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AkuSense AS-21C User Manual

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AS-21C User Manual
V.261119

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Summary of Contents for AkuSense AS-21C

  • Page 1 AS-21C User Manual V.261119...

  • Page 2: Table Of Contents

    4.1.3 Rain fog and dust penetration................20 4.1.4 Pseudo edge point....................20 4.1.5 Mirror target......................21 4.1.6 Transparent medium................... 22 4.1.7 Strong light interference..................23 4.2 Application System Development Overview............... 24 4.3 Network configuration and device detection...............28 4.3.1 Device configuration information broadcast............ 28 AS-21C Users Manual...
  • Page 3 6.1 Installation steps......................57 6.2 Installation preparation....................57 6.2.1 Power supply......................57 6.2.2 Power supply requirements and temperature characteristics for automatic heating..........................58 6.2.3 Grounding requirements..................59 6.2.4 Wire requirements....................59 6.2.5 Connect PC......................60 6.3 Device interface signal definition.................. 60 AS-21C Users Manual...
  • Page 4 9. Troubleshooting..........................69 10. Specifications........................... 70 10.1 Data sheet........................70 10.2 Measuring coordinate system/scan range/range............ 74 10.3 Equipment outline drawings..................75 10.4 Accessories outline drawings..................76 11. Update............................78 12. Appendix........................... 79 12.1 Illustration directory.......................79 ..............................79 12.2 Table directory........................80 AS-21C Users Manual...

  • Page 5: Document Description

    Document Description 1. Document Description 1.1 Reminder This manual provides methods and precautions for proper use of the AS-21C LiDAR product. In order to use this product safely, users should also pay attention: Obey the necessary safety production guidelines. ...

  • Page 6: Pattern Symbol Description

    For complete technical information, please read "10 Technical Specifications." Important note Please use the "LiDAR Diagnostic and Configuration Software (FILPS)" to diagnose and configure the AS-21C. How to use FILPS Please read the "LiDAR Diagnostic and Configuration Software (FILPS) User's Manual". 1.3 Pattern symbol description This manual uses the following pattern symbols to identify various important precautions.
  • Page 7 Information about important features of the device. Explain Meaning: Technical background knowledge. Instructions Meaning: Can provide more information related documents. Meaning: Related Reading You need to use the FILPS software to complete the equipment inspection and configuration. AS-21C User Manual...

  • Page 8: Extended Reading

    LiDAR Diagnostic and Configuration Software (FILPS): Windows installation  package and user manual for FILPS software. LiDAR Application Development SDK: The basic C++ code library, Windows  dynamic library, demo program, and SDK user's manual for LiDAR application development. AS-21C User Manual...

  • Page 9: Basic Operation And Precautions

    Please read it carefully before using the AS-21C. 2.1 Correct method of use AS-21C is an optical sensor for non-contact distance measurement. It can be used alone, or it can be used on the network. It is mainly used to accurately measure the surrounding environment and target contour, and it can also be used to build safety precautions.

  • Page 10: Laser Radiation Instructions

    Use self-made accessories.  2.5 Laser radiation instructions AS-21C is measured with an infrared laser with a wavelength of 905 nm. The laser beam is invisible to the naked eye. AS-21C meets the requirements of a class of laser safety levels as specified in GB 7247.1-2012.

  • Page 11: Maintain

    Power on method: Connect the power cable of the power outlet and turn on the  power switch. The device configuration information of AS-21C is stored in a non-volatile storage medium. Starting and stopping the device will not cause the loss of this information. 2.7 Maintain...
  • Page 12 Basic operation and precaution designated agency staff. If repaired by other personnel, it may cause damage to the equipment. Under such circumstances, AkuSense will not be responsible for subsequent maintenance. AS-21C User Manual...

  • Page 13: Product Description

    Product description 3. Product description 3.1 Deliveries AS-21C's product deliverables are shown in Table 3.1 product deliverables list. Table 3. 1 Product deliverables list unit Description Deliverables Certificate piece Warranty Card piece piece LiDAR AS-21C Side-mounted/sitting composite piece bracket AS-21C-AT...

  • Page 14: Product Characteristics

    Can detect targets of any shape and support normal target  self-learning (customized function); Disarming and forced alarms via I/O input terminals;  Monitor the signal through the I/O output terminal and Ethernet (TCP  message) output area; AS-21C User Manual...

