LSD1xx Series Lidar manual
ʻO ka wehewehe pōkole:
ʻO ka pahu hoʻoheheʻe alumini alumini, ka hale ikaika a me ke kaumaha māmā, maʻalahi no ka hoʻokomo;
He palekana ka laser papa 1 i nā maka kanaka;
ʻO ka 50Hz scanning frequency e hoʻokō i ka koi ʻike kiʻekiʻe;
ʻO ka mea hoʻomehana kūloko kūloko e hōʻoia i ka hana maʻamau i ka haʻahaʻa haʻahaʻa;
ʻO ka hana hōʻoia ponoʻī e hōʻoia i ka hana maʻamau o ka radar laser;
ʻO ka lōʻihi loa o ka ʻike ʻana a hiki i 50 mika;
ʻO ke kihi ʻike: 190 °;
ʻO ka kānana lepo a me ka pale ʻana i ka mālamalama, IP68, kūpono no ka hoʻohana ʻana i waho;
Ke hoʻololi i ka hana hoʻokomo (LSD121A，LSD151A)
E kūʻokoʻa i ke kumu kukui o waho a hiki ke mālama i ke kūlana ʻike maikaʻi i ka pō;
palapala hōʻoia CE
Huahana Huahana
Huahana Huahana
Nā ʻāpana ʻōnaehana
Aia ka ʻōnaehana kumu o LSD1XXA i hoʻokahi radar laser LSD1XXA, hoʻokahi kelepona mana (Y1), hoʻokahi kelepona kamaʻilio (Y3) a me hoʻokahi PC me ka polokalamu debugging.
1.2.1 LSD1XXA
| No | Nā ʻāpana | Aʻo |
| 1 | Pākuʻi loiloi（Y1） | Mana a me I/OHoʻopili ʻia nā kaula hoʻokomo me ka radar e kēia interface |
| 2 | Pākuʻi Ethernet（Y3） | Hoʻopili ʻia ke kaula kelepona Ethernet me ka radar e kēia interface |
| 3 | puka aniani | Pūnaehana hana,ʻEkolu mau hōʻailona hōʻailona hewa |
| 4 | Ka uhi maka maka | Emitting a loaaʻike nā kukui kukui i ka nānā ʻana o nā mea e kēia uhi aniani |
| 5 | puka aniani hōʻike kikohoʻe | Hōʻike ʻia ke kūlana o ka paipu Nixie ma kēia pukaaniani |
Uea mana
Ka wehewehe uwea
7-cores uwea mana:
| Pin | Terminal No | kala kala | wehewehe | Hana |
 | 1 | Polū | 24V- | Hoʻokomo maikaʻi ʻole o ka lako mana |
| 2 | ʻeleʻele | HUA- | Hoʻokomo maikaʻi ʻole o ka mana wela | |
| 3 | Keʻokeʻo | IN2/MAKEMAKE1 | I/O komo / NPN puka puka 1 (like me OUT1) | |
| 4 | Palaunu | 24V+ | Hoʻokomo maikaʻi o ka lako mana | |
| 5 | ʻulaʻula | HEAT+ | Hoʻokomo maikaʻi o ka mana wela | |
| 6 | ʻōmaʻomaʻo | NC/OUT3 | I/O komo / NPN puka puka 3 (like me OUT1) | |
| 7 | Melemele | INI/MAKUA2 | I/O komo / NPN puka puka 2 (like me OUT1) | |
| 8 | NC | NC | - |
'Ōlelo Aʻo: No LSD101A, LSD131A, LSD151A, ʻo kēia awa ka NPN puka puka (opu hāmama), aia ka haʻahaʻa lever puka ke ʻike ʻia ka mea ma ka wahi ʻike.
No LSD121A, LSD151A, ʻo kēia awa ka I/O awa hoʻokomo, Ke hoʻokuʻu ʻia ka hoʻokomo ʻana a i ʻole pili ʻia i ka haʻahaʻa, ʻike ʻia ʻo ia ke kiʻekiʻe kiʻekiʻe a me ka puka ʻana ma ke ʻano he "0" i ka protocol kamaʻilio.
