Contact us
English website: www.gzcyndar.comemail
：
[email protected]
Page 1: ...XD TOF 25Lidar sensor operating instructions Product specification description Product operating instructions Product communication methods and protocols Single line Lidar Product Manual Series...
Page 2: ...1 4 13 4 1 13 4 2 14 4 3 39 4 4 33 About Product description Equipment Specifications Working principle Influence of object surface on measurement Ranging error Area alarm Equipment appearance Device...
Page 3: ...ion and maintenance and are suitable for XD TOF 25 lidar sensors This operating instruction contains the following information about XD TOF 25 product description First the basic parameters of XD TOF...
Page 4: ...response time Angular resolution Output resolution Interface Operating temperature Radar module Voltage Power consumption Heating module is off Heating module function Programmable alert area Support...
Page 5: ...ility parameters Chassis protection level Laser radiation safety level Conduction CE Conduction CS Power frequency magnetic field Voltage drop Electrostatic discharge Electrical fast shift pulse train...
Page 6: ...ection XD TOF 25 calculates the distance between the obstacle and the radar at this angle by emitting a laser pulse with a short pulse width outward and thinking the time between the pulse and the rad...
Page 7: ...f the measured object to the spot size the tilt angle of the object itself the reflectivity of the object itself etc We will give the reflectivity requirements for stable detection of objects in Figur...
Page 8: ...mber of laser pulses are needed to ensure angular resolution The existing angular resolution of XD TOF 25 is 0 33 There are 811 laser pulses for each pair of two dimensional plane scans As shown in Fi...
Page 9: ...ection distance increases the minimum reflectivity of the detectable object surface changes The minimum detectable reflec tance curve of XD TOF 25 series products is shown in Figure 2 8 the vertical a...
Page 10: ...ection distances Ranging range Ranging error Standard deviation of error distribution The output range of XD TOF 25 is 50mm 25000mm the actual output is hexadecimal ASCII code 1mm corresponds to 1h AS...
Page 11: ...alarm threshold that is the number of intrusion points allowed in the alarm area When the value is set to 0 any object that enters the area will trigger an alarm Method two Set the alarm area through...
Page 12: ...ing the world Leading the change 11 3 Equipment appearance The overall dimensions and overall installation diagram are as follows Unmarked units default to millimeters Figure 6 Overall installation ef...
Page 13: ...different positions according to actual needs There are four interfaces below The first picture shows the two necessary connection ports For the sake of safety protection level we have equipped the fo...
Page 14: ...the two interfaces are located is as follows Device connection Main interface Figure 7 Device external interface The two interfaces from left to right are network interface I O interface data interfa...
Page 15: ...nd communication of the target object in the scanning area to facilitate the conversion of subsequent information at least the following accessories are required 9 30V DC power supply typical value is...
Page 16: ...ion of the main interface Network port connection Use the appropriate network cable to complete the connection to the TCP terminal of the protocol terminal through TCPclient use the appropriate power...
Page 17: ...way is set to 192 168 0 1 Instruction Actual sending instruction Hex Header Data content Space SPC Space SPC Space SPC Space SPC Space SPC C0h hexadecimal corresponding to 192 A8h hexadecimal correspo...
Page 18: ...hexadeci mal corresponding to 0 Before officially starting communication the communication format of XD TOF 25 is first introduced The communication method of XD TOF 25 is composed of hexadeci mal by...
Page 19: ...x4D 0x4E 0x20 0x53 0x65 0x74 0x41 0x63 0x63 0x65 0x73 0x73 0x4D 0x6F 0x64 0x65 0x20 0x30 0x33 0x20 0x46 0x34 0x37 0x32 0x34 0x37 0x34 0x34 0x03 Radar login instruction clientStream Write loginlidar 0...
Page 20: ...devicename Length Send login instruction to radar if clientStream CanRead byte nameanswer new byte 1024 Open up cache StringBuilder myCompleteMessage new StringBuilder Receive result variable int numb...
Page 21: ...ceIdent SPC 8 SPC FOSLS121 SPC 4 SPC V1 0 ETX 02 73 52 41 20 44 65 76 69 63 65 49 64 65 6E 74 20 38 20 46 4F 53 4C 53 31 32 31 20 34 20 56 31 2E 30 03 byte ident 0x02 0x73 0x52 0x4E 0x20 0x44 0x65 0x7...
