User Manual
Contents
1. User Manual FX8 Range Finding Sensor LA9532A Version 2 0 MEMS Promotion Department Visionary Business Center Nippon Signal Co Ltd Nippon Signal Co Ltd A LA9532A 001E vccOll Contents 1 Precautions Before Using this Product ccccceceeeceeeeneeeeeeeneeeeeeeneeeeesecaeeeesecneeeeeeeeneeeeeeas 3 2 Configuration amp Specifications ccceccccccccscsnceeceeeeeeeeeeeeeeeeeeeeneeeeeeeeeeeesananeeesseeeeeeesseneeeessees 7 2 1 Configuration amp internal function blocks cccecccceeeeeeeeeeeeeeeeeeeeeneeeeeteceeeesesaeeeeeeseaeeeess 7 2 2 EQUIPMENT specifications srrcssaceiccciecstoncbars seaebathdnaabansdatabeasdetekeanbatsbuandersbneats seb pasteapbanstbenbabeds 9 2 2 1 Environmental conditions 0 ccccccceceeceeeeeeeeeeneeeeeeeeeeeeesecaeeeeeeceaeeeesenaeesesesueeeeeseneeeess 9 2 2 2 Power supply recommended ccececcecceeeeeeeeeeeeeeeeececeeeececeaeeeeseeeeeesearseeesteneeeess 9 2 2 3 External cables amp CONNMECHOSS ccccceceeeceeeeeeneeeeeeeneeeeeeeeaeeeeeecnaeeeeseeaeeseseeneeeeesenaeeees 9 2 2 4 External dimensions amp WeIQNK ccceccceeceeeeeeeeeeeeeeeceeeeeeeseeeeeeeseseeeesesaaeeeeseeaeeeess 10 2 2 5 Sensor installation Specifications ccceccceccceeeeeeeeeeeeeeeeeeeeeeeaeeeeseeeeeeseeneeeeeseneeeess 10 2 3 Distance measurement specifications ceececeeeeeeeeeeeeeeeeeeeeeeeeeseceeeeeeeeaeeeesesaeeeeesenaees 11 22. TimeSet ms ON A OFF f 4 LED1 Keep Default ON OFF TimeSet ms ON i OFF Set LED 2 G Keep C Default ON OFF C TimeSet ms ON hr OFF hn E N et tke Range 0 Error 0 Keep Maintain the value set for the sensor Default Return to the factory default setting ON Permanently switched on OFF Permanently switched off TimeSet Set any interval between ON and OFF while flashing 1 100 100msec units Example 1 0 1sec 100 10sec Replay tab Replays the ranging data saved on the computer ReplayMode Ticking this box switches to the replay mode for saved data If connected to the sensor the connection will be cut ReplayFile Sets the path for the file to be replayed FileCutout Outputs the data between the set frames to a new file Interval Duration between frames Information Option Indicator Re ay Errorlnfo J ReplayMode Timestamp 00700700 00 00 00 Replay File Interval oy ms FileCutout 0 0 Gutout 8 ig U i 1 Error 0 A LA9532A 019E Q Errorlnfo tab Displays information on any errors that have occurred on the sensor Status Code0 Codel Code2 Code3 Coded Coded 4 4 How to use the FX8 setup software This software can be used to set the IP address of the sensor and to switch the operating mode frame rate number of measuring points 1 Installation Copy the fx8conftool exe file from
3. the laser beam being projected and the timing of the reflected diffused light being received from the measured object and converts this time lag into distance This block also controls the 2D scanning and ranging by using the 2D scanning control by ECO SCAN and generating a laser output timing signal that is synchronized with this 3 Data transfer block The data transfer block transfers the ranging data and light quantity data from the control processing block to the computer A LA9532A 007E 4 Internal power supply block The internal power supply block produces the required voltage for each block using the externally provided input power supply A LA9532A 008E 2 2 Equipment specifications 2 2 1 Environmental conditions The performance of items under development is currently being assessed This product should be used at normal temperature normal humidity and in an indoor environment 1 Operating temperature and humidity 10 C to 50 C 20 85 RH However maximum absolute humidity of 36g m 2 Storage temperature and humidity 30 C to 70 C 20 100 RH However maximum absolute humidity of 36g m 3 Vibrations amp impacts In XYZ directions 10 500Hz 1G double amplitude 40Hz 2G double amplitude In XYZ directions 30G impact 4 Dustproof amp waterproof equivalent to IP55 5 Sunlight resistance able to find the range of a whiteboard 1m away at 100 000Ix 2 2 2 Power supply recommended DC 1
4. this box the ranging data will be saved in the same folder as the program Ranging image display area This area displays the ranging image You can check the distance using the color bar at the bottom of the screen To change the scope of the color bar using Notepad or some other text editor change the values of the fx8disp exe config file in the folder lt add key DispRange0 value 0 0 gt Value display minimum distance m red lt add key DispRange1 value 10 0 gt Value display maximum distance m blue Light volume image display area This area displays an image representing the values of the volume of light received You can check the light value using the black and white bar at the bottom of the screen Information tab Displays various information about the connected sensor Option tab Select the sensor s frame rate ranging mode Dual mode sensors only Setting 0 low frame rate 1 high frame rate Example In case of 4FR and 16FR 0 4FR 1 16FR Indicator Replay Errorlnfo Measure Mode fo Set MeasureMode Max 1 Range 0 Error 0 A LA9532A 018E Indicator tab Here you can change how the status indicators on the main unit switch on or flash The sample software settings will return to the factory default settings if the power to the main unit is switched off q Replay Errorlnfo Ww LEDO R Keep C Defaut C ON C OFF