4-cores uwea mana:
| Pin | Terminal No | kala kala | wehewehe | Hana |
| | 1 | Polū | 24V- | Hoʻokomo maikaʻi ʻole o ka lako mana |
| 2 | Keʻokeʻo | HUA - | Hoʻokomo maikaʻi ʻole o ka mana wela | |
| 3 | NC | NC | Pākaʻa | |
| 4 | Palaunu | 24V+ | Hoʻokomo maikaʻi o ka lako mana | |
| 5 | Melemele | HEAT+ | Hoʻokomo maikaʻi o ka mana wela | |
| 6 | NC | NC | Pākaʻa | |
| 7 | NC | NC | Pākaʻa | |
| 8 | NC | NC | Pākaʻa |
Uea kamaʻilio
1.3.3.1Uea kamaʻilio
1.3.3.2Ka wehewehe uwea
| Pin | No | kala kala | Wehewehe | Hana | No | RJ45 |
| 1 | ʻAlani keʻokeʻo | TX+E | ʻIke ʻikepili Ethernetdana | 1 |  | |
| 2 | Keʻokeʻo ʻōmaʻomaʻo | RX+E | ʻIkepili Ethernetka loaa ana | 3 | ||
| 3 | Alani | TX-E | ʻIke ʻikepili Ethernetdana | 2 | ||
| 4 | ʻōmaʻomaʻo | RX-E | ʻIkepili Ethernetka loaa ana | 6 |
PC
ʻO kēia kiʻi he laʻana o ka hoʻāʻo PC.No ka hana kiko'ī o e ʻoluʻolu e nānā i "LSD1xx PC kuhikuhi"
ʻāpana ʻenehana
| Hoʻohālike | LSD101A | LSD121A | LSD131A | LSD105A | LSD151A | |
| Volta hoʻolako | 24VDC±20% | |||||
| Ka mana | <60W， Ke hana maʻamau i kēia manawa<1.5A，Pumehana <2.5A | |||||
| ʻIkepili interface口 | Ethernet，10/100MBd, TCP/IP | |||||
| Manawa pane | 20ms | |||||
| Nalu laser | 905nm | |||||
| Māka laser | Papa 1（palekana i nā maka o nā kānaka） | |||||
| Hoʻopilikia i ka māmā | 50000lux | |||||
| Laulā kihi | -5° ~ 185° | |||||
| ʻO ka hoʻonā kihi | 0.36° | |||||
| mamao | 0~40m | 0~40m | 0~40m | 0~50m | 0~50m | |
| Hoʻoholo ana | 5mm | |||||
| Hiki hou | ±10mm | |||||
| I ka hana kau | – | I/O 24V | – | – | I/O 24V | |
| Hana puka | NPN 24V | – | NPN 24V | NPN 24V | – | |
| Hana mahele ʻāpana | ● | – | – | ● | – | |
| Width&kiʻekiʻe ana ana | ʻO ka māmā ʻike kaʻa | – | – | ≤20km/h |
| – |
| Laulā ʻike ākea kaʻa | – | – | 1~4m |
| – | |
| Ua hewa ka ʻike laula o kaʻa | – | – | ±0.8%/±20mm |
| – | |
| Laulā ʻike kiʻekiʻe kaʻa | – | – | 1~6m |
| – | |
| Ua hewa ka ʻike kiʻekiʻe o ke kaʻa | – | – | ±0.8%/±20mm |
| – | |
| Anana |
| 131mm × 144mm × 187mm | ||||
| Ka helu pale |
| IP68 | ||||
| Hana / mālamamahana wela |
| -30℃~ +60℃ /-40℃ ~ +85℃ | ||||
ʻĀpana hiʻona
Pipi pili ma waena o ka mea ʻike a me ka mamao
Pipi pili ma waena o ka ʻike ʻana i ka mea nānā a me ka mamao
Pipi pilina ma waena o ka nui a me ka mamao
Pili uila
3.1Wehewehe ʻana o ke kikowaena puka
3.1.1wehewehe hana
| No | Ikepili | ʻano ʻano | Hana |
