LSD1xx Series Lidar manual

LSD1xx Series Lidar manual

Short Description:

Aluminum alloy casting shell, strong structure and light weight, easy for installation;
Grade 1 laser is safe to people eyes;
50Hz scanning frequency satisfy the high-speed detection demand;
Internal integrated heater ensures the normal operation in low temperature;
Self-diagnosis function ensures the normal operation of the laser radar;
The longest detection range is up to 50 meters;
The detection angle:190°;
Dust filtering and anti-light interference, IP68, fit for outdoor use;
Switching input function(LSD121A,LSD151A)
Be independent of external light source and can keep good detection state at night;
CE certificate


Product Detail

Product Tags

System components

The basis system of LSD1XXA is consisted of one LSD1XXA laser radar, one power cable(Y1), one communication cable(Y3) and one PC with debugging software 。

1.2.1 LSD1XXA
product  (1)

No Components Instruction
1 Logic interfaceY1 Power and I/O input cables are connected with radar by this interface
2 Ethernet interfaceY3 Ethernet communication cable are connected with radar by this interface
3 Indicator window System operation, Fault alarm and system output three indicators
4 Front lens cover Emitting and receiving light beams realize the scanning of objects by this lens cover
5 Digital indication window The status of Nixie tube is shown at this window 

Power cable

product  (2)

Cable definition

7-cores power cable:

Pin

Terminal No

Color

definition

Function

 Series Lidar manual

1

Blue

24V-

Negative input of power supply

2

Black

HEAT-

Negative input of heating power

3

White

IN2/OUT1

I/O input / NPN output port 1(same to OUT1)

4

Brown

24V+

Positive input of power supply

5

Red

HEAT+

Positive input of heating power

6

Green

NC/OUT3

I/O input / NPN output port 3(same to OUT1)

7

Yellow

INI/OUT2

I/O input / NPN output port2(same to OUT1)

8

NC

NC

-

Note:For LSD101A、LSD131A、LSD151A, this port is NPN output port(open collector),there will be low lever output when object is detected at the detection area.

For LSD121A, LSD151A, this port is I/O input port, When the input is suspended or connected to low, it is identified as high level and output as "0" in the communication protocol.

 

4-cores power cable:

Pin

Terminal No

Color

definition

Function

 Series Lidar manual

1

Blue

24V-

Negative input of power supply
2

White

HEAT -

Negative input of heating power

3

NC

NC

Blank
4

Brown

24V+

Positive input of power supply
5

Yellow

HEAT+

Positive input of heating power

6

NC

NC

Blank

7

NC

NC

Blank

8

NC

NC

Blank

Communication Cable

  1.3.3.1 Communication cable

Series Lidar manual (18)

1.3.3.2 Cable definition

Pin

No

Color

Definition

Function

No

RJ45

1

Orange white TX+E

Ethernet data sending

1

 Series Lidar manual (36)

2

Green white RX+E

Ethernet data receiving

3

3

Orange

TX-E

Ethernet data sending

2

4

Green

RX-E

Ethernet data receiving

6

PC

The following figure is an example of PC test. For the specific operation o please refer to "LSD1xx PC instructions"

Series Lidar manual (33)

Technical parameter

Model

LSD101A

LSD121A

LSD131A

LSD105A

LSD151A

Supply voltage

24VDC±20%

Power

< 60W, Normal working current <1.5AHeating <2.5A

Data interface

Ethernet10/100MBd,TCP/IP

Response time

20ms

Laser wave

905nm

Laser grade

Grade 1safe to people eyes

Anti-light interference

50000lux

Angle range

-5° ~  185°

Angle resolution

0.36°

Distance

0~40m

0~40m

0~40m

0~50m

0~50m

Measurement resolution

5mm

Repeatability

±10mm

In put function

I/O 24V

I/O 24V

Output function

NPN 24V

NPN 24V

NPN 24V

Area division function

Width&height

measurement

Vehicle detection speed

≤20km/h

  Vehicle width detection range

1~4m

  Vehicle width detection error

±0.8%/±20mm

  Vehicle height detection range

1~6m

  Vehicle height detection error

±0.8%/±20mm

Dimension

131mm × 144mm × 187mm

Protection rating

IP68

Work/storage temperature

-30 ~ +60℃ /-40℃ ~ +85℃

Characteristic curve

Series Lidar manual (42) Series Lidar manual (43) Series Lidar manual (44)
Relationship curve between detection object and distance
Series Lidar manual (43)
Relationship curve between detection object reflectance and distance
Series Lidar manual (44)
Relationship curve between light spot size and distance

