FASELASE F6 Industrial 2D Lidar Scanner User Manual

FASELASE F6 Industrial 2D Lidar Scanner

Industrial 2D LiDAR F6

Specifications

Product Usage Instructions

Mounting the LiDAR Device
Follow these steps to mount the LiDAR device:

1. Secure the back and bottom of the device with M3 screws.
2. Refer to the Standard and Optional Configurations table for additional mounting options.

Powering Up the Device
Connect the LiDAR device to a power supply within the specified range (DC12~24V) and ensure the startup current is 1A at 12V.

LED Indicator Status
Refer to Table 2 for understanding the different LED indicator statuses and their meanings.

FAQs

• Q: What is the minimum distance resolution of the LiDAR device?
  A: The minimum distance resolution of the F6 LiDAR device is 1cm.

• Q: What is the enclosure protection level of the device?
  A: The F6 LiDAR device has an IP65 enclosure protection level.

Industrial 2D LiDAR F6
USER MANUAL
(Version V8.01For more info &supports, please visit http://www.top1sensor.com

Specifications

condensation, no icing
Storage ambient temperature & air humidity| -20℃~ +70℃, 85%RH below, no condensation, no icing
EMC specification| EN61326-1：2013；EN 61326-2-3:2013
Vibration resistance| 10-55Hz bilateral amplitude 1.4mm X, Y, Z direction 2 hours each
Shock resistance| 196m/s2 (20G) X, Y, Z direction 10 times each
Enclosure protection level| IP65
Dimension| 626282mm
Weight| 210g (without cable)
Design life| Used under standard conditions for 5 years (motor, laser diode life)
Housing| Polycarbonate， Aluminum alloy

Table 1: Specification

Notes:

1. The angular resolution is affected by scanning frequency. Angle resolution is smaller when low scanning frequency, point cloud data is denser.
2. Measurement error refers to 90% reflectivity (Kodak white) in the standard environment.
3. Statistical error refers to the error of measuring distance when the Lidar scanning plane is parallel to 90% reflectivity (Kodak white).
4. The difference between the scanning plane and the angle of incoming light needs to be greater than 5 degrees.

LiDAR pictures

Table 2: LED Indicator Status

The LEDs on the front board of LiDAR can indicate the current operation status, which are divided into two categories: working status and trigger status. The working status class indicator includes “Working”, “Pause”, “Fault”, ” Changing input group “, the priority is sorted from high to low as fault, Pause, Changing input group, Working. The trigger class indicator is Output 1-4 triggered. In the case where multiple protection zones are triggered, the indicator status of the LEDs triggered shows priority 1>2>3>4. For example, when there are obstacles in the four areas 1, 2, 3, and 4, the indicator light only shows an orange LED flashing, and when there are obstacles in the two areas 2 and 4, the light only shows a blue light flashing. Digital output signals can be detected independently when triggered despite of LED priority.

The operating mode

Fixed Device

1. The back and bottom of the device are secured with M3 screws with a bottom depth of about 8mm and a back depth of about 6mm.
2. The device can also be secured on the back, see Table 5 Standard and Optional Configurations of this document for details.

Measurement Range Schematic

The measurement schematic is a top view, the shaded part of Figure 5 is the scanning area, the scanning range is from 310 to 230 degrees and blind zone is between 230 and 310 degrees, no measurement data output.

Connect the device

Wiring

Three-core line
1| DC-Power| Red| DC12V~24V ( +)
2| DC-GND| Black| DC  power ground  (-)
3| Ground| Silver(shield)| Connect housing ground
Ten-core line
1| I/O_1 Out| Orange| Hardware interface Output 1
2| I/O_2 Out| Brown| Hardware interface Output 2
3| I/O_3 Out| Gray| Hardware interface Output 3
4| I/O_4 Out| Black| Hardware interface Output 4
5| I/O_4 In| Yellow| Hardware interface Input 4
6| I/O_3 In| Green| Hardware interface Input 3
7| I/O_2 In| Blue| Hardware interface Input 2
8| I/O_1 In| Purple| Hardware interface Input 1
9| I/O-GND| White| I/O DC power GND (-)
10| I/O-Power| Red| 12V~24V DC Power Supply IO (+)
Type-C interface line

Table 3: Pin Signal Description

The voltage supply for both DC-Power and IO-Power is between 12V-24V, DC-GND and IO-GND are not inner connected to ground. IO digital signal function will not be booted until IO-Power and IO-GND are connected. The maximum value of the I/O output voltage signal is determined by the I/O power supply and load circuit.