| 1 | Y1 | 8 kumu pine | Pākuʻi pili pono：1. Ka lako mana2. Hookomo I/O（pilitoLSD121A）3. Mana wela |
| 2 | Y3 | 4 kumu pine | Pākuʻi Ethernet：1.Hoʻouna ʻikepili ana2. Heluhelu i ka hoʻonohonoho ʻana i ke awa sensor, hoʻonohonoho ʻāpana a me.ʻike hewa |
3.1.2 Ikepiliwehewehe
3.1.2.1 Y1 interface
7-cores interface uwea：
| Pin | No | kala kala | Wehewehe hōʻailona | Hana |
| | 1 | Polū | 24V- | Hoʻokomo maikaʻi ʻole o ka lako mana |
| 2 | ʻeleʻele | HUA- | Hoʻokomo ʻino ohoʻomehana power | |
| 3 | Keʻokeʻo | IN2/Iwaho1 | I/O komo / NPNpuka puka1（liketo Iwaho1） | |
| 4 | Palaunu | 24V+ | Hoʻokomo maikaʻi o ka lako mana | |
| 5 | ʻulaʻula | HEAT+ | Hoʻokomo maikaʻi o ka mana wela | |
| 6 | ʻōmaʻomaʻo | NC/Iwaho3 | Hoʻokomo I/O / NPN pukaawa3（like me OUT1） | |
| 7 | Melemele | INI/Iwaho2 | Hoʻokomo I/O / NPN puka puka2（like me OUT1） | |
| 8 | NC | NC | - |
Nānā：No ka LSD101A、LSD131A、LSD105A, keia awaNPN puka puka（ʻohi hāmama），e emi anahoʻopuka lever ke ʻike ʻia kahi mea ma kahi ʻike.
No ka meaLSD121A, LSD151A , keia awaI/Oawa hoʻokomo, Ke hoʻokuʻu ʻia ka hoʻokomo ʻana a i ʻole ka pili ʻana i ka haʻahaʻa, ʻike ʻia ʻo ia ka pae kiʻekiʻe a me ka hoʻopuka e like me "1" i ka protocol kamaʻilio;Ke hoʻopili ʻia ka mea hoʻokomo i 24V +, ʻike ʻia ʻo ia he pae haʻahaʻa a me nā mea hoʻopuka e like me "0" i ka protocol kamaʻilio.
4-cores interface uwea：
| Pin | No | kala kala | Wehewehe hōʻailona | Hana |
| | 1 | Polū | 24V- | Hoʻokomo maikaʻi ʻole o ka lako mana |
| 2 | Keʻokeʻo | HUA - | Hoʻokomo ʻino ohoʻomehana power | |
| 3 | NC | NC | Pākaʻa | |
| 4 | Palaunu | 24V+ | Hoʻokomo maikaʻi o ka lako mana | |
| 5 | Melemele | HEAT+ | Hoʻokomo maikaʻi o ka mana wela | |
| 6 | NC | NC | Pākaʻa | |
| 7 | NC | NC | Pākaʻa | |
| 8 | NC | NC | Pākaʻa |
3.1.2.2 Y3wehewehe interface
| Pin | No | kala kala | Wehewehe hōʻailona | Hana |
 | 1 | Olaulakeʻokeʻo | TX+E | ʻIke ʻikepili Ethernetdana |
| 2 | Keʻokeʻo ʻōmaʻomaʻo | RX+E | ʻIkepili Ethernetka loaa ana | |
| 3 | Alani | TX-E | ʻIke ʻikepili Ethernetdana | |
| 4 | ʻōmaʻomaʻo | RX-E | ʻIkepili Ethernetka loaa ana |
3.2Wiring
3.2.1 LSD101A、LSD131A、LSD105A Ke hoʻololi i ka puka uwea（7 cores uwea mana）
Nānā：
●Ke hoʻohana ʻole ʻia ka laina hoʻololi hoʻololi, e hoʻokuʻu ʻia a hoʻopaʻa ʻia paha, ʻaʻole e pōkole pōkole me ka lako mana.；
●ʻAʻole ʻoi aku ka V + ma mua o 24VDC voltage, a pono e hoʻopaʻa ʻia me 24VDC.
