Danfoss PLUS+1 Compliant User Manual
  1. Manuals
  2. Brands
  3. Danfoss Manuals
  4. Industrial Equipment
  5. PLUS+1 Compliant
  6. User manual

Danfoss PLUS+1 Compliant User Manual

Ouster lidar block
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
User Manual
PLUS+1® Compliant
Ouster LiDAR Block
www.danfoss.com

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the PLUS+1 Compliant and is the answer not in the manual?

Questions and answers

Related Manuals for Danfoss PLUS+1 Compliant

Summary of Contents for Danfoss PLUS+1 Compliant

  • Page 1 User Manual PLUS+1® Compliant Ouster LiDAR Block www.danfoss.com...
  • Page 2 Changed block name, moved block to the Hardware tab, and added autonomy background 0103 material. March 2022 Add configuration steps, updated signal descriptions, and updated service screens. 0102 October 2021 First release of the document. 0101 © Danfoss | March 2023 AQ404281942428en-000103...

  • Page 3: Table Of Contents

    Hardware Configuration Guidelines............................30 Inputs, Outputs, and Parameters Inputs........................................32 Parameters....................................32 Outputs......................................33 Debug Signals....................................35 Fault Signals....................................36 Application Recommendations How ACL Blocks Work Together............................... 37 LiDAR Sensor Safety..................................37 Save Processing Time................................... 38 Frequently Asked Questions © Danfoss | March 2023 AQ404281942428en-000103 | 3...

  • Page 4: Background On Autonomous Machines

    The company, Ouster, creates several types of LiDAR sensors that work with the Ouster LiDAR compliance block, which allows programmers to use the Ouster LiDAR hardware and Danfoss hardware together when creating their application in PLUS+1 software. Background on Autonomous Machines...

  • Page 5: Perception

    It records GNSS (location error), wheel odometer (speed error + angle error), and yaw source (direction error). The output is a relative position. © Danfoss | March 2023 AQ404281942428en-000103 | 5...

  • Page 6: How Most Lidar Sensors Work

    Because the sensors used for autonomous machines produce so much data, Danfoss uses data lockers to store and manage that data. GUIDE blocks reference different data lockers so they can consume the data they need.

  • Page 7: Point Clouds

    Filtering unneeded data speeds up processing time. For example, if a LiDAR captures an image of a tree, the sky around the tree could be filtered out to speed up processing time. © Danfoss | March 2023 AQ404281942428en-000103 | 7...
  • Page 8 LiDAR's 360 degree view, filter the LiDAR parameters so it only processes data from the unblocked area. The horizontal area the LiDAR sees is known as the azimuth window. © Danfoss | March 2023 AQ404281942428en-000103...

  • Page 9: Blooming

    Blooming causes missing and inaccurate data near the reflective objects. How Ouster LiDAR Sensors Work Ouster LiDAR hardware uses different conventions than Danfoss hardware and PLUS+1 software. Take the differences into account when switching between Danfoss's PLUS+1 software and Ouster's software, Ouster Studio.

  • Page 10: Coordinate Systems

    North-East-Down (NED) start at 0° facing North and rotate the full 360° instead of the half circle. NED coordinates must be converted to ENU to work with Danfoss hardware and software. Ouster Studio uses NED, so the readings appear different when looking between the two programs.

  • Page 11: Azimuth Window

    • 180° and -180°: Backward, pointed at the connector Both -180° and 180° point backward in Danfoss's coordinate system, but Ouster uses a 360° rotation in their own software. When setting the minimum azimuth bound parameter, use -180° and when setting the maximum azimuth parameter, use 180°.

  • Page 12: Rings

    2048 points per rotation (starting at point 0 and ending at point 2047). In that instance, data point 512 is at the exact spot of angle -90° using Danfoss's coordinate system but at angle 90° in Ouster's system.

  • Page 13: Ouster Lidar Supporting Features

    Using this data, it is possible to create a three-dimensional map of an area. Supported Controllers Ouster LiDAR hardware requires Ethernet connection support. The Ouster LiDAR compliance block, Ouster LiDAR hardware, and Ouster's own firmware version 2.2.0 or newer support the following Danfoss products: •...

