Slamtec Lpx t1 User manual

www .slam tec.com

ShanghaiSlam tec.C o.,Ltd

LPX T1

Indoor and Outdoor Laser Range Scanner

For Middle and Long Range Application

Development Kit User Manual

Model：LPX-T1M4

2022-12-10 rev.1.0

 
 
 
CONTENTS ...................................................................................................................................................1 
OVERVIEW ...................................................................................................................................................3 
ITEMS IN THE DEVELOPMENT KIT .......................................................................................................................3 
CONNECTION AND USAGE .....................................................................................................................4 
LPX-T1 MODULE...............................................................................................................................................4 
DEVICE CONNECTION......................................................................................................................................... 4 
NETWORK CONFIGURATION...............................................................................................................................5 
RUN DEMO APPLICATION ..................................................................................................................................8 
TROUBLESHOOTING.......................................................................................................................................... 11 
MOTOR SPEED ADJUSTMENT...........................................................................................................................11 
SDK INTRODUCTION AND USAGE......................................................................................................13 
LPX-T1 MODULE INTERFACE SPECIFICATION AND DEFINITION......................................................................13 
CONFIGURE LPX-T1 SCAN FREQUENCY..........................................................................................................14 
SDK USAGE......................................................................................................................................................14 
OPERATION RECOMMENDATION.......................................................................................................15 
PRE-HEATING FOR BEST PERFORMANCE .........................................................................................................15 
AMBIENT TEMPERATURE...................................................................................................................................15 
AMBIENT LIGHT................................................................................................................................................15 
REVISION HISTORY .................................................................................................................................16 
APPENDIX ..................................................................................................................................................17 
IMAGE AND TABLE INDEX .................................................................................................................................17 
Contents 

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LPX-T1 development kit includes the matched tools used for evaluating LPX-T1’s

performance and initial development. After connecting the LPX-T1 with PC via a

network cable and with power via a power cable, users can observe the cloud map

of the environment scanning point collected by the Lidar plugin in RoboStudio

and start development based on the SDK.

Items in the Development Kit

LPX-T1 Development Kit contains:

oLPX-T1 Module

oNetwork Cable (Require purchase separately)

oPower Cable (Require purchase separately)

Figure 1-1 Items in the LPX-T1 Development Kit

Overview

LPX-T1 Module

Power Cable

Network Cable

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LPX-T1 Module

The LPX-T1 development kit contains standard LPX-T1 module. The default IP

address of LPX-T1 is 192.168.11.2, therefore users need to use a different Ethernet

address.

Figure 2-1 The LPX-T1

Device Connection

LPX-T1 can be easily connected to PC according to the following steps:

Take out the LPX-T1 from the development kit;

Connect the LPX-T1 network interface with PC via a network cable;

Connect the LPX-T1 power interface with power via a power adapter;

If PC is on, the indicator on the LPX-T1 turns green. And at the time, LPX-T1

module is not rotating.

Figure 2-2 LPX-T1 Connection

Connection and Usage

Network

Cable

Power Cable

Indicator

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Network Configuration

Before using LPX-T1 module, please configure the Ethernet network (after

connecting the LPX-T1 to PC) as below:

Open Network & Internet Settings on PC;

Figure 2-3 Network Connection Configuration

Click Ethernet in the left menu and choose Change adapter options;

Figure 2-4 Change Adapter Options

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Double-Click Ethernet port and choose Properties on the open page;

Figure 2-5 Ethernet Port Setting

Choose TCP/IPv4;

Figure 2-6 Ethernet Contribution Setting

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Click Properties button;

Figure 2-7 Internet Protocol Version(TCP/IPv4) Setting

Choose Use the following IP address and enter 192.168.11.30(or any other IP

address except for the default Lidar IP address 192.168.11.2) in the IP address bar,

use the default settings in the Subnet mask bar, and click OK.

Figure 2-8 IP Address Setting

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Run Demo Application

SLAMTEC provides Lidars, a GUI plugin, in RoboStudio for users in LPX-T1 test

and evaluation. You can view the scan result directly in the UI and save the scan

result to files for further analysis or processing.

