard RJ45 connector. DC Power to the sensor is
providedtotheInterfaceBoxbytheaccompanying24VDCpowersupply.
12

4.3 DirectCableConnectionandPinout
The OS1 can be operated without the use of an Interface Box. In this case, a “pigtail” cable should
beusedandwiresshouldbeconnectedbytheuserfollowingthePinoutpresentedbelow. Whenused
withdirectcableconnection,thesensorshouldstillbeoperatedwithintheoperatingvoltagespecified
insectionPower Supply and Operating Voltage
Warning: OusterisnotresponsibleforanyerrorsinwiringasaresultofbypassingtheInterface
Box and this activity may result in a voiding your warranty if it results in damage to the sensor.
Thefollowingguidelinesfordirectcable connectionassume useof the Ouster-provided24V1.5A
powersupply. Oustercannotbeheldresponsiblefordamagetothedeviceifalternateisused.
Figure4.1: cablepinoutofon-sensorreceptacle
Table4.1: Cablepinoutwires
NetName PinNumber Wire TwistedWith
MULTIPURPOSE_IO 3 Purple,26AWG N/A
SYNC_PULSE_IN 2 Yellow,26AWG N/A
VCC_24 1 Red,22AWG N/A
GROUND 7 Black,22AWG N/A
TRP_1_P(Ethernet) 5 White/Orange,26AWG Orange
TRP_1_N(Ethernet) 4 Orange,26AWG White/Orange
TRP_2_P(Ethernet) 8 White/Green,26AWG Green
TRP_2_N(Ethernet) 6 Green,26AWG White/Green
TRP_3_P(Ethernet) 9 Blue,26AWG White/Blue
TRP_3_N(Ethernet) 10 White/Blue,26AWG Blue
continuesonnextpage
13

Table 4.1–continuedfrompreviouspage
NetName PinNumber Wire TwistedWith
TRP_4_P(Ethernet) 12 White/Brown,26AWG Brown
TRP_4_N(Ethernet) 11 Brown,26AWG White/Brown
5 DigitalIO
5.1 SYNC_PULSE_IN
SYNC_PULSE_IN isadedicatedinputchannelthatisaccessiblewithintheInterfaceBoxJumperJ4. This
channel expects an input pulse sequence which can be used for time synchronization. Refer to the
SoftwareUser Manualformoreinformationonconfiguringthis input. Anyreferencestopulsepolar-
ity in this document references the signal polarity on the SYNC_PULSE_IN pin of the sensor. This input
channelisprotectedbyanopto-isolatorwhichwilldraw5mAatfulloperation.
Table5.1: SYNC_PULSE_INInterfaceRequirements
Parameter MinVoltage MaxVoltage Min Driver Current
LOGICLOW -30V 2V N/A
LOGICHIGH 2.9V 30V 3mA @3.3V~5V, 5mA
at24Vandhigher
SYNC_PULSE_IN Interface requirements were tested with 2 m cable Interface Box connection at 2
MHz.When GPIO has 5 mA drive strength minimum, GPIO can be directly connected to the
SYNC_PULSE_IN pinoftheInterfaceBoxheader. Thisisthemostcommoncaseandhasbeentested
to work on common Arduino microcontroller series. Typical common logic levels of 3.3 V, 5 V
GPIOofmicrocontrollerscanproducedrivestrengthof5mAmin(Arduino,MSP430,etc.).
If the 5 mA drive strength minimum cannot be met, a buffer circuit is required to drive
SYNC_PULSE_IN.Examplecircuitsareprovidedforcommon3.3Vand5Vlogic.
14

Figure5.1: ExampleCircuitsfor3.3Vand5Vlogic
15

5.2 MULTIPURPOSE_IO(M_IO)
MULTIPURPOSE_IO (M_IO) is a configurable input or output channel accessible within the Interface Box
JumperJ4connectedtotheMULTIPURPOSE_IOpinoftheInterfaceBox. Detailedinformationonhow
toconfigurethischannelusingthesensorTCPinterfacecanbefoundintheAPIGuide. Bydefaultthis
channelisdisabled.
WhenthischannelisconfiguredasanOUTPUT,theM_IO sendsapulsesequencethatcanbeusedfor
timesynchronizationoreventtriggeringoutsidethesensor. Forafulldescriptionofoutputpulsetrig-
geringoptions,refertotheSoftwareUserManualformoreinformation. Thisoutputisanopto-isolated
opencollectorcircuit,relyingonanexternallyprovidedpull-upresistor. Thisresistorisprovidedfora
typical3.3V/5VapplicationaspartoftheInterfaceBoxcircuitry.
Table5.2: MULTIPURPOSE_IO-OUTPUTInterfaceRequirements
Parameter Min Max
PullUpVoltage 3.3V 24V
SinkingCurrent N/A 25mA
Whenthis channelis configuredasan INPUT,the M_IO can accepta standardNMEA $GPRMC UART
message. These messages are a common way for GPS systems to share timestamp information in
UTCtimeformat. Moreinformationon this packetstructure and supportedbaudratescanbe found
intheTimeSynchronizationsectionoftheSoftwareUserManual.
Table5.3: MULTIPURPOSE_IO-INPUTInterfaceRequirements
Parameter MinVoltage MaxVoltage Min Driver Current
LOGICLOW -30V 2V N/A
LOGICHIGH 2.9V 30V 3mA @3.3V~5V, 5mA
at24Vandhigher
Above are tested with 35m (200uH inductance) cable Interface Box connection at 115200 Baudrate.
6 OS1CADfiles
Themostup-to-dateCADfilesofallourproductscanbefoundonourLidarProductDetailspage.
16