Page 22: ...k from the radar to inform the device index STX sRA SPC SCdevicestate SPC 0 ETX 02 73 52 41 20 53 43 64 65 76 69 63 65 73 74 61 74 65 20 30 03 STX 02 sRA 73 52 41 20 SCdevicestate 53 43 64 65 76 69 63...
Page 23: ...result myCompleteMessage ToString string split result Split new char lidarstatestr split 3 The first byte in lidarstatestr is the radar state STEP9 Set scan parameters STX sMN SPC mLMPsetscancfg SPC...
Page 24: ...g SPC 0 SPC 5DC SPC 1 SPC 7D0 SPC F FF92230 SPC 225510 ETX Actual sending command 15Hz 0 2 Hex Header Data content Optional configura tion I speed Optional configu ration II angular resolution Data co...
Page 25: ...0x31 0x33 0x38 0x38 0x20 0x46 0x46 0x46 0x39 0x32 0x32 0x33 0x30 0x20 0x32 0x32 0x35 0x35 0x31 0x30 0x03 50Hz Actual receive command 0 33 Hex Actual receiving instruction 0 2 Hex Header Data content O...
Page 26: ...ollowing continues to extract key instruction information which may contain ETX STX you need to further elaborate processing string result myCompleteMessage ToString string split result Split new char...
Page 27: ...3 57 4E 20 4C 4D 50 6F 75 74 70 75 74 52 61 6E 67 65 20 31 20 35 44 43 20 30 20 44 42 42 41 30 03 STX 02 sWN 73 57 4E 20 LMPoutput Range 4C 4D 50 6F 75 74 70 75 74 52 61 6E 67 65 Actual receiving inst...
Page 28: ...end angle of data output Footer For the XD TOF series this command can optionally configure the starting angle 45 and ending angle 225 It is worth noting that for this radar the start angle must not b...
Page 29: ...instruction information which may contain ETX STX You need to further elaborate processing string result myCompleteMessage ToString string split result Split new char Split the received string into N...
Page 30: ...irteall 0x02 0x73 0x4D 0x4E 0x20 0x6D 0x45 0x45 0x77 0x72 0x69 0x74 0x65 0x61 0x6C 0x6C 0x03 clientStream Write wirteall 0 wirteall Send login instruction to radar Optional configura tion I data outpu...
Page 31: ...eMessage to determine further operations The following continues to extract key instruction information which may contain ETX STX you need to further elaborate processing string result myCompleteMessa...
Page 32: ...d runanwser 0 runanwser Length Read TCPIP communication receive buffer myCompleteMessage AppendFormat 0 Encoding ASCII GetString runanwser 0 numberOfBytesRead Write all the information stack read by t...
Page 33: ...tween the output data and the request time Delay of the application for about 30S Similarly after the radar is restarted or powered off and re powered it cannot respond to the data request within tens...
Page 34: ...46 46 46 39 32 32 33 30 20 Angular resolution 333d 10000d D05h 2710h 0D 05 27 10 20 811d 032Bh 30 33 32 42 Space SPC Space SPC Space SPC Space SPC Space SPC Space SPC Space SPC Space SPC Space SPC Spa...
Page 35: ...ew StringBuilder Receive result variable int numberOfBytesRead 0 do numberofBytesRead clientStream Read scandata 0 scandata Length Space SPC 811 data total 811 4 3244 bytes All in ASCII code form to c...
Page 36: ...e split i System Globalization NumberStyles AllowHexSpecifier ToString split i j J Statistics of measured data STEP17 Continuously request data Your application needs to send the following communicati...
Page 37: ...m your client and enters the continuous ranging mode At this time the radar responds to the application client s confirmation instruction for Header Data content Confirm continuous ranging After that...
Page 38: ...ontinu ous ranging Read operation hours The radar contains a timer that can respond to the customer s inquiry time request This timer records the cumulative operating time of the radar since it was sh...
Page 39: ...note that this data directly sends hexadecimal data not hexadecimal ASCII code data range 0000h FFFFh Space SPC You can send the following communication to the radar server to set the alarm area Heade...
Page 40: ...SPC Space SPC Space SPC Space SPC Space SPC Space SPC XXXX 4 digit ASCII code Example 7D0 7D0 unit mm 2000mm Distance of alarm point 1 in polar coordi nate system Alarm point 2 angle Distance of alar...
Page 41: ...s in TCP IP mode important The TCP IP communication process will send large packets of data in segments and the maximum length of a single segment is 1460 bytes For XD TOF 25 the length of the data pa...
Page 42: ...Contact us English website www gzcyndar com email sales1 cyndar net...