Electrical connection

3.1 Output interface definition

3.1.1 Function description

 

No

Interface

type

Function

1

Y1

8 pin sockets

Logical interface1. Power supply2. I/O inputapply toLSD121A3. Heating power

2

Y3

4 pin sockets

Ethernet interface1Measurement data sending2. Reading of sensor port setting, area setting and. fault information

 

3.1.2 Interface definition

3.1.2.1 Y1 interface

      7-cores interface cable

Pin

No

Color

Signal definition

Function

 Series Lidar manual

1

Blue

24V-

Negative input of power supply

2

Black

HEAT-

Negative input of heating power

3

White

IN2/OUT1

I/O input / NPN output port 1same to OUT1

4

Brown

24V+

Positive input of power supply

5

Red

HEAT+

Positive input of heating power

6

Green

NC/OUT3

I/O input / NPN output port 3same to OUT1

7

Yellow

INI/OUT2

I/O input / NPN output port2same to OUT1

8

NC

NC

-

Note For LSD101ALSD131ALSD105A, this port is NPN output portopen collector),there will be low lever output when object is detected at the detection area.

For LSD121A, LSD151A , this port is I/O input port, When the input is suspended or connected to low, it is identified as high level and output as "1" in the communication protocol; When the input is connected to 24V +, it is identified as low level and outputs as "0" in the communication protocol.
4-cores interface cable

Pin

No

Color

Signal definition

Function

 Series Lidar manual 1

Blue

24V-

Negative input of power supply
2

White

HEAT -

Negative input of heating power

3

NC

NC

Blank
4

Brown

24V+

Positive input of power supply
5

Yellow

HEAT+

Positive input of heating power

6

NC

NC

Blank

7

NC

NC

Blank

8

NC

NC

Blank

3.1.2.2   Y3 interface definition

Pin

No

Color

Signal definition

Function

 Series Lidar manual (40) 1 Orange white TX+E

Ethernet data sending

2 Green white RX+E

Ethernet data receiving

3

Orange

TX-E

Ethernet data sending

4

Green

RX-E

Ethernet data receiving

 

3.2 Wiring

3.2.1  LSD101ALSD131ALSD105A  Switching output wiring7 cores power cable

Note
When the switch output line is not used, it shall be suspended or grounded, and it shall not be short circuited with the power supply directly
V + is not more than 24VDC voltage, and must be grounded together with 24VDC.

3.2.2  LSD121A LSD151A Switching output wiring7 cores power cable
3.2.3  LSD121ALSD151A external electronic wiring diagram7-cores power cable
The lidar input cable should be connected with external Vout cable meanwhile connect one 5K resistance to 24+

Function and application

4.1 Function

The main functions of LSD1XX A series products are distance measurement, input setting, and comprehensive judgment of vehicle entry and exit process and dynamic separation of vehicles by measuring vehicle width and height information. LSD1XX A series radar is connected to the upper computer through Ethernet cable, and the data graphs and measurement data can be displayed through the upper computer software.

4.2 Measurement

4.2.1 Distance measurementApply to LSD101ALSD121ALSD105ALSD151A

After the radar is powered on and passes the system self-test, it starts to measure the distance value of each point within the range of - 5 ° ~ 185 °, and output these values through the Ethernet interface. The default measurement data is 0-528 groups, corresponding to the distance value in the range of - 5 ° ~ 185 °, which is in hexadecimal format, and the unit is mm. For example:

Fault report
Receive data frame 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……..
Corresponding distance value
Date02 F9  02 DE  02 E5  02 DE  02 E5  02 E5  02 E5  02 EC  02 EC  02 F3。。。

Angle and distance information corresponding to data-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° 748mm1.76° 755mm。。。   

4.2.2 Width and height measurementApply to LSD131A

4.2.2.1 Measurement communication protocol

 

Description

Function code

Width result

Height result

Parity bit

Bytes

2

2

2

1

Radar sendingHexadecimal

252A

WHWL

HHHL

CC

Illustration

Width resultWH high bits)、WL low bits

Height resultHHhigh bits)、HLlow bits

Parity bitCCXOR check from the second byte to the last second byte

Example

Width 2000 Height 150025  2A  07  D0  05  DC  24
4.2.2.2 Parameter setting protocol
The factory default settings of the product are: lane width 3500mm, minimum detection object width 300mm, and minimum detection object height 300mm. The user can modify the sensor parameters according to the actual situation. If the sensor is set successfully, a group of status data with the same format will be returned. The specific format of the instruction is as follows

