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Related Manuals for Lightware SF40/C
Summary of Contents for Lightware SF40/C
- Page 1 SF40/C Product manual SF40/C Product manual LiDAR SENSOR IJsselburcht 26 NL - 6825 BP Arnhem Nederland Tel. +31 850187593 info@lidarsensor.nl KVK 70937338 SF40/C -Product manual | 1 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za...
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Page 2: Table Of Contents
9.1. Product name [0] 9.2. Hardware version [1] 9.3. Firmware version [2] 9.4. Serial number [3] 9.5. UTF8 textmessage [7] 9.6. User data [9] 9.7. Token [10] SF40/C -Product manual | 1 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za... - Page 3 9.26. Alarm 2 [113] 9.27. Alarm 3 [114] 9.28. Alarm 4 [115] 9.29. Alarm 5 [116] 9.30. Alarm 6 [117] 9.31. Alarm 7 [118] SF40/C -Product manual | 2 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za...
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Page 4: About This Document
Information found in this document is used entirely at the readerʼs own risk and whilst every effort has been made to ensure its validity, neither LightWare Optoelectronics (Pty) Ltd nor its representatives make any warranties with respect the accuracy of the informationcontained herein. -
Page 5: Firmware Change Log
2.4. 1.2.0 Features Added a minimumdistance parameter for flightcontroller compatibility mode. 2.5. 1.1.2 Fixes Flight controller compatibility mode now correctly uses the orientation setting. SF40/C -Product manual | 4 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za... - Page 6 Poi nt st ar t i ndex Di st ance out put [ 48] Output intoaccount. r at e [ 108] 2.8. 1.0.1 Notes Initial release. SF40/C -Product manual | 5 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za...
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Page 7: Safety Instructions
No regular maintenance is required for the SF40/C but if the lenses start to collect dust then they may be wiped with suitable lens cleaning materials. Make sure that the SF40/C is switched OFF before lookinginto the lenses. -
Page 8: Laser Radiation Information
< 0.6 mW 7 millimeter aperture Average energy per pulse < 300 nj Distance beyond which binoculars with may be used NOHD 15 m safely SF40/C -Product manual | 7 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za... -
Page 9: Specifications
Laser power 20 W (peak), 11mW (average), Class 1M Optical aperture 51 mm Beam divergence 0.2° Operating temperature 0 ... 40° C Approvals FDA: 1410968-002(2018/09) SF40/C -Product manual | 8 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za... -
Page 10: Functional Description
5.1. Overview The SF40/C uses a scanning laser rangefinder to measure on a 360 degree disc with a radius of 100 meters. Collected data is stored in memory and continually refreshed as the laser scans around. The speed of rotationis 5.5 revolutions per second at a resolution of +-3 cm. -
Page 11: Hardware
Power supply currentcapacity should be at least 0.2 A Motor power supply (Pins 5 & 6) Power supply should provide 12 V +-10% Power supply currentcapacity should be at least 0.5 A SF40/C -Product manual | 10 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za... -
Page 12: Mounting On An Airframe
SF40/C Product manual 6.2. Mounting on an airframe 6.3. Dimension drawings 25 (0.98) M3 x M3 x 12 mm Hex standoff Male /Female SF40/C -Product manual | 11 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za... -
Page 13: Labeling
SF40/C Product manual 6.4. Labeling SF40/C -Product manual | 12 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za... -
Page 14: Serial Interface
The SF40/C uses a 3.3 V (5 V tolerant) TTL serial UART for communication.Communicationis performedusing encapsulated packets for both sending and receiving data. Every packet that is sent to the SF40/C is known as a and a request will always be repliedto witha . -
Page 15: Checksum
Each packet has a 2 byte checksum which is used to validate data integrity.The algorithmis CRC-16-CCI TT (idendtical to the one used for the XMODEM protocol). 0x1021 The CRC must be correctly formedfor the SF40/C to accept and process packets. Below are some examples in various languages forCRC calculation: C/C++ ui nt 16_t... - Page 16 ^= code; code = code << & 0xFFFF; cr c ^= code; r et ur n r et ur n cr c; SF40/C -Product manual | 15 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za...
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Page 17: Receiving Packets
If the packet length or checksum is invalid then it is technically more correct to roll the incoming stream back to when the start byte was found. However in practice this has little appreciable impact. SF40/C -Product manual | 16 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za... -
Page 18: Handling Request & Response
7.5. Handling request & response Every request sent to the SF40/C will receive a response, it is often useful to use the response as a way to determine if the request was received and processed. Here is the recommended procedure for sending a command... -
Page 19: Command List
Alarm 3 Alarm 3 configuration Alarm 4 Alarm 4 configuration Alarm 5 Alarm 5 configuration Alarm 6 Alarm 6 configuration Alarm 7 Alarm 7 configuration SF40/C -Product manual | 18 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za... -
Page 20: Detailed Command Descriptions
This will always be followed by a null terminator. 16 byt e st r i ng SF40 You can use this to verify the SF40/C is connected and operational over the selected interface. Read Write Persists 16 byt e st r i ng 9.2. -
Page 21: User Data [9]
SF40/C Product manual A null terminatedASCII string. The SF40/C will send this command when it needs to communicate a human readable message. Read Write Persists 9.6. User data [9] This command allows 16 bytes to be stored and read for any purpose. -
Page 22: Stage Firmware [16]
Product manual 9.10. Stage firmware [16] The first part of uploading firmware to the SF40/C is to stage the data. This command accepts pages of the firmware,each long, and an index to indicate which page is being uploaded.Pages are created by 128 byt es dividing the firmware upgrade file into multiple 128 byte chunks. -
Page 23: Incoming Voltage [20]
Persists ui nt 32 9.13. Stream [30] The SF40/C can continuously outputdata without individual request commands being issued. Reading from the command will indicate what type of data is being streamed. Writing to the command will set the St r eam St r eam type of data to be streamed. -
Page 24: Laser Firing [50]
Reading this command will indicate the current laser firingstate. Writing to this command will enable or disable the firing of the laser. Value Description Disabled Enabled Read Write Persists ui nt 8 ui nt 8 SF40/C -Product manual | 23 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za... -
Page 25: Temperature [55]
Readings below the will be ignored. Mini mumdi st ance SF40/C -Product manual | 24 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za... -
Page 26: Motor State [106]
Motor is waiting for first 5 revolutions to occur. Motor is running normally. Motor has failed to communicate. Read Write Persists ui nt 8 SF40/C -Product manual | 25 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za... -
Page 27: Motor Voltage [107]
Reading this command will return the number of full revolutions since start-up. Please note that this value will reset to zero after 4294967295revolutions. Read Write Persists ui nt 32 SF40/C -Product manual | 26 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za... -
Page 28: Alarm State [111]
The same data bytes as specified above can be written to this command to set the alarm configuration. Read Write Persists 7 byt es 7 byt es SF40/C -Product manual | 27 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za... - Page 29 0x03 Width Angular width in degrees around the primary direction. i nt 16 0x05 Distance Distance at which alarm is triggered. i nt 16 SF40/C -Product manual | 28 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za...
- Page 30 The same data bytes as specified above can be written to this command to set the alarm configuration. Read Write Persists 7 byt es 7 byt es SF40/C -Product manual | 29 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za...
- Page 31 Write Persists 7 byt es 7 byt es LiDAR SENSOR IJsselburcht 26 NL - 6825 BP Arnhem Nederland Tel. +31 850187593 info@lidarsensor.nl KVK 70937338 SF40/C -Product manual | 30 of 30 | © LightWare Optoelectronics (Pty) Ltd, 2019 | www.lightware.co.za...