Industrial 2D LiDAR
F20
USER MANUAL

(Version V8.01For more info &supports, please visit http://www.top1sensor.com

Specifications

human eye safety requirements
Power supply| DC12~24V, Start-up current＞1A (12V), power＜4W
Start-up time| Within 5 seconds
Optical indicators| Green light on: working, Green light flash: pause, Red light on: fault
Ambient light immunity 5| 80,000lx
Operating ambient temperature and air humidity| -10℃~ +50℃,85% RH below, no condensation, no icing
Storage ambient temperature and air humidity| -20℃~ +70℃,85% RH below, no condensation, no icing
EMC| 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 rating| IP65
Dimension| 626282mm
Weight| 210g (without cable)
Design life| Used under standard conditions for 5 years (motor, laser diode life)
Housing| Optical window: Polycarbonate，Housing: Aluminum alloy

Table 1: Specification

Note :

1. Objects (dark) with only 10% remission at 10 meters can be measured.; The object (Kodak) with 90%, remission at 40meter can be measured
2. Angle resolution is affected by the scanning frequency. Angle resolution is smaller when low scanning frequency, point cloud data is denser.
3. Measurement error refers to the standard environment of 90% reflectivity (Kodak white) measurement.
4. Statistical error refers to the error of measuring distance when the lidar scanning plane is parallel to 90% reflectivity (Kodak white).
5. 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 operating mode

3.1 Fixed Device

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.
The device can also be installed in the back, as shown in Part 6 of this article for standard and optional configurations

3.2 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, blind zone is between 230 and 310 degrees, no measurement data output.

3.3 Connect the device
3.3.1 Wiring 

Three-core line (1.5m)
1| DC-Power| blue| 12V-24V DC
2| DC-GND| brown|
3| Ground| Yellow| Connect housing ground
TCP/IP interface four-core line (1.5 m shielded mesh wire crystal male).
Type-C interface line (1.5 m).

Table 3: Pin Signal Description

3.3.2 Power supply
In the software, the device is instructed to run if the device does not respond accordingly. Firstly, determine whether the device voltage/current is within the required range, low start-up current will cause the device fail starting properly, high voltage/current will bring the risk of burning equipment components. Under normal circumstances, the device will operate automatically when powered on. Powered by 12V to 24V DC, the device needs more than 1A (12V) when starting, and the current is less than 300mA (12V) in normal operation.
3.3.3 Start up
Visit https://www.top1sensor.com/ under to download the corresponding product information.
Power up the lidar first, and then modify the computer’s fixed IP address (reference 7.. FAQ / How to set up a local IP address, connect the lidar to your computer after successful installation, and run the software for next step.

Data acquisition

After setting up the fixed IP address of the LiDAR, run the provided software program, pop up the communication settings window, select the device F20 from the drop-down menu, select the set fixed IP address from the drop-down menu of the local IP address. (not in the same IP segment can not connect to the LiDAR device) , click the search button, the software automatically recognizes the device IP address (The default IP address of the device is 192.168.0.100, “100” can be modified through system settings after connecting).

FSIP192.168.0.100″ pops up after Lidar connection is succesfull (Figure 6)

and click Yes to enter the new window

Figure 7 is a scanning diagram of the office, clicking on the Save icon allows you to view the distance angle information for all point clouds in the current frame, and you can view the total number of single frame data.

Read settings : Click the Read Settings button in the parameter settings window to view device information.
Save settings: Save all settings under this window.
Return: Return to the point cloud map window.
Scan frequency : Sets the refresh rate of the device. The step to modify the scan frequency is (1) select the frequency (2) click the scan frequency button (3) click save settings button.
Output angle: This feature allows you to set the angle range of point cloud data required. With the left input box as the start angle and the right input box as the end angle. The steps to modify the angle output are (1) Type in the start angle and the end angle (2) Click the output angle button (3) Click save settings button.
Enable parameter: Ticking the farthest distance filter is when the object is further than the farthest scan range, the output data would be 0, Otherwise the output data would be the set farthest distance. Ticking the nearest distance filter is when the object is near than the nearest scan range, the output data would be 0, Otherwise the output data would be the set nearest distance. Tick auto-run and the device will be working immediately after power up, otherwise the device would pause till receiving start order.
Tick angle filtering for eliminating error points between the two planes. Tick data filtering for adjacent angles with two data points when large differences, modify the parameter settings of the step is (1) select the content need to be ticked (2) click enable parameter button (3) click save settings button.

