User Manual for HEMOMATIK models including: LGS-N25 Compact Lidar Scanner, LGS-N25, Compact Lidar Scanner, Lidar Scanner, Scanner
Laserskanner
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DocumentDocumentwww.hemomatik.se LGS-N25 USER MANUAL HM 2409 Compact LiDAR Scanner for Guidance, Measuring and Object Profiling Nyckelvägen 7 142 50 SKOGÅS, Sweden Tel: +46 (0)8 771 02 20 info@hemomatik.se www.hemomatik.se Datasensing S.r.l. Strada S. Caterina 235 41122 Modena Italy Tel. +39 059 420411 Fax +39 059 253973 © 2024 Datasensing S.r.l. All rights reserved. Without limiting the rights under copyright, no part of this documentation may be reproduced, stored in or introduced into a retrieval system, or transmitted in any form or by any means, or for any purpose, without the express written permission of Datasensing S.r.l. Owners of Datasensing products are hereby granted a non-exclusive, revocable license to reproduce and transmit this documentation for the purchaser's own internal business purposes. Purchaser shall not remove or alter any proprietary notices, including copyright notices, contained in this documentation and shall ensure that all notices appear on any reproductions of the documentation. Electronic versions of this document may be downloaded from the Datasensing website (www.datasensing.com). Disclaimer Datasensing has taken reasonable measures to provide information in this manual that is complete and accurate, however, Datasensing shall not be liable for technical or editorial errors or omissions contained herein, nor for incidental or consequential damages resulting from the use of this material. Datasensing reserves the right to change any specification at any time without prior notice. Trademarks Datasensing and the Datasensing logo are trademarks of Datasensing S.r.l. Patents See www.patents.datasensing.com for patent list. LGS-N25 is a trademark of Datasensing S.r.l. All other trademarks and brands are property of their respective owners. ORIGINAL INSTRUCTIONS (ref. 2006/42/EC) Nyckelvägen 7 142 50 SKOGÅS, Sweden Tel: +46 (0)8 771 02 20 info@hemomatik.se www.hemomatik.se CONTENTS PREFACE ..................................................................................................................IV About this Manual ........................................................................................................... iv Manual Conventions ........................................................................................................................... iv Technical Support ........................................................................................................... iv Support Through the Website ............................................................................................................ iv Reseller Technical Support ................................................................................................................ iv DOCUMENT DESCRIPTION........................................................................................... 1 SAFETY INSTRUCTIONS.............................................................................................. 2 Handle laser device properly ............................................................................................ 2 Handle electrical connection properly ............................................................................... 2 WORKING PRINCIPLES ............................................................................................... 3 INSTALLATION AND USAGE .......................................................................................5 Mechanical connection ..................................................................................................... 5 Electrical connection ........................................................................................................ 6 Power connector .................................................................................................................................6 Ethernet connector ..............................................................................................................................6 Communication ................................................................................................................ 7 LEDs ............................................................................................................................... 9 DATA PACKET FORMAT ............................................................................................ 11 Overview ....................................................................................................................... 