ORADAR MS200k 3D Vision for a 3D World User Manual

: September 17, 2024
: ORADAR

Table of Contents

MS200k 3D Vision for a 3D World
Specifications:
Product Information:
Product Usage Instructions:
Safety Guidelines:
- FAQ:
Q: Can I use the LiDAR device outdoors?
Q: How do I clean the optical cover of the LiDAR device?
Q: What is the maximum range of the LiDAR device?

MS200k 3D Vision for a 3D World

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Specifications:

Product Name: MS200k dToF 2D LiDAR(SR)
Document Number: PD-P2301002
Version: A1

Product Information:

The MS200k dToF 2D LiDAR(SR) is a laser-based distance measuring
device designed and manufactured by Shenzhen Oradar Technology Co.,
Ltd. It is equipped with advanced technology for accurate 2D
scanning and distance detection.

Product Usage Instructions:

Safety Guidelines:

Do not disassemble or modify the product without authorization
to prevent product damage or radiation exposure.
Avoid dropping or hitting the product to prevent damage to
internal components.
Check the power supply requirements carefully to avoid
permanent damage due to excess power supply.
Avoid scraping the optical cover to maintain product
performance.
The product is classified as a Class 1 laser product (IEC / EN
60825-1:2014), which is safe under normal conditions of use, but do
not look directly at the laser transmitter.

FAQ:

Q: Can I use the LiDAR device outdoors?

A: Yes, the MS200k dToF 2D LiDAR(SR) can be used outdoors, but
ensure it is protected from extreme weather conditions and direct
exposure to sunlight.

Q: How do I clean the optical cover of the LiDAR device?

A: Use a soft, lint-free cloth to gently wipe the optical cover
of the device. Avoid using harsh chemicals or abrasive materials
that may damage the cover.

Q: What is the maximum range of the LiDAR device?

A: The maximum range of the MS200k dToF 2D LiDAR(SR) is [specify
range] meters under optimal conditions.

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MS200k dToF 2D LiDAR(SR)
U serM a n u a l
Th e docu m en t con ta in s bu sin ess secrets w h ose in tellectu a l property belon gstoSh en zh en Ora da rTech n ologyCo.,L td. a n d isprotected by la w . Th is docu m en t a n d its con ten ts sh a ll n ot be u sed or copied in w h ole orin pa rt w ith ou t th e w ritten con sen t ofth e com pa n y.
Ora da r. A ll righ tsreserv ed.
Docu m en t n u m ber PD-P230 1 0 0 2 Version:A 1

MS200k dToF 2D LiDAR(SR)

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maiDsercli

Th is docu m en t is th e copyrigh t ofSh en zh en Ora da r Tech n ology Co.,L td.,a ll righ ts reserv ed. W ith ou t th e w ritten perm ission ofth e com pa n y,a n yorga n iza tion orin div idu a l sh ou ldn ‘t ta k e n otes orcopypa rt ora ll ofth e con ten ts ofth is docu m en t a n d sh ou ld n ot dissem in a te it in a n yform . w e m a yn ot in form you ifth isdocu m en t issu bject tou pda te.

On ce th isprodu ct isu sed,it isdeem ed th a t th e u serh a srea d th issta tem en t ca refu lly, u n derstood, recogn ized, a n d a ccepted th e w h ole con ten t of th is sta tem en t. Th e u ser u n derta k es to ta k e fu ll respon sibility for th e u se of th e produ ct a n d th e possible con sequ en ces, a n d a grees to th is cla u se a n d a n y relev a n t policies, gu idelin es a n d gu idelin esform u la ted bySh en zh en Ora da rTech n ologyCo.,L td.

Sh en zh en Ora da rTech n ologyCo.,L td. w ill n ot be respon sible forth e da m a ge,in ju ry a n d a n ylega l lia bilityca u sed byth e direct or in direct u se ofth e produ ct. U sers sh ou ld follow a ll sa fety gu idelin es in clu din g, bu t n ot lim ited to, th ose m en tion ed h erein . Sh en zh en Ora da rTech n ologyCo.,L td. w ill n ot be respon sible fora n ylossesca u sed byth e u sers’fa il tou se th e produ ctsa ccordin g toth e sa fetygu idelin esa n d th e U serM a n u a l.

U n less sta te clea rly,produ cts a n d rela ted docu m en ts,in clu des th e con ten t w ith th e produ cts w h ich produ ced by Sh en zh en Ora da r Tech n ology Co.,L TD. a re ba sed on ” origin a l” a n d ” existin g” ,w ith ou t a n yexpress orim plied gu a ra n tee orcla u se,in clu din g bu t n ot lim ited toth e su ita bilityofa specific pu rpose,produ ct u n in terru pted v a lidity,n on in frin gem en t gu a ra n tee,etc.