  • Page 15: Operational Principle

    The basic operating principle of the AS-21C distance measurement is based on time-of-flight laser ranging. The AS-21C emits a laser pulse and measures the time it takes for the pulse to return after being reflected by the surface of the measured target, and then converts it into distance data, as shown in "Figure 3.2 operating principle of time...

  • Page 16: Two-Dimensional Scanning

    Figure 3. 1 Reflected Echo Filter 3.3.2 Two-dimensional scanning AS-21C passes a 90degree deflection to the range laser pulse through a reflector with an angle of 45 degrees with the original emitter path. The mirror is driven by the motor,...

  • Page 17: Scene Measurement And Regional Monitoring

    AKU-LS-D20. -300 I/O output terminals for real-time output. The AS-21C incorporates an IPC control module that supports the ONVIF protocol. It can directly guide the IP camera through the Ethernet port to perform video positioning and tracking of alarm locations or monitored targets.

  • Page 18: Device Interface

    Figure 3.6 Area Monitoring Function 3.4 Device interface The interface cable on the side of the AS-21C is a composite cable with a length of 1 meter. There are three external interfaces, including “power interface”, “Ethernet interface” and “I/O interface”, such as “Figure 3.7 Device interface. "The type of each interface is as shown in "Table 3.3 Device Interface", and the interface signal definition is as shown in...

  • Page 19: Equipment Control And Operating Status Display

    3.5 Equipment control and operating status display 3.5.1 Equipment control method After the AS-21C is powered on, it automatically enters the operating state according to the current configuration of the system without intervention. If you need to control, configure, or query the running status of AS-21C, there are three ways:...

  • Page 20: Indicator Light Indicator

    For details, please read “4.5 I/O Interface Operation Instructions and Application Development”. 3.5.2 Indicator light Indicator After the AS-21C starts working, the basic operating status is displayed by the indicator on the front panel. The meaning of each indicator is shown in Table 3.5 Indicator Description.

  • Page 21: Front Panel Operation Buttons

    3.5.3 Front panel operation buttons After the AS-21C starts working,Background self-learning of regional monitoring functions can be realized through the SLR operation button on the front panel. The definition of each operation is shown in “Table 3.6 Front Panel Operation Button Operation Instructions”.
  • Page 22 Product description be disabled by using the “Diagnostics and Configuration Software FILPS” to prevent accidental changes to the background of the area monitoring function caused by misoperation of the SLR operation buttons. AS-21C User Manual...

  • Page 23: Applications

    Special attention must be paid to these factors and effects, and appropriate measures must be taken to deal with them. 4.1.1 Actual range The actual measurement of a specific target by the AS-21C is affected by the following factors: Actual diffuse reflectance: The actual diffuse reflectance of the portion of the ...

  • Page 24: The Relationship Between Spot Diameter And Target Size

    Figure 3.3 Reflected Echo Filtering, but this also makes the AS-21C target with a very low overall reflectivity (eg, less than 5%) at close range (eg, 2-4 meters) or The ability to measure small targets (such as flying insects, linear targets) drops or fails.

  • Page 25: Mirror Target

    When measuring the mirror target, only when the target surface is perpendicular to the incident laser can be measured effectively. If the incident angle of the laser is not vertical and the diffuse reflectance is very low, it can not be effectively measured. The AS-21C User Manual...

  • Page 26: Transparent Medium

    AS-21C may be reflected and hit other targets on the reflected light path. Echoes may form complex mutual overlapping relationships based on the length of the actual optical path, resulting in indeterminate measurement results, as shown in "Figure...

  • Page 27: Strong Light Interference

    4.1.7 Strong light interference If the transmissive cover of the AS-21C is continuously illuminated by a strong light source parallel to the scanning surface, the target reflection echo within the illuminated scanning range may be flooded by the...

