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Lightware LW20/C Product Manual

Microlidar sensor
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LW20/C microLiDAR® sensor
The world's lightest 100m IP67 rated LiDAR
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.
LW20/C | Product guide | Revision 13 | 19 December 2024
Page 1 of 55

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Summary of Contents for Lightware LW20/C

  • 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 Welcome to LightWare Thank you for selecting LightWare as your partner in 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.
  • Page 3 Advanced features ............................26 First and last pulse detection ......................... 26 Servo Drivers ..............................27 Alarms................................28 Communication interfaces ..........................29 Serial UART interface ............................29 LW20/C | Product guide | Revision 13 | 19 December 2024 Page 3 of 55...
  • Page 4 13.2 Cleaning ................................52 13.3 Electrical safety ..............................52 13.4 Service and repairs ............................53 End-of-life safe disposal ..........................54 Document revision history ..........................55 LW20/C | Product guide | Revision 13 | 19 December 2024 Page 4 of 55...
  • Page 5 48 and 5000 readings per second, with faster rates giving excellent forward-facing obstacle detection range, and slower rates being preferable for scanning applications. The LW20/C’s first and last pulse feature provides depth and distance insights from more than one target in its field of view, helping to penetrate foliage or dust.
  • Page 6 Laser eye safety LightWare LiDAR sensors comply with the United States Food and Drug Administration (FDA) laser eye safety regulations for safe use around humans and animals, based on the international standard IEC 60825-1 and utilizing LaserSafe PC Professional for the computations.
  • Page 7 17 m / 55.8ft NOHD)* * Distance beyond which binoculars may be safely used. Approximate values only. Please contact LightWare LiDAR if further information is required. LW20/C | Product guide | Revision 13 | 19 December 2024 Page 7 of 55...
  • Page 8 Baud rate 115200, 8 data bits, 1 stop bit, no parity, no handshaking C address 0x66 (Hex), 102 (Dec) Update rate 48 readings per second LW20/C | Product guide | Revision 13 | 19 December 2024 Page 8 of 55...
  • Page 9 To support configuration and integration, the following accessories are available for purchase from the LightWare website: USB adapter To configure and test your sensor in LightWare Studio via the serial cable a USB adapter is required. Figure 2: ACC_USB_Serial - Generic USB adapter Pixhawk adapter Each LW20/C is supplied with a 5-way Pixhawk adapter to simplify system integration.
  • Page 10 Breakout board An optional breakout board accessory is available to facilitate the integration of the LW20/C into a host controller such as a Pixhawk, PX4, Raspberry Pi, or Arduino. It consists of four reusable adapter boards to conveniently connect the LW20/C communication cable to other standard cables and host controllers, without requiring soldering.
  • Page 11 Getting started LightWare Studio is a free application (available for Windows, macOS, and Linux) and is the gateway to configuring your microLiDAR® sensor and visualizing 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 Carefully connect your LW20/C to the USB adapter using the communication cable. Check the connectors are correctly orientated and very gently squeeze them in until they click into place. To unplug the cable, use a small flat-head screwdriver in the groove on the connector.
  • Page 13 Please allow the installation process to complete. LightWare Studio will automatically detect the USB adapter and present it for selection on the Welcome page. The Welcome page may show other communications ports on your computer.
  • Page 14 (Please refer to the section below for a more comprehensive understanding of these parameters.) Figure 11: LightWare Studio LW20/C parameters in Distance mode page LW20/C | Product guide | Revision 13 | 19 December 2024 Page 14 of 55...
  • Page 15 12. Data can be downloaded and saved using the save icon above the data. Figure 12: LightWare Studio LW20/C distance log page showing measurements LW20/C | Product guide | Revision 13 | 19 December 2024 Page 15 of 55...
  • Page 16 Parameters, filters, settings, and tools Setting the device parameters Your LightWare LW20/C microLiDAR® sensor can be configured via LightWare Studio or from a host controller using the product commands through the serial UART or I C communication interfaces. To set the device parameters using LightWare Studio: In the left panel, click on Parameters to open the detailed parameters page.
  • Page 17 The stronger the smoothing, the slower the response to 0 to 100 strength change, (whole number). Refer to the next section of this product guide for more information on filters. LW20/C | Product guide | Revision 13 | 19 December 2024 Page 17 of 55...