Safety Guidelines
1 . Don ot disa ssem ble or m odify th e produ ct w ith ou t a u th oriza tion soa s toprev en t produ ct da m a ge orra dia tion exposu re.
2. Don ot fa ll orh it th e produ ct,oth erw ise,th e in tern a l com pon en ts ofth e produ ct m a y be da m a ged,resu ltin g in a bn orm a l w ork .
3. Plea se ca refu llych eck th e pow ersu pplydem a n d ofth e produ ct,a n d th e excesspow er su pplym a yca u se perm a n en t da m a ge toth e produ ct.
4. Do n ot scra pe th e optica l cov er, a n d k eep th e optica l cov er clea n , oth erw ise, th e produ ct perform a n ce m a ybe a ffected.
5. Th e produ ct iscla ssified a scla ss1 la serprodu ct (IEC / EN 60 825-1 :20 1 4),w h ich issa fe u n der a ll n orm a l u se con dition s, bu t do n ot look directly a t th e la ser tra n sm itter

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th rou gh th e a m plifica tion equ ipm en t. 6. Th e produ ct is n ot w a terproof,don ot let th e produ ct con ta ct w ith a n yliqu id oru se
a n yliqu id w ith clea n in g fu n ction toclea n it. 7. It is strictlyproh ibited tou se orstore produ cts in fla m m a ble,explosiv e orcorrosiv e
en v iron m en tstov oid produ ct da m a ge.

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CON TEN T
Disclaimer………………………………………………………………………………………………………………………………………. 2
Safety Guidelines ……………………………………………………………………………………………………………………………. 2
CON TEN T………………………………………………………………………………………………………………………………………. 4
Product Overview……………………………………………………………………………………………………………………. 5
Product Profile ……………………………………………………………………………………………………………………………………. 5 Working Principle ………………………………………………………………………………………………………………………………… 5 Product Features …………………………………………………………………………………………………………………………………. 5
Specifications …………………………………………………………………………………………………………………………. 6
Electrical Interface…………………………………………………………………………………………………………………… 7
Interface Definition ……………………………………………………………………………………………………………………………… 7 Serial Port Configuration ………………………………………………………………………………………………………………………. 8
Mechnical Interface…………………………………………………………………………………………………………………. 8
Mechanical Dimension …………………………………………………………………………………………………………………………. 8 Polar Coordinate System ………………………………………………………………………………………………………………………. 9
Working Mode ……………………………………………………………………………………………………………………….11
System Workflow ………………………………………………………………………………………………………………………………. 11 Data Format ……………………………………………………………………………………………………………………………………… 11
Point Cloud Data Format ………………………………………………………………………………………………………………… 11 LiDAR Information Format………………………………………………………………………………………………………………. 12 Set/Get Command Format ……………………………………………………………………………………………………………… 13
Quick Start Guide ……………………………………………………………………………………………………………………16
Device Connection …………………………………………………………………………………………………………………………….. 16 Convenient Oradar Viewer………………………………………………………………………………………………………………….. 17 Software Development Kit: Oradar SDK………………………………………………………………………………………………… 17 Special scenario usage descriptions. …………………………………………………………………………………………………….. 17
Change History ……………………………………………………………………………………………………………………….19

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ProductOeierv

MS200k dToF 2D LiDAR(SR)
w

DocumentnumberPD-P2301002 VersionA1

Produ ct Profile
M S20 0 k is a low -cost,sin gle-lin e h igh -precision L iDA R sen sorla u n ch ed bySh en zh en Ora da rTech n ologyCo.,L TD. Th e L iDA R a doptsprecise optica l sca n n in g system ,com bin ed w ith h igh frequ en cyla serpu lse gen era tion tech n ologya n d exqu isite stru ctu ra l design ,a n d ca n a ch iev e fa st a n d a ccu ra te dista n ce m ea su rem en t in th e ra n ge of360 °/1 2.0 m (@ 90 % reflectiv itydiffu se reflectorsu rfa ce).
Th is produ ct ca n be w idely u sed in ,in clu din g h om e sw eepin g robot,serv ice robot n a v iga tion a n d obsta cle a v oida n ce, robot ROS tea ch in g, resea rch , region a l secu rity, sca n n in g a n d 3D recon stru ction a n d m a n yoth era rea s.

W ork in g Prin ciple
Th e m ea su rem en t prin ciple is th e direct tim e offligh t m eth od (Direct Tim e ofFligh t, dToF). Th e dista n ce m ea su rem en t form u la is
=2 W h ere d den otes th e dista n ce,c den otes th e speed ofligh t,a n d t den otes th e tim e of fligh t. W h en th e ra n gin g m odu le w ork s,th e la sertra n sm ittersen dsou t a la serpu lse,w h ich is projected on to th e su rfa ce of th e object a n d reflected. Th e SPA D ch ip receiv es th e reflected ligh t a n d a ccu ra telyca lcu la tes th e dista n ce from th e ta rget object toth e L iDA R bym ea su rin g th e fligh t tim e ofth e la serbea m in th e a ir. Th rou gh th e bu ilt-in bru sh less m otor,th e dista n ce is m ea su red a t differen t a n gles byrota tin g th e ra n gin g m odu le,th u s sca n n in g toobta in th e poin t clou d ou tlin e ofth e su rrou n din g en v iron m en t.