11 Definition of Header ....................................................................................................... 12 Definition of Block .......................................................................................................... 14 Data conversion ............................................................................................................. 14 Angle calculation ...............................................................................................................................14 Distance calculation ..........................................................................................................................15 Calculation of signal strength ...........................................................................................................15 PARAMETER CONFIGURATION .................................................................................. 16 Configuration through LGS View PC software .................................................................. 16 Operating environment .....................................................................................................................17 Network environment .......................................................................................................................17 LGS View: Windows Firewall ............................................................................................................18 Using LGS View .................................................................................................................................19 Menu icons ................................................................................................................................19 Basic measurement ..................................................................................................................20 Reset the LiDAR ........................................................................................................................22 Firmware upgrade ....................................................................................................................23 TECHNICAL PARAMETERS........................................................................................ 25 CABLES AND ACCESSORIES ..................................................................................... 27 Cables ........................................................................................................................... 27 Accessories ................................................................................................................... 27 TROUBLESHOOTING ................................................................................................. 28 DATA PACKET .......................................................................................................... 29 MECHANICAL DIMENSIONS ...................................................................................... 30 RECOMMENDATIONS FOR MECHANICAL INSTALLATION ........................................... 31 CLEANING OF SENSORS ........................................................................................... 33 Precautions ...............................................................................................................................33 Required materials ...................................................................................................................33 Cleaning method .......................................................................................................................33 USER MANUAL iii PREFACE ABOUT THIS MANUAL This User Manual (UM) is provided for users seeking advanced technical information, including connection, programming, maintenance and specifications. Manual Conventions The following conventions are used in this document: The symbols listed below are used in this manual to notify the reader of key issues or procedures that must be observed when using the reader: NOTE Notes contain information necessary for properly diagnosing, repairing and operating the reader. CAUTION The CAUTION symbol advises you of actions that could damage equipment or property. The WARNING symbol advises you of actions that could result in harm or injury to the person performing the task. WARNING TECHNICAL SUPPORT Support Through the Website Datasensing provides several services as well as technical support through its website. Log on to (www.datasensing.com). For quick access, from the home page click on the search icon , and type in the name of the product you're looking for. This allows you access to download Data Sheets, Manuals, Software & Utilities, and Drawings. Reseller Technical Support