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Summary of Contents for Safran LRF 6742
- Page 1 LRF 6742 Integrator Manual INTEGRATOR MANUAL LRF 6742 INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 1/63...
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Page 2: Important Information
The descriptions, specifications, design and procedures contained in this manual were effective at the time of publication. SAFRAN VECTRONIX AG reserves the right to modify any of the above at any time without notice and without incurring obligations. -
Page 3: Revision History / Errors
LRF 6742 Integrator Manual Revision history / Errors SAFRAN VECTRONIX AG products are carefully engineered to be compatible with future innovations. Nevertheless, if improvements, fixes, upgrades or revisions of the product are in place that extend or collide with parts of this manual, they will be listed here:... -
Page 4: Meaning Of Symbols
CAUTION indicates a hazardous situation, which if not avoided, may result in minor or moderate injury. NOTICE NOTICE indicates a property damage message. NOTE NOTE indicates relevant information. INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 4/63... -
Page 5: Intended Use
CAUTION Environmental hazard. The LRF 6742 module contains certain components that should be treated as hazardous waste, and must therefore be disposed via your specialist dealer. The packaging foam is made out of PE-LD-E-X. Dispose it according to your local regulations. -
Page 6: Eye Safety
LRF 6742 Class 1 eye safe LRF 6742 LP Class 1 eye safe according to IEC 60825-1 (2014). INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 6/63... -
Page 7: Table Of Contents
Current consumption detail: “measurement sequence” ............23 6.6.2 PWR_SAFE signal pin#9 ......................24 Serial interfaces ............................25 RS232 ............................25 INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 7/63... - Page 8 11.5 Reference design for isolation of optical channels ..............61 11.6 UTF-8 ASCII Table ........................62 11.7 Abbreviations ..........................62 INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 8/63...
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Page 9: General Information
LRF 6742 Integrator Manual 1 General Information 1.1 LRF: Laser Range Finder Module The LRF 6742 is a very compact and versatile rangefinder module combining unsurpassed range performance with outstanding robustness. System integrators can select from two different versions: LRF 6742 without pointer (No. 918040) ... - Page 10 LRF 6742 Integrator Manual Connector Mainboard Receiver Figure 2: LRF 6742 backside INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 10/63...
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Page 11: Lrf Background Information
The following Figure illustrates the sampled signal of the receiver diode. This information is used to calculate the distance. Figure 4: Sampled signal at the receiver diode INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 11/63... -
Page 12: Getting Started
Remove the yellow stickers on bench holes before flushing the air out of the system, so that nitrogen can fill the optical system of the LRF module. INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 12/63... -
Page 13: First Steps With The Lrf 6742
LRF 6742 Integrator Manual 3.2 First steps with the LRF 6742 We recommend using a SAFRAN VECTRONIX Interface Kit to run a LRF 6742 with a PC. Please refer to the Interface Kit Manual. 3.3 First steps without LRF Interface Kit LRF modules can be connected to your PC without an Interface Kit provided by SAFRAN VECTRONIX AG. -
Page 14: Mechanical Interface
Electrical damage (short circuits and ground loops) if the contact surface is not appropriate. Misalignment of the components due to mechanical-thermal stress. INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 14/63... -
Page 15: Alignment
If the laser pointer is too strong for the camera, the use of filter attenuators is necessary. They can be sourced, for example, from Schott (KG1, KG2, KG3 or KG5). INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 15/63... -
Page 16: Alignment Without Camera: Back-Up Solution
The yellow pieces of tape stop dust penetrating into the optical system and they should be removed just before the host system is sealed and purged. INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 16/63... -
Page 17: Optical Interface
SAMTEC LSHM. It is a hermaphroditic board to board and board to cable design. The following diagrams indicate the system connector’s pin out and the description of each signal. INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 17/63... - Page 18 LRF 6742 Integrator Manual INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 18/63...
- Page 19 LRF 6742 Integrator Manual Figure 6: Connector pinout INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 19/63...
- Page 20 RS422_RX_N RS422 Receiver negative input line. 36, 38 Interlock Lines Do not connect 10,11,12,13,14,20, 22,24,25,26,27,28, SPARE Do not connect 31,32,33,34,35,37 INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 20/63...