Produ ct Fea tu res
L on g ra n ge m e a su rem e n t:In tegra ted w ith a v a rietyoftelem etryoptim iza tion a lgorith m s, 90 % reflectiv ityra n ge ofu p to1 2.0 m ,effectiv elyim prov e th e efficien cyofm a p bu ildin g.
H igh a ccu ra cy:Com pa red w ith th e tria n gu la tion prin ciple-ba sed L iDA R,M S20 0 k a dopts dToFra n gin g prin ciple tom ea su re dista n ce w ith ou t a ccu ra cy& precision degra da tion w ith in crea sin g dista n ce.
U ltra -sm a ll size :54.3 47 35.0 m m (L W H ),w h ich ca n be bu ilt in to th e robot body to optim ize th e spa ce u tiliza tion in side th e robot.

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Re sista n t todu st a n d dirt:Ba sed on th e u n iqu e tim e-correla ted sin gle-ph oton cou n tin g ra n gin g tech n ology,it effectiv elyen h a n cesth e du st a n d dirt resista n ce ofth e optica l cov er, a n d isn ot a fra id ofsligh t du st a ccu m u la tion .

Spe cifica tion s

Ta ble 2-1 M S20 0 k Spe cifica tion s

Produ ct m ode l

M S20 0 k

Produ ct n a m e

dToF2D L iDA R

M e a su re m e n t ra n ge

0 .0 3m ~1 2.0 m

M e a su re m e n t

± 1 0 m m [0 .0 3m ~2.0 m ) Typica l
± 20 m m [2.0 m ~1 2.0 m ]

a ccu ra cy

± 20 m m [0 .0 3m ~2.0 m ) M ax
± 30 m m [2.0 m ~1 2.0 m ]

M e a su re m e n t

Typica l

4m m [0 .0 3m ~2.0 m ) 1 5m m [2.0 m ~1 2.0 m ]

pre cision

1 0 m m [0 .0 3m ~2.0 m ) M ax
30 m m [2.0 m ~1 2.0 m ]

Da ta con te n ts
FOV (h orizon ta l) M e a su re m e n t fre qu e n cy Fra m e ra te Re solu tion (h orizon ta l)

Dista n ce,a n gle,in ten sity, tim esta m p 360 °
4,50 0 poin ts/s
7H z~1 5H z
0 .8°

Pitch a n gle of la se re m ission

0 .5°~2°

L a se re m ission a zim u th
L a se rw a v e le n gth L a se rCla ss A m bie n t

0 °± 2°
90 5n m ± 1 0 n m Cla ss1 (IEC60 825-1 :20 1 4)
40 ,0 0 0 L u x

D e scription
@ 90 % reflectiv ity
Th e sta tistica l resu ltsofa t lea st 1 0 0 da ta a cqu isition s byL iDA R a t 90 % reflectiv ity con dition s. A ccu ra cyisth e
differen ce betw een th e m ea n a n d tru e v a lu e ofth e da ta ,a n d precision isth e sa m ple sta n da rd dev ia tion
ofth e da ta (1 )
–
–
–
Defa u lt 1 0 H z
1 0 H z rota tion a l speed
Th e bottom su rfa ce ofth e ou terfra m e ofth e L iDA R
ba se isth e referen ce
–
–

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illu m in a n ce W ork in g life Volta ge su pply
ra n ge
Volta ge su pply ripple
Pe a k Pow e r Con su m ption A v e ra ge Pow er Con su m ption
Ope ra tin g te m pe ra tu re
Stora ge te m pe ra tu re Dim e n sion s
W e igh t
Ce rtifica tion

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1 0 ,0 0 0 h DC 5.0 V± 0 .3V
1 0 0 m V 2.5W 1 .6W

–
–
Volta ge Ripple Correspon din g toth e Opera tin g Pow erSu pply
Forreferen ce on ly,th ere m a ybe in div idu a l
differen cesin a ctu a l u se.

-1 0 ~50

–

-30 ~70 54.3 47 35.0
~45g RoH S2.0 ,REA CH ,CE,FCC

–
L on g w idth h eigh t(m m ) Th e ov era ll w eigh t ofth e u n it m a yv a rysligh tlydu e toth e
cou n terba la n ce

L iDA R is a type ofprecision optoelectron ic sen sor,a n d its perform a n ce test resu lts a re rela ted tofa ctors su ch a s tem pera tu re,h u m idity,v ibra tion ,a m bien t ligh t,a n d th e m eth od ofin sta lla tion . Th ere is a certa in exten t ofperform a n ce degra da tion in h a rsh en v iron m en ts. Plea se pa ya tten tion toprotection du rin g u se a n d opera te a ccordin g toth e gu ida n ce prov ided bytech n ica l su pport person n el.