An excellent source for technical assistance and information is an authorized Datasensing reseller. A reseller is acquainted with specific types of businesses, application software, and computer systems and can provide individualized assistance. iv LGS-N25 CHAPTER 1 DOCUMENT DESCRIPTION In order to maintain the normal performance of the product and prevent damage to the device, please do not try to open the sensor. · Read the description: please read all the safety and operation information before using this product. · Keep the description: please keep all the safety and operation information properlyfor future reference. · Pay attention to the warnings: please read all the warnings in the manuals and on the product carefully. · Follow the instructions: please follow all the operation instructions in this manual. · Maintenance instructions: please follow the instructions for troubleshooting, do not try to repair the equipment by yourself. Contact our technicians promptly to solve the problems. · Any equipment damage caused by violating the above safety regulations shall not be covered by the warranty. USER MANUAL 1 CHAPTER 2 SAFETY INSTRUCTIONS HANDLE LASER DEVICE PROPERLY CAUTION This product emits an invisible laser beam with a laser safety rating of Class 1. CAUTION Please do not open the LiDAR cover without authorization because the laser might be still on after the cover is removed and the operator would be exposed to laser. CAUTION It is not guaranteed that the laser remains Class 1 safety status after opening the cover. HANDLE ELECTRICAL CONNECTION PROPERLY CAUTION Disconnect the power supply when connecting or disconnecting electrical cables. CAUTION The power supply connected with the device must comply with the requirements included in the operation instructions. CAUTION Please connect the reference potential properly when using the device to avoid injury caused by equal potential current. 2 LGS-N25 CHAPTER 3 WORKING PRINCIPLES The LGS-N25 is a 2D LiDAR that scans the surrounding area in a single plane with the help of an infrared invisible laser beam. The LGS-N25 uses 2D polar coordinates to characterize the surrounding environment based on its measurement origin. With a scanning angle range of 360°, the LGS-N25 can detect and output information of the angle, distance and signal strength of the target, which facilitating better target identification by SLAM systems. Figure 1 - LGS-N25 working principle USER MANUAL 3 WORKING PRINCIPLES Figure 2 The LGS-N25 measurement principle is shown in the figure above, and it uses the timeof-flight principle to measure distance. LiDAR emits laser pulses at uniform and very short intervals, and the laser light is reflected back when it encounters an obstacle. The LiDAR receives the reflected light signal and calculates the distance information between the object and the LiDAR based on the time difference (i.e., the time of flight of the laser) T between the emission and reception and the speed of light C. The calculation method is shown below. D=c*T/2 Where: D = distance T = flying time c = speed of light 4 LGS-N25 CHAPTER 4 INSTALLATION AND USAGE MECHANICAL CONNECTION The LGS-N25 LiDAR can be mounted thanks to the four M3 screw holes located on the bottom side of the device, we suggest to use M3 x 8 screws. Figure 1 - LGS-N25 Mounting interface USER MANUAL 5 INSTALLATION AND USAGE ELECTRICAL CONNECTION The LGS-N25 has 2 pig tail connectors, a 4-pole M12 male connector for power supply and a 4-pole M12 D-coded female connector for Ethernet communication. As shown in the figure below. 9 30 1A Figure 2 - LGS-N25 Connection Power connector M12-4 Poles Male - pig tail. Length of pig tail cable = 200mm The supply voltage must be between 9 and 30Vdc. Here below the connector pinout. No. DEFINITION WIRING COLOR 1 +VCC 2 NC 3 GND 4 NC Brown White Blue Black 4 13 2 Figure 3 - Power connector Ethernet connector M12-4 Poles Female - pig tail. Length of pig tail cable = 200 mm 6 LGS-N25 The pin definitions of Ethernet connector are as follows: No. DEFINITION 1 Transmit data + 2 Receive data + 3 Transmit data - 4 Receive data - COMMUNICATION Figure 4 - Ethernet connector COMMUNICATION The standard Ethernet RJ-45 connector is used to connect the LGS-N25 to the computer. The computer IP address needs to be set before communication, the first three segments of the computer IP address must be set the same as the LiDAR (192.168.1.X) and be in the same subnet. The last segment of the computer IP cannot be set to 100 to prevent conflict with the LiDAR default IP. Port number of the point cloud packet is 2368 The default factory settings for LiDAR are shown below: · LiDAR IP:192.168.1.100 · LiDAR subnet mask: 