Input pins Groups| IO_1 IN| IO_2 IN| IO_3 IN| IO_4 IN
---|---|---|---|---
Group 1| 0 (Low)| 0 (Low)| 0 (Low)| 0 (Low)
Group 2| 1 (High）| 0 (Low)| 0 (Low)| 0 (Low)
Group 3| 0 (Low)| 1（High）| 0 (Low)| 0 (Low)
Group 4| 1 (High）| 1 (High）| 0 (Low)| 0 (Low)
Group 5| 0 (Low)| 0 (Low)| 1 (High）| 0 (Low)
Group 6| 1 (High）| 0 (Low)| 1 (High）| 0 (Low)
Group 7| 0 (Low)| 1 (High）| 1 (High）| 0 (Low)
Group 8| 1 (High）| 1 (High）| 1 (High）| 0 (Low)
Group 9| 0 (Low)| 0 (Low)| 0 (Low)| 1 (High）
Group 10| 1 (High）| 0 (Low)| 0 (Low)| 1 (High）
Group 11| 0 (Low)| 1 (High）| 0 (Low)| 1 (High）
Group 12| 1 (High）| 1 (High）| 0 (Low)| 1 (High）
Group 13| 0 (Low)| 0 (Low)| 1 (High）| 1 (High）
Group 14| 1 (High）| 0 (Low)| 1 (High）| 1 (High）
Group 15| 0 (Low)| 1 (High）| 1 (High）| 1 (High）
Group 16 (Default input group)| 1 (High）| 1 (High）| 1 (High）| 1 (High）

Table 4: how to select Group

Table 4 shows the corresponding relation between input signals and Group. For example, if the expected Group is Group 10 then input signals need to be IO_1 IN is high, IO_2 IN is low, IO_3 IN is low, IO_4 IN is high, which means parallel Hardware interface Input 1 and 4 to 12V-24V IO DC Power Supply (PIN10 from table 3), and connect Hardware interface Input 2 and 3 to IO DC power GND (PIN9 from table 3). If all the Hardware interface Inputs are vacant (connected to nothing), then the device would select Group 16 (as default group).

The external I/O voltage ranges from 12V to 24V. The power ground and I/O ground are not in common. When measuring I/O OUTPUT, it is necessary to connect the I/O power supply and the I/O ground. The maximum value of the I/O output voltage signal is determined by the I/O power supply and load circuit. To change the I/O INPUT, it is necessary to connect the I/O  power supply. Change the input group by I/O INPUT ground. For details, see Table 4.

Software Running

• Connect LiDAR device and PC with the provided type-C socket. Some PCS can automatically install the driver after LiDAR connected, if not, please visit http://www.top1sensor.com/ and download the CP210X driver in the product package.
• Be aware of the order of operation, which is first connect LiDAR and PC, then power on LiDAR. If not, there will be probability that the computer mouse become uncontrollable and PC need to be restart.

Power supply
Under normal circumstances, the device will automatically operate after power .12V-24V voltage supply. The LED on the front board would be green on. If the startup current is too low, the device will not be able to start normally. If the voltage/current is too high, there will be the risk of burning the device components. The device needs more than 1A(rated 12V) current when starting, the normal working state current is less than 300mA (rated 12V).

Software settings

Introduction to software interface

• The device is located in the middle of Figure 9 and highlighted as a red dot. Top side is 0 degree, right side is 90 degree and down side is 270 degree. Blind zone are in grey. Icons on the top bar are: ① open file ②show the distances and angles of all the point cloud in the current scan circle ③ pause the device ④ run the device ⑤ zoom in the picture ⑥ zoom out the picture ⑦ show/hide the area setting column Right click on the grid when area setting column is hiding, LiDAR settings, language, display settings can be shown.
• All Settings (LiDAR settings and area settings) in device can be read (upload), write (download) by setting different parameters in FaseLase software.
• In Figure 10, ① take care to ensure that the IO_IN of the device is connected correctly.
• For example, if zone needs to be set in Group 3 Zone 1, please make sure that the hardware of device is correctly connected( IO_1 IN, IO_3 IN, IO_4 IN are connected to High and IO_2 IN is connected to Low in this case); ② select the Group and Zone that going to be set ③ the number of zones set in the current Group and the total number of zones set in all Groups; ④ shows the status of device. Input Idx:1 means that the device is using stored Group 3 as detection group. Protect 1, Protect 2, Protect 3, Protect 4 are the 4 zones. If the text are in green indicates the Zone are not triggered, if the text become red then the Zone are triggered current lidar internal scanning detection group.
• Read Device Area: upload connected LiDAR device area information to FaseLase software Save All to Device: download all the area information in 16 groups from FaseLase software to connected LiDAR device
• Save Selected Area : download area information in selected Group from FaseLase software to connected LiDAR device, and keep area in other Groups unchanged
• Delete All: clear all the area plotted in FaseLase software then download to connected LiDAR device (ripe software and device).
• Please be aware that only ④ in Figure 10 indicates the status of LiDAR device, software zone and device zone can be different if Read Device Area button is not clicked.