Ele ctrica l In te rfa ce
In terfa ce Defin ition
Th e M S20 0 k u ses a sta n da rd 4-pin 1 .5m m pitch fem a le ch a ssis in terfa ce,w h ich is equ ipped w ith system pow era n d da ta com m u n ica tion fu n ction s

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Figu re 3-1 Ora da rM S20 0 k in te rfa ce Ta ble 3-1 In te rfa ce w ire se qu en ce

Pin Sign a l Properties

D e scription

1

Tx

Seria l da ta sen din g

TxL oca l sen din g0 V~3.3V

2 Rx

Seria l da ta receiv in g

RxL oca l receiv in g0 V~3.3V

3 GND

In pu t pow ern ega tiv e

G N D0 V

4 VCC

In pu t pow erpositiv e

DC 5.0 V4.7V~5.3V

Seria l Port Con figu ra tion

Th e M S20 0 K com m u n ica tesw ith th e ou tside in both direction sth rou gh th e U A RT seria l

port. Th e seria l port con figu ra tion pa ra m etersa re set a ssh ow n in th e follow in g ta ble:
Ta ble 3-2 Se ria l port con figu ra tion pa ra m e ters

Ba u d ra te (bps) Da ta bit

Stop bit

Ch eck bit

Flow con trol

230 40 0

8

1

N on e

W h en th e u serlea v espin 2 (RX) floa tin g orsetsit toa fixed logic lev el (0 /3.3V),it doesn ot a ffect th e n orm a l opera tion ofth e L iDA R. H ow ev er,th e L iDA R w ill n ot h a v e bidirection a l com m u n ica tion ca pa bilities,a n d th e u serw ill n ot be a ble tosen d dow n settin g/qu erycom m a n ds.
M e ch n ica l In te rfa ce
M ech a n ica l Dim en sion

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Figu re 4-1 Ora da rM S20 0 k m e ch a n ica l stru ctu re
Plea se don ot obstru ct th e optica l w in dow du rin g in sta lla tion ,a n d con siderth e pitch a n gle ra n ge ofth e la serem ission forth e design toa v oid a n yobstru ction s,a sth eym a ya ffect th e ra n gin g perform a n ce. You m a y con ta ct you r tech n ica l su pport person n el to obta in th e 3D m odel of th e spa ce ra n ge requ ired for th e em ission ofth e L iDA R.
Pola rCoordin a te System

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Figu re 4-2 Ora da rM S20 0 k pola rcoordin a te system
Th e a n gu la rin form a tion ou tpu t w ith in th e M S20 0 k produ ct protocol is defin ed byth e pola rcoordin a te system w ith in th e L iDA R.
A ssh ow n in th e m ech a n ica l stru ctu re dia gra m ,th e top ofth e L iDA R optica l h ou sin g is m a rk ed in th e zero-degree a n gle direction a n d th e a n gle rota tion direction isclock w ise.

Figu re 4-3 Ora da rM S20 0 k ze roa n gle iden tifica tion
Th e ov era ll orien ta tion dia gra m is sh ow n a bov e. A ccordin g toth e defin ition ofth e pola rcoordin a te system ,th e zero-degree a n gle is th e m a rk in g direction ofth e top of th e ou tercov er,a n d th e L iDA R extern a l in terfa ce sock et isloca ted a t 90 °
Du e toprodu ction a ssem blytolera n ces,th ere is a tolera n ce of± 2°in th e a zim u th ofth e la ser’s zerodegree exit

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W ogniMrk ode

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Ora da r M S20 0 k system is set u p w ith 2 w ork in g m odes:ra n gin g m ode a n d sta n dby m ode.

Ra n gin g m ode:Th e L iDA R is su ccessfu llyin itia lized a n d en ters in ton orm a l ra n gin g opera tion .

Sta n dbym ode:Th e L iDA R issu ccessfu llyin itia lized,bu t n ola serbea m isem itted,a n d th e system en ters a low -pow er sta te. In oth er w ords,th e system stops ra n gin g a n d th e seria l port stopsda ta tra n sm ission .

System W ork flow
A fterth e L iDA R is pow ered on a n d in itia lized,it defa u lts toth e ra n gin g m ode. A t th e sa m e tim e,th e L iDA R ca n be con trolled tosw itch betw een sta n dbym ode a n d ra n gin g m ode bysen din g con trol com m a n dstoit.