  • Page 28: Application System Development Overview

    AS-21C can ensure that the application requirements are met. At the same time, the small device size and targeted interface design of the AS-21C also facilitates integration in application systems.
  • Page 29 Query area Application monitoring LIM_CODE_FMSIG_QUERY LIM_CODE_FMSIG client signal Regional monitoring LIM_CODE_FMSIG AS-21C none signal Query Application LIM_CODE_IOREAD LIM_CODE_IOSTATUS status client Set the I/O Application LIM_CODE_IOSET LIM_CODE_IOSTATUS output status client Release Application LIM_CODE_IOSET_RELEASE LIM_CODE_IOSTATUS settings client AS-21C User Manual...
  • Page 30 Query device LIM_CODE_FIRMWARE_VER_ Application LIM_CODE_FIRMWAR firmware QUERY client E_VER version Device firmware LIM_CODE_FIRMWARE_VER AS-21C none version System Application LIM_CODE_SYS_REBOOT LIM_CODE_HBACK restart client System LIM_CODE_SYS_REBOOT_A restart AS-21C none response LIM_CODE_RAINDUST_FLT_S Rain mist AS-21C none WICTH filter switch AS-21C User Manual...
  • Page 31 LIM_CODE_SPATIAL_FLT_SW Application LIM_CODE_SPATIAL_F filtering ICTH_STS_QUERY client LT_SWICTH switch status Area LIM_CODE_FIELD_MNT_SWI monitoring AS-21C none switch status Query area LIM_CODE_FIELD_MNT_SWI Application LIM_CODE_FIELD_MN monitoring CTH_STS_QUERY client T_SWICTH switch status LIM_CODE_FIELD_MNT_SWI Application LIM_CODE_FIELD_MN area CTH_STS_SET client T_SWICTH monitoring AS-21C User Manual...

  • Page 32: Network Configuration And Device Detection

    The application system can listen to the device configuration information broadcast message at this address and port, obtain the configuration information of the AS-21C that has gone online, and establish a TCP connection with it. After the TCP connection is established, a "Stop Device Configuration Information Broadcast"...

  • Page 33: Regional Monitoring Function And Application Development

    The AS-21C has a built-in area monitoring function that can independently perform some common area monitoring applications such as AGV obstacle avoidance, intrusion detection, and target care. Correctly using the built-in area monitoring function of AS-21C can effectively reduce the system complexity and reduce the cost of system construction.

  • Page 34: Regional Groups And Monitoring Regional Groups

    “Lidar Application Development SDK User's Manual”. Figure 4.6 Area monitoring function operating principle 4.4.2 Regional groups and monitoring regional groups The AS-21C's area monitoring function is based on regional group work, Each regional group consists of three regions,...
  • Page 35 Section 8.5 “Region Editing” of “Lidar Diagnostic and Configuration Software (FILPS) User's Manual”. The AS-21C incorporates four preset groups of zones with different shapes, sizes, and locations, such as "Table 4.2 Preset Zone Groups" and "Table 4.3 Preset Zone Group Basic Parameters".
  • Page 36 The buffer distance 100cm(up) / 0(down) / 40cm(left) / from the edge of the 40cm(right) （0#） Attention attention zone to the area edge of the alarm sector （ 1#） 100cm buffer zone. distance Circular 100cm （3#） AS-21C User Manual...

  • Page 37: Monitoring Area Group Selection Mode

    Diagnostics and Configuration Software (FILPS) User Manual”. 4.4.3 Monitoring area group selection mode There are two modes for selecting and activating AS-21C monitoring area group , they are : input: Use IN1~IN4 to select one of the 16 monitoring area groups and ...
  • Page 38 How to use the “background self-learning”, “deleting Related Reading background” and “background trimming” functions please read “Lidar Diagnostic and Configuration Software (FILPS) User's Manual” in Section 8.7 “Background Learning” and AS-21C User Manual...

  • Page 39: Monitoring Mode

    Section 8.6 “Regional Monitoring Function Operation”. Configuration". 4.4.5 Monitoring mode The AS-21C has three built-in monitoring modes. Their respective functions, conditions of use, monitoring signals output, and parameters used are shown in "Table 4.4 Monitoring Modes and Parameters." Table 4. 4 Monitoring Modes and Parameters...

  • Page 40: Normal Target Self-Learning And Exclusion (Customized Function)

    Main point In the factory setting of AS-21C, the preset monitoring mode for each zone group is "Target Width Monitoring". For monitoring mode selection and parameter adjustment Software operation methods, please read “LiDAR Diagnostic and Configuration...

  • Page 41: Forced Control

    Normal target profile database 4.4.7 Forced control If the monitoring area group selection mode is set to “FILPS”, the area monitoring function can be controlled through the I/O input terminal of AS-21C. The control modes include: Forced cancellation: It is forbidden to generate and output monitoring signals in ...