Description

Function code

Auxiliary function code

Parameter

Parity bit

Bytes

2

1

6/ 0

1

Radar receivingHexadecimal

454A

A1setting

DHDLKHKLGHGL

CC

Radar receivingHexadecimal

454A

AAquery

——

CC

Radar sendingHexadecimal

454A

A1 / A0

DHDLKHKLGHGL

CC

Illustration
Lane widthDHhigh 8 bits)、DL low bits
Min detection object widthKHhigh 8 bits)、KLlow bits
Min detection object heightGHhigh 8 bits)、GLlow bits
Parity bitCCXOR check from the second byte to the last second byte
Example
Setting45  4A  A1  13  88  00  C8  00  C8  705000mm200mm200mm
Query45  4A  AA  E0
Response 145  4A  A1  13  88  00  C8  00  C8  70A1When the parameter is modified
Response 245  4A  A0  13  88  00  C8  00  C8  71A0When the parameter is not modified

Installation

8.1 Installation precautions
● In the outdoor working environment, the lnd1xx should be installed with a protective cover to avoid the internal temperature of the sensor rising rapidly due to direct sunlight。
● Do not install the sensor with over vibrating or swinging objects。
● Lnd1xx shall be installed away from the environment with moisture, dirt and danger of sensor damage。
● In order to avoid external light source such as sunlight, incandescent lamp, fluorescent lamp, strobe lamp or other infrared light source, such external light source shall not be within ± 5 ° of the detection plane。
● When installing the protective cover, adjust the direction of the protective cover and ensure it is in face of the lane, otherwise it will affect the accuracy of measurement
● The rated current of single radar power supply shall be ≥ 3A(24VDC)。
● The same kind of light source interference shall be avoided. When multiple sensors are installed at the same time, the following installation methods shall be followed
a. Install isolation plate between adjacent sensors。
b. Adjust the installation height of each sensor so that the detection plane of each sensor is not within ± 5 degrees of each other's detection plane。
c. Adjust the installation angle of each sensor so that the detection plane of each sensor is not within ± 5 degrees of each other's detection plane。

Trouble codes and troubleshooting

Trouble codes

No

Trouble

Description

001

Parameter configuration fault

Configuration of machine working parameters through upper computer is incorrect

002

Front lens cover fault

The cover is polluted or damaged

003

Measurement reference fault

The measurement data of bright and dark reflectors inside the machine is incorrect

004

Motor fault

The motor does not reach the set speed, or the speed is unstable

005

Communication fault

Ethernet communication, measurement data transmission blocked or disconnected

006

Output fault

Output short circuit or off

9.2 Troubleshooting

9.2.1 Parameter configuration fault

Reconfigure the working parameters of the radar through the upper computer and transmit them to the machine。

9.2.2 Front lens cover fault

The front mirror cover is an important part of LSD1xxA. If the front mirror cover is polluted, the measurement light will be affected, and the measurement error will be large if it is serious. Therefore, the front mirror cover must be kept clean. When the front mirror cover is found dirty, please use a soft cloth dipped with neutral detergent to wipe in the same direction. When there are particles on the front mirror cover, blow them off with gas first, and then wipe them to avoid scratching the mirror cover.

9.2.3 Measurement reference fault

The measurement reference is to verify whether the measurement data is valid. If there is a fault, it means that the measurement data of the machine is not accurate and cannot be used any more. It needs to be returned to the factory for maintenance.

9.2.4 Motor fault

Failure of the motor will cause the machine to fail to scan for measurement or result in inaccurate response time. Need to return to factory for maintenance

9.2.5 Communication fault

Check the communication cable or machine failure 

9.2.6 Output fault

Check the wiring or machine failure

Appendix II ordering information

No

Name

Model

Note

Weightkg

1

Radar Sensor

LSD101A

Common type

2.5

2

LSD121A

In-put type

2.5

3

LSD131A

Width & height measurement type

2.5

4

LSD105A

Long distance type

2.5

5

LSD151A

In-put type Long distance type

2.5

6

Power cable

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

Communication cable

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

Protective cover

HLS01

6.0


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