  • Page 14: Add The Ouster Block

    GUIDE. c) Expand the PLUS+1 Partner Products drop-down and then select Ouster LiDAR. d) Select Save Changes > Install. 3. Open the application in PLUS+1 GUIDE. a) Look under the Hardware tab. 14 | © Danfoss | March 2023 AQ404281942428en-000103...
  • Page 15 Ouster LiDAR compliance block for each piece of Ouster LiDAR hardware. 4. Place a new Data_Lockers block from the Autonomous Control Library version 2.6 in the application. a) Look under the Function tab. b) Expand the Utility drop-down. © Danfoss | March 2023 AQ404281942428en-000103 | 15...
  • Page 16 If there is an older Data_Lockers block in the application, delete the old block. 5. If connecting one Ouster LiDAR hardware, see Configure One LiDAR on page 17. If connecting more than one Ouster LiDAR hardware, see Configure Multiple LiDARs on page 26. 16 | © Danfoss | March 2023 AQ404281942428en-000103...

  • Page 17: Configure One Lidar

    Ouster LiDAR Configure One LiDAR This section provides instructions for configuring the Ouster LiDAR compliance block to enable communication between Danfoss controllers and one Ouster LiDAR hardware To configure more than one LiDAR, see Configure Multiple LiDARs on page 26.

  • Page 18: Configure Parameters

    Modify the UDP_Port to enter the UDP port of the LiDAR. The controller receives scan data from this port. The UDP_Port must be unique in the application. 4. Configure the LiDAR scanning parameters. 18 | © Danfoss | March 2023 AQ404281942428en-000103...

  • Page 19: Hardware And Ethernet Configuration Guidelines For One Lidar

    Mount and wire the LiDAR following the guidelines in the hardware user manual provided by Ouster. • Use an M12 to RJ45 Ethernet cable to connect the Ouster Interface Box directly to the controller. This cable may not come with the Ouster LiDAR hardware. © Danfoss | March 2023 AQ404281942428en-000103 | 19...

  • Page 20: Disconnect The Ethernet Output Parameters

    1. From the top of the application, enter the Outputs page, then the Ethernet page. Do not open the USBEthernet page. 2. Delete the wire bus segment between the parameters and the output bus. The following image highlights the wire bus segment to be deleted. 20 | © Danfoss | March 2023 AQ404281942428en-000103...

  • Page 21: Configure Using The Controller Dhcp Service

    • Use an M12 to RJ45 Ethernet cable to connect the controller to the management port on a network smart switch. • Connect the Ouster LiDAR hardware to the network smart switch. © Danfoss | March 2023 AQ404281942428en-000103 | 21...

  • Page 22: Configure The Ethernet Output Using The Controller Dhcp Service

    Modify the Static_NetMask value to the set the netmask of the network. c) Modify the Static_Gateway to set the gateway of the network. d) Modify the Static_GWMetric value to set the IPv4 dateway metric. 22 | © Danfoss | March 2023 AQ404281942428en-000103...

  • Page 23: Configure Hardware On A Local Network

    This cable may not come with the Ouster LiDAR hardware. The controller and the Ouster LiDAR hardware must be on the same subnet. • Obtain the IP address assigned to the Ouster LiDAR hardware from the router. © Danfoss | March 2023 AQ404281942428en-000103 | 23...
  • Page 24 The image shows the Ouster Interface Box connected to a network smart switch. The switch is also connected to the XM100 controller. These two cables may not come with the Ouster LiDAR hardware. 24 | © Danfoss | March 2023 AQ404281942428en-000103...

  • Page 25: Configure Ethernet Output Using External Dhcp Service

    3. Set DHCP to 7. 4. Set DHCPService_Enable to False. You do not need to modify any of the other settings. The controller receives an IP address from the external DHCP service. 5. Compile the application. © Danfoss | March 2023 AQ404281942428en-000103 | 25...

  • Page 26: Configure Multiple Lidars

    Checkpoints page to include the checkpoint. Change Namespace Value To successfully compile your application, change the namespace value for function blocks that are used more than once in an application. Callout Description Page Name Namespace 26 | © Danfoss | March 2023 AQ404281942428en-000103...

