SLAMTEC LPX-E3P1 Industrial 2D Lidar Field Monitor Instruction Manual

: July 7, 2024
: SLAMTEC

LPX-E3P

Industrial 2D Lidar Field Monitor

Instruction Manual

Model:LPX-E3P1

0.225°@20Hz for 64 zones

SLAMTEC Inc.

Jun. 2024 Version 0.1.1 www.slamtec.com

SLAMTEC Industrial Solution LPX-E3P1

1 Features

20 Hz Scanning Frequency
0.225° Field Monitoring Resolution
360°ø10m Monitoring Range
64 Field Sets, 3 Fields in each set
80 k-lux light resistance, for indoor and outdoor

2 Introduction

LPX-E3P is the next generation 2D Lidar Field Monitor developed by SLAMTEC with 64 configurable Field Sets, and 3 Field monitored simultaneously in each Field Set. By using wireless energy and data transmission technology, it beats the lifetime and reliability of traditional lidar.

LPX-E3P, as a 2D Lidar Field Monitor, can perform 360-degree all-round laser ranging scanning in a 2D plane with a radius of 6 meters, and generate field monitoring status data in the plane it is located. These fields monitoring data can be used in practical applications such as robot obstacle avoidance, assembly line piece counting, and channel passage monitoring.

Comparing to other Field Monitors, the ranging performance of LPX-E3P is more stable when detecting distant objects, switching between black and white objects, and objects illuminated by strong light. It can achieve ideal field monitoring effects within a 6-meter ranging radius in indoor and outdoor environments, and its application scope can be expanded to more Industrial grade usage scenarios.

The scanning frequency of LPX-E3P is 20Hz (1200rpm). At the scanning frequency of 20Hz, an field monitoring angular resolution of 0.225°can be configured. The lidar internally performs high-frequency scanning at a frequency much higher than that required for monitoring resolution, and uses full-angle high- frequency scanning. Multi-sampling technology ensures object recognition accuracy at every monitoring angle.

Benefited from the improved performance of SLAMTEC hardware and the optimization of the algorithm, LPX-E3P performs great in various indoor environments and outdoor environments exposed to strong direct sunlight. At the same time, each LPX-E3P has undergone strict testing before leaving the factory to ensure that the laser power emitted meets the IEC-60825 Class 1 human eye safety level.

2.1 System Composition

LPX-E3P consists of a range scanner core and the mechanical powering part, which makes the core rotate at a high speed. When it functions normally, the scanner core will rotate and scan clockwise. Users can configure fields to be monitored in SLAMTEC LPX SCAN DESIGNER software, then sensor will scan and monitor the these fields.

Figure 2.1: LPX-E3P System Composition

Laser measurement core
Power and communication port

LPX-E3P comes with a rotation speed detection and adaptive system. The system automatically adjusts angular resolution according to rotating speed. And there is no need to provide a complicated power system for LPX-E3P. In this way, the simple power supply schema saves the BOM cost.

Detailed specification of power and communication interface can be found in following sections.

2.2 Mechanism

LPX-E3P is based on the laser flight-of-time (TOF) ranging principle and adopts high-speed laser acquisition and processing hardware developed by SLAMTEC. The system ranges more than 32000 times per second. During every ranging process, LPX-E3P emits modulated infrared laser signal, which is then reflected by the object to be detected. The returning signal is then sampled by the laser acquisition system in LPX-E3P, and processor embedded in LPXE3P starts processing the sample data and use internal Field Monitor App to detect the status for all selected fields in real-time.

Figure 2.2: LPX-E3P Working Schematic

When driven by motor system, range scanner core will rotate clockwise and perform 360-degree scan for current environment.

Figure 2.3: The Environment Map Obtained from LPX-E3P Scanning4

2.3 Output Data

This sensor does not provide raw data(distant and angule) output when working. After data collection, it will detect whether there are objects in the set area through the sensor’s built-in field monitoring application. If an object appears, the switch signal will be output through the corresponding output interface.

Through 6 input interfaces, 64 field sets can be selected, and 3 fields monitored at the same time can be switched. All zone groups need to be configured in SLAMTEC LPX SCAN DESIGNER software.

In addition to the 3 output channels corresponding to the three fields monitored simultaneously, the sensor also provides a sensor working status output channel through which the working status of the sensor can be monitored.

2.4 Application Fields

This sensor is suitable for the following fields:

AGV, AMR Avoidance
Robot, UAV Avoidance
Assembly line piece counting

4Note: The LIDAR scan image is not directly relative to environment shown here. Illustrative purposes only.