  • Page 42: Monitor Signal Output

    Whenever the status of a certain monitoring signal changes, including when the state of the monitoring signal changes due to the forced control being activated or released, the AS-21C will automatically send a monitoring signal TCP message to the application system.

  • Page 43: I/O Interface Usage Instructions And Application Development

    In addition, the application system can send LIM_CODE_FMSIG_QUERY to the AS-21C at any time. The message is used to query the status of the monitoring signal. The AS-21C answers with the LIM_CODE_FMSIG message defined in Table 4.5 Monitoring Signal Network Messages.
  • Page 44 High High duration≥1s level level level level High High duration≥1s level level level level High High High duration≥1s level level level level High High duration≥1s level level level level duration≥1s High High High AS-21C User Manual...

  • Page 45: I/O Output Terminal Function Definition

    If it is not necessary to output the device ready signal or  the area monitoring signal through the OUT port, the FILPS software can be used to cancel the association of the signal with the corresponding OUT port. At this time, AS-21C User Manual...

  • Page 46: I/O Interface Network Message

    The I/O terminals can be read and set via TCP messages. The message type codes are: Read I/O terminal status: LIM_CODE_IOREAD  Set I/O Terminal Status: LIM_CODE_IOSET (Output Terminals Only)  After receiving the above message, AS-21C will complete the reading or setting of the terminal reply reply message. message type code LIM_CODE_IOSTATUS.

  • Page 47: Device Self-Test And Device Ready Signal

    4.6 Device self-test and device ready signal 4.6.1 Equipment self-test item As a sensor for security applications, the AS-21C can self-test its own working status and discover internal and external factors that may affect the normal measurement function and regional monitoring function, and output it through the device alarm signal. The TCP message code of the device alarm signal is LIM_CODE_ALARM, and Data[0] in the message is the alarm code.
  • Page 48 Measurement stop: The application system sends a stop measurement command to  the AS-21C due to power saving, service life, etc., causing the AS-21C to enter the power save mode, and the laser emission and distance measurement are suspended. Occlusion/dirty: The AS-21C is blocked at close range or the translucent cover is dirty, ...

  • Page 49: Device Ready Signal

    AS-21C, providing a convenient method for the application system to monitor the operation of the AS-21C. When the status of the device self-test item changes, the AS-21C updates the status of the device ready signal according to the device configuration.

  • Page 50: Power Saving Mode

    In the power-saving mode, the laser emission and reception of the AS-21C will stop working, the power consumption of the whole machine (excluding heating power consumption) will drop by about 35%, and it can quickly return...

  • Page 51: Device Control And Function Switch

    Configuration Software (FILPS) User Manual. 4.9 Device control and function switch The AS-21C has a number of device control and data processing functions built in. The data processing function can be selectively turned on or off for application requirements. It can make the control options take effect in real time through the running control function of the FILPS software.
  • Page 52 Main point restarted, the initial state of each function switch is determined by the device configuration. If you want to control the function switch of the AS-21C  continuously, you should use the "Device Configuration" and "Advanced Configuration" functions of the FILPS software to modify the configuration of the function switch and upload it to the AS-21C.
  • Page 53 Related Reading Monitoring”, Chapter 10 "Advanced configuration." For TCP messages for device control and function  switch control of the AS-21C, please refer to Section 10 “Device Control and Function Switch Messages” in “ Lidar Application Development SDK User Manual”.

  • Page 54: Device Installation

    The shell of the AS-21C can only be disassembled by AkuSense approved personnel. 5.1 Installation preparation 5.1.1 Basic requirements for installation The total weight of AS-21C is 0.6Kg. The basic requirements when installing AS-21C are: Fastening. ...

  • Page 55: Special Reminder

    5.2 Mounting height and pitch angle 5.2.1 Mounting height and effective working distance The spot laser spot emitted by AS-21C is circular, and the divergence angle in the vertical direction is the same as the horizontal divergence angle, which is 12.5mrad. As the detection distance increases, the spot gradually increases and the spot size increases.