  • Page 18 Scanning Alarm A The lower (left) angle used with Alarm A during scanning. (In -180 to 180 (low angle) degrees, up to two decimal places.) LW20/C | Product guide | Revision 13 | 19 December 2024 Page 18 of 55...
  • Page 19 Typically used when monitoring the distance to stationary surfaces, such as when taking level measurements and filling rates. LW20/C | Product guide | Revision 13 | 19 December 2024 Page 19 of 55...
  • Page 20 You can access the specialized device tools page by clicking on the wrench icon in the top menu, including a traditional terminal if needed: Figure 15: LightWare Studio specialized tools page LW20/C | Product guide | Revision 13 | 19 December 2024 Page 20 of 55...
  • Page 21 The ABS mounting brackets available for the LW20/C provide a convenient way to securely grasp and mount the IP67 enclosure of the sensor. Figure 17: Mounting brackets for the LW20/C LW20/C | Product guide | Revision 13 | 19 December 2024...
  • Page 22 SKU: LW 000_179 (shown on the left below) would be suitable. In cases where the LW20/C needs to be mounted on a servo, the bracket with SKU: LW 000_180 (shown on the right below) would be preferable.
  • Page 23 In cases where the sensor is incorporated into a custom enclosure, please make provision for adequate dissipation of heat from the LW20/C. Thermally conductive tape/pads may be applied to the bottom of the chassis of the LW20/C.
  • Page 24 Figure 21: Sensor mounting angle Communication and power cable The LW20/C’s 40-cm five-conductor cable is permanently connected via an IP67-rated gland. This cable carries the power supply, communications signals, and servo driver signals. The cable is shielded and must be earthed to reduce electromagnetic interference (EMI).
  • Page 25 Note: The serial UART, I C, and servo interfaces use 3.3 V TTL logic, (5 V tolerant). The 5-volt power supply should be sized appropriately for startup power. LW20/C | Product guide | Revision 13 | 19 December 2024 Page 25 of 55...
  • Page 26 Although first and last pulse detection is helpful when the sensor needs to be positioned behind a protective window, this type of mounting is not recommended, as LightWare sensors are designed to be integrated with exposed lens elements.
  • Page 27 Servo Drivers The LW20/C microLiDAR® sensor is equipped with an onboard servo driver and can easily be paired with a digital servo motor using the onboard servo driver hardware and software to create a 2D or 3D scanning LiDAR. The sensor can then be aimed in selected directions or used for autonomous scanning.
  • Page 28 Alarms Your LightWare LW20/C microLiDAR® measures and reports distances and has a dedicated alarm channel providing two separate live alarm status outputs, warning of potentially hazardous conditions. Alarm A and Alarm B give separate warnings when the ground (or another object) is detected closer than their user-set alarm distances.
  • Page 29 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 30 When a write request is issued there is no response generated. Commands Your LightWare microLiDAR® use three communication protocols for both serial UART and I communication: The packet-based binary protocol is a register based protocol that is •...
  • Page 31 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. LW20/C | Product guide | Revision 13 | 19 December 2024 Page 31 of 55...
  • Page 32 = code << 7 & 0xFFFF; crc ^= code; crc ^= code; code = code << 7; crc ^= code; return crc; return crc; LW20/C | Product guide | Revision 13 | 19 December 2024 Page 32 of 55...
  • Page 33 Below is the process for reading the raw serial byte stream and identifying packets: Figure 29: Process flow for reading bytes LW20/C | Product guide | Revision 13 | 19 December 2024 Page 33 of 55...
  • Page 34 The Token expires every time after use and consecutive save commands will require the request of a new token prior to the save commands sent. LW20/C | Product guide | Revision 13 | 19 December 2024 Page 34 of 55...
  • Page 35 First return furthest First return strength Last return raw Distance output RW uint32 uint32 Last return closest Last return median Last return furthest Last return strength Noise LW20/C | Product guide | Revision 13 | 19 December 2024 Page 35 of 55...
  • Page 36 First return strength (%) Int32 Last return raw (mm) Int32 Last return closest (mm) Int32 Last return median (mm) Int32 Last return furthest (mm) Int32 LW20/C | Product guide | Revision 13 | 19 December 2024 Page 36 of 55...
