Scanse SWEEP V1.0 Users Manual Andtechnical Specification Download Page 3

SPECIFICATIONS 

 

USER’S MANUAL 

SWEEP

 V1.0 

 

Copyright ©2014-2017 Scanse LLC - www.scanse.io 

Sweep can be connected to low level micro 
controllers directly using its serial port, or to a PC 
using the provided USB to serial converter. 
 

 

             Figure 4, Sweep Cable Diagram 

Sweep has two serial port connectors with identical 
signals. This allows for more mounting options. 
 

 

 

Figure 5, Sweep Pigtail Cable Connector Detail

 

Pin  Color 

Function 

Red 

5 Vdc (+) (minimum 0.5A capable) 

Orange  Power enable (internal pull-up) 

Yellow 

Sync/Device Ready 

Green 

UART RX 3.3V (5V compatible) 

Blue 

UART TX 3.3V (5V compatible) 

Black 

Ground (-) 

 
You can create your own cable if needed for your 
application. These components are readily available. 
 

Part 

Description 

Mfg.  Part No. 

Connector 
Housing 

6-Position, 
rectangular 
housing, latch-
lock connector 
receptacle with 
1.25 mm  
(0.049 in.) pitch. 

JST  GHR-06V-S 

Connector 
terminal 

26-30 AWG crimp 
socket connector 

JST  SSHL-002T-

P0.2 

Wire 

UL 1061 26 AWG 
stranded copper 

N/A  N/A 

Sweep can be mounted in any orient

ation. Sweep’s 

rotating head is dynamically balanced, which means 
it is immune to linear vibration, but it can be 
affected by rotational vibration. Sudden rotational 
shocks can cause the head to either slow down or 
speed up, which can affect data accuracy. If Sweep is 
rotationally jerked hard enough, it can cause the 
motor to lose sync, which will trigger a momentary 
motor pause, and then restart. 

DRAWINGS ARE NOT TO SCALE 

           Figure 6, Sweep Connector Diagram

 

Summary of Contents for SWEEP V1.0

Page 1: ...2017 Added power safety text Laser Safety 0 Power Safety 0 Specifications 1 Physical 1 Electrical 1 Measurement Performance 1 Field of View 1 Measurement Error Test Data 1 Overview of Interfaces 2 Connector 2 Mounting and Vibration Considerations 2 Mounting Features and Orientation 3 Ingress Protection Rating 3 Enclosure Window Design 3 Theory of Operation 3 Distance Measurement 3 Angle Measuremen...

Page 2: ... see Theory of Operation Sweep is a single plane scanner This means that as its head rotates counterclockwise it records data in a single plane The beam starts out at approximately 12 7mm in diameter and expands by approximately 0 5 degrees as show in Figure 2 Figure 2 Sweep Field of View Figure 3 Sweep Accuracy Graphs 0 10 20 30 0 5 10 15 20 25 30 0 1000 2000 3000 4000 cm Measurement Variability ...

Page 3: ...cable if needed for your application These components are readily available Part Description Mfg Part No Connector Housing 6 Position rectangular housing latch lock connector receptacle with 1 25 mm 0 049 in pitch JST GHR 06V S Connector terminal 26 30 AWG crimp socket connector JST SSHL 002T P0 2 Wire UL 1061 26 AWG stranded copper N A N A Sweep can be mounted in any orientation Sweep s rotating ...

Page 4: ...he amount of laser light that is reflected as it passes through the window s surface Sweep employs a time of flight ranging method This technique involves transmitting a packet of micro pulses of light in a unique pattern When this light bounces off an object and returns to the receiving detector a correlation algorithm is used to identify the unique light pattern from ambient noise Each light pac...

Page 5: ...de a way to quickly evaluate Sweep s performance in your application environment For some applications like surveying our visualizer can be used to take quick measurements between range data points within a scan It contains a programming tool for updating Sweep s firmware A full tutorial for using the visualizer can be found in software support section at support scanse io Specification Value Bit ...

Page 6: ...e Command can have LF or CR or both as termination code but reply will always have LF as its termination code Status 2 bytes of data in reply that informs normal processing if command is authenticated or errors if undefined invalid or incomplete command is received by sensor Status other than 00 and 99 are error codes Sum of Status 1 byte of data used in authentication Calculated by adding status ...

Page 7: ...ns at the top distance Distance of range measurement signal strength Signal strength of current ranging measurement Larger is better Range 0 255 checksum Calculated by adding the 6 bytes of data then dividing by 255 and keeping the remainder Sum of bytes 0 6 255 Status 00 Command received without any Error 22 Stopped to verify error 55 Hardware trouble 99 Resuming operation Stops outputting measur...

Page 8: ...1 02 00 Motor stopped SENSOR HOST M S Speed Hz 2 bytes LF Status Sum LF Default Sample Rate 500 600Hz See Theory of Operation section for explanation of why there is arrange of sample rate values HOST SENSOR L R Speed Parameter 2 bytes LF Sample Rate Parameter Code 01 500 600Hz 02 750 800Hz 03 1000 1075Hz SENSOR HOST L R Speed Hz 2 bytes LF Status Sum LF Returns current LiDAR Sample Rate Code 01 5...

Page 9: ...irmware Version 2 bytes Hardware Version 1 byte Serial Number 8 bytes LF Example IVSWEEP01011100000001 I V SWEEP 01 01 1 00000001 LF Bit Rate Laser State Mode Diagnostic Motor Speed Sample Rate HOST SENSOR I D LF SENSOR HOST I D Bit Rate 6 bytes Laser state Mode Diagnostic Motor Speed 2 bytes Sample Rate 4 bytes LF Example IV115200110050500 I D 115200 1 1 0 05 0500 LF Reset Scanner HOST SENSOR R R...

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