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Summary of Contents for Safran LRF 6042
- Page 1 LRF 6042 Integrator Manual INTEGRATOR MANUAL LRF 6042 INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 1/64...
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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 of this manual. 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 6042 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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 4/64... -
Page 5: Intended Use
CAUTION Environmental hazard. The LRF 6042 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 6042 HP Class 3B The LRF 6042 HP ranging function is eye safe (Class 1), but its laser pointer is not. CLASS 1 Laser products: LRF 6042 and LRF 6042 LP LRF 6042 and LRF 6042 LP meet Class 1 eye safety requirements according to IEC 60825-1 (2014). -
Page 7: Class 3B Lrf 6042 Hp
CLASS 3B LRF 6042 HP WARNING The LRF 6042 HP (Article number 917002) is a Class 3B laser product according to EN 60825- 1:2014 because of the high power pointer. The laser pointer emission is not eye safe and is invisible to the unaided human eye. -
Page 8: Table Of Contents
Meaning of symbols ............................4 Intended use ..............................5 Eye Safety ................................. 6 CLASS 1 Laser products: LRF 6042 and LRF 6042 LP ................. 6 CLASS 3B LRF 6042 HP ........................7 General Information ..........................10 LRF: Laser Range Finder Module ................... 10 Main parts of the LRF Module .................... - Page 9 Reference design for isolation of optical channels ..............62 11.6 UTF-8 ASCII Table ......................... 63 11.7 Abbreviations ......................... 63 INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 9/64...
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Page 10: General Information
LRF 6042 Integrator Manual 1 General Information 1.1 LRF: Laser Range Finder Module The LRF 6042 is a very compact and versatile rangefinder module combining unsurpassed range performance with outstanding robustness. System integrators can select from three different versions of the LRF 6042: ... - Page 11 LRF 6042 Integrator Manual Figure 3: LRF 6042 main parts (rear view) INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 11/64...
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Page 12: Lrf Background Information
The following Figure illustrates the sampled signal of the receiver diode. This information is used to calculate the distance. Figure 5: Sampled signal at the receiver diode INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 12/64... -
Page 13: Ranging Conditions
The accuracy and range performance on mirror-like objects such as water, glass surfaces or reflective traffic signs can cause incorrect measurements or no measurement results at all. INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 13/64... - Page 14 Poor reflective materials, Mirror-like surfaces, Dispersed target (clouds, fog, cables…), Measurement unstable because of shaking, vibrations, jitter, … INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 14/64...
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Page 15: Getting Started
Remove the yellow stickers on bench holes only before flushing the air out of the system, so that nitrogen can fill the optical system of the LRF module (see chapter 4.6). INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 15/64... -
Page 16: First Steps With The Lrf 6042
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. In this case, we recommend reading this manual carefully before using the LRF module. Please be aware of the risk of wrong pin-connection or destroying the module by applying overvoltage and other errors. -
Page 17: 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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 17/64... -
Page 18: Bore Sighting
Bore sighting at 830 nm LRF 6042 HP and LRF6042 LP offer an 830 nm pointer as a factory configuration, to make its line of sight visible to NIR cameras (also Night Vision Systems and most CMOS cameras). These cameras are significantly cheaper than SWIR cameras. -
Page 19: Back-Up Solution
The yellow pieces of tape stop dust penetrating the optical system and shall be removed just before the host system is sealed and purged. INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 19/64... -
Page 20: Optical Interface
The LRF module is not gas tight. Therefore installing an LRF module into a host system requires a protective environment with a window in front of the LRF module. INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 20/64... -
Page 21: Hardware Interface
The following diagrams indicate the system connector’s pin out and the description of each signal. Figure 9: Connector pinout INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 21/64... - Page 22 RS232_RX / RS422_RX_P RS422 positive receiver line RS422_RX_N RS422 Receiver negative input line. Needed for pointer activation of LRF 6042 HP. Interlock pins have to be short circuited to each other to enable pointer activation with the corresponding SW commands. 36, 38 Interlock Lines If these pins are not connected, the HP pointer cannot be activated.
