FASELASE D20 2D LiDAR Laser Scanner User Manual

Model: D20 2D LiDAR
USER MANUAL

QUICK START
Make sure that the USB driver is installed and plug the USB cable into the PC,
Connect the device to power supply (+5V±10%, 3A),
Run our data acquisition and analysis software,
Then select the correct communication port and set the baud rate to 921600bps.
Press the start button ” ” and start to work!
(Version V8.01.8)
For more info & supports, please visit http://www.top1sensor.com

Specifications

Class 1 Laser Eye Safety Requirements
Power supply| DC 5V±I0%, Power consumption < 3W Starting current > 1.5A
Volume| 78x78x56 mm
Operating temperature range| – 10°C— +50°C
Storage temperature range| – 20°C— +70°C
Protection level| IP54
Weight| 190 g
Working life| 50.000 hours under standard conditions

Notes:

1. An object with only 10% reflectivity and dark color that can be measured 12m, Kadar white up to 20m.
2. The measurement repeatability accuracy is ±3cm when the measurement range achieves 20m and scanning frequency is 10Hz.
3. The default rotating speed is 10 revolutions per second

Dimensional drawing

2.1 Rendering

2.2 Dimensions

Installation and connection

3.1 Installation

3.2 Connection
3.2.1 Wiring diagram

3.2.3 Power supply
The starting voltage needs to be 5V, the starting current needs to be 1500mA, the normal working current is 500mA. However the ripple coefficient of the power supply should not be more than 40mV. Factory setting is D10 Lidar automatically rotates and measures after power-on.

Software setting

4.1 Driver installation
After USB driver is successfully installed, connect the Lidar to the computer to confirm that it recognizes the com port, and then turn on the power. If the power is turned on first and then connected, there is a possibility that the computer mouse will be out of  control. Please pay attention to the operation sequence. Run the “Faze Lase LiDAR Point Cloud Data Acquisition and Analysis System.exe’ program ” and it can be used normally.
Some PC can automatically install the driver after LiDAR connected, if not, please download the CP210X driver in our software package.

4.2 Data acquisition
To run ‘FaseLase LiDAR Point Cloud Data Acquisition and Analysis System.exe’ program, the communication settings window (see figure 1) will popup. First, select device D20. Second, select serial port number corresponding to the device. In fact, the serial port  connected to the computer can automatically be identified by the program. Third, select baud rate 921600. Fourth, click ‘Yes’ to enter monitoring interface (see figure2). Baud rate: 921600 bps, Parity bit: None, Data bits: 8, Stop bit: 1

After entering the monitoring window, click the right mouse button in the grid chart, select System Settings, change the maximum distance from the original 1000 to 2000 in System Settings, and then click Yes, then start to measure, the measured effect of the monitor window is as Figure 3

![FASELASE D20 2D LiDAR Laser Scanner

• monitoring interface](https://manuals.plus/wp- content/uploads/2023/05/FASELASE-D20-2D-LiDAR-Laser-Scanner-monitoring- interface.jpg)

Click the save icon to display the number of points detected in the current circle and the distance and angle of each point.
Click the right mouse button in the monitor interface to select ‘one dimensional display’ to observe the real-time data changes of each circle detection.
Click Save icon , start to record the test data, after setting the name and path, click OK,
The record ends. Click Save button again, click Cancel in the pop-up window to complete the data recording.
The recorded data can also be opened by clicking the Open History File button

Communication protocol

5.1 Output data format
5.1.1 Binary output: 4 bytes, including both distance and angle values.
5.1.2 Each distance test data packet has 4 bytes (labeled A, B, C, and D in sequence.,
each byte has 8 bits, corresponding to A7,A6,…,A1,A0, B7,B6,…,B1,B0, C7,C6,…,C1,C0.and D7,D10,…,D1,D0.
5.1.3 The MSBs of the first 3 bytes are 0 (A7, B7, C7), and the MSB of the last byte is 1 (D7), which indicates the end of the data pack. There are 4*7 = 28 bits valid data in each data packet. A6, A5, A4 of byte A are the check bit. For the specific algorithm, please  check the data check algorithm in the next part.
A3, A2, A1, A0, B6, … B0, C6 are measured distances values (a total of 12 bits), its range is 0~4000cm .
C5…C0, D6,…D0 are measured angle values (a total of 13 digits). Its range is 0~5759, the angular accuracy is 1/16 degree.

