Related Manuals for Safran LRF 6019
Summary of Contents for Safran LRF 6019
- Page 1 LRF 6019 Integrator Manual INTEGRATOR MANUAL LRF 6019 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 1/70...
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Page 2: Safety Notices
Do not open or modify any parts of the LRF module or attempt your own repairs. Do not manipulate or adjust the performance of the LRF module. 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 2/70... - Page 3 WARNING Environmental hazard. The LRF 6019 module contains certain components that should be treated as hazardous waste, and must therefore be disposed of via your specialist dealer. The packaging foam is made out of PE-LD-E-X. Dispose it according to your local regulations.
- Page 4 Changes and modifications made to the LRF module by the customer Sending any commands other than those specified. Use of third-party accessories not approved by Safran Vectronix AG. Working in an explosive environment. Use of the LRF module without instruction.
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Page 5: Disclaimer
Publication: 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 6: Table Of Contents
Unpacking ........................... 14 First steps with the LRF 6019 ..................... 14 Installation of Vectronix Terminal Software ................15 Use of LRF module with Safran Vectronix Terminal Software ........... 17 First steps without LRF Interface Kit ................... 19 Integration ............................20 Handling ............................ - Page 7 Reference design for Transmitter and receiver lenses ............... 67 Reference design for connector ....................68 UTF-8 ASCII Table ........................69 Abbreviations ..........................69 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 7/70...
- Page 8 04.2019 / LLDA 9.1- 9.5 Reference designs 5.1 – 5.8 HW: Rephrase information, specification 6.1 - 6.7 SW SW: Operating mode, rephrase information 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 8/70...
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Page 9: General Information
LRF 6019 LP with eye safe pointer (Part Number: 914166) LRF 6019 HP with non-eye safe pointer (Part Number: 914168) The Integrator Manual is valid for all versions of the LRF 6019. Differences in the versions are indicated where appropriate in the Integrator Manual. -
Page 10: Main Parts Of The Lrf Module
A mainboard which manages all electronic elements and calculates the results. Stable aluminium bench including optics. Figure 1: LRF 6019 main parts (front view) Figure 2: LRF 6019 main parts (rear view) 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 10/70... -
Page 11: Interface Parts
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 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 11/70... -
Page 12: Electronics
LRF 6019 Integrator Manual 2.2 Electronics Safran Vectronix AG range finding technology is based on fiber lasers in combination with a multi-pulse measurement system. This allows pulses with low energy compared to a single high energy pulse. 2.3 Ranging Conditions In general two kinds of ranging conditions are described: ... - Page 13 Firmly mounted modules allow a longer range, e.g. on tripod. Figure 6: Laser beam (0.5 mrad) on target (2’000 m) with kinetic tremor 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 13/70...
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Page 14: Getting Started
Samtec system connector of the LRF. The USB connector is connected to a USB port of the PC. To run the LRF 6019, power (3.3 - 15 V) has to be provided via the red (+ pole) and black (- pole) pin plugs. -
Page 15: Installation Of Vectronix Terminal Software
LRF 6019 Integrator Manual Figure 9: LRF 6019 with interface cable connected to the Samtec System Connector The USB Driver for the FTDI USB to Serial Converter used by the interface cable can be selected and downloaded under the following link: http://www.ftdichip.com/Drivers/VCP.htm ... - Page 16 7) Read and either accept or decline the terms of use. If declined, the program will abort. 8) If the terms of use are accepted, the demonstration program will load. 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 16/70...
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Page 17: Use Of Lrf Module With Safran Vectronix Terminal Software
3) Either set the settings manually and press OK or select “Search for LRF Module…”. (Please note: values above are for illustration only and may differ to your modules requirements) 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 17/70... - Page 18 8) Use the commands as required. Note that the commands change depending on the model chosen. Make sure you have selected the right module in stage 1. 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 18/70...