255.255.255.0 The recommended computer IP settings are shown below: · Computer IP: 192.168.1.10 · Computer subnet mask: 255.255.255.0 USER MANUAL 7 INSTALLATION AND USAGE The setting process in the computer is shown below: Figure 5 - Computer IP Setting: Step 1 8 LGS-N25 Figure 6 - Computer IP Setting: Step 2 LEDS LEDs Figure 7 - Computer IP Setting: Step 3 NOTE When network addresses (IP LiDAR, IP Host, Net Mask, etc.) are changed, a power cycle of the LGS-N25 should always be performed. This way when the device reboots, it uses the new values. There are 2 LED indicators. Figure 8 - LGS-N25 LEDs USER MANUAL 9 INSTALLATION AND USAGE LED MEANING Power On. Red and Green lights are always ON. Start. Device self checking, Red and Green LED flash. Normal operation. Red OFF, Green ON. Fault. Red ON, Green LED flash. 10 LGS-N25 CHAPTER 5 DATA PACKET FORMAT The LGS-N25 enables laser point cloud data transmission. Please refer to the following for the analysis of LiDAR point cloud data. The transmission of information between the LGS-N25 and the PC follows the UDP standard network protocol. The data is in Little-endian format, with the low byte first and the high byte second. OVERVIEW Total length of data packet is 772 bytes, including 48 bytes for the header file, 720 bytes for the laser return data and 4 bytes for the CRC32. Figure 1 - Format of point cloud information packet The total length of a data frame is 772 bytes, including: · Frame header: 48 bytes · Data block: 180 x 4 = 720 bytes · CRC32: 4 bytes USER MANUAL 11 DATA PACKET FORMAT DEFINITION OF HEADER Total length of data packet is 772 bytes, among which 48 bytes represent the header, 720 bytes represent the data returned by laser and 4 bytes represent the CRC32. OFFSET LENGTH DESCRIPTION REMARK 0 2 Identifiers. Fixed as 0xFEAC 2 2 Protocol Version: 0x0301 Protocol Version: 0x0301 4 4 Packet size, including header + data+CRC32 Packet size, including header + data+CRC32 Total bytes 8 2 Head size The number of bytes in the packet header of this packet 10 1 Distance ratio Used to calculate the distance. Distance = Distance count x Distance scale. For current proximity products, this scale value is 1, unit mm 11 1 Data type of data area 0x01:range (uint16) + intensity (uint16) 12 2 Scan count, starting from 0 and restarting from 0 when the limit is reached Scan count from power-on, 0, 1, 2.....65535, 0, 1..... 14 2 Packet counting, starting from 0 and restarting from 0 when the upper limit is reached Count of packets sent from power-up, 0, 1, 2......65535, 0, 1...... The decimal part of the NTP64 format timestamp, which can be synchronized with the time- 16 4 Timestamp, NTP64 format, stamp server. Unsynchronized fractional part indicates the time from the start of the main program; syn- chronized indicates the time from 1900-01-01 00:00:00 The integer part of the NTP64 format timestamp, which can be synchronized with the time- 20 4 Timestamp, NTP64 format, stamp server. Unsynchronized integer part indicates the time from the start of the main program; syn- chronized indicates the time from 1900-01-01 00:00:00 LiDAR real-time rotational speed. The highest bit indi- 24 2 Bit[14:0]: Rotational Speed, Unit: 0.01Hz; Bit 15: Rotation direction (0: Clockwise, 1: Counterclockwise) cates the direction of rotation: 0 represents clockwise, 1 represents counterclockwise; the value of the lower 15 bits indicates the rotational speed, the unit RPM (revolutions per min- ute) and Hz relationship: RPM = Hz × 60 12 LGS-N25 DEFINITION OF HEADER OFFSET 26 28 30 32 36 38 40 42 44 LENGTH DESCRIPTION REMARK Indicates the number of angles in the range of 360 degrees, Points included in 360 ° for which is used to calculate the 2 calculating horizontal angu- angular resolution. lar resolution For example: 1600 means the angular resolution is 360/ 1600=0.225° 2 Input Input IO state, Bit[3:0] corresponds to Input3~0 2 Output Output IO status, Bit[3:0] corresponds to Output3~0 4 System Status 0 indicates normal operation, and each Bit indicates a state. Bit31:Not ready, Bit0:Motor fault, Bit1:Voltage, Bit2:Temperature, Bit3:Measurement system Scan the starting point serial number, convert the angle: serial number × the above cal- 2 Scan start point serial num- culation of the angular resolu- ber, starting from 0 tion, such as the angular resolution calculated after get- ting 0.25, serial number value of 400 × 0.25 = 100 ° Scan the last point serial num- ber, convert the angle: serial number × the angular resolu- 2 Scan end point serial num- tion calculated above, such as ber, starting from 0 the angular resolution calcu- lated after getting 0.25, serial number value of 1000 × 0.25 = 250 ° This package starting point serial number, conversion angle: serial number × the The starting point serial above calculation of the angu- 2 number of this package lar resolution, such as the start from 0.0 represents 0° angular resolution calculation to get 0.25 after the serial number value of 400 × 0.25 = 100 ° 2 Number of measurement The number of points contained points in this package N in this packet. 