Da ta Form a t
Th e Ora da rM S20 0 k da ta protocol is div ided in toth ree ca tegories:poin t clou d da ta protocol,L iDA R in form a tion protocol,a n d set/get com m a n d protocol. A ll da ta protocols a re tra n sm itted in little-en dia n h exa decim a l form a t,a n d th e da ta types a re a ll u n sign ed in tegers. For specific deta ils of th e da ta protocols, plea se refer to th e follow in g description .x

Poin t Clou d Da ta Form a t
W h en th e L iDA R isin ra n gin g m ode,it doesn ot n eed toin tera ct w ith th e h ost com pu ter a n d con tin u ou slyou tpu tsth e m ea su red poin t clou d da ta ,w h ich in clu desdista n ce,a n gle, ta rget reflectiv ity,rota tion speed in form a tion ,a n d tim esta m p. Th e form a t ofth e poin t clou d da ta protocol isa sfollow s:

Ta ble 5-1 1 Ora da rM S20 0 k da ta form a t

Offset (Byte )

L en gth (Byte )

Fie ld

D e scription

Fra m e

h ea der Ta k es th e v a lu e 0 x54 tom a rk th e sta rtin g

0

1

iden tifica tion

position ofth e da ta fra m e

1

Th e n u m ber of L en gth 1 Byte, th e h igh th ree bits a re

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poin ts in a da ta reserv ed, th e low fiv e bits in dica te th e

pa ck et.

n u m ber of m ea su rem en t poin ts of a

pa ck et,cu rren tlyfixed a t 1 2

2

Spe e d

Cu rren t rota tion speed in °/s

4

2

Sta rt a n gle

Poin t clou d sta rtin g a n gle in 0 .0 1 °

6

3* N

Poin t clou d in fo Poin t clou d in form a tion da ta block

6+ 3* N

2

En d a n gle

Poin t clou d en d a n gle in 0 .0 1 °

0 ~29999m s,a n d th en resets to0 a n d sta rts

8+ 3* N

2

Tim e sta m p

cou n tin g a ga in a fter rea ch in g 29999. Th e
tim e sta m p corre spon ds to th e first poin t of ea ch da ta pa ck et

1 0 + 3* N 1

Ch eck bit

Th e CRC-8 ch eck su m ofa ll prev iou sbytes

Th e poin t clou d in form a tion con ta in sth e dista n ce a n d in ten sityin form a tion from th e

first poin t of th e sta rtin g a n gle m ea su rem en t to th e n th poin t of th e en din g a n gle

m ea su rem en t in sequ en ce. Cu rren tly, N is fixed to 1 2. Ea ch poin t in form a tion is represen ted by3 bytesa n d th e n th poin t da ta form a t issh ow n a sfollow s:

Ta ble 5-2 Poin t clou d da ta form a t

L en gth Offset (Byte)
(Byte )

Fie ld

D e scription

6+ 3* (n -1 )

2

Dista n ce

U n it is1 m m

8+ 3* (n -1 )

1

In ten sity Ra n g is0 ~255

Th e in ten sityin dica tes th e in ten sityofth e la serpu lse ech o,a n d th e la rgerth e v a lu e,

th e h igh erth e con fiden ce ofth e ra n ge m ea su rem en t,a n d th e sm a llerth e v a lu e,th e low er

th e con fiden ce. Th e in ten sityv a lu esfrom 0 to1 5 a re reserv ed a n d in dica te in v a lid ra n gin g

v a lu es,w ith th e ra n gin g v a lu e set to0 m m in th ese ca ses.

Th e a n gle v a lu e ofea ch poin t in th e poin t clou d in form a tion ca n be obta in ed bylin ea r

in terpola tion ofth e sta rtin g a n d en din g a n gles. Th e ca lcu la tion m eth od is:

L iDA R In form a tion Form a t L iDA R a u tom a tica llyreportsrelev a n t in form a tion th rou gh th e seria l port,a sfollow s:

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Th e SN Code D a ta Form a t A fter M S20 0 k is pow ered on or tra n sition s from sta n dby m ode tora n gin g m ode,it
a u tom a tica llyreportsitsSeria l N u m ber(SN ) on ce,Th e da ta form a t isa sfollow s:

Ta ble 5-2 M S20 0 k SN code da ta form a t

Offset (Byte) L en gth (Byte) Field

D e scription

0

2

Fra m e h ea der Ta k es th e v a lu e 0 x55A A to m a rk th e iden tifica tion sta rtin g position ofth e da ta fra m e

2

1

Fla g bit

Fixed to0 x0 1 ,in dica tin g th a t th e cu rren t m essa ge isa SN code

Th erea fter, th e len gth of th e da ta

3

1

Da ta len gth

exclu din g th e ch eck a n d th e en d ofth e

fra m e,N

Th e SN code correspon ds toa n a rra y

4

N

SN code in fo of A SCII ch a ra cters, su ch a s:

CF3P5250 0 2F

4+ N

1

Ch eck Bit

Th e CRC-8 ch eck su m of a ll prev iou s byte s

5+ N

2

Fra m e ta il

Ta k es th e v a lu e 0 xF231 to m a rk th e en d ofth e da ta fra m e

N ote:Th e SN in form a tion ch a ra ctera rra ydoesn ot en d w ith a n u ll ch a ra cter’ ‘.