IP address: The IP address of this device. To modify the IP address Step (1) enter the IP address (2) Click the IP address button (3) click save settings button.
Gateway: The gateway of this device. To modify the gateway step (1) enter the gateway (2) click the gateway button (3) click save settings button.
Mask: The netmask of this device. To modify the netmask step (1) enter the netmask (2) click the Netmask button (3) click save settings button.

Communication protocol

5.1 TCP Sever port number: 8487
The default address for LiDAR is 192.168.0.100, and if the IP address is modified, it needs to be powered off again before powering on to take effect.

5.2 Output data format
Binary output: 4 bytes, including distance and angle. There are 4 bytes in one data package (labeled A,B, C, D in turn). The most significant bit of the first 3 bytes is 0, and the most significant bit of the last byte is 1, indicating the end of the package. In each package, A7, B7, C7 are 0, D7 is 1. The total valid data is 28 bits.A6, A5, A4 are check bits. A3, A2, A1, A0, B6… B0, C6 are the distance bits, a total of 12 bits, valid range from 0 to 4000. C5… C0, D6… D0 are the angle bits, the range is 0 to 3680 and 4960 to 5759, the angle accuracy is one-sixth of a degree, but 230 to 310 degrees are the blind area.
5. 3 Calculate the check algorithm
There are 8 bits in each character (bit7 to bit 0), can be either 0 or 1. The three parity bits of A6, A5, A4 are the sum of 1s stored in B, C, D and 1s that in their own 3 LSB. When calculating the parity, find the sum of 1s from the given table and compare the LSB of the sum of 1s with A6, A5, A4. If the result is the same then output the result. unsigned char GetCrcPackage4Byte (unsigned char *buf)

{
unsigned char B,C,D;
B = buf[1];
C = buf[2];
D = buf[3];
//cbit is the table that listed the number of 1s from 0 to 255
static unsigned char cbit[256] = { Subject to changes without notice 7 /12 F20 Operating manual
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[B]+cbit[C]+cbit[D])&0x07; // Returns the number of 1 of the BCD three bytes and the lower three bits
}
5. 4 Data resolution algorithm
//Buf is a packet pointer that holds three bytes of A, B, and C in turn
//Return distance value, wrong parity then return -1
int DecodeLaseData(unsigned char buf)
{
int distance; unsigned char crcdata = GetCrcPackage3Byte(buf);
//unsigned char orgcrc = (buf[0]>>4)&0x07;
if( crcdata!= (buf[0]>>4)) return -1;
//Calculating distance, A0, B6. B0,C6… C0
distance = ((buf[0]&0x1)<<14)+((buf[1]&0x7F)<<7)+((buf[2]&0x7F)); return distance ;
}
//Buf is a packet pointer that holds four bytes of A, B, C, and D in turn
//Return distance value, check does not return -1
typedef struct{
int distance;
int Angle;
}FSDNode;
bool DecodeFSD10(FSDNode nodelist,unsigned char *buf)
{
unsigned char crcdata = GetCrcPackage4Byte(buf); // Calculate the lower three bits of the number of 1 byte received by B,C,D
unsigned char orgcrcdata = (buf[0]>>4)&0x07; // Obtain the original parity A6, A5, A4 if(orgcrcdata!= crcdata) return false;
unsigned int distance，angle;
//Calculate the distance
distance = (buf[0]&0x0F);
distance <<= 7;
distance += (buf[1]&0x7F);
distance <<= 1;
Subject to changes without notice 8 /12 F20 Operating manual
if( buf[2]&0x40)
distance ++;
nodelist->distance = distance;
//Calculate the angle
angle = buf[2]&0x3F;
angle <<= 7;
angle += (buf[3]&0x7F);
nodelist->Angle = angle;
return true;
}

Standard and optional accessories

Table 5: Configuration list
Note: Optional content needs to be purchased separately.

Contact US

Xi’an Zhizun International Trade Co., Ltd
http://www.top1sensor.com

References

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

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