3.2.2 LSD121A，LSD151AKe hoʻololi i ka puka uwea（7 cores uwea mana）
3.2.3LSD121A、LSD151A kiʻina uila uila waho（7-cores uwea mana）
Pono e hoʻopili ʻia ke kaula hoʻokomo lidar me ke kaula Vout waho i kēia manawa e hoʻopili i hoʻokahi 5Kkūʻēi 24+
Hana a me ka noi
4.1Function
ʻO nā hana nui o nā huahana LSD1XX A series he ana mamao, hoʻonohonoho hoʻokomo, a me ka hoʻoholo piha ʻana o ke kaʻa komo a me ke kaʻina puka a me ka hoʻokaʻawale ikaika o nā kaʻa ma ke ana ʻana i ka laulā kaʻa a me ka ʻike kiʻekiʻe.LSD1XX Hoʻopili ʻia kahi radar moʻo i ka lolouila luna ma o ke kaula Ethernet, a hiki ke hōʻike ʻia nā kiʻi ʻikepili a me nā ʻikepili ana ma o ka polokalamu kamepiula luna.
4.2 Ana ana
4.2.1 Ana mamao（E noi iLSD101A、LSD121A、LSD105A、LSD151A）
Ma hope o ka hana ʻana o ka radar a hala i ka ʻōnaehana hoʻāʻo ponoʻī, hoʻomaka ia e ana i ka waiwai mamao o kēlā me kēia kiko i loko o ka laulā o - 5 ° ~ 185 °, a hoʻopuka i kēia mau waiwai ma o ka Ethernet interface.He 0-528 pūʻulu ka ʻikepili ana paʻamau, e pili ana i ka waiwai mamao ma ka laulā o - 5 ° ~ 185 °, aia ma ka ʻano hexadecimal, a ʻo ka ʻāpana he mm.ʻo kahi laʻana:
Hōʻike hewa
Loaʻa i ka pāʻikepili：02 05 00 FE 00 FE 19 FE DB FE 01 02 F9 02 DE 02 E5 02 DE 02 E5 02 E5 02 E5 02 EC 02 EC 02 F3……..
Waiwai mamao kūpono：
Lā：02 F9 02 DE 02 E5 02 DE 02 E5 02 E5 02 E5 02 EC 02 EC 02 F3..
ʻIke a me ka mamao e pili ana i ka ʻikepili：-5° 761mm，-4.64° 734mm，-4.28° 741mm，-3.92°734mm , -3.56°741，-3.20° 741mm，-2.84° 741mm，-2.48° 748mm，-2.12° 748mm，1.76° 755mm..
4.2.2Ana laula a me ke kiekie（E noi iā LSD131A）
4.2.2.1Kaʻina kamaʻilio ana
| wehewehe | Code hana | Ka hopena laula | Ka hopena kiʻekiʻe | ʻāpana parity |
| Bytes | 2 | 2 | 2 | 1 |
| Hoʻouna ʻo Radar（Hexadecimal）
| 25、2A | WH、WL | HH、HL | CC |
Hoʻohālike：
Width hopena：WH（ kiʻekiʻe8nā ʻāpana）、WL（ haahaa8nā ʻāpana）
Hʻewaluhopena：HH（kiʻekiʻe8nā ʻāpana）、HL（haahaa8nā ʻāpana）
ʻāpana parity：CC（Nānā XORmai ka pai lua a hiki i ka pai lua hope）
Laʻana：
Laulā2000kiʻekiʻe1500：25 2A 07 D0 05 DC 24
4.2.2.2protocol hoʻonohonoho ʻāpana
ʻO nā hoʻonohonoho paʻamau o ka hale hana: 3500mm ka laulā o ke ala, 300mm ka laulā mea ʻike liʻiliʻi, a me ke kiʻekiʻe o ka mea ʻike haʻahaʻa he 300mm.Hiki i ka mea hoʻohana ke hoʻololi i nā ʻāpana sensor e like me ke kūlana maoli.Inā hoʻonohonoho pono ʻia ka mea ʻike, e hoʻihoʻi ʻia kahi hui o nā ʻikepili kūlana me ka ʻano like.ʻO ke ʻano kikoʻī o ke aʻo ʻana penei
| wehewehe | Code hana | Code hana kōkua | ʻĀpana | ʻāpana parity |
| Bytes | 2 | 1 | 6/ 0 | 1 |
| Radarka loaa ana（Hexadecimal） | 45、4A | A1（setting） | DH、DL、KH、KL、GH、GL | CC |
| Radarka loaa ana（Hexadecimal） | 45、4A | AA（ninau） | —— | CC |