  • Page 37 Reading this command will return the baud rate. Writing to this command will set the baud rate. Value Baud rate (bps) 9600 Baud rate uint8 uint8 19200 38400 57600 115200 230400 460800 LW20/C | Product guide | Revision 13 | 19 December 2024 Page 37 of 55...
  • Page 38 A parameter that is to be acted on (if applicable) • An index indicating which parameter value is to be acted on, such as the high • or the low setting (if applicable) LW20/C | Product guide | Revision 13 | 19 December 2024 Page 38 of 55...
  • Page 39 If there is more than one reply value, they will be separated by commas. For purposes of the document, replies are show in lower case to help distinguish from commands. LW20/C | Product guide | Revision 13 | 19 December 2024 Page 39 of 55...
  • Page 40 LW20/C | Product guide | Revision 13 | 19 December 2024 Page 40 of 55...
  • Page 41 Laser channel commands Reply with which Numeric value for lm:5 measuring mode readings per (update rate) is active second: LW20/C | Product guide | Revision 13 | 19 December 2024 Page 41 of 55...
  • Page 42 Reply with the default raw l:3.35 distance Reply with the default ld,0:23.67 median distance Reply with the median ?LDF ldf,0:56.98 distance to the first return LW20/C | Product guide | Revision 13 | 19 December 2024 Page 42 of 55...
  • Page 43 Same return for both commands Reply with Alarm A ?LAA laa:3.00 distance Change Alarm A distance Adjustment range #LAA,5.00 laa:5.00 to 5.00 meters is 0.00 to 100.00 LW20/C | Product guide | Revision 13 | 19 December 2024 Page 43 of 55...
  • Page 44 Reply with the maximum ?SWH swh:2000.0 allowed PWM time in µs Change the maximum Adjustment range: #SWH,1900 swh:1900.0 allowed PWM time to 0.00 to 2999.00 1900.0 µs LW20/C | Product guide | Revision 13 | 19 December 2024 Page 44 of 55...
  • Page 45 Adjustment range: #SAL,-15.0 sal:-15.0 Alarm A lower angle to - -180.00 to 180.00 15.0° Reply with the scanning ?SAH sah:45.0 Alarm A higher angle in degrees LW20/C | Product guide | Revision 13 | 19 December 2024 Page 45 of 55...
  • Page 46 Reply with the state of alarm state: aa:0 Alarm A 0 = alarm off 1 = alarm on Reply with the state of ab:1 Alarm B LW20/C | Product guide | Revision 13 | 19 December 2024 Page 46 of 55...
  • Page 47 Streams are a settable parameter like any other, and the stream can be saved to persist through boot up using the command %P<CR> which saves all settings. You can clear all streams by sending $<CR>. LW20/C | Product guide | Revision 13 | 19 December 2024 Page 47 of 55...
  • Page 48 Stream 1 Stream the signal $2,LHF Data steam strength of first return on Stream 2 Data steam Stop all streams LW20/C | Product guide | Revision 13 | 19 December 2024 Page 48 of 55...
  • Page 49 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 50 If you need to upgrade, click the Install button, followed by OK to confirm. Figure 33: Confirmation of firmware upgrade The firmware will be installed to your device, and the device will automatically reboot. LW20/C | Product guide | Revision 13 | 19 December 2024 Page 50 of 55...
  • Page 51 Check the update rate and ensure it is suitable for the application. • or changing too fast (Slower update rates are advised for altimetry.) Consider using the built-in filters to remove background noise. • LW20/C | Product guide | Revision 13 | 19 December 2024 Page 51 of 55...
  • Page 52 921600. If the baud rate was set to a value higher than 921600, please contact our technical support team for assistance. 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 sensor.
  • Page 53 LightWare Studio from the device Info page. Figure 34: LightWare Studio device information page If the unit needs to be returned to LightWare for repairs, LightWare support will assist you with the Return Merchandise Authorization (RMA) procedure. LW20/C | Product guide | Revision 13 | 19 December 2024...
  • Page 54 Please do not dispose of LightWare sensors with general household or commercial waste. Figure 35: 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 55 Rev 2 2017/04/10 USB to I C module”. Rev 1 2017/03/03 Include FDA approval. Update cable figures to include ferrite core. Rev 0 2017/02/20 First edition LW20/C | Product guide | Revision 13 | 19 December 2024 Page 55 of 55...

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