Set/G et Com m a n d Form a t
Bysen din g Set/G et com m a n ds toth e L iDA R th rou gh th e seria l port,you ca n set a n d qu eryth e opera tion a l sta tu softh e L iDA R. Th e Set/Qu erycom m a n dsa re pa rt ofth e L iDA R’s in tera ctiv e com m a n d protocol,w h ich is in itia ted byth e h ost com pu tera ctiv elysen din g com m a n ds toth e L iDA R. U pon receiv in g th e com m a n ds,th e L iDA R respon ds. Th e form a t forth e in tera ctiv e com m a n dsofth e Ora da rM S20 0 k isa sfollow s:

Ta ble 5-3 In te ra ctiv e Com m a n d Form a t De scription

Offset (Byte )

L en gth (Byte )

Fie ld

D e scription

Fra m e

h ea der Ta k es th e v a lu e 0 xF5A 5 tom a rk th e sta rtin g

0

2

iden tifica tion

position ofth e da ta fra m e

2

1

Com m a n d Code

Ea ch com m a n d code represen ts a n

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3

1

4

1

5

N

5+ N

1

6+ N

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in tera ctiv e com m a n d.

Opera tion Code

H ost Com pu ter L iDA R Respon ds
Issu es

Set 0 xC1

0 xC2

G et 0 xC3

0 xC4

Com m a n d L en gth N Th e len gth ofth e com m a n d pa ra m eters

Com m a n d

In tera ctiv e Com m a n d Correspon din g

Pa ra m eters

Ch eck Bit

Sin gle-Byte XOR (BCC) Ch eck ofA ll Prev iou s Byte s

Fra m e En d

Ta k es th e v a lu e 0 xF231 , In dica tes th e En d Position ofth e Com m a n d Da ta Fra m e

Se t W ork in g M ode Com m a n d
Th e com m a n d code forsettin g th e w ork in g m ode is ‘0 xA 2′,w ith th e opera tion code type correspon din g to’Set’. Th e h ost com pu tersen dsa com m a n d toth e L iDA R,w h ere th e com m a n d pa ra m eter ‘0 x80 ‘in dica tes settin g th e L iDA R to sta n dby m ode, a n d ‘0 x81 ‘ in dica tessettin g it tora n gin g m ode. A n exa m ple ofa com m a n d is:’A 5 F5 A 2 C1 0 1 80 B2 31 F2’,w h ich sign ifiessettin g th e L iDA R tosta n dbym ode.
U pon receiv in g th e com m a n d,th e L iDA R sen ds a correspon din g respon se toth e h ost com pu ter. Th e com m a n d pa ra m eter’0 xE1 ‘in dica tes th a t th e w ork in g m ode h a s been set su ccessfu lly,w h ile ‘0 xE2’in dica testh a t th e receiv ed com m a n d pa ra m eterisillega l a n d th e sw itch h a sfa iled. A n exa m ple ofa respon se com m a n d is:’A 5 F5 A 2 C2 0 1 E1 D0 31 F2’,w h ich con firm sth a t th e L iDA R’sw ork in g m ode h a sbeen set su ccessfu lly.

G e t W ork in g M ode Com m a n d
Th e com m a n d code forth e ‘G et W ork in g M ode Com m a n d’is’0 xA 2′,w ith th e opera tion code type correspon din g to’G et’. Th e h ost com pu tersen dsa com m a n d toth e L iDA R w ith n ocom m a n d pa ra m eters,a sin th e exa m ple:’A 5 F5 A 2 C3 0 0 31 31 F2′.

U pon receiv in g th e com m a n d, th e L iDA R respon ds to th e h ost com pu ter w ith a correspon din g respon se com m a n d. Th e com m a n d pa ra m eter ‘0 x80 ‘in dica tes th a t th e L iDA R isin sta n dbym ode,w h ile ‘0 x81 ‘in dica testh a t it isin ra n gin g m ode. A n exa m ple ofa respon se com m a n d is:’A 5 F5 A 2 C4 0 1 80 B7 31 F2’,w h ich sign ifies th a t th e L iDA R is

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MS200k dToF 2D LiDAR(SR)
cu rren tlyin sta n dbym ode.

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Se t R ota tion Spe e d Com m a n d Th e com m a n d code for th e ‘Set Rota tion Speed Com m a n d’is ‘0 xA 1 ‘, w ith th e
opera tion code type correspon din g to’Set’.
Th e h ost com pu tersen dsa com m a n d toth e L iDA R w ith a com m a n d len gth of2 bytes. Th e first byte (Byte0 ) ofth e com m a n d pa ra m etersisth e ta rget rota tion speed v a lu e in H z, a n d th e secon d byte (Byte1 ) is a reserv ed v a lu e set to0 . A n exa m ple ofa com m a n d is:’A 5 F5 A 1 C1 0 2 0 A 0 0 38 31 F2′,w h ich in dica tessettin g th e L iDA R’srota tion speed to1 0 H z.
A fterreceiv in g th e com m a n d,th e L iDA R sen dsa correspon din g respon se com m a n d to th e h ost com pu ter. Th e com m a n d pa ra m eter ‘0 xE1 ‘sign ifies th a t th e rota tion speed settin g w a s su ccessfu l,w h ile ‘0 xE2’in dica tes th a t th e pa ra m eteris in v a lid. A n exa m ple of a respon se com m a n d is:’A 5 F5 A 2 C4 0 1 80 B7 31 F2’,in dica tin g th a t th e settin g w a s su ccessfu l.

