SLAMTEC LPX T1 Indoor and Outdoor Laser Range Scanner User Manual

SLAMTEC LPX T1 Indoor and Outdoor Laser Range Scanner

Overview

The LPX-T1 development kit includes the matched tools used for evaluating LPX-T1’s performance and initial development. After connecting the LPX-T1 with the 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:

• LPX-T1 Module
• Network Cable (Require purchase separately)
• Power Cable (Require purchase separately)

Connection and Usage

LPX-T1 Module

• The LPX-T1 development kit contains a 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.

Device Connection

• LPX-T1 can be easily connected to a PC according to the following steps:
• Take out the LPX-T1 from the development kit;
• Connect the LPX-T1 network interface with the PC via a network cable;
• Connect the LPX-T1 power interface with power via a power adapter;
• If the PC is on, the indicator on the LPX-T1 turns green. And at the time, the LPX-T1 module is not rotating.

Network Configuration

• Before using the LPX-T1 module, please configure the Ethernet network (after connecting the LPX-T1 to the PC) as below:
• Open Network & Internet Settings on PC;

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

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

• Choose TCP/IPv4;

• Click Properties button

• Choose to 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.

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 the PC via the network interface before running the demo application in RoboStudio. Launch RoboStudio and log in.

• If the connection is ok, you shall see the user interface shown 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;

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

• Click the floating window Lidars on the left, and 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 toolbar in the major work area as shown in Figure 2-12.

• The serial number, version, and model of the LPX-T1 will show in the lidar window.
• The supported commands of LPX-T1 are shown in the toolbar. The descriptions are listed in the bellow table.

• Press the Start Scan button. the scan data will be displayed as below(by default, the motor rotating speed should be about 20Hz.):

• Right-click in the major working area to choose a range so as to zoom in or out of the view.
• The scan frequency is also shown 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 a scenario happened, please send a restart command to reset the scan core.

Motor Speed Adjustment

• During the running process, different motor rotating speeds 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 a dashboard popped up for users to enter the required speed. After entering a value, the motor will work at the settled rotating speed automatically. Users 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.

SDK Introduction and Usage

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 is as below:

Network interface

Power Supply Interface

Power Supply Interface Specification

• LPX-T1 takes the only external power to power the range scanner core and the motor system which makes 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.

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

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 platforms.
• And users can embed the SDK source code into other operating systems or embedded systems quickly. Please refer to the SDK document for more information.

Operation Recommendation

• 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 ambient temperature.
• Improper use may even damage the sensor. Please avoid using LPX-T1 in extremely high temperatures (>50 degrees) and too low temperatures (<-20 degrees).

Ambient Light

• Compared with the LPX-T1 series, LPX-T1 performs better to resist ambient light interference, which supports it to work properly in an outdoor environment.
• LPX-T1 can work in two modes: enhanced mode and outdoor mode. Enhanced mode is designed for indoor environments. Typical indoor light(including situations without light) will not affect the performance of LPX-T1.
• Strong light (such as a 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 keeping the equipment shell clean, to ensure the radar production and use.

Revision History

Copyright (c) 2009-2017 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd. www.slamtec.com.

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