7 Accessories
7.1 Cables
CableTypes
3 types of cables are compatible with the OS1 sensors. Their physical characteristics are presented
inthetableCable Characteristics.
Thecableandplugareanelementofthesensoringressprotection. Withoutthis,theingressprotec-
tion rating may be compromised. Bending the cable at a sharp angle directly after egress from the
plugovermoldshouldalsobeavoided. Sharpbendsandhighaxialstressesonthecableimmediately
adjacentto theplug overmold maycreatea moistureingress path intothe connection. Pleasenote
thecableminimumbendradiusrequirements.
Note: WenolongerofferType1cablesforsale. PleasecontactyourOustersalesrepresentativefor
questionsregardingavailablecablelengths,connectortypes,andterminationoptions.
Table7.1: CableCharacteristics
Cable Outer Diame-
ter Cable Minimum Bend (Static) Cable Minimum Bend (Flexi- ble)
Type 1
(Thick) 10.5mm 79mm 158mm
Type2(Thin) 8mm 40mm 80mm
Type3 8.2mm 41mm 82mm
Note: Type 3 Cable has an imprint that states “Type 3” on it whereas, Type 2 does not have any
identifiers.
17

ElectricalCharacteristics
Ousterhascharacterizedthe cableresistanceandcontactresistanceof ourcablesatroomtemper-
ature. Thiscanbefoundbelow:
Table7.2: ElectricalCharacteristics
Cable Maximum Cable Re-
sistance(Ω/m) Typical End to End Resis- tancefor5mCable(Ω) AdmissibleNominalOper- atingvoltage(V)
Type 1
(Thick) 0.110 0.45 24
Type 2
(Thin) 0.110 0.45 24
Type3 0.042 0.3 12/24
For full sensor functionality, a minimum of 9.5 V must reach the sensor. To compensate for losses
through wire resistance, a higher voltage must be provided to the interface end of the cable, which
maybe the InterfaceBox or thepigtail wires. Ifthesensor is belowthisvoltageforat least1 second,
theINPUT_VOLTAGE_LOWerrorwillbetriggered.
Thefollowinggraphcanbeusedasaguide todeterminetheappropriateinputvoltagetothe sensor
connectorforyourdesiredcablelength. Thevaluesonthegraphwerecalculatedusingidealizedcable
resistancesderivedfromtheAWGsystemandassumedmaximumpowerdrawfromthesensor.
18

7.2 Interfaces
AllInterfaceBoxesareprovidedwithaDCpowerportandan8-pinmodularjackforEthernet. Currently
OusterofferstwotypesofInterfaceboxestosupportboth12Vand24V.
InterfaceBoxes(Standard)providedwithType1andType2cablesareassembledwithintegralcables
forconnectiontoOuster’ssensors. Thiscablecannotbedisconnectedfromtheinterfacebox,asthere
isnoconnectoravailable.
TheInterfaceBoxes (12VCompatible)with Type3cablesareprovidedwith an output connectorand
aseparateconnectorizedcable forconnection to Ouster’s sensors. TheseInterface Boxesalso have
a new GPS input connector capable of accepting operating TTL levels originating in a separate GPS
devicecontainingstaticelectricitydissipationcircuitry.
Example: GPSModulecompatiblewithOusterSensorGPSModule.
Note: If you need support to configure the GPS to works with our sensor please contact sup-
[email protected].
Warning: RISK OF FIRE OR ELECTRIC SHOCK. DO NOT CONNECT THE GPS CONNECTOR DI-
RECTLYTOANANTENNA.
7.2.1InterfaceBox24VCompatibility(Standard)
The Interface Box that accompanies the OS1 is designed to allow the sensor to be operated for test
and evaluation purposes. 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 RJ45 connector. DC
PowertothesensorisprovidedtotheInterfaceBoxbytheaccompanying24VDCSupply.
Note: The Ouster Interface Box is a support tool for use in laboratory environments to assist cus-
tomers in evaluating Ouster’s LiDAR sensor products and in the development of software. The In-
terface Box is not protected from ingress of moisture or solid particles and is not intended for use
outdoors.
19

DirectCableConnectionandPinout
TheOS1canbeoperatedwithouttheuseofanInterfaceBox.
Warning: OusterisnotresponsibleforanyerrorsinwiringasaresultofbypassingtheInterface
Boxandthisactivitymayresultinavoidingofyourwarrantyifitresultsindamagetothesensor.
Thefollowingguidelinesfordirectcable connectionassume useof the Ouster-provided24V1.5A
powersupply. Oustercannotbeheldresponsiblefordamagetothedeviceifalternateisused.
20