Area intrusion monitoring
Channel passage monitoring

This sensor is NOT suitable for the following fields:

Any fields a safety field scanner is required

3 Safety and Scope

Class I

LPX-E3P system uses a low-power infrared laser as its light source and drives it by using modulated pulse. The laser emits light in a very short time frame which can ensure the safety of humans and pets,and it reaches the Class I laser safety standard. Complies with 21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser Notice No. 50, dated June 24, 2007.

Caution: Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure.

The modulated laser can effectively avoid interference from ambient light and sunlight during the ranging and scanning process, which makes the LPX-E3P work excellently in all kinds of indoor environments and outdoor environments without direct sunlight.

This sensor is not a safety field scanner, do not use this sensor in unsuitable occasion. Please follow this document and use this sensor in applicable scenarios to avoid personal safety and property damage.

Do not remove the sensor housing screws without authorization.

Please read this document completely before using this sensor.

4 Detailed technical data

Object	Value

Features
Measurement principle| SL-dTOF
Application| Indoor and Outdoor(≥ 80Klux)
Light source| Infrared Laser(905nm)
Laser class| 1 (IEC 60825-1:2014, EN 60825-1:2014)
Horizontal aperture angle| 360°
Scanning frequency| 20Hz
Angular resolution| 0.225°
Working range
-Recognition(≥70%remission)
-Warning(≥10%remission)
-Alarming(≥2%remission)| 0.05m .. 25m
0.05m .. 10m
0.05m .. 4m
Mechanics/electronics
Connection type| 1x SH1.0 12-pin male(0.8m)
Supply voltage| 9 V DC .. 30 V DC
Power consumption| Typ. 3 W
IO Output Power| ≤ 1.2W
Housing color| SLAMTEC BLUE
Enclosure rating| IP65 (IEC 60529:1989+AMD1:1999+AMD2:2013)
Protection class| III (IEC 61140:2016-1)
Weight| 180 g. without connecting cables
Dimensions (L x W x H)| 56.63 x 56.63 x 48.00 mm
MTBF| >10 years
Safety-related parameters
MTTFD| >10 years
Performance
Response time| 1 scan, typ. 50 ms
2 scans, ≤ 100 ms
Detectable object shape| Almost any
Systematic error| ±30mm
Integrated application| Field Monitoring with flexible fields
Number of field sets| 64 Field Sets (3 Fields in each Field Set)
Simultaneous evaluation cases| 1 (3 fields)
Interfaces
Confuring interface| USB Type-c
Digital inputs| 6
Digital outputs| 3(PNP)
Working Status Output| 1(PNP)
Delay time| 50 ms .. 30,000 ms, configurable
Dwell time| 50 ms .. 60,000 ms, configurable
Optical indicators| 3x Monocolor LED(Fields Status)
1x Multicolor LED(Sensor Status)
Ambient data
Object remission| 2% … 1,000% (reflectors)
Electromagnetic compatibility (EMC)
-Emitted radiation
-Electromagnetic immunity| Residential area(EN 61000-6-3:2007+AMD:A1:2011)
Industrial environment(EN 61000-6-2:2005)
Vibration resistance
-Sine resonance scan
-Sine test
-Noise test| 10 Hz … 1,000 Hz 5
10 Hz … 500 Hz, 5 g, 10 frequency cycles 5
10 Hz … 250 Hz, 4.24 g RMS, 5 h 6
Shock resistance| 50 g, 11 ms, ± 3 single shocks/axis 7
25 g, 6 ms, ± 1,000 continuous single shocks/axis 7
50 g, 3 ms, ± 5,000 continuous single shocks/axis 7
Ambient operating temperature| -10 °C … +50 °C8
Storage temperature| -30 °C … +70 °C8
Switch-on temperature| 0 °C … +50 °C
Temperature change| -10 °C … +50 °C, 10 cycles9
Damp heat| +25 °C … +55 °C, 95 % RH, 6 cycles10
Permissible relative humidity
-Operation
-Storage| ≤80 %, Non-condensing (EN 60068-2-30:2005)
≤90 %, Non-condensing (EN 60068-2-30:2005)
Ambient light immunity| 80,000 lx
General notes
Note on use| The sensor does not constitute a safety component as defined by relevant legislation on machine safety
Classifications
TODO|

5IEC 60068-2-6:2007.
6IEC 60068-2-64:2008.
7IEC 60068-2-27:2008.
8IEC 60068-2-14:2009.
9EN 60068-2-14:2009.
10EN 60068-2-14:2009.

