FASELASE S10 S Series 5m Industrial 2D LiDAR User Manual

FASELASE S10 S Series 5m Industrial 2D LiDAR

Industrial 2D LiDAR S10
USER MANUAL
(Version V8.01.4)
For more info & supports, please visit http://www.top1sensor.com

Specifications

Requirements
Power supply| DC12~36V, Starting current＞1.5A (12V), Power consumption<4W
Volume| 77×77×63 mm
Operating temperature range| －10℃~ +50℃
Storage temperature range| －20℃~ +70℃
Protection level| IP65
Weight| 310 g

Table 1: Specification

Notes :

1. The device can measure up to10 meters when the reflectivity of the target is10%.
2. The measurement accuracy is ±3cm when the measurement range achieves 5 m and scanning frequency is 15Hz.
3. The default rotating speed is 15 revolutions per a second.

Dimensional drawing

The operating mode

Fixed device
Fixed the base of the sensor with 4 M3*10 screws

Connect the device
Wiring

Table 2: pins signal description

Power supply
Under normal circumstances, the device will automatically operate after power 12V~24V voltage supply. The device needs more than 1.5A (rated 12V) current when starting. Send the operation instruction to S10 device in the monitoring software, if the device doesn’t respond accordingly, firstly, check whether the voltage/current of the device is within the required range. If the starting current is too low, the device cannot start normally; if the voltage/current is too high, the device element will be burned out.

Data acquisition

• Set IP address of computer, and then run the “FaseLase LiDAR point cloud data acquisition and analysis system V8.02.exe”program, then pop-up communication settings window, select the device D10 firstly, then select the fixed IP address from the drop-down menu of the local IP address (If they are not in the same IP segment, the computer cannot connect to the LiDAR device), Click the search button and the software will automatically recognize the IP address of the device.(The factory default IP address of the device is 192.168.0.90, “90” can be modified through system settings after connection successfully).After successfully connecting the device, the window “#FSIP + 192.168.0.90” pops up (as shown Fig 6), click ‘Yes’ to enter the monitoring window(as shown Fig 7).
• In the open monitoring window, each button on the menu bar has a specific function description when moving mouse over it.
• The functions of the buttons from left to right are: open the saved file, view all distance and angle data of the circle, the device disconnect, the device stop, and the device start.
• The relevant settings can be adjusted by accessing the device IP address through a browser.
• Currently the supported browsers are such as IE and Chrome. Different kernel’s browsers may cause the connection to fail. Visit our official website to download the corresponding Demo program and SDK package.

Communication

1. Port Configuration

2. TCP sever port number: 8487

3. Default the device’s IP address: 192.168.0.90 (Need to be powered on again if the IP address is modified)

4. Output data format

5. Binary output: 4 bytes, including both distance and angle values.

6. Each 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.

7. 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.

8. A6, A5, A4 of byte A are the check digits. For the specific algorithm, please check the data check algorithm in the next part.

9. A3, A2, A1, A0, B6, … B0, C6 are measured distances values (a total of 12 bits), its range is 0~4000cm .

10. C5…C0, D10,…D0 aremeasured angle values (a total of 13 digits).Its range is 0~5759, the angular accuracy is 1/16 degree.

Distance
Bits| C7| C6| C5| C4| C3| C2| C1| C0
Value| 0| Distance| Angle| Angle| Angle| Angle| Angle| Angle
Bits| D7| D10| D5| D4| D3| D2| D1| D0
Value| 1| Angle| Angle| Angle| Angle| Angle| Angle| Angle

Data check algorithm

• unsigned char GetCrcPackage(unsigned char *buf)
• {
• 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 (cbit[buf[B]]+cbit[buf[C]]+cbit[buf[D]])&0x07;
• }
• 5.4 Data analysis algorithm
• //
• //buf is a data pack 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 crcdata = GetCrcPackage4Byte(buf);
• unsigned char crcdata1 = (buf[0]>>4)&0x07;
• if(crcdata1!= crcdata)
• return false;
• unsigned int uitemp;
• //calculate the distance
• uitemp = (buf[0]&0x0F);
• uitemp <<= 7;
• uitemp = (buf[1]&0x7F);
• uitemp <<= 1;
• if( buf[2]&0x40)
• uitemp ;
• nodelist->distance = uitemp;
• //calculate the angle
• uitemp = buf[2]&0x3F;
• uitemp <<= 7;
• uitemp = (buf[3]&0x7F);
• nodelist->Angle = uitemp;
• return true;
• }
• Contact us to get more engineering cases and SDK packages.

Troubleshooting

Factors of affecting the measurement range
The S10 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. Use LCAP algorithm to effectively reduce measurement errors
Transparent surface| Wrong measurement results may occur when the measurement target is colorless liquids or glasses. Use LCAP algorithm to effectively reduce measurement errors
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..Use LCAP algorithm to effectively reduce measurement errors

Table 3: list of influencing factors

Standard and optional accessories

Table 4: list of configurations

Contact us

• Xi’an Zhizun International Trade Co., Ltd
• http://www.top1sensor.com
• Tel: +86-29-87858956
• Fax: +86-29-87858956
• Mobi: +86-13201520716 Mr. Yang
• E-mail: contact@top1sensor.com
• Add:   No.68 Middle Sector South,Huancheng Road,Xi’an,China

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