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Summary of Contents for ATTOLLO ENGINEERING WASP-200 LRF
- Page 1 XM000002 Rev. 004 WASP-200 LRF USER MANUAL - UART (CU1 AND MU1) AND CAN / RS-232 (MC1) VERSIONS ATTOLLO ENGINEERING...
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Page 2: Table Of Contents
WASP-200 LRF 200m Compact Laser Rangefinder User Manual XM000002 Rev. 004 Contents INTRODUCTION ....................................3 PRINCIPLE OF OPERATION ................................. 3 PERFORMANCE....................................4 POWER ......................................4 LASER SAFETY ....................................5 PHYSICAL ......................................5 DIMENSIONS ..................................... 6 PINOUT AND ELECTRICAL INTERFACE ..............................8 CU1 ........................................ - Page 3 For repair or service, contact Attollo Engineering for more information. Attollo Engineering is not responsible for injuries caused through the improper use or operation of this product.
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Page 4: Introduction
250 meters away (the maximum range capability of the WASP-200 LRF). A small portion of the light will bounce off the targeted object and end up traveling back to the WASP-200 LRF where it will be collected by the receiver lens and focused onto a small avalanche photodetector. -
Page 5: Performance
XM000002 Rev. 004 The WASP-200 LRF makes a careful timing measurement between the firing of the laser and the receipt of the detector’s signal pulse. This elapsed time, called the time-of-flight (ToF), is used to determine the distance to the object based on the speed of light and taking in to account the round-trip path of the light pulse. -
Page 6: Laser Safety
Option 2 – Front mounting: The WASP-200 LRF can be mounted to a host-system by way of the 0.067” holes found on the front of the device and be flush-mounted to a 3/16” plate or panel. The mounting hole can be tapped for a #2-56 thread. -
Page 7: Dimensions
Dimensions The exterior dimensions and mounting details of the WASP-200 LRF are shown in Figure 3 for the commercial system and Figure 4 for the ruggedized system. All dimensions are in millimeters. Contact Attollo Engineering for a 3D solid model. - Page 8 WASP-200 LRF 200m Compact Laser Rangefinder User Manual XM000002 Rev. 004 FDA CLASS 1 LASER LABEL LOCATION Figure 4 - Exterior and mounting dimensions of the Ruggedized WASP-200 LRF (MU1 and MC1) support@attolloengineering.com...
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Page 9: Pinout And Electrical Interface
Purple Eight plated through holes, on a 1.25 mm pitch are provided on the PCB tab of the WASP-200 LRF for direct soldering of interface wires or an 8-pin, 1.25mm pitch connector. Most WASP-200 LRFs ship with a Hirose DF13-8P-1.25DS(20) 8-pin connector though others will work. -
Page 10: Mu1
The pinout of the connector is defined in Table 8. Mating connectors and cable sets can be purchased from Attollo and are color coded as indicated in Table 8. Table 6 - WASP-200 LRF Signal Pinouts for the CU1 model. Pin #... -
Page 11: Minimum Recommended Configuration (Cu1 And Mu1)
XM000002 Rev. 004 Minimum Recommended Configuration (CU1 and MU1) To operate the WASP-200 LRF with a minimal electrical configuration the cable can be configured like that shown in Figure Figure 6 - The minimum required connections to operate the WASP-LRF POWER_ENABLE can be tied to POWER_IN to simplify the number of connections. -
Page 12: Mc1
The pinout of the connector is defined in Table 8. Mating connectors and cable sets can be purchased from Attollo and are color coded as indicated in Table 8. Table 8 - WASP-200 LRF Signal Pinouts for the MC1 model. Pin #... - Page 13 Attollo also sells pre-assembled cable assemblies with the DF13 and ODU connectors described above and color coded in accordance with the corresponding pinouts. Attollo sells a USB to UART adapter board for communicating with the WASP-200 LRF over a computer’s serial interface. Visit the website for configuration and ordering information. support@attolloengineering.com...
