Wire Multiple Ouster Lidar Blocks - Danfoss PLUS+1 Compliant User Manual

User Manual
Ouster LiDAR
Configure Multiple LiDARs

Wire Multiple Ouster LiDAR Blocks

© Danfoss | March 2023
1. Enable Query/Change mode.
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Select Edit > Query/Change.
•
Or, press Q.
2. Click on the function block whose namespace you want to modify.
The Edit Page dialog box opens.
3. In the Namespace field, enter a unique Namespace value.
•
Namespace values are case-sensitive.
•
To save controller memory, use a short namespace value.
4. Click OK.
5. Repeat these steps to enter unique namespace values for other identical function blocks.
Each piece of Ouster LiDAR hardware needs its own Ouster LiDAR compliance block when connecting
two LiDARs to an XM100 controller.
Before you begin, add two instances of the Ouster LiDAR compliance block to the application, as well as
the latest Data_Lockers block. See
1. Give each Ouster LiDAR compliance block a unique name. For example, Ouser_LiDAR_1 and
Ouster_LiDAR_2. See Using Namespaces
2. Add a Set_Pulse component connected to the Reset input for each block.
3. Give each Set_Pulse component a unique name. For example, SP_Ouster_1_Reset and
SP_Ouster_2_Reset.
4. Add two Extract_Ring blocks from the Autonomous Control Library version 2.6 or later.
For more information on the Autonomous Control Library function blocks, see the Autonomous
Control Library User Manual.
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.
Add the Ouster Block on page 14.
on page 26.
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