Table 4.1: LPX-E3P1 detailed technical data chart

5 Dimensional drawing

Figure 5.1: Dimensional drawing

Optical Window

6 Working range diagram

Maximum monitoring range: 40m ( objects remission>70% )
Black object monitoring range: 15m ( objects remission >10% )
Full remission monitoring range: 5m (objects remission >2% )

Figure 6.1: Working range diagram

7 PIN assignment

With protrusions

Figure 7.1: SH1.0 14-pin male connector

Circuit No. 1

Number

| Cable Color| Signal Type| Signal| Function Description
---|---|---|---|---
1| RED| Power| VCC|

Power Positive 9-30V

2

Input COM

4

Input Port 2

6

Input Port 4

8

Input Port 6

10

Port action if Field 1 detect an object

12

Port action if Field 3 detect an object

14

| GREEN| STATUS| OUT|

Port action if sensor fails

Table 7.1: PIN assignment chart

8 Identify sensor information

There is a product information label printed on the side of the sensor that can be read to obtain key sensor information.

Right Left

Figure 8.1: Sensor label

The right side of the sensor is printed with the sensor’s series name, main parameters, product number QR code, certification and warning information, production time, production location and other information. The label in the picture above is for reference only. For specific parameter information, please refer to the product manual and the data on the label on the right side of the actual product.

The connector type, model and definition of the sensor cable are printed on the right side of the sensor. The label in the picture above is for reference only. For specific parameter information, please refer to the product manual and the data on the label on the right side of the actual product.

9 Identify work status

The current working status of the sensor can be identified by observing the four indicator lights in front of the sensor.

Figure 9.1: Indicator LEDs

The specific indicator light status corresponds to the working status as shown in the table below.

Indicator 1

STATUS

| Indicator 2

OUT1

| Indicator 3

OUT2

| Indicator 4

OUT3

| working status
---|---|---|---|---
Red| ON| ON| ON|

Startup, parameter setting, firmware upgrade, rectifiable faults

Red Flashing

| Flashing| Flashing| Flashing| Fatal failure
–| –| –| –|

Shudown

Green

| –| –| –| Working
Green| ON| –| –|

Object detected in Field 1 (OUT1)

Green

| –| ON| –| Object detected in Field 2 (OUT2)
Green| –| –| ON|

Object detected in Field 3 (OUT3)

Yellow

| –| –| –| Alignment mode
Yellow Flashing| –| –| –|

Identificating device

Table 9.1: Indicator light status vs working status

10 Mounting Sensor

The sensor comes with its own cable, and the cable outlet needs to be reserved to avoid excessive bending of the cable. There should be a USB Type-C jack and indicator light in front of the laser scanning sensor base to facilitate connection debugging and observation of the sensor status.

Figure 10.1: Reserve front space requirements

Indicator Window

Figure 10.2: Reserve rear space requirements

Through hole or distance greater than 40mm

This sensor uses SL-dTOF ranging technology. When there are multiple sensors working together on the same plane, in order to avoid mutual interference, it is recommended that the inclination angle be more than 3°.

Figure 10.3: Install multiple sensor on the same plane

Due to the cone-shaped divergent emission of the sensor light spot, it is recommended that the laser scanning sensor be installed at a height of ≤200mm from the ground. If the installation height is <200mm from the ground, please tilt the laser scanning sensor upward 1-3°.

Figure 10.4: Installation angle requirements

flange distance ≥ 200mm
flange distance < 200mm

11 Connecting Sensor

11.1 Power connection

Refer to the pin definition table for power pins. This sensor supports a wide range of 9..30VDC voltage input, and the typical voltage is 24VDC. Input voltage exceeding the rated range or reverse power supply or AC power supply will cause irreversible damage to the sensor.

11.2 Input signal connection

The input is an open-collector (PNP) signal, which uses an optocoupler to isolate the input and is triggered by a high level. The input high level typical value is 24V, the range is DC11-28V, and the input low level should be less than 0.5V.

SLAMTEC LPX-E3P1 Industrial 2D Lidar Field Monitor - Figure
11.1

Figure 11.1: Connect PNP input11

Current
Processor

The sensor provides 64 channels and switches to the specified numbered channel through a combination of 6 IO port input signals. The detection range of the channel needs to be set in advance through the configuration software. External devices perform zone selection and switching through input signals. When performing a switch, if the zone group switched to is not configured, the zone group before the switch will be maintained. After receiving the switching command, the radar will switch channels after completing the current scan cycle, that is, switching channels 50ms after the input signal changes. The specific input signal and area group number meet the binary encoding, and the detailed correspondence is shown in the table below.

11The typical connections given here are only for wiring reference and may not be suitable for all situations. Users are asked to design according to actual applications.