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Page 23: Esd Protection
The LRF bench is conductive and the contact surface shall be conductive to avoid damages to the module. INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 23/64... -
Page 24: 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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 24/64... -
Page 25: 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 12: Typical current peaks during measuring sequence INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 25/64... -
Page 26: Pwr_Safe Signal Pin#9
From the “Normal operating Mode”, the module can reach the “OFF Mode” using the corresponding command, see chapter 8.6.6 Figure 14: PWR_SAFE signal and awaking commands INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 26/64... -
Page 27: 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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 27/64... -
Page 28: Software Interface
Get internal clock time for synchronization. >LM,It*82<0D> IBIT Initiated Built In Test >LM,Tb,1*D8<0D> PBIT Power Built In Test >LM,Tb,2*D9<0D> INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 28/64... -
Page 29: Operating Modes
8.6.3, 8.6.7 and 8.6.8) the LRF module will ignore any incoming characters. INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 29/64... -
Page 30: 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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 30/64... - Page 31 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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 31/64...
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Page 32: 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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 32/64... -
Page 33: Operational Commands
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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 33/64... -
Page 34: Fake Range Request >Lm,Mf,X*
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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 34/64... -
Page 35: Laser Continuous Low Power Mode >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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 35/64... -
Page 36: Laser Pointer Command >Lm,Rp,X*
LRF 6042 without pointer (Part Number 917000) -> Not applicable. LRF 6042 LP with eye safe pointer (Part Number: 917001) -> Class 1 eye safe. LRF 6042 HP with non-eye safe pointer (Part Number: 917002) -> Class 3B. -
Page 37: Laser Pointer Arm Command >Lm,Lp,X*
>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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 37/64... -
Page 38: Operating 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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 38/64... -
Page 39: Block Range Request >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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 39/64... -
Page 40: Continuous Range Request >Lm,Mt,X*
>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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 40/64... -
Page 41: Error Codes
‘T’: Module (LRF) is operating outside of the temperature specification. T0505950 The accuracy is not guaranteed. Table 11: Error Codes INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 41/64... -
Page 42: Servicing Commands
Command frame: >LM,Br,4*D9<0D> LRF Module Host Acknowledge frame: >AC*84<0D> Prompt** < After restart, at the new baud rate. INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 42/64... -
Page 43: Version, Software And Module Type Request >Lm,Iv,1*
>LM,Iv,Prod. Type: LRF 6042 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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 43/64... -
Page 44: Set Range Gate Min >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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 44/64... -
Page 45: Set Range Gate Max >Lm,Gh,X*
Outside range gate. ->473.80 m v0047380 R000E302 Table 17: Example of range output for a range gate max INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 45/64... -
Page 46: Get Current Range Gate Settings >Lm,Ig,X*
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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 46/64... -
Page 47: Reset Lrf Module To Default 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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 47/64... -
Page 48: 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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 48/64... -
Page 49: Get Timestamp >Lm,It*
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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 49/64... -
Page 50: Range Commands With Activated Timestamp
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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 50/64... -
Page 51: Set Target Sorting Method: >Lm,Sr,X*
Example of a Set Target 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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 51/64... -
Page 52: Test Commands
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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 52/64... -
Page 53: Pbit (Power Built-In Test) >Lm,Tb,2*
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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 53/64... -
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: Eye Safety Kit
The Eye Safety Kit is intended to be used in laboratory conditions only. For full performance, the filter has to be removed. For more information on the filter, please contact SAFRAN VECTRONIX AG. To mount the filter use a T6 screwdriver, attach the protective filter with two screws at the position marked in red. -
Page 57: 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 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 57/64... - Page 58 LRF 6042 Integrator Manual INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 58/64...
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Page 59: Mechanical Interface Lrf6042
LRF 6042 Integrator Manual 11.2 Mechanical Interface LRF6042 INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 59/64... -
Page 60: Reference Design For Transmitter And Receiver Windows
LRF 6042 Integrator Manual 11.3 Reference design for transmitter and receiver windows INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 60/64... -
Page 61: Reference Design For Connector
LRF 6042 Integrator Manual 11.4 Reference design for connector INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 61/64... -
Page 62: Reference Design For Isolation Of Optical Channels
LRF 6042 Integrator Manual 11.5 Reference design for isolation of optical channels INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 62/64... -
Page 63: Utf-8 Ascii Table
<0D> Identical with <CR> Personal Computer PBIT Power Built-In Test Power Receiver Start of Message Software SWIR Shortwave Infrared INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 63/64... - Page 64 LRF 6042 Integrator Manual Sender Universal Serial Bus INTEGRATOR MANUAL LRF 6042 917657- A Public: 02.2022 Confidential & Proprietary SAFRAN VECTRONIX AG – All rights reserved Page: 64/64...
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