  • Page 27: Wire Multiple Ouster Lidar Blocks

    5. Give each Extract_Ring function block a unique name, such as Extract_Ring_1 and Extract_Ring_2. 6. Connect the O_PtCld output from each Ouster LiDAR compliance block to the corresponding O_PtCld on the Extract_Ring block. © Danfoss | March 2023 AQ404281942428en-000103 | 27...

  • Page 28: Configure Ethernet Outputs

    Configure the values in the Ethernet Outputs page for two 32-channel Ouster LiDAR hardware to work with one XM100 controller. 1. Configure the Ethernet Outputs page. From the top of the application, go to Outputs > Ethernet. 28 | © Danfoss | March 2023 AQ404281942428en-000103...
  • Page 29 Set the IP_Address parameter to an unused IP address within the assigned range. For example, 192,168,1,102. c) Enter Ouster_LiDAR_2 > Parameters. d) Set the IP_Address parameter to an unused IP address within the assigned range. For example, 192,168,1,103. © Danfoss | March 2023 AQ404281942428en-000103 | 29...

  • Page 30: Customize Checkpoint Message Signals

    4. Use an M12 to RJ45 Ethernet cable to connect the XM100 to Port 1 of the network smart switch. This assigns the first IP address to the network smart switch. For example, 192,168,1,101. 5. Set up both sets of Ouster LiDAR hardware with their corresponding Ouster Interface Box and power supply. 30 | © Danfoss | March 2023 AQ404281942428en-000103...
  • Page 31 2. Download the application again. It is fine to download it to the XM100 through the standard Ethernet gateway if downloading a second time. 3. Verify the IP addresses are assigned correctly by pinging the Ouster LiDAR hardware again. © Danfoss | March 2023 AQ404281942428en-000103 | 31...

  • Page 32: Inputs, Outputs, And Parameters

    Default: 7501 UDP_Port 0-65535 Sets the UDP Port of the Ouster LiDAR hardware from which the LiDAR sends scan data to the controller. UDP_Port must be unique within the application. Default: 7502 32 | © Danfoss | March 2023 AQ404281942428en-000103...

  • Page 33: Outputs

    —— Reports issues related to the operation of the block. It is bitwise code that can report multiple statuses. 0x0000: No fault. 0x8001: Input value too low. 0x8002: Input value too high. © Danfoss | March 2023 AQ404281942428en-000103 | 33...
  • Page 34 To use this output, connect it directly to the Ethernet bus in the outputs template. Do not use this with a network switch or with multiple devices connected to one controller. 34 | © Danfoss | March 2023 AQ404281942428en-000103...

  • Page 35: Debug Signals

    24: Ring mismatch error 25: Failure to set data packet type 26: LiDAR Packet size exceeds maximum supported size 27: Unsupported UDP Profile Serial_Upper —— The upper 32 bits of the LiDAR serial number. © Danfoss | March 2023 AQ404281942428en-000103 | 35...

  • Page 36: Fault Signals

    F: The list contains no notice-level faults. Error BOOL Indicates that the Log_Fault_ID list contains at least one error-level fault. T: The list contains at least one error-level fault. F: The list contains no error-level faults. 36 | © Danfoss | March 2023 AQ404281942428en-000103...

  • Page 37: Application Recommendations

    The Ouster LiDAR compliance block does not directly report when it has new data. This is held within the Data_Locker block. Many of the Autonomous Control Library blocks indicate when they have processed new data. Monitor those ACL blocks to ensure they are updating at the expected frequency. © Danfoss | March 2023 AQ404281942428en-000103 | 37...

  • Page 38: Save Processing Time

    One way to save processing time is to turn off sections of the code when they are not needed. For example, use a switch component with -1 to turn off a block when it is not being used. 38 | © Danfoss | March 2023 AQ404281942428en-000103...

  • Page 39: Frequently Asked Questions

    128-channel Ouster LiDAR hardware minimum and maximum azimuth range of 180° to -180°, horizontal resolution of 2048, or frame rate 10 Hz. Try reducing the azimuth range, horizontal resolution, or frame rate to lower the amount of transmitted data. © Danfoss | March 2023 AQ404281942428en-000103 | 39...
  • Page 40 Phone: +86 21 2080 6201 Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products already on order provided that such alterations can be made without subsequent changes being necessary in specifications already agreed.

Table of Contents