  • Page 56: Multi-Lidar Height And Angle Adjustment At The Same Time

    AS-21C and the effective working distance d' = 2(h+h ) / α among them: is the height of the light axis of the AS-21C relative to the bottom surface, h 0.079m. is the spot exit diameter, r = 0.008m.
  • Page 57 If the above installation adjustment cannot be achieved, you can try to power off and re-power the misfired laser radar Important note until mismeasured data disappears. Once mismeasurement disappears, it will not reappear in a short time. AS-21C User Manual...

  • Page 58: Adjust The Scan Range

    10.1 Measurement Coordinate System/Scan Range/range is shown. When using the AS-21C, if there is an object at a height of the laser scanning surface within the original working scanning range, if there is an object at a position not exceeding 5 cm from the...
  • Page 59  this time, AS-21C will restart automatically. After the reboot of AS-21C, the new set of work scan range parameters start to work. At this time, AS-21C only outputs the measured data within the scope of the work scan, and the regional monitoring function only deals with the data in the scope of the work scan.
  • Page 60 Device installation Figure 5.6 Effective Scan Range Adjustment Software Operation Interface AS-21C User Manual...

  • Page 61: Electrical Installation

    6.1 Installation steps For the electrical installation of AS-21C, please follow the following basic steps: Prepare the appropriate power supply for the AS-21C and complete the wiring of  the power interface. According to the needs of the application to complete the I / O interface wiring.

  • Page 62: Power Supply Requirements And Temperature Characteristics For Automatic Heating

    In order to ensure the normal operation of the equipment under low temperature conditions, and to avoid excessive temperature changes caused by ambient temperature and excessive temperature drift of the measurement results, the AS-21C has a built-in heating module. When the internal temperature is lower than 20 °C, the built-in heating module will automatically start, and when it is higher than 30 °...

  • Page 63: Grounding Requirements

    6.2.3 Grounding requirements It must be ensured that the ground of the mounting  surface of the AS-21C is equipotential to the ground of the remote equipment. Otherwise, the current generated by the ground potential difference will flow through the...

  • Page 64: Connect Pc

    6.3 Device interface signal definition 6.3.1 Power interface signal definition The composite interface cable of AS-21C is prefabricated with DC002 power interface socket, which can be used by users directly. The signal definition of power interface and the internal thread color of the composite interface cable are shown in “Table 6.2 Power Interface Signal Definition”.

  • Page 65: Network Interface Signal Definition

    6.3.3 I/O interface signal definition The I/O interface of the AS-21C is the wiring of the composite interface cable. The signal definition and wire color are shown in "Table 6.4 I/O Interface Signal Definition". Table6. 4 I/O Interface Signal Definition...

  • Page 66: Interface Cable Wiring

    I/O interface leads, waterproof protection is required. Do not expose. The deliverables of AS-21C have a AS-21C-EC finished power cable with a DC002 type plug. Normally, they can be used directly. The wiring is defined as “Table 6.5 Power Cable (AS-21C-EC) Lead Signal Definition "Shown.

  • Page 67: I/O Interface External Reference Circuit

    Figure 6.4 I/O Interface Input Terminal External Circuit (Floating) In the input connection mode shown above, the voltage of Important note the external signal power supply must be 10V~28V DC. Figure 6.5 I/O Interface Output Terminal External Circuit (PNP Mode) AS-21C User Manual...

  • Page 68: Equipment Configuration And Commissioning Test

     Directly connect the Ethernet port between PC and AS-21C.  On the PC, in addition to the network adapter connected to the AS-21C, disable  the other network adapters and configure "192.168.0.xxx / 255.255.255.0" for the network adapter connected to the AS-21C. IP address, x takes 0...254 can be, does not conflict with the IP address of other network adapter.

  • Page 69: Basic Test

    Equipment configuration & commissioning test 7.3 Basic test In the factory setting of AS-21C, the area monitoring function is set to the start state, the monitoring area group selection mode is set to "I/O input", and AKU-LS can be used without the PC.

  • Page 70: Try Running The Test Steps

    7.5 Try running the test steps When the AS-21C is restarted, and the "HTR" indicator turns to the usual light state, the FILPS is reconnected to the AS-21C to start the test run test on the device. The steps are as follows: Open the “Run...
  • Page 71 Equipment configuration & commissioning test Please read the "Test Run Test" section of the "AS-21C Related Reading Concise User's Manual" for test preparation and basic test procedures, and design other test methods as needed. Figure 7.3 Operation Status Tab Figure 7.4 I/O Interface Status Figure 7.5 Output Terminal Status Control...