Bits| A7| A6| A5| A4| A3| A2| A 1| AO
---|---|---|---|---|---|---|---|---
Value| 0| Check| Check| Check| Distance| Distance| Distance| Distance
Bits| 137| B6| B5| B4| B3| B2| B I| BO
Value| U| Distance| Distance| Distance| Distance| Distance| Distance| Distance
Bits| C7| C6| C5| C4| C3| C2| C1| CO
Value| 0| Distance| Angle| Angle| Angle| Angle| Angle| Angle
Bits| D7| D I 0| D5| D4| D3| D2| Dl| DO
Value| 1| Angle| Angle| Angle| Angle| Angle| Angle| Angle

5.2 Data check algorithm
Each character has 8 bits (bit7~bit0), each bit can be 0 or 1. The check bits A6,A5,A4 store the low 3 bit of sum of 1 of B,C,D 3 bytes, when check algorithm, first get the number of ‘1’ in the 3 bytes of B,C,D by looking up the table and then add them up, and then  compare the lower 3 bits of the sum with A6,A5,A4, if they are consistent, output the measurement results unsigned char GetCrcPackage4Byte (unsigned char *buf)
{.
unsigned char B,C,D;
B = buf[1];
C = buf[2];
D = buf[3];
//cbit is a number table of 1corresponding to 0-255 static unsigned char cbit[256] = {
0,1,1,2,1,2,2,3,1,2,2,3,2,3,3,4,1,2,2,3,2,3,3,4,2,3,3,4,3,4,4,5,
1,2,2,3,2,3,3,4,2,3,3,4,3,4,4,5,2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,
1,2,2,3,2,3,3,4,2,3,3,4,3,4,4,5,2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,
2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,3,4,4,5,4,5,5,6,4,5,5,6,5,6,6,7,
1,2,2,3,2,3,3,4,2,3,3,4,3,4,4,5,2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,
2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,3,4,4,5,4,5,5,6,4,5,5,6,5,6,6,7,
2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,3,4,4,5,4,5,5,6,4,5,5,6,5,6,6,7,
3,4,4,5,4,5,5,6,4,5,5,6,5,6,6,7,4,5,5,6,5,6,6,7,5,6,6,7,6,7,7,8,
};
return (cubit[B]+cubit[C]+cubit[D])&0x07; } return the low 3 digits the sum of 1 in the 3 bytes of B,C,.D

5.3 Data analysis algorithm
//buf is a data package pointer, which stores 3 bytes as A, B, C in order.
//return distance value, if data check is not correct, return -1
//
int Decode Lase Data(unsigned char *buf)
{
Int distance;
unsigned char cordate = GetCrcPackage3Byte(buf);
//unsigned char orgcrc = (buf[0]>>4)&0x07;

if( cordate!= (buf[0]>>4))
return -1;
;
//calculate the distance. A0,B6..B0,C6…C0
. distance = ((buf[0]&0x1)<<14)+(buf[1]&0x7F)<<7)+((buf[2]&0x7F));
return distance ;
}
//
//buf is a data package pointer, which stores 4 bytes as A, B, C and D in order.
//return the distance value, if data check is not correct, return -1
typedef struct{
int distance;
int Angle;
}FSDNode;
bool DecodeFSD10(FSDNode nodelist,unsigned char buf)
{
unsigned char cordate = GetCrcPackage4Byte(buf);// calculate the low 3 digits the sum of 1 in the 3
bytes of B,C,.D
unsigned char orgcrcdata = (buf[0]>>4)&0x07;//get original check A6,A5，A4
if(orgcrcdata!= cordate)
return false;
unsigned Int distance angle;
//calculate distance
distance = (buf[0]&0x0F);
distance <<= 7;
distance += (buf[1]&0x7F);
distance <<= 1;
if( buf[2]&0x40)
distance ++;
nodelist->distance = distance;
//calculate angle
angle = buf[2]&0x3F;
angle <<= 7;
angle += (buf[3]&0x7F);
novelist->Angle = angle;
return true;
Contact us to get more engineering cases and SDK packages supporting ROS drivers.

Trouble shooting

6.1 Factors affecting the measurement range
The D10 is an optical measuring device whose measurement results are affected by environmental factors. Therefore the actual measuring result might be different with typical value which is measured in standard environment.
The following factors will effect actual measuring range.

energy returned from other objects exceeds the energy returned from the target
Transparent surface| Wrong measurement results may occur when the measurement target is colorless liquids or glasses
Small object| When the measured object is smaller than the laser spot, or the laser measures the corner of the measured object, incorrect measurement results may occur.

Standard and optional accessories

Contact us

Xi’an Hizon International Trade Co.,Ltd
http://www.top1sensor.com
Tel: +86-29-87858956
Fax: +86-29-87858956
Moby: +86-13201520716 Mr. Yang
E-mail: [email protected]
Add: No.68 Middle Sector South, Haunching Road, Xi’an, China

Documents / Resources

| FASELASE D20 2D LiDAR Laser Scanner [pdf] User Manual
D20, D20 2D LiDAR Laser Scanner, 2D LiDAR Laser Scanner, LiDAR Laser Scanner, Laser Scanner
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References

• laser distance sensor-Xian Zhizun International
• laser distance sensor-Xian Zhizun International

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