Safran LRF 6019 User manual

LRF 6019 Integrator Manual
914928_TML_LRF6019_en_Version C
Public: 04.2019
Confidential & Proprietary Safran Vectronix AG –All rights reserved
Page: 1/70
INTEGRATOR MANUAL
LRF 6019

LRF 6019 Integrator Manual
914928_TML_LRF6019_en_Version C
Public: 04.2019
Confidential & Proprietary Safran Vectronix AG –All rights reserved
Page: 2/70
Safety Notices
Integrator obligations
The information contained in this manual forms the basis for the safe use of the instrument. The person
responsible for the product must ensure that integrators are qualified and all users understand and
adhere to these instructions.
Always keep the instructions in direct access for users and any personnel working on the instrument.
WARNING
Risk of physical injury.
For safe use of the LRF module, please note the safety instructions below.
Keep this document for future reference.
Rangefinder
The LRF6019 without pointer (A/N: 914167) is a Class 1 eye safe laser product.
The LRF6019 LP with low power pointer (A/N: 914166) is a Class 1 eye safe laser product.
(According to EN 60825 and its amendments)
WARNING Laser Pointer
The LRF6019 HP (A/N: 914168) is a Class 3B laser product because it contains a 3B laser
pointer. Whilst the pointer is not active the laser emission is eye safe.
INVISIBLE LASER RADIATION
AVOID EXPOSURE TO BEAM
CLASS 3B LASER PRODUCT
Wavelength: 830 nm
Beam divergence: 0.34 mrad
Maximum Power: 17.3 mW
NOHD (Nominal Ocular Hazard Distance): 200 m (10 s)
NSHD (Nominal Skin Hazard Distance): 5 m (10 s)
In case of a broken fiber:
Nominal Ocular Hazard Distance: 2.5 m (10 s)
Nominal Skin Hazard Distance: 0.15 m (10 s)
WARNING
LRF6019 is exclusively designed for use in OEM products. Use of controls or adjustments or
execution of procedures other than those specified herein may result in hazardous laser light
exposure. Do not open or modify any parts of the LRF module or attempt your own repairs. Do
not manipulate or adjust the performance of the LRF module.

LRF 6019 Integrator Manual
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WARNING
The optical fiber is very fragile and sensitive to mechanical stress. If the fiber core is broken, the
LRF Module will cease to work. To avoid fiber damage during integration, do not touch,
squeeze, bend, pull, etc. the optical fiber cable. Do not use the LRF Module if the fiber is
broken. Light emission through a broken fiber is hazardous to human eye and skin.
WARNING
As the LRF module does not perform a plausibility check of each measurement value, the
plausibility of each measurement must be assessed by the user/operator of the host system.
NOTICE
Be careful with ESD: The LRF module is an electrostatic discharge sensitive device.
Do not touch any electronics or components unless protective measures are in place.
WARNING
Do not use the LRF module outside the specified usage limits (temperature during operation,
etc.). See also technical data sheet with article number 915133 Version A.
Power the LRF module only within the specified voltage and power range.
Handle and store the LRF module only in a clean, dry and ESD protected area.
Do not touch the glass lenses.
Do not grease or soil any parts.
Avoid sudden temperature changes.
WARNING
Environmental hazard.
The LRF 6019 module contains certain components that should be treated as hazardous waste,
and must therefore be disposed of via your specialist dealer.
The packaging foam is made out of PE-LD-E-X. Dispose it according to your local regulations.
WARNING
Do not touch, pull, bend or squeeze the
optical fiber

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NOTICE
Inappropriate use
Use without a plausibility check.
LRF module deployment without prior knowledge of the operating instructions and safety
notices.
Changes and modifications made to the LRF module by the customer
Sending any commands other than those specified.
Use of third-party accessories not approved by Safran Vectronix AG.
Working in an explosive environment.
Use of the LRF module without instruction.
Use outside of the specified limits (see data sheet with article number 915133 Version A).
Open parts of the LRF module.
Use after misappropriation.
Use of an LRF module with obvious damage or defects.
WARNING
Inappropriate use may bring the risk of:
Misinterpretation of results.
Eye injuries.
Instrument errors.
Damage to property.
Malfunction.
NOTICE
Avoiding storage and transport damage
When not in use, always keep the LRF module packed in a clean and dry (20%-60% RH)
condition.
Remove power prior to prolonged storage.
Observe the permissible storage temperatures.
Do not expose the LRF module to strong mechanical shocks.
Do not expose the LRF module to abrupt temperature transitions (risk of condensation).
WARNING
Avoiding measurement errors:
Always perform test measurements on targets at known distances if the LRF module was
exposed to rough handling (vibration, shock, drop etc.), and before carrying out any
important measurement tasks.
Note the factors affecting measurement accuracy as described in chapter 2.3. Ranging
Conditions.