G e t R ota tion Spe e d Com m a n d Th e com m a n d code for th e ‘G et Rota tion Speed Com m a n d’is ‘0 xA 1 ‘, w ith th e
opera tion code type correspon din g to’G et’.
Th e h ost com pu tersen ds a com m a n d toth e L iDA R w ith n ocom m a n d pa ra m eters,a s in th e exa m ple:’A 5 F5 A 1 C3 0 0 32 31 F2′.
A fterreceiv in g th e com m a n d,th e L iDA R sen dsa correspon din g respon se com m a n d to th e h ost com pu ter. Th e first byte (Byte0 ) ofth e com m a n d pa ra m eters is th e cu rren t set rota tion speed v a lu e in H z,a n d th e secon d byte (Byte1 ) is a reserv ed v a lu e set to0 . A n exa m ple ofa respon se com m a n d is:’A 5 F5 A 1 C4 0 2 0 A 0 0 3D 31 F2′,in dica tin g th a t th e L iDA R’scu rren t set rota tion speed is1 0 H z.
Th e Set/G et com m a n d protocol requ ires th e L iDA R toh a v e bidirection a l com m u n ica tion ca pa bilities,w h ich m ea n s th a t pin 2 (RX) ofth e L iDA R m u st be correctlycon n ected. Don ot con tin u ou slyissu e com m a n ds;it isrecom m en ded th a t th ere be a n in terv a l ofgrea terth a n 1 0 0 m sbetw een com m a n ds.

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Qckui Sartt G duie

Ifyou a re a first-tim e u serofth e M S20 0 k a n d w ish toqu ick lyev a lu a te th e perform a n ce ofth e produ ct,orw ish todosecon da rydev elopm en t ba sed on th e produ ct,you ca n u se th e a da pterboa rd,Ora da rView ersoftw a re,SDK a n d ROSpa ck a ge prov ided byOra da rto qu ick lyget sta rted ev a lu a tin g th e perform a n ce ofth e M S20 0 k a n d ea rlydev elopm en t.

Dev ice Con n ection
It is recom m en ded to u se th e Ora da r a da pter boa rd w ith a U SB Type-C ca ble to con n ect th e dev ice toth e PC.

Figu re 6-1 De v ice con n ection m e th od
Con n ection steps: a . Con n ect th e L iDA R toth e a da pterboa rd u sin g th e 4pin pow er/sign a l ca ble; b. U se a U SB Type-C ca ble to plu g in to th e Da ta port of th e a da pter boa rd a n d con n ect toa person a l com pu ter; c. Open Ora da rView eron you rperson a l PC tov iew L iDA R rea l-tim e poin t clou d da ta .
Ora da r a da pter boa rd prov ides U SB to U A RT fu n ction , in tegra ted U A RT@ 50 0 0 0 0 /230 40 0 /1 1 520 0 ,U SB da ta a n d U SB pow er in terfa ce. Som e dev elopm en t pla tform s orperson a l com pu ters w ith w ea k driv e cu rren t ca n u se th e pow erin terfa ce of th e a da pterboa rd toa ccessDC 5V a u xilia rypow ersu pply.

Figu re 6-2 Ora da rM S20 0 k pow e ra da pte rboa rd

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Th e a da pterboa rd is n ot in clu ded a s a sta n da rd a ccessoryw ith th e produ ct. Ifn eeded,plea se pu rch a se a m a tch in g k it. Before u se,plea se in sta ll th e correspon din g a da pterboa rd driv erprov ided byth e tech n ica l su pport en gin eer.

Con v en ien t Ora da rView er
Ora da rView eris a softw a re th a t ca n displa y,record a n d a n a lyze poin t clou ds in rea l tim e. It iscon v en ien t foru serstoev a lu a te th e perform a n ce,a n d w ith th e dev elopm en t k it toobserv e th e poin t clou d da ta sca n n ed in th e en v iron m en t on th e PC.
Ora da rView ercu rren tlysu pportsW in dow s1 0 (64-bit) opera tin g system . U n zip th e file a n d open th e progra m w ith th e file n a m e M S20 0 View er in th e extra cted file tou se it. Con n ect th e dev ice a sFigu re 6-1 .

Softw a re Dev elopm en t K it:Ora da rSDK
In a ddition toth e a bov e-m en tion ed Ora da rView erforv iew in g rea l-tim e poin t clou d da ta ,u sersca n a lsoa pplyth e L iDA R a cqu ired poin t clou d da ta tov a riou scu stom scen a rios th rou gh th e softw a re dev elopm en t k it. Th e Ora da r SDK su pports dev elopm en t in W in dow s/L in u x en v iron m en tsa n d isa v a ila ble a sa ROS/ROS2 pa ck a ge.
Plea se con ta ct you rtech n ica l su pport en gin eerforOra da rSDK a n d rela ted u sa ge .