| Hoʻouna ʻo Radar（Hexadecimal） | 45、4A | A1 / A0 | DH、DL、KH、KL、GH、GL | CC |
Hoʻohālike：
Laulā alanui：DH（kiʻekiʻe8 nā ʻāpana）、DL（ haahaa8nā ʻāpana）
Min：KH（kiʻekiʻe8 nā ʻāpana）、KL（haahaa8nā ʻāpana）
Mea ʻike minkiʻekiʻe：GH（kiʻekiʻe8 nā ʻāpana）、GL（haahaa8nā ʻāpana）
ʻāpana parity：CC（Nānā XORmai ka pai lua a hiki i ka pai lua hope）
Laʻana：
Hoʻonohonoho：45 4A A1 13 88 00 C8 00 C8 70（5000mm，200mm，200mm）
Nīnau：45 4A AA E0
Pane1：45 4AA113 88 00 C8 00 C8 70（A1：Ke hoʻololi ʻia ka ʻāpana）
Pane2：45 4AA013 88 00 C8 00 C8 71（A0：Ke hoʻololi ʻole ʻia ka ʻāpana）
Hoʻokomo
8.1 Ka hoʻouka ʻana
● I loko o ke kaiapuni hana waho, pono e hoʻokomo i ka lnd1xx me kahi uhi pale e pale aku i ka wela o loko o ka mea ʻike e piʻi wikiwiki ma muli o ka lā pono.
● Mai hoʻokomo i ka mea ʻike me nā mea haʻalulu a koli paha.
● E hoʻokomo ʻia ʻo Lnd1xx mai ke kaiapuni me ka makū, ka lepo a me ka pōʻino o ka sensor.
● I mea e pale aku ai i nā kumu kukui o waho e like me ka lā, ke kukui uila, ke kukui fluorescent, ke kukui strobe a i ʻole nā kumu kukui infrared ʻē aʻe, ʻaʻole pono kēlā kumu kukui waho i loko o ± 5 ° o ka mokulele ʻike.
● Ke kau ʻana i ka uhi pale, hoʻololi i ke kuhikuhi o ka uhi pale a hōʻoia i ke alo o ke ala, i ʻole e hoʻopilikia i ka pololei o ke ana.
● ʻO ka mana i helu ʻia o ka mana radar hoʻokahi he ≥ 3A（24VDC）。
● E pale ʻia ke ʻano like o ke kumu kumu kukui.Ke hoʻokomo ʻia nā mea ʻike he nui i ka manawa like, e hahai ʻia nā ʻano hoʻonohonoho ma lalo
a.E hoʻouka i ka pā kaʻawale ma waena o nā mea ʻike pili.
b.Hoʻoponopono i ke kiʻekiʻe o ka hoʻonohonoho ʻana o kēlā me kēia mea ʻike i ʻole ka mokulele ʻike o kēlā me kēia sensor i loko o ± 5 degere o kēlā me kēia mokulele ʻike.
c.Hoʻoponopono i ke kihi hoʻokomo o kēlā me kēia mea ʻike i ʻole ka mokulele ʻike o kēlā me kēia sensor i loko o ± 5 degere o kēlā me kēia mokulele ʻike.
Nā code pilikia a me ka hoʻoponopono pilikia
Nā code pilikia
| No | pilikia | wehewehe |
| 001 | Hewa ka hoʻonohonoho ʻana o ka ʻāpana | ʻAʻole pololei ka hoʻonohonoho ʻana i nā ʻāpana hana mīkini ma o ke kamepiula luna |
| 002 | Ua hewa ka uhi o ka maka | Ua haumia a poino paha ka uhi |
| 003 | ʻO ka hewa kuhikuhi ana | ʻAʻole pololei ka ʻikepili ana o nā mea hoʻomālamalama mālamalama a ʻeleʻele i loko o ka mīkini |
| 004 | hewa kaʻa | ʻAʻole hiki ke kaʻa i ka wikiwiki i hoʻonohonoho ʻia, a i ʻole ka paʻa o ka wikiwiki |
| 005 | Ka hewa kamaʻilio | Kākoʻo Ethernet, hoʻopaʻa ʻia ka hoʻouna ʻana i ka ʻikepili ana |
| 006 | Hewa puka | Hoʻopuka pōkole a i ʻole |
9.2 Hoʻoponopono pilikia
9.2.1Hewa ka hoʻonohonoho ʻana o ka ʻāpana
Hoʻonohonoho hou i nā ʻāpana hana o ka radar ma o ka kamepiula luna a hoʻouna iā lākou i ka mīkini.