5. 2V 2V Minimum 2 0A Maximum steady current consumption of 0 5A 2 2 3 External cables amp connectors 1 Power cable Connector round crimp terminal RBVO 3 3YE Length 1 5m 2 Communications cable Connector RJ45 plug male Length 1 5m Power supply terminal Red 12V White Green Yellow for maintenance do not connect Power cable Communications cable Communications terminal Figure 2 2 external cables A LA9532A 009E 2 2 4 External dimensions amp weight 1 External dimensions W60xD90xH65mm see Figure 2 3 2 Mass Approximately 500g 2 2 5 Sensor installation specifications Nuts used for mounting when installing sensor 8 x 5mm deep M3 tap 4 each on top and bottom surface Install the product in a way that the vent on the underside for preventing condensation does not become blocked by a bracket etc and so that wherever practicable the product does not get splashed with water etc 65 Vent 23 NTF210SE Figure 2 3 Sensor installation specifications A LA9532A 010E 2 3 Distance measurement specifications Method of measuring Optical pulse time of flight TOF Format label Frame rate pixels A 20fps 2fps 1075 pixels 43 x 25 B 16fps 1 6fps 1749 pixels 53 x 33 C 10fps 1fps 2535 pixels 65 x 39 D 4fps 0 4fps 5917 pixels 97 x 61 Scanning viewing angle Horizontal 60
6. 4 Data communication Specifications cccccceeeeeeeeceeeeeeeeeeeeeeeeeseeneeeeeseneeeeseeeeeeeeseaees 12 3 Main Unit amp ACCESSOMES soies onet e ireen en EAE EERE RAAE AEEA E NEA PERETE ERN NEREDEN EREN 13 4 How to use the FX8 special SOftWArE cccceeceeeeeeeeeeeeeneeeeeeeneeeeeeenaeeeeseeaeeeeeesneeeeetenaeeeees 14 4 1 Operating enVironment ssi sss55 vicceeetseawed eiiiai ia EEEE KERERE REEE EEKEREN 14 4 2 Setting the computer s IP AdCIreSS ccccccecceeeeeeeneeeeeeeneeeeeeseeeeeeeenaeeeesenaeeeeseeneeeeetenaees 14 4 3 How to use the sample display software ccccccceeseeneeeeeeeneeeeeeeneeeeseseaeeeesseeeeeeseeaes 17 4 4 How to use the FX8 setup SOPWALE ccccceceeeeeneeeeeeeneeeeeeeeeeeeeeeneeeeeseneeesensaeeeeeteaees 20 4 5 Format of data saved using the display software cccececeeceeeeeeeeeeeeeeeeeeeeeteeeeseeaees 22 WAQUIIIOS sieges T 25 Approved by 235 Checked by A LA9532A 002E 1 Precautions Before Using this Product In order to use this product effectively before using it please be sure to read all matters relating to the products you have purchased This User Manual contains information that is important when using this product Please retain it so that you can refer to it when necessary Safety Precautions A number of symbols have been used in this User Manual to assist you in using this product safely and correctly a
7. amp Date 0x01 0x1F PC clock Hour 24 hour basis 0x00 0x17 Minute 0x00 0x3B Second 0x00 0x3B Internal sensor information Sensor status Upper Sensor status Lower Error code Error code Error code Error code Error code Error code Fill in 0x00 so that it ends up the same size as for the ranging data Frame number A LA9532A 024E Inquiries MEMS Promotion Department Visionary Business Center Nippon Signal Co Ltd 13F Shin Marunouchi Building 1 5 1 Marunouchi Chiyoda ku Tokyo 100 6513 Japan TEL 81 3 3217 7167 FAX 81 3 3217 7377 Copyright 2010 NIPPON SIGNAL CO LTD All Rights Reserved A LA9532A 025E
8. anol ethyl alcohol and lightly wipe away the dirt Do not wash any other parts besides the glass window This User Manual and the documents electronic data programs and other attachments included with the product are prohibited from being reproduced transcribed distributed altered etc either in part or in full without A LA9532A 005E authorization from our company Imitating this product or otherwise producing similar products is prohibited Please note that the contents of this User Manual are subject to change without notice A LA9532A 006E 2 Configuration amp Specifications 2 1 Configuration amp internal function blocks Figure 2 1 shows the configuration and internal function blocks of the sensor Sensor Ranging data Communications cable Control processing block Computer i pm a Be ee aos l Projector receiver block I gt Measured Laserbeams 47 Z object aa a eh Sensor Internal function block i iltem prepared by user Figure 2 1 Configuration and internal function blocks 1 Projector receiver block The projector receiver block projects a laser toward the measured object via an ECO SCAN mirror which scans two dimensionally at high speed It then receives reflected diffused light irradiated by the measured object located along the optical path 2 Control processing block The control processing block measures the time lag between the timing of