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Page 19: First Steps Without Lrf Interface Kit
3.5 First steps without LRF Interface Kit LRF modules can be connected to your PC without an interface cable 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 20: Integration
LRF module (see chapter 4.6). 4.2 Design recommendations The mechanical interface drawing of LRF 6019 can be found in the appendix (chapter 9.2). The mechanical interface drawing is applicable for LRF 6019 with pointer (Article Number 914166, Article Number 914168) and LRF 6019 without pointer (Article Number 914167). -
Page 21: Mounting
Vibration and shock outside the specified values can destroy or shift parts inside the LRF in a way that renders the LRF unusable. 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 21/70... -
Page 22: Mounting The Lrf Module With Detached Laserbox
8) Connect the flexcable to the rear of the mainboard making sure the cables exits to the rear 9) Attach the flexcable securing clamp using the screw positions (C) with two 6mm long screws tightened to 30 Ncm 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 22/70... - Page 23 Operating the LRF with the Laserbox detached results in an offset in measurement results of about + 0.3 m due to the use of the additional flexcable. Only use the flexcable included in the set 914757. 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 23/70...
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Page 24: Boresighting
Boresighting at 830 nm LRF 6019 can be equipped at the factory with an optional 830 nm pointer. If this option is chosen, professional boresighting of the LRF module with the main optical axis of the host system can be done with the 830 nm pointer. -
Page 25: Back-Up Solution
However, this only works when the card is quite close to the LRF module. To see the laser beam of LRF 6019 modules, the laser viewing card must absorb light of 1550 nm wavelength (or 830 nm if the optional pointer is available). -
Page 26: Front Protection
For optical isolation, the use of EPDM L 7510 material with shore hardness 50 +/-5 Shore A is recommended. 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 26/70... - Page 27 The tilt angle influences LRF range performance, being 0° angle the optimal value. NOTICE If the LRF is equipped with a pointer, the tilt angle shall be used to avoid ghost images. 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 27/70...
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Page 28: Eye Safety
LRF 6019 and LRF 6019 LP LRF 6019 and LRF 6019 LP meet Class 1 eye safety requirements according to IEC 60825. The eye safety of the host system has to be tested and guaranteed at the system level by the OEM system integrator. -
Page 29: 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. Follow the steps below to mount the protective plate and the filter. -
Page 30: Hardware Interface
9.1 System connector reference design. Figure 21: Position of Samtec System connector Figure 22: Location of Pin # 1, 2, 39, 40 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 30/70... -
Page 31: Pin Descriptions
// leave open do not connect // leave open do not connect // leave open do not connect // leave open 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 31/70... -
Page 32: Esd Protection
There are two options to supply the module. Only one input shall be used: PWR_IN 5V_HI_PWR Figure 23: Possible supply connections 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 32/70... -
Page 33: Absolute Maximum Ratings
Inrush current peaks during measurement *1) Input capacitance on 5V_HI_PWR Typical µF Typical Input capacitance on PWR_IN µF PWR_SAFE rise time Typical *1) See Warning on current peaks 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 33/70... -
Page 34: Current Consumption Detail: "Powering Up
Typical response of the sensor if powered via the PWR_IN under typical conditions (5 V; T = 25°C; Laboratory power source) Figure 25: Typical current peaks during measuring sequence 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 34/70... -
Page 35: Serial Interfaces
The LRF System has to be connected to the mechanical ground of the host system via the three screws and the supportive conducting area around the three screws. The LRF bench is conductive. 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 35/70... -
Page 36: Pwr_Safe Signal Pin#9
From the “Normal operating Mode”, the module can reach the “OFF Mode” using the corresponding command, see 6.5.6 Operating mode selection (to “OFF Mode”). Figure 27: PWR_SAFE signal and awaking commands 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 36/70... -
Page 37: Sw Interface
6.5.3, 6.5.7 and 6.5.8) the LRF module will ignore any incoming characters. 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 37/70... -
Page 38: Command Structure
String: A couple of characters without ending with \0. Within the string, only the characters 32 (0x20) ... 126 (0x7E) except 0x2A (‘*’), 0x2C (‘,’), 0x3C (‘<’), 0x21 (‘!’) and 0x3E (‘>’) are allowed. 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 38/70... - Page 39 Serial interface Rx overflow error others Table 2: Not acknowledge error list Example for an invalid parameter error: >LM,Md,3,0*31<0D> >NA,2*ED<0D> Example for a checksum error: >LM,Md,3*D6<0D> >NA,0*EB<0D> 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 39/70...