Channel ID

| IN6| IN5| IN4| IN3| IN2| IN1
---|---|---|---|---|---|---
0| HIGH| HIGH| HIGH| HIGH| HIGH|

HIGH

1

HIGH

3

HIGH

5

HIGH

7

HIGH

9

HIGH

11

| HIGH| HIGH| LOW| HIGH| LOW| LOW
12| HIGH| HIGH| LOW| LOW| HIGH|

HIGH

13

| HIGH| HIGH| LOW| LOW| HIGH| LOW
14| HIGH| HIGH| LOW| LOW| LOW|

HIGH

15

| HIGH| HIGH| LOW| LOW| LOW| LOW
16| HIGH| LOW| HIGH| HIGH| HIGH|

HIGH

17

HIGH

19

| HIGH| LOW| HIGH| HIGH| LOW| LOW
20| HIGH| LOW| HIGH| LOW| HIGH|

HIGH

21

| HIGH| LOW| HIGH| LOW| HIGH| LOW
22| HIGH| LOW| HIGH| LOW| LOW|

HIGH

23

| HIGH| LOW| HIGH| LOW| LOW| LOW
24| HIGH| LOW| LOW| HIGH| HIGH|

HIGH

25

| HIGH| LOW| LOW| HIGH| HIGH| LOW
26| HIGH| LOW| LOW| HIGH| LOW|

HIGH

27

| HIGH| LOW| LOW| HIGH| LOW| LOW
28| HIGH| LOW| LOW| LOW| HIGH|

HIGH

29

| HIGH| LOW| LOW| LOW| HIGH| LOW
30| HIGH| LOW| LOW| LOW| LOW|

HIGH

31

| HIGH| LOW| LOW| LOW| LOW| LOW
32| LOW| HIGH| HIGH| HIGH| HIGH|

HIGH

33

HIGH

35

| LOW| HIGH| HIGH| HIGH| LOW| LOW
36| LOW| HIGH| HIGH| LOW| HIGH|

HIGH

37

| LOW| HIGH| HIGH| LOW| HIGH| LOW
38| LOW| HIGH| HIGH| LOW| LOW|

HIGH

39

| LOW| HIGH| HIGH| LOW| LOW| LOW
40| LOW| HIGH| LOW| HIGH| HIGH|

HIGH

41

| LOW| HIGH| LOW| HIGH| HIGH| LOW
42| LOW| HIGH| LOW| HIGH| LOW|

HIGH

43

| LOW| HIGH| LOW| HIGH| LOW| LOW
44| LOW| HIGH| LOW| LOW| HIGH|

HIGH

45

| LOW| HIGH| LOW| LOW| HIGH| LOW
46| LOW| HIGH| LOW| LOW| LOW|

HIGH

47

| LOW| HIGH| LOW| LOW| LOW| LOW
48| LOW| LOW| HIGH| HIGH| HIGH|

HIGH

49

| LOW| LOW| HIGH| HIGH| HIGH| LOW
50| LOW| LOW| HIGH| HIGH| LOW|

HIGH

51

| LOW| LOW| HIGH| HIGH| LOW| LOW
52| LOW| LOW| HIGH| LOW| HIGH|

HIGH

53

| LOW| LOW| HIGH| LOW| HIGH| LOW
54| LOW| LOW| HIGH| LOW| LOW|

HIGH

55

| LOW| LOW| HIGH| LOW| LOW| LOW
56| LOW| LOW| LOW| HIGH| HIGH|

HIGH

57

| LOW| LOW| LOW| HIGH| HIGH| LOW
58| LOW| LOW| LOW| HIGH| LOW|

HIGH

59

| LOW| LOW| LOW| HIGH| LOW| LOW
60| LOW| LOW| LOW| LOW| HIGH|

HIGH

61

| LOW| LOW| LOW| LOW| HIGH| LOW
62| LOW| LOW| LOW| LOW| LOW|

HIGH

63

| LOW| LOW| LOW| LOW| LOW|

LOW

Table 11.1: Input signal Field Sets selection table

11.3 Output signal connection

The output is the collector PNP normally open, using optocoupler isolation output. When there is no alarm output, PNP and OUT COM remain disconnected; when there is a signal on the output, the level is the same as OUT COM. The maximum load capacity of the output port is 1.2W. Please refer to the figure below for connection.

SLAMTEC LPX-E3P1 Industrial 2D Lidar Field Monitor - Figure
11.2

Figure 11.2: Connect PNP output12

Processor
Current
Load

The sensor output port corresponds to the fields drawn in the configuration software. If the corresponding area is not configured, the port will not output. When the radar is working normally, the OUT4 port will remain high and can be used to judge the radar working status.

11.4 Connect configuration cables

The sensor uses USB Type-C to connect to the computer for configuration. This interface is only used for data transmission and not for power supply. Therefore, before connecting to the computer, use the SH1.0 12-pin interface for power supply.

SLAMTEC LPX-E3P1 Industrial 2D Lidar Field Monitor - Figure
11.3

Figure 11.3: Connect configuration cables

Please refer to the configuration software instructions for specific parameter configuration.

12The typical connections given here are only for wiring reference and may not be suitable for all situations. Users are asked to design according to actual applications.