background image

 

 

 
 
 
 
 
 
 
 
 
 

 

Cost efficient design 

 

Operates in full sunlight 

 

Low power consumption 

 

Wide field of view 

 

Small footprint 

 

Simple serial connectivity 

 

Long Range 

This device contains a component which emits laser radiation. 
This laser product is designated Class 1 in accordance with IEC 
60825-1:2007 during all operating modes. This means that the 
laser is safe to look at with the unaided eye, however it is 
advisable to not look directly into the beam when in use. 

When connecting a Sweep sensor to a 5VDC power source, it 
should be limited to a maximum of 8A as defined in EN 60950-1, 
sub clause 2.5, Table 2B. 
 

Documentation Revision Information 

Rev 

Date 

Changes 

0.98 

4/18/2017 

Updated communication protocol 

0.97 

03/29/2017 

Updated mechanical drawings 

0.9 

12/19/2016 

Initial Release 

 

Laser Safety ....................................................... 0

 

Power Safety ..................................................... 0

 

Specifications ..................................................... 2

 

Physical ............................................................. 2

 

Electrical ........................................................... 2

 

Measurement Performance ............................. 2

 

Field of View ..................................................... 2

 

Measurement Error Test Data .......................... 2

 

Overview of Interfaces ....................................... 3

 

Connector ......................................................... 3

 

Status LED ......................................................... 4

 

Mounting Features and Orientation ................... 4

 

Mounting and Vibration Considerations .......... 4

 

Mounting Sweep with Bottom Removed ......... 4

 

Ingress Protection Rating .................................. 4

 

Enclosure Window Design ................................ 5

 

Theory of Operation ........................................... 5

 

Distance Measurement..................................... 5

 

Angle Measurement ......................................... 5

 

Applications ....................................................... 5

 

Visualizer Overview ............................................ 5

 

Serial Protocol Specification ............................... 6

 

Data Encoding and Decoding ............................ 6

 

Communication Format .................................... 6

 

General Communication Packet Structure .......... 6

 

Definition of terms: ........................................... 7

 

DS - Start data acquisition................................. 8

 

DX - Stop data acquisition ................................. 9

 

MZ 

 Motor Ready ............................................ 9

 

MS 

 Adjust Motor Speed ............................... 10

 

MI 

 Motor Information ................................. 10

 

LR 

 Adjust LiDAR Sample Rate ....................... 11

 

LI 

 LiDAR Information .................................... 11

 

IV - Version Details .......................................... 12

 

ID - Device Info ................................................ 12

 

RR - Reset Device ............................................ 12

 

Appendix: ......................................................... 13

 

 

 

 

 

CAUTION 

sweep

 v1.0 

Содержание Sweep V1

Страница 1: ...cal drawings 0 9 12 19 2016 Initial Release Laser Safety 0 Power Safety 0 Specifications 2 Physical 2 Electrical 2 Measurement Performance 2 Field of View 2 Measurement Error Test Data 2 Overview of I...

Страница 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 a...

Страница 3: ...e internal pull up Pull down to put device in sleep mode 3 Yellow Sync Device Ready Goes high when first range measurement of new scan is completed then goes low when second range measurement is compl...

Страница 4: ...Sudden rotational shocks can cause the head to either slow down or speed up which can affect angular measurements If Sweep is rotationally jerked hard enough it can cause the motor to lose sync which...

Страница 5: ...e Under normal operation Sweep limits the maximum time per measurement to a value determined by the sample rate set using the LR command see LR packet structure description If not enough light is retu...

Страница 6: ...with ASCII letter command codes HOST SENSOR Command with no parameter Command Symbol 2 bytes Line Feed 1 byte Example DS DX MI IV Line Feed LF or Carriage Return CR or Command with parameter Command...

Страница 7: ...al processing of a command ASCII byte values of 00 or 99 indicate that the sensor received and processed the command normally Value of 11 specifies an invalid parameter was included in the command Any...

Страница 8: ...ation about a single sensor reading Sync Error Byte The sync error byte is multi purpose and encodes information about the rotation of the Sweep sensor as well as any error information Consider the in...

Страница 9: ...e measurements This calibration routine is initiated after powering on the device after receiving any form of Adjust Motor Speed MS command regardless of the size of the adjustment ie even calling MS...

Страница 10: ...z 08 8Hz 09 9Hz 10 10Hz MS command is not guaranteed to succeed There are a few conditions where it will fail In the event of a failure the two status bytes are used to communicate the failure Status...

Страница 11: ...Hz LR command is not guaranteed to succeed There are a few conditions where it will fail In the event of a failure the two status bytes are used to communicate the failure Status Code 2 byte ASCII cod...

Страница 12: ...LF Example IVSWEEP01011100000001 I V SWEEP 01 01 1 00000001 LF Returns details about the device s current state settings Bit Rate Laser State Mode Diagnostic Motor Speed Sample Rate HOST SENSOR I D L...

Страница 13: ...s 0x30 return sum checkSumByteValue Example Consider the common case of 00P decimal 48 48 80 hex 0x30 0x30 0x50 0x30 0x30 0x60 sum of the status bytes 0x60 0x3F 0x20 retrieve only the lower 6 bits 0x2...

Страница 14: ...e sum of 6 other bytes Instead the checksum byte uses the modulo operation and effectively contains the remainder after dividing the sum by 255 this is the same as saying sum 255 Validating the checks...

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