9. at is different from the sensor company LAN internet etc please change the settings according to the respective network settings A LA9532A 016E 4 3 How to use the sample display software This software can be used to display and record ranging images and light volume images 1 Installation Copy the entire FX8_display software folder from the accompanying CD to your computer File configuration bw_table dat display black and white table Clr_scl dat display color table fx8clientlib dll communication library fx8userlib dll library for display fx8disp exe display software main unit fx8disp exe config display software setup file 2 Directions for use e Connect the sensor and your computer using the communications cable and switch on the power to the sensor e In the folder you have copied double click the file fx8disp exe to startup the display software Startup screen Light Volume Image FrameRate 0 00 FPS f 92 168 0 80 omet SensorContral WT FileSave Start LogicWer l 0 0 0 FirmVer 000 SerialNumber Jocooooca Meas I 0 Y Meas 0 X Swing 0 Y Swing 0 Sensor Connect Connect Connect to the sensor to be displayed by entering its IP address A LA9532A 017E Sensor Control Start Commence range finding using the connected sensor Due to the scanning synchronization adjustment it may take a little time for the screen to display File Save By ticking
10. ess can be changed using FX8 setup software MDI MDI X Auto MDI MDI X compatible Ranging data For each measuring point distance value 12bit Data output light value 12bit See LX9638A Communications Interface Specifications V1 1 A LA9532A 012E 3 Main unit amp accessories 1 Main sensor unit including communications cable and power cable 2 Accompanying CD The folder structure and contents for the accompanying CD are as follows O doc OB doc dotnet e User Manual EQ FxBconftool e Communications Interface Specifications fx8disp e User Library Specifications C9 Fx lib O dotnet H FxBlibsampelr e NET Framework Runtime Package H Fx libsampyvb O Fx8conftool e FX8 Setup Software O Fx disp e Sample Display Software B Fx lib e User Library Package B Fx libsampelr e Project Package for C CLI Sample Software Compatible version Microsoft Visual C 2005 or later B Fx libsampvb e Project Package for Visual Basic NET Sample Software Compatible version Microsoft Visual Basic 2005 or later A LA9532A 013E 4 How to use the FX8 special software 4 1 Operating environment OS Microsoft Windows XP or later version Microsoft NET Framework 2 0 SP2 is required included on accompanying CD Method of installation Run files in the order NetFx20SP2_x86 exe NetFx20SP2_x86ja exe The files used in installing NET Framework are different depending on t
11. hat the product be serviced Due to the danger you should never attempt to repair the product yourself A LA9532A 004E O POD OC Caution Vibrations and impacts Do not subject the product to strong vibration or shock such as by dropping it If this product has been dropped onto the floor the product cannot be guaranteed Precise optical elements have been used in this product Any mechanical vibration impact or so forth may damage the product and result in performance degradation Take care when handling the glass window as it is particularly fragile Environmental conditions Take care not to leave the product in an area where there are condensation or corrosive gases Certain environmental conditions may cause performance degradation Wiring If this product has not been used correctly such as incorrect wiring incorrect insertion of a connector or used in excess of the rated range of use the product may not perform properly or it may be rendered ineffective Disassembly If this product is taken apart users may be injured as a result of performance degradation broken internal components or other such reasons Also the product cannot be guaranteed once it has been taken apart Instructions for washing cleaning If normal properties cannot be attained due to the glass window on the laser emission surface becoming dirty dip a cotton swab gauze or some other clean soft cloth into a tiny amount of reagent eth