Specia l scen a riou sa ge description s.
M S20 0 k is design ed ba sed on a h om e u sa ge en v iron m en t,w h ich m ea n s th e spa ce is n ot toola rge a n d rela tiv elym ild. Ifth ere a re th e follow in g scen a rios,th ere m a ybe poten tia l risk s. Plea se a ssessa ccordin g toth e a ctu a l situ a tion orcon su lt w ith Ora da rperson n el:
1 . N a rrow in sta lla tion spa ce : To a v oid th e la ser from irra dia tin g th e grou n d w h en in sta lled a t a low position ,th e L iDA R h a sa Pitch a n gle of0 .5°~2°. Ifth e in sta lla tion spa ce is n a rrow ,it m a yca u se th e la sertoirra dia te extern a l stru ctu res,form in g n oise poin ts, w h ich ca n a ffect a ctu a l u se a n d ju dgm en t. It is recom m en ded todesign th e extern a l stru ctu re a ccordin g toth e 3D dra w in gsw ith ligh t pa th ra n ge.
2. Spa ciou s spa ce s w ith h igh refle ctiv itym a te ria ls:Du e toch ip design lim ita tion s,th e m a xim u m effectiv e dista n ce su pported byth e L iDA R is a bou t 30 m eters. W h en th ere a re toom a n ygla ss a n d h igh -reflectiv ityta rgets beyon d th is dista n ce,it w ill in terfere w ith th e L iDA R’sdista n ce m ea su rem en t ju dgm en t,form in g poin t clou dsa crossperiods a t close ra n ge.

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3. Exce ssiv e a m bie n t ligh t:W h en th e a m bien t ligh t exceeds 40 ,0 0 0 lu x,it w ill in terfere w ith th e a ccu ra cy of th e L iDA R’s dista n ce m ea su rem en t to v a ryin g degrees a n d produ ce n oise poin ts. Ifexcessiv e ligh t sh in es directlyon th e optica l cov er,it ca n ev en in terfere w ith th e en coder,disru ptin g a n gle da ta .
4. Oth e r h igh -pow e r la se r sou rce s:Du e toth e in h eren t ch a ra cteristics ofSPA D ch ips, w h en th e opera tin g site con ta in s oth er h igh -pow er la ser sou rces w ith w a v elen gth s close to th a t of th e M S20 0 k , a n d th e la ser directly irra dia tes th e SPA D ch ip of th e M S20 0 k ,it ca n ca u se da m a ge to th e ch ip. If th ere is a n eed to u se th e M S20 0 k in con ju n ction w ith oth erh igh -pow erla serequ ipm en t,it sh ou ld be en su red th a t th e u se scen a rios don ot in v olv e direct lin e-of-sigh t exposu re betw een th e M S20 0 k a n d th e oth erla sers,orth a t a certa in h eigh t differen ce ism a in ta in ed betw een th em .

Plea se con siderth ese fa ctorsw h en deployin g th e M S20 0 k in v a riou sen v iron m en ts a n d seek a dv ice from Ora da rperson n el ifn ecessa rytoen su re th e sa fetya n d relia bility ofth e dev ice

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Cganhe

Hostiry

Version Edited by A pprov ed by Da te

D e scription

A1

Bu la ien

Ziliu

20 24-0 4-26

First relea se

A 2 Bu la ien Bu la ien 20 24-0 6-27 A dd description sforsom e risk scen a rios

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Sh en zh en Ora da r Tech n ology Co., L td. a s a w h olly-ow n ed su bsidia ry of orbbec Tech n ologyG rou p Co.,L td. isa lea din g dom estic prov iderof3D v ision sen sorsolu tion sfor a u ton om ou s m obile term in a ls,a h igh -tech com pa n yw ith com preh en siv e ca pa bilities in optica l design , optoelectron ic dev ices, m a teria l processes, a pplica tion a lgorith m s, a rtificia l in telligen ce,a n d system in tegra tion .
Relyin g on orbbec tech n ology grou p’s stron g tech n ica l ba ck in g a n d a dv a n ced m a n u fa ctu rin g pla tform , th e com pa n y prov ides L iDA R sen sor serv ice solu tion s for con su m er robots, com m ercia l robots, in du stria l robots, w a reh ou sin g a n d logistics, su rv eyin g a n d m a ppin g,a n d m a n yoth erin du stryscen a rios. W ith th e m ission of” m a k in g a u ton om ou s m obile term in a ls sm a rter a n d sa fer” ,Ora da r is com m itted tobu ildin g th e w orld’s lea din g L iDA R sen sor solu tion s a n d prom otin g th e dev elopm en t of robot in telligen ce.

A ddre ss:Orbbec Tech n ologyBu ildin g,N o. 88 H igh -tech N orth 1 st Roa d,N a n sh a n District, Sh en zh en ,Ch in a E-m a il:bu sin ess@ orbbec.com W e b: h ttps://w w w .orbbec.com /

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