LRF 6019 Integrator Manual
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Public: 04.2019
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DISCLAIMER
The content of this manual version “C” incorporates changes on hardware and software
specifications and interfaces, which are also stated in the technical datasheet with article number
915133 Version “A”. This changes are present on the following products:
LRF6019 914167 from serial number: 1100
LRF6019 LP 914166 from serial number: 1100
LRF6019 HP 914168 from serial number: 1100
The information presented in this operator manual is believed to be accurate and correct for the
intended use of the LRF module. (Intended use: distance measurement when integrated into a host
system without any modification to the LRF module). Should the LRF module be used for other
applications and purposes not covered herein, please contact Safran Vectronix AG to validate
suitability.
This manual, all of its contents and the LRF module specifications are subject to change without
notice.
Without the prior written permission of Safran Vectronix AG this document may neither be copied in
part or in whole by mechanical, photographic, electronic or any other means (this includes converting
it to any machine-readable form), nor be stored in an information storage system, nor be used for
any purpose other than that intended, nor be made available or passed on to any third party who has
not been expressly authorized by Safran Vectronix AG. Relevant information for the end user is
allowed to be copied into the user instructions of the host system.
Warranty: Safran Vectronix AG provides this publication “as is” without warranty of any kind, either
express or implied, including, but not limited to, the implied warranties of merchantability or suitability
for any particular purpose.
Revisions/Errors: Safran Vectronix AG reserves the right to revise this publication, and to make
changes in the content hereof from time to time without notification. This publication may include
technical inaccuracies or typographical errors. Changes are made periodically to the information
herein; these changes will be incorporated in new editions of the publication. Safran Vectronix AG
may make improvements and/or changes in the products and/or the software described in this
publication at any time.
Notice to User: This manual should not be construed as a representation or warranty with respect to
the software and hardware named herein. Occasionally, changes or variations exist in the software
and hardware that are not reflected in the manual.
Publication: The descriptions, specifications, design and procedures contained in this manual were
effective at the time of publication of this manual. Safran Vectronix AG reserves the right to modify
any of the above at any time without notice and without incurring obligations.

LRF 6019 Integrator Manual
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Public: 04.2019
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Contents
Safety Notices............................................................................................................................................. 2
DISCLAIMER................................................................................................................................................ 5
1General Information ............................................................................................................................ 9
1.1 Main parts of the LRF Module ....................................................................................................10
1.2 Interface parts.............................................................................................................................11
2LRF Background Information........................................................................................................... 11
2.1 Rangefinder Principle “Pulsed LRF” ...........................................................................................11
2.2 Electronics ..................................................................................................................................12
2.3 Ranging Conditions.....................................................................................................................12
3Getting Started...................................................................................................................................14
3.1 Unpacking...................................................................................................................................14
3.2 First steps with the LRF 6019.....................................................................................................14
3.3 Installation of Vectronix Terminal Software ................................................................................15
3.4 Use of LRF module with Safran Vectronix Terminal Software ...................................................17
3.5First steps without LRF Interface Kit...........................................................................................19
4Integration..........................................................................................................................................20
4.1 Handling......................................................................................................................................20
4.2 Design recommendations...........................................................................................................20
4.3 Preparation .................................................................................................................................20
4.4 Mounting.....................................................................................................................................21
4.4.1 Mounting the LRF module with detached Laserbox ...............................................................22
4.5 Boresighting................................................................................................................................24
4.5.1 Boresighting at 1550 nm.........................................................................................................24
4.5.2 Boresighting at 830 nm...........................................................................................................24
4.5.3 Back-up solution .....................................................................................................................25
4.6 Nitrogen flushing.........................................................................................................................25
4.7 Front Protection ..........................................................................................................................26
4.8 Eye Safety...................................................................................................................................28
4.8.1 LRF 6019 and LRF 6019 LP...................................................................................................28
4.8.2 LRF 6019 HP ..........................................................................................................................28
4.8.3 Eye Safety Kit .........................................................................................................................29
5Hardware interface ............................................................................................................................30
5.1 System connector.......................................................................................................................30
5.2 Pin descriptions...........................................................................................................................31
5.3 ESD protection............................................................................................................................32
5.4 Operating conditions...................................................................................................................32
5.4.1 Absolute maximum ratings .....................................................................................................33
5.5 Electrical characteristics .............................................................................................................33
5.5.1 Current consumption detail: “Powering up” ............................................................................34
5.5.2 Current consumption detail: “measurement sequence”..........................................................34
5.6 Serial Interfaces..........................................................................................................................35
5.6.1 RS232.....................................................................................................................................35
5.6.2 RS422.....................................................................................................................................35
5.7 Ground Concept..........................................................................................................................35
5.8 PWR_SAFE signal pin#9............................................................................................................36