12. he version of Windows you are using For more details please read the Installing dotnet txt file contained in the dotnet folder of the accompanying CD 4 2 Setting the computer s IP address Before connecting the sensor and computer you will need to set the computer s IP address 1 From the Windows Control Panel double click Network Connections 2 Right click Local Area Connection and click on Properties s Network Connections Oj x File Edit View Favorites Tools Advanced Help Q Bk Y Y T Fo Search Folders Ea LAN or High Speed Internet 1394 Connection Connected Firewalled e h 1394 Net Adapter L A Inteli ocal Area Connection Connected Firewalled R PROLLOO VE Ne Disable Wizard ages Repair Network Setup Wizard New Connec Bridge Connections E aS Create Shortcut Delete Rename Properties A LA9532A 014E 3 On the General tab click Internet Protocol TCP IP and then click on the Properties button below that 4 Local Area Connection Properties General Authentication Advanced Connect using E9 Intel R PR07100 VE Network Conne Configure This connection uses the following items Client for Microsoft Networks r File and Printer Sharing for Microsoft Networks r QoS Packet Scheduler XF Internet Protocol TCP IP Install Uninstall i Description Transmission Contro
13. l Protocol Internet Protocol The default wide area network protocol that provides communication K K K K across diverse interconnected networks I Show icon in notification area when connected V Notify me when this connection has limited or no connectivity 4 Select Use the following IP address If you are using the sensor for the first time or if you have not changed the sensor s IP address enter 192 168 0 1 in the IP address box Also make the subnet mask 255 255 255 0 If you have already changed the sensor s IP address enter an IP address accordingly A LA9532A 015E Internet Protocol TCP IP Properties 2 x General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings Obtain an IP address automatically Use the following IP address IP address 192 168 0 1 Subnet mask 255 255 255 O Default gateway Obtain DNS server address automatically Use the following DNS server addresses Preferred DNS server Alternate DNS server Advanced Cancel 5 Click OK to close the window and then click OK in the Local Area Connection Properties window to complete the setting Note If you change the settings for the IP address as outlined above and then connect the computer to a network th
14. lanes Frame period upper Millisecond units Frame period lower used for reproduction interval etc Ranging mode 0 1 Upper limit of ranging mode 0 to 1 Spare 0x00 fixed XY data management number 1 XY data management number 2 XY data management number 3 XY data management number 4 Logic version major minor sequence spare Frame version major minor sequence spare Sensor serial number leftmost character 2nd character 3rd character 4th character ASCII code space 0x20 5th character 6th character 7th character 8th character Half angle 0 1 degree ex 30 300 Half angle 0 1 degree ex 25 250 A LA9532A 022E Save software version major minor sequence spare Spare 0x00 fixed Data content X coordinate 0 X number of measuring points 1 Y coordinate 0 Y number of measuring points 1 1st Sx upper for conversion of XYZ coordinates measuring Sx lower Binary values Sx Sy values 0 20 000 point Sy upper The value calculated by subtracting 10 000 and Sy dividing by 10 000 becomes the coefficient ower 1 000 0 1 000 X coordinate Y coordinate Sx upper Sx lower Sy upper P 1 6 5 Sy lower Measuring point number P 1 X number of measuring points x Y
15. n the power is turned on again DHCP Client By ticking the Enable box and clicking Set the sensor will switch to the mode of automatically acquiring IP addresses The power needs to be turned back on for an IP address to be automatically acquired Measure Mode Set the frame rate for when the sensor s power is turned on Dual mode sensors only The set value is recorded to flash memory and will become the initial value when the power is turned on Setting 0 low frame rate 1 high frame rate Example In case of 4FR and 16FR 0 4FR 1 16FR A LA9532A 021E 4 5 Format of data saved using the display software Filename Shows the time that data acquisition commenced last two digits of the yeartmonth date _ underscore hour minute second fx8 Example 100921_101135 fx8 Data configuration Binary data comprised of a header section XY data section and a ranging data section Header XY data section Ranging data section section Plane 0 Plane 1 Plane N 1 1st frame 2nd frame ee Mth frame Header section Offset Data content Notes X number of measuring points upper 8bit X number of measuring points lower 8bit Y number of measuring points upper 8bit Y number of measuring points lower 8bit X deflection angle upper 8bit X deflection angle lower 8bit Y deflection angle upper 8bit Y deflection angle lower 8bit Number of planes of XY data N p