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Page 14: Communication Interface (Cu1 And Mu1)
Baud Rate 115200 & 921600 Data Bits Stop Bits Parity None Flow Control None Terminating Character Linefeed (Hex: 0x0A) All serial commands must append a linefeed character at the end in order to be properly received by the WASP-200 LRF. support@attolloengineering.com... -
Page 15: Serial Commands
XM000002 Rev. 004 Serial Commands Communicating with the CU1 and MU1 variants of the WASP-200 LRF takes place through the serial command interface using ASCII-based commands. Each command to the LRF consists of an initialization character, a command mnemonic, and zero or more arguments. All commands are case sensitive and are UPPER CASE. The initialization character for all commands being transmitted to the rangefinder is the “>”... - Page 16 WASP-200 LRF 200m Compact Laser Rangefinder User Manual XM000002 Rev. 004 Command Arguments [0/1] Description Enables (1) and disables (0) the auto-threshold adjustment. The auto-threshold feature ensures that the system is in its highest sensitivity state, while still ensuring a better than 1% false alarm rate, before every range measurement.
- Page 17 Description Sets the output format for range reporting. ASCII will report range data as a 3 decimal precision floating point number. BINARY will report range data as a 32-bit floating point number. Regardless of the output format mode, the WASP-200 LRF always expects inputs in ASCII format. >FMT BINARY Example <...
- Page 18 Description Reports the WASP-200 LRF firmware version. >MFW Example < MFW 18410001 Command Arguments None Description Reports the hardware revision of the WASP-200 LRF. >MHV Example < MHV 100 Command Arguments None Description Reports the model name of the WASP-200 LRF.
- Page 19 Arguments None Description Saves all currently active user parameters to the non-volatile flash memory. The WASP-200 LRF will re-load these parameters after the next software or power-on reset. The currently active user parameters can be viewed using the SET command.
- Page 20 WASP-200 LRF 200m Compact Laser Rangefinder User Manual XM000002 Rev. 004 Command SET (SET?) Arguments None Description Reports the current system parameters. >SET Example < THR220 TOFS0 OFS0.000 FRQ10 VLT677 AVG1 MAVG1 AUT1 AUV1 MEDF1 LBE|BIG FMT|ASCII CHKSUM1 TRIG0 SAVE1...
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Page 21: Range Error Codes
>VLT 510 Example < VLT510 Range Error Codes Range error codes are reported by the WASP-200 LRF by a “-“ sign followed by a code instead of the expected range value. Table11 – WASP-200 LRF UART ERROR Codes Error Error Code... -
Page 22: Communication Interface (Mc1)
1,000,000 bps. Presently the RS-232 interface, operating at 115,200 bps is used solely for configuring the WASP-200 LRF per the Serial Commands described in the previous section. This is done by using the “>LRF “ mnemonic ahead of the desired command. -
Page 23: Config
WASP-200 LRF 200m Compact Laser Rangefinder User Manual XM000002 Rev. 004 POWER 0x04 0X0E Controls the ON/OFF state, allows testing, and sets the startup behavior EXT_POWER 0x15 0x0E Controls ON/OFF state via Piccolo uplink UPDATE_OFFSET 0x04 0x1F Updates the laser offset calibration... -
Page 24: Laser_Mode & Laser_Mode_2
WASP-200 LRF 200m Compact Laser Rangefinder User Manual XM000002 Rev. 004 Altitude 24-bit unsigned laser range in millimeters Period Indicates the period of the measurement, units indicated by the time multiplier bit. Special Cases: 0x00 Period is out of range or unknown Latency Unsigned integer;... -
Page 25: Power & Ext_Power
WASP-200 LRF 200m Compact Laser Rangefinder User Manual XM000002 Rev. 004 POWER & EXT_POWER This data packet is used to turn the laser power on and off and, optionally, set the initial power-on behavior. Since this packet has the potential to conflict with other devices on the CAN bus by using the general Piccolo uplink group (0x15), a unique identifier has been embedded into the message to help distinguish it from others. -
Page 26: Rs-232 Commands
WASP-200 LRF 200m Compact Laser Rangefinder User Manual XM000002 Rev. 004 Major The 1 in 1.2.3 Version Minor The 2 in 1.2.3 Version Sub Version The 3 in 1.2.3 Date month Date day Date year For 2018, the value will be 18... -
Page 27: Revision History
WASP-200 LRF 200m Compact Laser Rangefinder User Manual XM000002 Rev. 004 Revision History Version Date Comments 2018-05-16 Initial version 2018-10-15 FDA Laser Compliance approval updates Update to version command formatting, RANGE_NOT_READY error code added. Added CHKSUM and TRIG commands. 2018-11-21 Note in introduction regarding 10 kHz only applying to Class 3 operation.
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