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Page 40: Timing / Power On
1 second, in order to comply with eye safety limitations. This timing is dependent on range conditions. Range commands for continuous and block request already watch out the eye safety buffer. 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 40/70... -
Page 41: Operational Commands
Example of a successful range request 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 41/70... -
Page 42: Fake Range Request >Lm,Mf,X*
Example of a successful Fake Range Request 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 42/70... -
Page 43: Laser Continuous Low Power Mode >Lm,Tl,X*
Alignment is performed by the operator. 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 43/70... -
Page 44: Laser Pointer Command >Lm,Rp,X*
LRF 6019 LP with eye safe pointer (Part Number: 914166) -> Class 1 eye safe. LRF 6019 HP with non-eye safe pointer (Part Number: 914168) -> Maximum power of 17.3 mW. The emitted radiation at 830 nm (typical) is coaxial with the range finding radiation at 1550 nm (typical) and it is aligned with the mechanical interface of the module. -
Page 45: Laser Pointer Arm Command >Lm,Lp,X*
LRF Module Host 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 45/70... -
Page 46: 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 46/70... -
Page 47: Block Range Request >Lm,Mb,X*
Example of a successful Block Range Request command transaction: 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 47/70... -
Page 48: Continuous Range Request >Lm,Mt,X*
LRF Module Host 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 48/70... -
Page 49: Error Codes
Target detected inside Range Gate. ‘T’: Module (LRF) is operating outside of the temperature specification. T0505950 The accuracy is not guaranteed. Table 11: Error Codes 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 49/70... -
Page 50: 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 baud rate. 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 50/70... -
Page 51: Version, Software And Module Type Request >Lm,Iv,1*
>LM,Iv,Prod. Type: LRF 6019 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 51/70... -
Page 52: 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 52/70... -
Page 53: Set Range Gate Max >Lm,Gh,X*
->1634.20 m 100 m R000E302 target: Outside range gate. ->473.80 m v0047380 R000E302 Table 17: Example of range output for a range gate min 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 53/70... -
Page 54: Get Current 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 54/70... -
Page 55: 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 55/70... -
Page 56: 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 56/70... -
Page 57: 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 57/70... -
Page 58: Range Commands With Activated Timestamp
Example of a distance measurement (Md command) with activated time stamp (with parameter 2): 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 58/70... -
Page 59: 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 59/70... -
Page 60: 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: < 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 60/70... -
Page 61: 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 62: Lrf Interface Tools
8.1 LRF Interface Kit Safran Vectronix AG can assist the integration of the LRF 6019 by supplying an LRF Interface Kit (part number 914752). The aim of the LRF Interface Kit is to enable connection and powering the LRF 6019 before integration begins and to increase personnel safety. -
Page 63: 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 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 63/70... - Page 64 LRF 6019 Integrator Manual 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 64/70...
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Page 65: Mechanical Interface Drawing
LRF 6019 Integrator Manual 9.2 Mechanical Interface Drawing 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 65/70... - Page 66 LRF 6019 Integrator Manual 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 66/70...
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Page 67: Reference Design For Transmitter And Receiver Lenses
LRF 6019 Integrator Manual 9.3 Reference design for Transmitter and receiver lenses 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 67/70... -
Page 68: Reference Design For Connector
LRF 6019 Integrator Manual 9.4 Reference design for connector 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 68/70... -
Page 69: Utf-8 Ascii Table
Nominal Ocular Hazard Distance <0D> Identical with <CR> Original Equipment Manufacturer Personal Computer PBIT Power Built-In Test Power Receiver Start of Message Software SWIR Shortwave Infrared 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 69/70... - Page 70 LRF 6019 Integrator Manual Sender Universal Serial Bus 914928_TML_LRF6019_en_Version C Public: 04.2019 Confidential & Proprietary Safran Vectronix AG – All rights reserved Page: 70/70...