16. nd to prevent injury to people or damage to property The symbols and their meanings are as follows Please familiarize yourself with them fully before reading the rest of this User Manual This indicates that if this symbol is ignored and the product is Warning handled incorrectly there is the potential risk of someone suffering a serious injury This indicates that if this symbol is ignored and the product is Caution handled incorrectly there is the potential risk of someone suffering a serious injury and the potential for only property to be damaaed Signifies that there is something requiring caution including warnings Indicates that care needs to be taken Signifies that some action is prohibited Indicates that something must not be done Signifies that some action is to be compelled or instructed Indicates that something must be done A LA9532A 003E Warning Do not look through the period of time while the sensor is operating Doing so may injure your eyes lass window on the laser emission surface for a long Do not use the product at a supply voltage other than the voltage prescribed Doing so may cause fire or an electric shock In the unlikely event something unusual occurs such as smoke or a foul smell coming from the product shut off the power supply immediately In the unlikely event smoke has been coming from the product check that the smoke has stopped and request t
17. number of measuring points Pth measuring point Saves data for the number of planes of XY data Header section offset 12 Ranging data section in case of ranging data Data content OxFO For verifying OxFO synchronization OxFO OxFO Upper Number issued sequentially by sensor also Lower including error notifications Data type 0x71 Plane number Plane number for referenced XY data Year Last two digits of the year ex 2010 0x0A Month 0x01 0x0C Time stamp Date 0x01 0x1F PC clock Hour 24 hour basis 0x00 0x17 Minute 0x00 0x3B Second 0x00 0x3B Internal sensor information Light volume upper Light volume 1st measuring lower point Range upper Range lower Frame number Pth measuring Light volume point upper P 1 4 78 A LA9532A 023E P 1 4 79 Light volume lower P 1 4 80 Pange upper Range ees lower Measuring point number P 1 X number of measuring points x Y number of measuring points Ranging data section in case of error notification Data content OxFO For verifying OxFO synchronization OxFO OxFO Upper Number issued sequentially by sensor also Lower including ranging data Data type 0x91 Spare 0x00 Year Last two digits of the year ex 2010 Ox0A Month 0x01 0x0C Time st
18. the FX8_setup software folder on the accompanying CD to your computer 2 Directions for use e Connect the sensor and your computer using the communications cable and switch on the power to the sensor e Double click the fx8conftool exe file to start it Startup screen Select Setting Mode xi x Select IP Address Default Select IP Address fis2 hies fo a0 C Select MAC Address MAG Address fo jo o o o fo Select Serial Number Serial Number Max 8 Characters in ASCID C Without Specifyins 2 AAASP If you start Without Specifying tate you will need to the only one sensor in the network From 1 select the specifications for the sensor you want to change the settings for enter the appropriate data and click Start setup Normally select the IP address specification A LA9532A 020E Setup screen IP Address Mode Host IP 192 168 0 81 Connect IP 192 168 0 60 xi x m Sensor Setting IP Address IP Address 192 N 168 fo fso Set Subnet Mask 1255 f 250 amp 250 E jo DHGP Client Enable Set Measure Mode Mode Select jo Set Sensor Setting Acquires the setup information for the sensor and displays a list IP Address By entering an arbitrary IP address and clicking Set the IP address will be recorded to flash memory and the sensor s IP address will be changed whe
19. x Vertical 50 aaa ae Horizontal 60 1 0 Vertical 50 41 0 Frame rate number of measuring points 0 3 5 0m Munsell scale N4 0 equivalent to reflectance of 12 Distance range Up to maximum of 15m is possible depending on the reflectance of the measured object Maximum of 5cm 30 Accuracy of distance Munsell scale N4 0 reflectance 12 distance 5m Ta repeatability at 25 C Rangeresolton resolution tm systemresobto tm ystemcesokton resolution Laser safety standard Class 1 IEC60825 1 2001 near infrared pulse laser Displayed using indicator lamps Soo See LX9638A Communications Interface Specifications V1 1 P8 4 3 3 4 The frame rate number of pixels able to be used by each sensor is indicated according to the ABCD marking on the format label on the rear of the main unit Dual mode sensors have markings in two places 2 The distance range and accuracy may not be guaranteed depending on the conditions of the measured object reflectance and slope and the environmental conditions Specifications not yet achieved for items under development A LA9532A 011E 2 4 Data communication specifications Item Specifications Communication standard Ethernet 10Base T 100Base TX Physical data link layer auto negotiation enabled Communication protocol Network transport layer Control commands ranging data TCP IP Factory default IP address 192 168 0 80 IP addr
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