9.2.2Ua hewa ka uhi o ka maka
ʻO ka uhi aniani mua he ʻāpana koʻikoʻi o LSD1xxA.Inā haumia ka uhi aniani mua, e hoʻopilikia ʻia ke kukui ana, a nui ka hewa o ke ana inā koʻikoʻi.No laila, pono e hoʻomaʻemaʻe ʻia ka uhi aniani mua.Ke ʻike ʻia ka lepo o ka uhi aniani mua, e ʻoluʻolu e hoʻohana i kahi lole palupalu i ʻū ʻia me ka mea holoi ʻole e holoi ai i ka ʻaoʻao like.Ke loaʻa nā ʻāpana ma ka uhi aniani o mua, e puhi mua iā lākou me ke kinoea, a laila holoi iā lākou i mea e pale ʻole ai i ka uhi aniani.
9.2.3ʻO ka hewa kuhikuhi ana
ʻO ke kuhikuhi ana ʻana e hōʻoia i ka pololei o ka ʻikepili ana.Inā he hewa, ʻo ia hoʻi, ʻaʻole pololei ka ʻikepili ana o ka mīkini a ʻaʻole hiki ke hoʻohana hou ʻia.Pono e hoʻihoʻi ʻia i ka hale hana no ka mālama ʻana.
9.2.4hewa kaʻa
ʻO ka hemahema o ke kaʻa ka mea e hiki ʻole ai i ka mīkini ke nānā no ke ana ʻana a i ʻole ka hopena o ka manawa pane pololei ʻole.Pono e hoʻi i ka hale hana no ka mālama.
9.2.5 Ka hewa kamaʻilio
E nānā i ka uwea kamaʻilio a i ʻole ka hemahema o ka mīkini
9.2.6 Hewa puka
E nānā i ka uwea a i ʻole ka hemahema o ka mīkini
Pākuʻi II ʻike kauoha
| No | Inoa | Hoʻohālike | Nānā | Kaumaha（kg） |
| 1 | RadarʻIkepili | LSD101A | ʻAno maʻamau | 2.5 |
| 2 |
| LSD121A | ʻAno hoʻokomo | 2.5 |
| 3 |
| LSD131A | ʻAno ana laula a me ke kiʻekiʻe | 2.5 |
| 4 |
| LSD105A | ʻAno lōʻihi lōʻihi | 2.5 |
| 5 |
| LSD151A | ʻAno hoʻokomoʻAno lōʻihi lōʻihi | 2.5 |
| 6 | Uea mana | KSP01/02-02 | 2m | 0.2 |
| 7 |
| KSP01/02-05 | 5m | 0.5 |
| 8 |
| KSP01/02-10 | 10m | 1.0 |
| 9 |
| KSP01/02-15 | 15m | 1.5 |
| 10 |
| KSP01/02-20 | 20m | 2.0 |
| 11 |
| KSP01/02-30 | 30m | 3.0 |
| 12 |
| KSP01/02-40 | 40m | 4.0 |
| 13 | Uea kamaʻilio | KSI01-02 | 2m | 0.2 |
| 14 |
| KSI01-05 | 5m | 0.3 |
| 15 |
| KSI01-10 | 10m | 0.5 |
| 16 |
| KSI01-15 | 15m | 0.7 |
| 17 |
| KSI01-20 | 20m | 0.9 |
| 18 |
| KSI01-30 | 30m | 1.1 |
| 19 |
| KSI01-40 | 40m | 1.3 |
| 20 | Pruhi maka | HLS01 |
| 6.0 |