4 Reserved USER MANUAL 13 DATA PACKET FORMAT DEFINITION OF BLOCK The length of data block is 720 bytes and contains: · 2 bytes related to distance · 2 bytes related to the signal strength for the 180 points acquired in each packet. OFFSET LENGTH DESCRIPTION REMARK The distance reading, together Distance reading 0, with the distance ratio, calcu- unsigned integer which is, lates the measured distance. "the value of the reading × Measured distance = distance 0 2 the distance ratio of the reading × distance ratio in the package head" to get the package head. Example: read- measurement distance ing 100, proportion 1, the mea- (unit: mm) sured distance is 100 × 1 = 100 mm 2 2 Signal strength reading 0, unsigned integer The distance reading, together 4 2 Distance reading1, unsigned integer which is, "the value of the reading × the distance ratio of the package head" to get the measurement distance (unit: mm) with the distance ratio, calculates the measured distance. Measured distance = distance reading × distance ratio in the package head. Example: reading 100, proportion 1, the measured distance is 100 × 1 = 100 mm 6 2 Signal strength reading 1, unsigned integer DATA CONVERSION Angle calculation The calculation of the LGS-N25 angle is shown in the following example. 1. The 27th/28th byte of the header file converts the points contained in 360° to calculate the horizontal angular resolution. For example: 1440 means the angle resolution is 360/1440=0.25°. 2. Conversion angle: serial number × the angle resolution calculated above, for example, the serial number value is 400 × 0.25 = 100 °. 14 LGS-N25 Distance calculation DATA CONVERSION The distance calculation for LGS-N25 is shown in the following example. 1. Obtain distance value: 0x11 & 0x12 2. Byte High-Low Swap: 0x12 & 0x11 3. Combine to unsigned hexadecimal number: 0x1211 4. Convert to decimal numbers: 4625 5. Multiply the distance ratio: Assume a distance ratio of 1mm 6. Result: 4625 mm Calculation of signal strength The signal strength of LGS-N25 is calculated as shown in the following example. 1. Obtain signal strength values: 0x11 & 0x12 2. Byte High-Low Swap: 0x12 & 0x11 3. Combined into unsigned hexadecimal numbers. 0x1211 4. Convert to decimal numbers: 4625 5. Result: 4625 USER MANUAL 15 CHAPTER 6 PARAMETER CONFIGURATION Type the device's IP on a web browser to enter in the LiDAR configuration windows (see figure below): CONFIGURATION THROUGH LGS VIEW PC SOFTWARE NOTE If you upgrade or downgrade the LGS View app, first uninstall the current version through the Windows Control Panel (Control Panel\Programs\Programs and Features). 16 LGS-N25 CONFIGURATION THROUGH LGS VIEW PC SOFTWARE The LGS View software interface is shown below. Figure 1 - Sample of PC software interface NOTE The PC software interface may change due to product update. NOTE If Windows Firewall is active on the configuration PC, a pop-up window will appear. Follow the procedure described in "LGS View: Windows Firewall" on page 18. Operating environment The required environment for the software to run is as follows: · OS: Windows 10 and above · .NET Framework: 4.5.2 · Pcap: wpcap runtime Network environment The default factory static IP for LiDAR is as follows: · LiDAR IP: 192.168.1.100 · Net mask: 255.255.255.0 The following static IP must be configured on the PC: · Host IP: 192.168.1.10 · Net mask: 255.255.255.0 USER MANUAL 17 PARAMETER CONFIGURATION LGS View: Windows Firewall If Windows Firewall is active on the configuration PC, a pop-up window will appear. NOTE If no firewall window appears, but an "Unable to connect" message is still shown, it may be due to the antivirus firewall installed on you PC. Do not close the pop-up window before allowing access to both private and public networks of the PC to communicate and exchange data with the device through the Ethernet port. If you close the pop-up window before confirming the Firewall authorization, go to Control Panel > System and Security > Windows Defender Firewall > Allowed apps, and click on "Change settings". 