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6SW Interface.......................................................................................................................................37
6.1 Operating modes ........................................................................................................................37
6.2 Communication Protocol.............................................................................................................37
6.3 Command structure ....................................................................................................................38
6.3.1 Definition.................................................................................................................................38
6.3.2 Message format......................................................................................................................38
6.4 Timing / Power on.......................................................................................................................40
6.5 Operational Commands..............................................................................................................41
6.5.1 Distance measurement >LM,Md,x*<CS><CR>......................................................................41
6.5.2 Fake Range Request >LM,Mf,x*<CS><CR>..........................................................................42
6.5.3 Laser continuous low power mode >LM,Tl,x*<CS><CR>......................................................43
6.5.4 Laser pointer command >LM,Rp,x*<CS><CR> .....................................................................44
6.5.5 Laser pointer arm command >LM,Lp,x*<CS><CR>...............................................................45
6.5.6 Operating mode selection >LM,Op,x*<CS><CR>..................................................................46
6.5.7 Block range request >LM,Mb,x*<CS><CR>...........................................................................47
6.5.8 Continuous Range Request >LM,Mt,x*<CS><CR> ...............................................................48
6.5.9 Error codes .............................................................................................................................49
6.6 Servicing commands...................................................................................................................50
6.6.1 LRF module baud rate >LM,Br,x*<CS><CR> ........................................................................50
6.6.2 Version, software and module type request >LM,Iv,1*<CS><CR> ........................................51
6.6.3 Set range gate min >LM,Gl,x*<CS><CR>..............................................................................52
6.6.4 Set range gate max >LM,Gh,x*<CS><CR>............................................................................53
6.6.5 Get current range gate settings >LM,Ig,x*<CS><CR>...........................................................54
6.6.6 Reset LRF module to default settings : >LM,Rd*<CS><CR>.................................................55
6.6.7 Timestamp activation >LM,At,x*<CS><CR> ..........................................................................56
6.6.8 Get timestamp >LM,It*<CS><CR> .........................................................................................57
6.6.9 Range commands with activated timestamp..........................................................................58
6.7 Test commands ..........................................................................................................................59
6.7.1 IBIT (Initiated built-in test) >LM,Tb,1*<CS><CR> ..................................................................59
6.7.2 PBIT (Power built-in test) >LM,Tb,2*<CS><CR> ...................................................................60
7Maintenance.......................................................................................................................................61
7.1 Cleaning......................................................................................................................................61
7.2 Service Levels.............................................................................................................................61
8LRF Interface Tools...........................................................................................................................62
8.1 LRF Interface Kit.........................................................................................................................62
8.2 Interface Cable............................................................................................................................62
9Appendix ............................................................................................................................................63
9.1 System connector reference design...........................................................................................63
9.2 Mechanical Interface Drawing ....................................................................................................65
9.3 Reference design for Transmitter and receiver lenses...............................................................67
9.4 Reference design for connector..................................................................................................68
9.5 UTF-8 ASCII Table .....................................................................................................................69
9.6 Abbreviations..............................................................................................................................69

LRF 6019 Integrator Manual
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IML REVISON HISTORY
Revisio
n
chapter
description of revision
date / initials
Version A
Various chapters
Safety Notice
4.8
5.2 –5.2.2
6.4
6.5.2
Minor amendments
Warning Label amended
NSHD and NOHD values amended
Warning Label amended
NSHD and NOHD values amended
Power supply values and graphs updated
Timing added and amended
Timestamp information added
8.8.2018 / GADO
Version B
5,1
5.2 -5.6 ,5.10
Added PWR_SAFE signal
Updated signal descriptions
Added Chapter
29.10.2018 / EDO
Version B
5.5
6.1
6.6.7-6.6.8-6.6.9
Various chapters
RANGE_LASING signal
Operating modes info added
Time Stamp info added
Minor amendments, info, figures and graphs
29.10.2018 / LLDA
Version C
Safety notices
9.1- 9.5
5.1 –5.8
6.1 - 6.7 SW
Rephrase information
Reference designs
HW: Rephrase information, specification
SW: Operating mode, rephrase information
04.2019 / LLDA

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1 General Information
The LRF 6019 is a very compact and versatile rangefinder module combining unsurpassed range
performance with outstanding robustness.
System integrators can select from 3 different versions of the LRF 6019:
LRF 6019 without pointer (Part Number 914167)
LRF 6019 LP with eye safe pointer (Part Number: 914166)
LRF 6019 HP with non-eye safe pointer (Part Number: 914168)
The Integrator Manual is valid for all versions of the LRF 6019. Differences in the versions are indicated
where appropriate in the Integrator Manual.
Target Group
These operating instructions are aimed at integrators. To understand these instructions expert knowledge
and skills are required. For the safe use, all users must strictly obey these operating instructions.
Means of presentation
To accentuate the safety consideration and to clarify the technical correctness of the operating work,
important information and technical instructions are given particularly emphasized:
WARNING
Indicates a hazardous situation which, if not avoided, could result in death or serious injury.
NOTICE
Means “Important information”.
Information on avoiding material, property or any other damages.

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1.1 Main parts of the LRF Module
A receiver, containing electronics and a receiver diode.
A transmitter, containing a single stage fiber laser and an optional 830 nm pointer.
A mainboard which manages all electronic elements and calculates the results.
Stable aluminium bench including optics.
Figure 1: LRF 6019 main parts (front view)
Figure 2: LRF 6019 main parts (rear view)