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Page 21: Esd Protection
The LRF bench is conductive and the contact surface shall be conductive to avoid damages to the module. INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 21/63... -
Page 22: Absolute Maximum Ratings
Inrush current peaks during measurement *1) 0.65 Input capacitance on PWR_IN Typical 1500 Typical PWR_SAFE rise time *1) See Warning on current peaks INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 22/63... -
Page 23: Current Consumption Detail: "Powering Up
Typical response of the sensor if powered via the PWR_IN under typical conditions (12 V; T = 25°C; Laboratory power source) Figure 9: Typical current peaks during measuring sequence INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 23/63... -
Page 24: Pwr_Safe Signal Pin#9
From the “Normal operating Mode”, the module can reach the “OFF Mode” using the corresponding command. Figure 11: PWR_SAFE signal and awaking commands INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 24/63... -
Page 25: Serial Interfaces
(Or equivalently means, the “P” lines have the “IDLE” on high and transmit data on low and the “N” lines have the “IDLE” on low and transmit data on high) INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 25/63... -
Page 26: Software Interface
Internal clock values transmitted with measurements >LM,At,1*D7<0D> Set Range Sorting Method Set target sorting method for all range relevant commands >LM,At,1*D7<0D> INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 26/63... - Page 27 LRF 6742 Integrator Manual IBIT Initiated Built In Test >LM,Tb,1*D8<0D> PBIT Power Built In Test >LM,Tb,2*D9<0D> INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 27/63...
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Page 28: Operating Modes
During command execution (except for the continuous range request, the block range request and the laser continuous low power mode commands) the LRF module will ignore any incoming characters. INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 28/63... -
Page 29: Command Structure
EOM -> indicates the end of the message frame. <0D>. Acknowledge -> indicates that the command is valid and the module is processing it. INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 29/63... - Page 30 Example for an invalid parameter error: <0D> >LM,Md,3,0*31 <0D> >NA,2*ED Example for a checksum error: <0D> >LM,Md,3*D6 > <0D> NA,0*EB INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 30/63...
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Page 31: Timing / Power On
1 second, in order to comply with eye safety limitations. Range commands for continuous and block request already watch out the eye safety buffer. INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 31/63... -
Page 32: Operational Commands
Example of a successful range measurement command transaction: Host LRF Module Command frame: >LM,Md,3*D5<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Response frame: >LM,Md,v0006091,R000E301,R000E301*46<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 32/63... -
Page 33: Fake Range Measurement >Lm,Mf,X*
Example of a successful Fake Range Measurement command transaction: Host LRF Module Command frame: >LM,Mf,3*D7<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Response frame: >LM,Mf,v0123400,v0432100,R000E301*57<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 33/63... -
Page 34: Continuous Low Power Mode / Alignment >Lm,Tl,X*
The operator performs alignment. Afterwards, the emission shall be deactivated. Host LRF Module Command frame: >LM,Tl,0*E1<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 34/63... -
Page 35: Pointer On/Off >Lm,Rp,X*
At extreme temperatures (below -10°C or above 45°C) not longer than 15 sec. At room temperature (25°C) not longer than four minutes. INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 35/63... -
Page 36: Laser Pointer Arm Command >Lm,Lp,X*
Acknowledge frame: >AC*84<0D> Prompt: < Host LRF Module Command frame: >LM,Lp,0*DD<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 36/63... -
Page 37: Operation Mode Selection >Lm,Op,X*
Example of an operating mode selection command transaction: Host LRF Module Command frame: >LM,Op,1*E1<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 37/63... -
Page 38: Block Range Measurement >Lm,Mb,X*
Host LRF Module Command frame: >LM,Mb,2*D2<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Response frame: >LM,Mb, v0004280,R000E301,R000E301*62<0D> >LM,Mb, v0004280,R000E301,R000E301*62<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 38/63... -
Page 39: Legacy: Continuous Range Measurement >Lm,Mt,X*
Acknowledge frame: >AC*84<0D> Response frame: >LM,Mt,v0006404,v0090656,v0077726,t018692980*1C<0D> >LM,Mt,v0006406,v0090981,v0087450,t018758928*1F<0D> >LM,Mt,v0072447,v0085329,v0074191,t018862206*16<0D> >… Host LRF Module Command frame: >LM,Mt,0*E2<0D> Acknowledge frame: >AC*84<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 39/63... -
Page 40: Selectable Measurement Repetition Rate For Continuous Measurement
250 ms … … 20Hz 50 ms If you want to use higher frequencies, please contact us for further advice. INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 40/63... -
Page 41: Error Codes
The accuracy is not guaranteed. R000E305 Optimization pulses for repetition rates, no laser pulses are emitted Table 11: Error Codes INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 41/63... -
Page 42: Servicing Commands