  • Page 72: Equipment Maintenance

    8.2 Replace equipment When the failed AS-21C is replaced, if the original equipment's cables and plugs are not damaged, they do not need to be replaced. Only the failed AS-21C can be replaced. The replacement procedure is as follows: Turn off the power switch of the replaced AS-21C.

  • Page 73: Troubleshooting

    AkuSense authorized personnel. The "HTR" indicator keeps off: After AS-21C is powered off and restarted after power failure, if multiple restarts still fail to return to normal, you need to return to the factory for maintenance. The "ERR" indicator is on or blinking continuously: Table 9.

  • Page 74: Specifications

    Power on startup delay Regional monitoring function Point Monitoring / Target Width Monitoring / Contour Monitoring mode Monitoring Number of regional groups Number of concurrent work area groups TCP response delay 13.3ms 60ms 106.7ms I/O response delay 13.3ms 50ms 86.7ms AS-21C User Manual...
  • Page 75 0.5KV （GB 16796-2009, 5.4.3） EMC Test Electrostatic discharge 6KV（GB/T17626.2-2006，Class 3） Fast burst 1KV（GB/T17626.4-2008，Class 2） Electromagnetic radiation GB/T17626.3-2006，Class 2 immunity GB/T17626.5-2008 Power interface：1.2/50us, 2KV/1KA（Class 3） Surge immunity Ethernet interface：10/700us, 1KV/25A（Class 2） I/O interface：1.5/50us, 0.5KV/0.25KA（Class 1） Impact GB/T 2423.5 Single impact 15g，11ms AS-21C User Manual...
  • Page 76 Material Surface coating Wear-resistant coating Dimension Length 83.5mm Width 85mm Height 104.9mm Interface cable length Weight 0.6Kg Electrical parameters Min value Typical value Max value Measuring power Type DC power supply Supply voltage Starting current 0.25A (Non-heating) AS-21C User Manual...
  • Page 77 Zone monitoring signal forced cancel (IN1) / forced active Preset function (IN2), active level: high power save mode controller (IN4), active level: high level I/O interface output terminal OUT1 / OUT2 / OUT3 / OUT4 Quantity Type PNP switch output Switch status AS-21C User Manual...

  • Page 78: Measuring Coordinate System/Scan Range/Range

    2: The delay in the sensitive parameter mode condition is related to the complexity of the area monitoring configuration, and does not include the TCP network transmission delay. 3: No interface cable. 4: Operating parameters under DC24V power supply conditions. 10.2 Measuring coordinate system/scan range/range Figure 10.1 Measurement Coordinate System/Scan Range/Range AS-21C User Manual...

  • Page 79: Equipment Outline Drawings

    Specifications 10.3 Equipment outline drawings Figure 10.2 Equipment outline drawing AS-21C User Manual...

  • Page 80: Accessories Outline Drawings

    Specifications 10.4 Accessories outline drawings Figure 10.3 AS-21C-AT Outline Drawing AS-21C User Manual...
  • Page 81 Specifications Figure 10.4 Assembly Drawing of AS-21C-AT Side loading AS-21C User Manual...

  • Page 82: Update

    4.5.2 "I/O output terminal function definition", 4.5.3 "I/O interface network message": add "setting the active state of the I/O output signal of the area monitoring function", and so on. 6.3 " device interface signal definition ": I/O outlet line color definition for " plastic nut " removed. AS-21C User Manual...

  • Page 83: Appendix

    Figure 7.3 Operation Status Tab..................67 Figure 7.4 I/O Interface Status.....................67 Figure 7.5 Output Terminal Status Control................ 67 Figure 10.1 Measurement Coordinate System/Scan Range/Range......74 Figure 10.2 Equipment outline drawing................75 Figure 10.3 AS-21C-AT Outline Drawing................76 Figure 10.4 Assembly Drawing of AS-21C-AT..............77 AS-21C User Manual...
  • Page 84 Table 6. 1 Wire Requirements..................... 60 Table 6. 3 Network Interface Signal Definition..............61 Table6. 4 I/O Interface Signal Definition................61 Table 6. 5 Power Cable (AS-21C-EC) Lead Signal Definition........62 Table 9. 1 "ERR" Indicators Troubleshooting..............69 Table 10. 1 Data Sheet......................70...

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