18 LGS-N25 CONFIGURATION THROUGH LGS VIEW PC SOFTWARE Scroll down the list and check the boxes on the lgsview.exe row as shown in the figure below, then click OK. The Firewall is now disabled on LGS View. Using LGS View Menu icons The menu icons have the following functions: Capture file: read a previously saved .pcap file containing a scanner measure data. Alternatively, go to File > Open > Capture File. Select Sensor: select and connect a scanner to read its measure data in real time. Alternatively, go to File > Open > Select Sensor. Color Coding: change the color coding representing the intensity value for each point being displayed. The software will provide scheme level graphics in the Color directory that loads the root at initialization. The graphic size is 256*23;*.bmp (24 bit). USER MANUAL 19 PARAMETER CONFIGURATION Record: record a sequence of measure data and save it on a .pcap file. LeftRight: Change the display of the target from the LiDAR. After the button is pressed, the target displayed to the right of the GUI will be displayed to the left. UpDown: Change the display of the target from the LiDAR. After the button is pressed, the target displayed at the bottom of the GUI will be displayed at the top. To zoom in and out, use the mouse wheel (or two fingers in the case of a touchpad). To center/decenter the measurement images, hold down the right mouse button and move the cursor. Basic measurement Go to Tool > ShowTest. The purpose of LGS View is to monitor in real time the cloud of points generated by LGS-N25 inside a system of coordinates. The ShowTest function can be used to measure the angle (°), distance (mm) and intensity of each point. 20 LGS-N25 CONFIGURATION THROUGH LGS VIEW PC SOFTWARE Angles start from 0° in the point behind the LiDAR and go on clockwise up to 360°: Angle 0° == 360° Angle 0° == 180° Angle 0° == 270° USER MANUAL 21 PARAMETER CONFIGURATION To set an offset angle, go to the configuration page (see "Configuration through LGS View PC software" on page 16). The offset angle is added to the actual angle of each point, causing a clockwise rotation of a cloud of points: Offset = 0° Offset = 45° Offset = 90° Reset the LiDAR The ResetConfig software program can be used to restore the following settings to factory configuration: · IP: 192.168.1.100 · Host: 192.168.1.100:2368 From the LGS View software program go to Tool > ResetConfig or launch the ResetConfig software program. The following window is displayed. Click on the Reset(S) button to restore settings to factory configuration. Figure 2 - ResetConfig software program 22 LGS-N25 CONFIGURATION THROUGH LGS VIEW PC SOFTWARE Firmware upgrade Going to Tool > LidarUpgrade opens the firmware upgrade module: To upgrade the firmware, follow the procedure below: 1. Click on the gray box to the right and select the .ldrup firmware file (or drag it to the specified area). NOTE Check the "Continuous mode" box to automatically upgrade the firmware on each device that will be consecutively connected to the computer. 2. Click on the Upgrade button. 3. Power cycle the device while keeping LGS View connected. The progress bar will fill up. 4. Open the LiDAR configuration web page and check that the firmware has been upgraded. USER MANUAL 23 PARAMETER CONFIGURATION 24 LGS-N25 CHAPTER 7 TECHNICAL PARAMETERS GENERAL SPECIFICATIONS Wavelength Laser class Channel Scanning angle Scanning rate Ambient light limit Light spot divergence angle Horizontal plane 905 ± 20 nm Class 1 1 360° 10,15, 25 Hz >80000 LUX @ sunlight 4(H); 0.3(V) mrad <= 0,8° Interface type Protocol INTERFACE IEEE 802.3u 100Mbps Ethernet UDP TCP/IP ELECTRICAL SPECIFICATIONS Operation voltage Power consumption (25°C) Power connector Communication Interface 9 to 30 VDC < 5W @15Hz 4pin, M12x1 Connector Standard 4pin, M12x1 socket D-coded Absolute accuracy Repeat accuracy Angle resolution Working distance (based on reflectivity) MEASUREMENT PARAMETERS <± 30 (0.4~25m) <= 20 (0.4~25m) 0.25° @ 10 Hz / 0.5° @ 15 Hz / 1° @ 25 Hz 0.1~5m @ 3,5% 0.1~10m @ 10% 0.1~25m @ 80% 0.1~25m @ High Reflection USER MANUAL 25 TECHNICAL PARAMETERS MEASUREMENT PARAMETERS Resolution of output distance Point cloud density Signal intensity 1 mm 14.4K@10Hz, 10.8K@15Hz, 9K@25Hz 0-20000 Operating temperature Storage temperature Relative humidity AMBIENT CONDITIONS -10 to +60 °C -20 to +70 °C < 95% (No Condensation) Housing width Housing length Housing height Degree of protection Material Mass MECHANICAL SPECIFICATIONS 65 mm 65 mm 70 mm IP67 Body and cap: aluminum Window: polycarbonate Panel and LED cover: polycarbonate and ABS < 500 g COMPLIANCE AND CERTIFICATIONS Vibration Shock EMC Laser safety ROHS Safety requirements IEC 60068-2-6:2007 IEC 60068-2-27:2008 IEC 61000-6-2:2016-08 / IEC 61000-6-3:2006-07 IEC 60825-1 UL61010-1 LED indicator Operation indicator Function indicator INDICATORS RGB*2 Color Green LED: Power ON Red LED: LiDAR fault Basic software SOFTWARE Datasensing LGS View OS required: Windows 10 and above 26 LGS-N25 CHAPTER 8 CABLES AND