This RoboStudio only runs under Windows. For Linux and MacOS users, please

refer to the other simple demo provided in the SDK.

Please make sure you have connected LPX-T1 to PC via network interface before

running the demo application in RoboStudio. Launch RoboStudio and log in.

Figure 2-9 RoboStudio Login Page

If the connection is ok, you shall see the user interface is shown as below. Click

File->Lidars to open the lidar control panel in the left; Right click the blank area

under Lidars and Choose “Manually connecting Lidar” in the drop-down menu;

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Figure 2-10 RoboStudio Manual Connect to Lidar Page

Click Udp Server in the dialogue and click Connect to confirm the connection.

Figure 2-11 RoboStudio Udp Connecting Page

Click the floating window Lidars in the left, the LPX-T1 connected to PC will show

in the list. Click the icon of LPX-T1 in the list to extend the tool buttons below the

icon: the right button is to open the tool bar in the major work area as shown in

Figure 2-12.

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Figure 2-12 The Lidar Plugin in RoboStudio

The serial number, version and model of the LPX-T1 will show in the lidar window.

The supported commands of LPX-T1 are showed in the tool bar. The descriptions

are listed in the bellow table.

Figure 2-13 The Supported Commands of LPX-T1 in RoboStudio

Press the Start Scan button ，the scan data will be displayed as below(by

default, the motor rotating speed should be about 20Hz.):

Button

Function

Description

Restart LPX-T1

Restart scan core to clear internal errors

Save Scan Data

Save current scan data to the local file

Stop Scan

Scan core enter power save mode

Start Scan

Scan data will be displayed after scan core starting work

Work Mode Switch

Switch among different work modes to fit in specific

environments

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Figure 2-14 The Scan Outline by LPX-T1 in RoboStudio

Right click in the major working area to choose a range so as to zoom in or out

the view.

The scan frequency is also showed in the above interface.

Troubleshooting

When the scan core or the laser power works abnormally, the scan core will enter

protection mode. This state can be retrieved via SDK API. If such scenario

happened, please send restart command to reset the scan core.

Motor Speed Adjustment

During the running process, different motor rotating speed can be achieved by

pressing the button, which can fit in different working environments or meet

specific requirements. There will be a speed adjustment dialog box and dash

board popped up for users to enter required speed. After entering a value, the

motor will work as the settled rotating speed automatically. User can also drag the

sliding handle to the required rotating speed.

The current actual rotating speed will show in the upper left corner of the major

work area. For instance, the actual rotating speed in the following screenshot is

20.59Hz.

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Figure 2-15 The Motor Speed Adjustment Dialogue of LPX-T1 in RoboStudio

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LPX-T1 Module Interface Specification and Definition

In the LPX-T1 development kit, the interfaces are the standard M12-4P-D and

M12-5P-A aviation plugs. Users should use cables with matched plugs to connect

to LPX-T1. The interface definition are as below:

Network interface

Figure 3-1 LPX Network Interface Definition

Power Supply Interface

Figure 3-2 LPX Power Supply Definition

SDK Introduction and Usage

Signal

Type

Description

TD+

Output

Sending data+

RD+

Input

Receiving data+

TD-

Output

Sending data-

RD-

Input

Receiving data-

Signal

Type

Description

Min

Typical

Max

VCC

Power Supply

System Power Supply

12V

28V

SYNC

Output

Sync Output

3.3V

3.5V

GND

Power Supply

GND

Reserved

Not for GND or any other circuit

Reserved

Not for GND or any other circuit

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Power Supply Interface Specification

LPX-T1 takes the only external power to power the range scanner core and the

motor system which make the core rotate. To make the LPX-T1 work normally,

the host system needs to ensure the output of the power and meet its

requirements of the power supply ripple.

Figure 3-3 RPLIDAR Power Supply Specification

Configure LPX-T1 Scan Frequency

Users can configure the motor speed of LPX-T1 directly by invoking the function

in the SDK, so as to modify the Lidar scan frequency (supported range:

20Hz~40Hz).

Please refer to the LPX-T1 protocol and application note for more information

and the SDK for the sample code on LPX-T1 scan frequency.

SDK Usage

SLAMTEC provides LPX-T1 SDK support on both Windows and Linux platform.

