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SF000/B microLiDAR® sensor
The world's smallest and lightest
50-meter microLiDAR® sensor.
Disclaimer
Information found in this document is used entirely at the reader's own risk and whilst every effort has been made
to ensure its validity, neither LightWare Optoelectronics (Pty) Ltd, its subsidiaries, nor its representatives make any
warranties with respect to the accuracy of the information contained herein.
SF000/B Product guide| Revision 6 | 20 Sept 2024
Page 1 of 41
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Summary of Contents for Lightware SF000/B
- Page 1 Information found in this document is used entirely at the reader’s own risk and whilst every effort has been made to ensure its validity, neither LightWare Optoelectronics (Pty) Ltd, its subsidiaries, nor its representatives make any warranties with respect to the accuracy of the information contained herein.
- Page 2 Thank you for selecting LightWare as your partner in microLiDAR® distance sensing technology. LightWare is a pioneer in microLiDAR® distance sensors, drawing upon four decades of expertise in LiDAR technology to develop application-specific products renowned for their accuracy, reliability, and durability.
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Page 3: Table Of Contents
Mounting instructions ............................. 24 Advanced features ............................25 First and last pulse detection ......................... 25 Servo Drivers ..............................26 Serial UART and I2C communication interface .................... 27 SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 3 of 41... - Page 4 Maintenance and calibration ......................... 38 13.2 Cleaning ................................38 13.3 Electrical safety ..............................38 13.4 Service and repairs ............................39 End-of-life safe disposal ..........................40 Document revision history ..........................41 SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 4 of 41...
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Page 5: Overview
Equipped with an onboard servo motor driver, the SF000/B can be used for 2D and 3D LiDAR applications, offering customizable beam steering to meet specific requirements. Its adaptability makes it an indispensable component for indoor navigation and surveillance, particularly in scenarios where low-altitude drone flight through obstacle-laden terrain is... -
Page 6: Safety
IEC/EN 60825-1 and utilizing LaserSafe PC Professional for the computations. Caution: The SF000/B contains a laser and should never be aimed at a person or animal. Do not view the laser with magnifying optics such as microscopes or telescopes. -
Page 7: Labeling
Figure 2: SF000/B laser warning label Important note: It is a legal requirement to display the laser warning label on your final product or system. To assist with this, LightWare has included an extra laser warning label in the packaging. -
Page 8: Key Technical Specifications
Serial port settings 115200 baud, 8 data bits, 1 stop bit, no parity, no handshaking I2C address 0x66 (Hex), 102 (Dec) Update rate 48 readings per second SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 8 of 41... -
Page 9: Optional Accessories
To support configuration and integration the following SF000/B accessories are available for purchase from the LightWare website: USB adapter To configure and test your SF000/B via LightWare Studio, a USB adapter will be needed: Figure 3: ACC.USB.000 USB adapter for SF000/B Pixhawk adapter Each SF000/B comes with a 5-way I2C Pixhawk adapter to simplify system integration. -
Page 10: Breakout Board
Breakout board An optional breakout board accessory is available to facilitate the integration of the SF000/B into a host controller such as a Pixhawk, PX4, Raspberry Pi, Arduino, etc. It consists of four reusable adapter boards to conveniently connect the SF000/B communication cable to other standard cables and host controllers, without requiring soldering. -
Page 11: Getting Started
Getting started LightWare Studio is a free application (available for Windows, macOS, and Linux) and the gateway to configure your microLiDAR® sensor and visualize your data. This software empowers you to customize settings, fine-tune sensor parameters, and easily analyze data. It also facilitates firmware upgrades and in-field diagnostics and support. - Page 12 (To disconnect simply pull the USB adapter out of the computer’s port.) Figure 8: Red power LED on the USB adapter and the SF000/B are both illuminated SF000/B Product guide| Revision 6 | 20 Sept 2024...
- Page 13 The device screen will display the product details, including the current firmware revision. Figure 10: LightWare Studio device information screen Caution: Always keep your LightWare microLiDAR® sensor’s software up to date SF000/B Product guide| Revision 6 | 20 Sept 2024...
- Page 14 10. On this screen, you can control specific device parameters, which are also accessible from the dedicated parameters screen. (Please refer to the section below for a more comprehensive understanding of these parameters.) Figure 12: LightWare Studio parameters display screen SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 14 of 41...
- Page 15 The sensor will stream distance readings with out-of-range conditions reading as -1.00. Signal strength information is available on demand. Refer to the command list in this product guide for more information. SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 15 of 41...
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Page 16: Parameters, Filters, Settings And Tools
Parameters, filters, settings and tools Setting the device parameters Your LightWare microLiDAR® sensor can be configured via LightWare Studio or from a host controller through the serial or I2C communication interfaces. In the left panel, click on Parameters to open the detailed parameters screen. - Page 17 Whole numbers from 0 to 100. strength slower the response to change. Extra LED enabled Turns the device LED on or off. Select or de-select the checkbox. SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 17 of 41...
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Page 18: Filters
Typically used when monitoring the distance to stationary surfaces, such as when taking level measurements and filling rates. SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 18 of 41... -
Page 19: Settings And Tools
You can also access the specialized device tools screen by clicking on the wrench icon in the top menu, where you can access a traditional terminal if needed: Figure 16: LightWare Studio specialized tools screen SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 19 of 41... -
Page 20: Installation, Cabling, And Mounting
Installation, cabling, and mounting Mechanical interface For detailed CAD files, please refer to the LightWare resource center at https://lightwarelidar.com/ Figure 17: SF000/B mechanical interface SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 20 of 41... - Page 21 Figure 18: SF000/B shield, connectors & indicators Caution: Ensure that adequate ventilation or heat sinking is provided if the sensor is incorporated into a custom enclosure, as heat build-up could occur SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 21 of 41...