ACCESSORIES CABLES MODEL CS-A1-02-U-03 CS-A1-02-U-05 POWER CABLE CS-A1-02-U-10 CS-A1-02-U-15 CS-A1-02-U-25 CAB-ETH-M01 M12-IP67 ETHERNET CAB. (1M) CAB-ETH-M03 M12-IP67 ETHERNET ETHERNET CAB. (3M) TO HOST CABLES CAB-ETH-M05 M12-IP67 ETHERNET CAB. (5M) CAB-ETH-M10 M12-IP67 ETHERNET CAB. (10M) 1ST END 4 pin female 4 pin male 2ND END free wires RJ45 LENGTH 3 m 5 m 10 m 15 m 25 m 1 m 3 m 5 m 10 m CODE 95ASE1120 95ASE1130 95ASE1140 95ASE1150 95ASE1160 93A051346 93A051347 93A051348 93A051391 ACCESSORIES MAINTENANCE ACCESSORIES DESCRIPTION Liquid cleaner in spray bottle (1 lt) Cleaning cloth (22 cm x 22 cm), 100 pcs MODEL SLS-CLEANER SLS-CLOTH ORDER NO. 95ASE2990 95ASE3000 USER MANUAL 27 CHAPTER 9 TROUBLESHOOTING PROBLEM LiDAR fails to scan LiDAR scan produces no data SOLUTION · Check power connection · Check whether voltage meets 9 to 30 VDC If failure persists, contact Datasensing Technical Support. · Check net connection · Check the IP setting of the data receiver · Try to use a third-party data capture tool to check whether data can be obtained normally · Check if only one LiDAR software is started · Verify that the firewall on the receiving end of the data is turned off, or that there is no other security software or process blocking data transmission. If failure persists, contact Datasensing Technical Support. 28 LGS-N25 APPENDIX A DATA PACKET USER MANUAL 29 APPENDIX B MECHANICAL DIMENSIONS 30 LGS-N25 APPENDIX C RECOMMENDATIONS FOR MECHANICAL INSTALLATION 1. Protect the product respect to high shock and vibration source. 2. Do not expose it to any direct sunlight (windows, skylights) or any other heat source in order to keep the temperature as the standard profile 3. It is recommended that the installation base used to fix the LiDAR be as flat as pos- sible without any unevenness. 4. The positioning posts on the installation base should strictly follow the depth of the positioning posts at the bottom of the LiDAR. The height of the positioning posts should not be higher than 4mm. The material of the mounting base is recommended to be aluminum alloy or similar metallic material. 5. When installing the LiDAR, if there are contact mounting surfaces above and below the LiDAR, please ensure that the distance between the mounting surfaces is greater than the height of the LiDAR to avoid damaging to his parts. 6. When installing and wiring the LiDAR, do not pull excessively the wires and keep it a bit loose. 7. In order to avoid any impact on measurement accuracy due to mutual interference between LiDARs, we recommend installation as shown below Figure 1 Multiple liDARs on the same plane to prevent optical path crosstalk USER MANUAL 31 RECOMMENDATIONS FOR MECHANICAL INSTALLATION Figure 2 Multiple liDARs forward placement Figure 3 Multiple liDARs window covers placed opposite each other Figure 4 Multiple liDARs bottoms placed opposite each other Emitter center Receiver center Figure 5 LGS-N25 light output position and receiving position 32 LGS-N25 60 42 32 70 APPENDIX D CLEANING OF SENSORS In order to accurately sense the surrounding environment, LGS-N25 needs to be kept clean, especially the ring-shaped optical window. Precautions Please read the contents of this Appendix D carefully and completely before cleaning LGS-N25 liDAR otherwise improper operation may damage the equipment. Required materials 1. Clean fiber cloth - ref. maintenance accessory "SLS-CLOTH" 95ASE3000 2. Spray filled with clean water 3. Anti-static alcohol free solution - ref. maintenance accessory "SLS-CLEANER" 95ASE2990 4. Clean gloves Cleaning method If there is only some dust adhered to the surface of the radar, you can directly use the clean fiber cloth 95ASE3000 with a small amount of anti-static alcohol free solution 95ASE2990 to gently wipe the surface of the window LiDAR, and then wipe it dry with a dry and clean fiber cloth. If the surface of liDAR's optical window is stained with lumps of foreign matter such as mud, clean water should first be sprayed on the surface of the dirty parts to remove the mud and other foreign matter. CAUTION Do not wipe off the mud directly with a fiber cloth, as this may scratch the surface irreparably). If the first operation result not effective, secondly, spray warm water, with eventually mild soap, on the dirty area. The lubricating effect of soapy water can accelerate the removal of foreign matter. Gently try to wipe the surface of the liDAR with the fiber cloth again, but be careful not to scratch the window surface. Finally, clean the soap residue on the liDAR surface with clean water (if there is still residue on the surface clean it again with anti-static alcohol free solution), and wipe it dry with a dry microfiber cloth USER MANUAL 33