And users can embed the SDK source code to other operational system or

embedded system quickly. Please refer to the SDK document for more information.

LPX-T1M4

Min

Typical

Max

Remark

Power Supply Voltage

12V

28V

If the voltage exceeds the max value,

it may damage the core

System Start Current

1200mA

1500mA

12V Power Supply

The system startup requires

relatively higher current under low

voltage.

Working Power Current

200mA

220mA

12V Power Supply

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Pre-Heating for Best Performance

The scan core will be heating when start working. We recommend pre-heating

LPX-T1 (Start the scan mode and the scan motor is rotating) for more than 2

minutes to get the best measurement accuracy.

Ambient Temperature

LPX-T1’s measurement resolution is sensitive to the ambient temperature.

Improper use may even damage the sensor. Please avoid using LPX-T1 in extreme

high temperature (>50 degree) and too low temperature (<-20 degree).

Ambient Light

Compared with LPX-T1 series, LPX-T1 performs better to resist ambient light

interference, which supports it to work properly in outdoor environment.

LPX-T1 can work in two modes: enhanced mode and outdoor mode.

Enhanced mode is designed for indoor environment. Typical indoor light

(including situations without light) will not affect the performance of LPX-T1.

Strong light (such as high power laser) will harm the optical system of LIDAR, which

should be avoided.

During outdoor mode, LPX-T1 can work normally to detect objects under direct

ambient light. However, the ranging distance might be shorter under strong direct

sunlight and it is still necessary to protect the optical system from direct sunlight.

Maintenance and repair

Please do not open the shell of this equipment for maintenance without

authorization, otherwise the warranty will be invalid.

In the process of use, pay attention to keep the equipment shell clean, to ensure

the radar production and use.

Operation Recommendation

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Revision History

Date

Version

Description

2022-12-10

1.0

LPX-T1 initial version

 
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Copyright (c) 2009-2017 RoboPeak Team 
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd. 
 
Image and Table Index 
FIGURE 1-1 ITEMS IN THE LPX-T1 DEVELOPMENT KIT ........................................................................................................ 3 
FIGURE 2-1 THE LPX-T1.............................................................................................................................................................. 4 
FIGURE 2-2 LPX-T1 CONNECTION............................................................................................................................................ 4 
FIGURE 2-3 NETWORK CONNECTION CONFIGURATION ...................................................................................................... 5 
FIGURE 2-4 CHANGE ADAPTER OPTIONS................................................................................................................................. 5 
FIGURE 2-5 ETHERNET PORT SETTING ...................................................................................................................................... 6 
FIGURE 2-6 ETHERNET CONTRIBUTION SETTING.................................................................................................................... 6 
FIGURE 2-7 INTERNET PROTOCOL VERSION(TCP/IPV4) SETTING.................................................................................... 7 
FIGURE 2-8 IP ADDRESS SETTING .............................................................................................................................................. 7 
FIGURE 2-9 ROBOSTUDIO LOGIN PAGE.................................................................................................................................... 8 
FIGURE 2-10 ROBOSTUDIO MANUAL CONNECT TO LIDAR PAGE..................................................................................... 9 
FIGURE 2-11 ROBOSTUDIO UDP CONNECTING PAGE.......................................................................................................... 9 
FIGURE 2-12 THE LIDAR PLUGIN IN ROBOSTUDIO..............................................................................................................10 
FIGURE 2-13 THE SUPPORTED COMMANDS OF LPX-T1 IN ROBOSTUDIO ..................................................................10 
FIGURE 2-14 THE SCAN OUTLINE BY LPX-T1 IN ROBOSTUDIO......................................................................................11 
FIGURE 2-15 THE MOTOR SPEED ADJUSTMENT DIALOGUE OF LPX-T1 IN ROBOSTUDIO ......................................12 
FIGURE 3-1 LPX NETWORK INTERFACE DEFINITION...........................................................................................................13 
FIGURE 3-2 LPX POWER SUPPLY DEFINITION ......................................................................................................................13 
FIGURE 3-3 RPLIDAR POWER SUPPLY SPECIFICATION .....................................................................................................14 
 
Appendix 