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Page 22: Communication And Power Cable
+5 V power supply positive (4.5 V to 5.5 V, 100 mA typical) Important note: when connecting to the device using I2C, both pins 2 and 4 must be used together as the SDA line. SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 22 of 41... -
Page 23: Orientation
20° and 45°. Mount in a forward-facing orientation for sense-and-avoid or position-hold applications. Figure 21: Sensor mounting angle SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 23 of 41... -
Page 24: Mounting Bracket
Ensure a watertight seal between the front flange and surface to protect the back end • of the sensor. Figure 23: An example of good integration SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 24 of 41... -
Page 25: Advanced Features
Advanced features First and last pulse detection The LightWare microLiDAR® sensor features first and last pulse processing. This captures both initial and final laser return signals in scenarios where multiple objects are within the sensor's line of sight. It is important to note that objects must be separated by approximately five meters for separate return signals to be recognized. -
Page 26: Servo Drivers
Servo Drivers This sensor is equipped with an onboard servo driver and can easily be paired with a digital servo motor to create a 2D scanning LiDAR. Please visit the LightWare FAQ website page for more detailed instructions. The sensor can be converted into a scanning LiDAR by attaching it to a digital servo and using the built-in servo driver hardware and software. -
Page 27: Serial Uart And I2C Communication Interface
We suggest using LightWare’s pre-built APIs wherever possible, which are available via the LightWare website resource center. If you require more control or do not find a suitable pre- built API, you can use the information below to build a compatible system. The packet- based binary protocol is compatible with higher-level APIs like C, Python, and JavaScript. -
Page 28: I2C Communication Protocol
When a read request is issued the response will contain the requested data. • When a write request is issued there is no response generated. • Default I2C interface properties: Address: 0x66 or 102. • SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 28 of 41... -
Page 29: Command Structure For Communication Protocols
The sensor will not accept and process a packet if the CRC is not correctly formed. Every byte in the packet except for the CRC itself is included in the checksum calculation. SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 29 of 41... -
Page 30: Checksum Algorithm
= code << 5; code = code << 7 & 0xFFFF; crc ^= code; crc ^= code; code = code << 7; crc ^= code; return crc; return crc; SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 30 of 41... -
Page 31: Reading Bytes
Below is the process for reading the raw serial byte stream and identifying packets: Figure 24: Process flow for reading bytes SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 31 of 41... -
Page 32: Sending Commands
The timeout value and number of retries should be optimized for the specific application. Below is the process for sending a command request and reading the response: Figure 25: Process flow for sending commands SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 32 of 41... -
Page 33: Command List
A 16-byte string indicating product model name. Always SF000 followed by a null terminator. Product name Use to verify the SF000/B is connected and operational over the selected interface. Hardware The hardware revision number as a uint32. version uint32 The currently installed firmware version as 4 bytes. - Page 34 Persists bytes bytes Distance data in cm as measured by the SF000/B. This command can be read any time, but if (30) stream is set to 5, this command will automatically output at the measurement update rate. The data included will vary and be packed in order based on the configuration of the (27) distance output command.
- Page 35 Reading this command will return the size of the rolling average filter. Rolling average Writing this command will set the size of the rolling average filter. size uint32 uint32 The valid range is 2 to 32. SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 35 of 41...
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Page 36: Firmware Updates
Firmware updates Occasionally, LightWare will release new firmware for your sensor, to address bug fixes or introduce additional features. All registered customers will receive an email notification when new firmware is released for their LightWare sensor. Caution: LightWare strongly advises that all LightWare sensors are kept up to date with their latest firmware revision. -
Page 37: Troubleshooting
Ensure adequate ventilation and heat sinking to prevent heat • build-up. For issues not covered above, refer to the FAQs in the LightWare website resource center or contact LightWare’s dedicated technical support team for assistance with remote testing of your LightWare microLiDAR® sensor. -
Page 38: Repair And Maintenance
13.2 Cleaning If the LightWare microLiDAR® lenses collect dust, use a clean, soft cloth or air compressor to remove it. The lenses are coated with an anti-reflective, non-scratch coating. Only appropriate lens cleaning materials should be used to avoid scratching the sensor’s lens or damaging the coating. -
Page 39: Service And Repairs
LightWare Studio from the device info screen. Figure 28: LightWare Studio device information screen If the unit needs to be returned to LightWare for repairs, LightWare support will assist you with the Return Merchandise Authorization (RMA) procedure. SF000/B Product guide| Revision 6 | 20 Sept 2024... -
Page 40: End-Of-Life Safe Disposal
Please do not dispose of LightWare sensors with general household or commercial waste. Figure 29: End-of-life disposal LightWare sensors consist of ABS and other plastics, acrylic, and glass components, which are widely recyclable. The electronic PC board assembly should be disposed of through a reputable electronic waste recycler in your area. -
Page 41: Document Revision History
Breakout board section has been inserted FDA accession number added, notification that I2C pins 2 and 4 need to be Rev 1 2020/11/18 used as for SDA Rev 0 2020/08/03 First edition SF000/B Product guide| Revision 6 | 20 Sept 2024 Page 41 of 41...
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