Figure 11: example for detail settings
As shown in Figure 11, ” Input Idx:16″ refers to IO_1-4 IN are connected to High(or vacant). Under the connection state of all IO_IN, LiDAR device will choose all 4 Zones in Group 16 as  judgment of trigger. The blue line in Figure 11 is the rendering of the data point cloud measured by LiDAR device. 16-1 is Zone 1 and it is a 10 vertices of polygon area, including 92 data points (Letter ” F “in figure 11 and there is a “1:92” indicates there are 92 point cloud data inside the area plotted in Zone 1) meet the conditions of the Threshold Number of Points (Threshold Number of Point is the trigger condition. In figure 11 case, Threshold Number of Points is set as 5 and this refers to there are at least 5 point cloud data in Zone 1 to satisfy the trigger condition. Actually there are 92 point cloud detected in Zone1 therefore Zone1 triggered) trigger IO_1 Out a Low output (originally IO_1 Out is High, satisfy the trigger condition becomes Low output). At the same time, the edges of the graph of Zone 1 changed from green to red, text “Protection 1” also changed from green to red. The LED on the front board changed to the corresponding state. Similarly, there are 107, 55 and 75 data points of polygons in intervals 2, 3 and 4 respectively, all of which meet the trigger condition of Threshold Number of Points of 10. IO_2-4 OUT output Low digital signals respectively.

Operation Instruction

• Click the “STOP” icon to pause motor rotation before modifying any LiDAR device settings, otherwise communication failure might occur. After the Pause, click the button “Read Device Area” to upload all the areas from LiDAR device to FaseLase software (the graphics displayed on the FaseLase software may be inconsistent with the ones stored in the LiDAR device, therefore click “Read Device Area” to ensure areas in both device and software are the same). After that, settings can be started.
• If area is going to be plotted in Group 16 Zone 4, left click on 16-4 and the bar will be highlighted, then left click at any position of grid diagram to set the first coordinate point. If the plotted area graph is not closed connected, a new vertex can be added every left click and automatically connect to the previous point. The coordinate of the vertex will be displayed on the right side. As shown in Figure 12, 16-4 is selected. Left click on the edge of the closed connected area graph to add coordinate points, drag to change the graph.
• Currently the system supports up to ten vertexes. After setting, click “Save All to Device” or “Save Selected Area” to download the set area protection to LiDAR device. Click “Run the Device” icon to resume operation and the LiDAR device starts to detect whether obstacles are in the protected area. The sides of triggered area changes from green to red in the software graph, the text of triggered area become red, and the I/O output level changes. 
  • Figure12: area settings
• As shown in figure 13, right click at the coordinate point to pop up an option box. By editing the status of the vertex, you can also choose to delete the selected vertex, or delete the area in one Zone, or delete the areas in one Group, or delete all areas in 16 Groups. When finish setting the areas, “Save as File” enable saving all the area information as a file and you can setup a second new LiDAR device easily by “Load File” to read the saved areas. After loading the saved file to FaseLase software, remember to click “Save All to Device” to download the areas from software to device.
  • Figure 13: settings for vertex and side in area
• As shown in figure 13, right click at the coordinate point to pop up an option box. By editing the status of the vertex, you can also choose to delete the selected vertex, or delete the area in one Zone, or delete the areas in one Group, or delete all areas in 16 Groups. When finish setting the areas, “Save as File” enable saving all the area information as a file and you can setup a second new LiDAR device easily by “Load File” to read the saved areas. After loading the saved file to FaseLase software, remember to click “Save All to Device” to download the areas from software to device.
  • Figure 13: settings for vertex and side in area
• Right click at the vertex or side of the area, choose Edit Area. In edit mode, you can fine-tune the position of coordinate points by inputting specific coordinate values. The output signal level when the area is triggered can be set in this section. Protection area can be polygon or sector. Threshold points refer to the number of trigger points in the protection area, greater then triggered, smaller then remains. The effective range of Threshold Points is 2-200, the smaller Threshold Points lead to faster response time and more sensitive to smaller obstacles but easier disturbed, while the greater Threshold Points is more stable but relatively longer reaction time. For example, if the Threshold Point of 16-1 is 5, when obstacles detected in plotted area in 16-1 but the point cloud data is 4, then IO_1 OUT will not triggered. After all settings in Faselase software, click Save Selected Area or Save All to Device and wait finishing progress bar and reboot LiDAR device. Then LiDAR will start to work according to the newly set parameters. 
  • Figure 14: modify the rotational speed in LiDAR Settings window
• Right click on the grid chart to select LiDAR Settings will bring up a new window where the content of this window is not all open to customers. In most cases, no modification is required. Here we take modifying the rotational speed as an example. The rated rotational speed is 15Hz, if it needs to be 20Hz, please follow the steps. ①Click Read Settings to upload LiDAR parameters to Faselase software. ②Choose 15Hz to 20Hz (note: the effective rotational speed of F6 is from 10Hz to 25Hz) ③Left click Scan Frequency button ④ Left click Save Settings to download new parameters to LiDAR device.

Troubleshooting

Factors affecting the measurement range

• The F6 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

Table 5: Configuration Summary

Contact us

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

References

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

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