Host LRF Module Command frame: >LM,Br,4*D9<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Prompt** < After restart, at the new baudrate. INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 42/63... -
Page 43: Query: Version, Software And Module Type >Lm,Iv,1*
>LM,Iv,Prod. Type: LRF 6742 LP,MCU Firmw.: 01.00.00.B6 Date: Jul 20 2017,MCU Booter: 01.00,DSP Firmw.: 00.01 Date: Jun 14 2017,Hardware: 01-01-00-00-31,Options: PF,S/N.: 00000,Art.: 914166*97<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 43/63... -
Page 44: Set Range Gate Minimum >Lm,Gl,X*
Example of a set range gate min command transaction: Host LRF Module Command frame: >LM,Gl,500*39<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 44/63... -
Page 45: Set Range Gate Maximum >Lm,Gh,X*
100 m target: Outside range gate. ->473.80 m v0047380 R000E302 Table 17: Example of range output for a range gate max INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 45/63... -
Page 46: Query: Get Range Gate Settings >Lm,Ig,X*
Example of a get range gate (min) settings command transaction: Host LRF Module Command frame: >LM,Ig,1*D2<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Response frame: >LM,Ig,00000*91<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 46/63... -
Page 47: Reset Settings >Lm,Rd*
Example of a reset LRF module to default settings command transaction: Host LRF Module Command frame: >LM,Rd*7B<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 47/63... -
Page 48: Query: Get Timestamp >Lm,It*
Example of a get timestamp command transaction: Host LRF Module Command frame: >LM,It*82<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Response frames: >LM,It,t743721867*FF<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 48/63... -
Page 49: Timestamp Activation >Lm,At,X*
Example of a timestamp activation command transaction: Host LRF Module Command frame: >LM,At,1*D7<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 49/63... - Page 50 Host LRF Module Command frame: >LM,Md,3*D5<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Response frames: >LM,Md, v0027091,R000E301,R000E301,t006295701,t006683761*4C<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 50/63...
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Page 51: Set Range Sorting Method: >Lm,Sr,X*
Example of a Set Range Sorting Method command transaction: Host LRF Module Command frame: >LM,Sr,1*E7<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Prompt < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 51/63... -
Page 52: Test Commands
Example of an IBIT command transaction: Host LRF Module Command frame: >LM,Tb,1*D8<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Response frame: >LM,Tb,IBIT,T+29.75,FF*37<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 52/63... -
Page 53: Pbit (Power Built-In Test) >Lm,Tb,2*
Example of a PBIT command transaction: Host LRF Module Command frame: >LM,Tb,2*D9<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Response frame: >LM,Tb,PBIT,FE,FE*44<0D> Prompt: < INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 53/63... -
Page 54: Maintenance
Level 4: Factory Repair In case of a defect, the module has to be returned to the SAFRAN VECTRONIX AG Customer Service Center, where diagnosis and repair or replacement, depending on cost to repair will be done. Please visit our Service Website http://www.safran-vectronix.com/service/... -
Page 55: Lrf Interface Tools
10 LRF interface tools 10.1 LRF Interface Kit SAFRAN VECTRONIX AG can assist the integration of LRF modules by supplying an LRF Interface Kit (part number 914752). The aim of the LRF Interface Kit is to enable connection and powering the LRF module before integration begins and to increase personnel safety. -
Page 56: Appendix
The following drawing indicates the design requirements for the host system connector which needs to be attached to the system connector of the LRF module. All information can also be found here: http://suddendocs.samtec.com/prints/hlcd%20applications-mkt.pdf INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 56/63... - Page 57 LRF 6742 Integrator Manual INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 57/63...
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Page 58: Mechanical Interface Lrf6742
LRF 6742 Integrator Manual 11.2 Mechanical Interface LRF6742 INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 58/63... -
Page 59: Reference Design For Transmitter And Receiver Windows
LRF 6742 Integrator Manual 11.3 Reference design for transmitter and receiver windows INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 59/63... -
Page 60: Reference Design For Connector
LRF 6742 Integrator Manual 11.4 Reference design for connector INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 60/63... -
Page 61: Reference Design For Isolation Of Optical Channels
LRF 6742 Integrator Manual 11.5 Reference design for isolation of optical channels INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 61/63... -
Page 62: Utf-8 Ascii Table
Nominal Ocular Hazard Distance <0D> Identical with <CR> Personal Computer PBIT Power Built-In Test Power Receiver Start of Message Software SWIR Shortwave Infrared INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 62/63... - Page 63 LRF 6742 Integrator Manual Sender Universal Serial Bus INTEGRATOR MANUAL LRF 6742 918574A Public: 04.2023 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 63/63...
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