Lightware LW24 LiDAR Manuel utilisateur
LW24 LiDAR sensor
MicroLiDAR for obstacle detection
Disclaimer
Information found in this document is used entirely at the reader’s own risk and whilst every effort has been made to ensure
its validity, neither LightWare Optoelectronics (Pty) Ltd nor its representatives make any warranties with respect to the
accuracy of the information contained herein.
LW24/C/SI microLiDAR™ sensor - Product guide |Version 0|03 March 2022 Page 1of 36
Table of contents
Overview 5
Product support 5
Specifications 5
Quickstart guide 6
Package contents 11
The LW24/C box includes: 11
Dimensions 12
Components 12
Optical assembly 12
Heatsink & EMI shield 13
Connectors & indicators 14
Communication cable pinout 14
Installation 14
Mounting 14
Operating concepts 16
Distance measuring 16
Serial port baud rate 17
Startup mode 17
I2C address 17
I2C bus speed 17
Update rate 17
Zero distance offset 17
Lost signal threshold 17
Enable median filter 18
Median filter size 18
Enable rolling average filter 18
Rolling average size 18
Enable smoothing filter 18
Smoothing filter strength 18
Firmware change log 18
Upgrading firmware 18
Safety & maintenance 18
Safety overview 18
Laser eye safety 19
Electrical safety 19
Mechanical safety 20
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Service & maintenance 20
Cleaning 20
Serial interface 20
Packets 21
Checksum 22
C/C++ 22
JavaScript 22
Receiving packets 23
Handling request & response 24
I2C interface 24
Overview 24
Command list 26
Command descriptions 27
0. Product name 27
1. Hardware version 27
2. Firmware version 27
3. Serial number 28
7. UTF8 text message 28
9. User data 28
10. Token 28
12. Save parameters 28
14. Reset 28
16. Stage firmware 29
17. Commit firmware 29
27. Distance output 30
30. Stream 30
44. Distance data in cm 31
45. Distance data in mm 31
50. Laser firing 32
57. Temperature 32
66. Update rate 32
74. Noise 33
75. Zero offset 33
76. Lost signal counter 33
79. Baud rate 33
80. I2C address 34
82. Median filter enable 34
83. Median filter size 34
84. Smoothing filter enable 34
85. Smoothing factor 35
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Overview
The LW24/C is an IP67 LiDAR sensor designed for applications where communication interfaces Serial and I2C or RS232
are required. The LW24/C LiDAR sensor uses a time-of-flight system to make very fast, accurate distance and speed
measurements. The LW24/C LiDAR is effective in most weather conditions, even in direct sunlight. The LW24/C is
virtually immune to background light, wind, and noise, making it an ideal sensor to detect unexpected obstacles.
The LW24/C can take up to 388 readings per second and the configurable features and multiple hardware interfaces
make the LW24/C easy to connect with different types of controllers.
Product support
This document supports the following devices:
Product
Hardware
Firmware
Supported
LW24/C/SI
1
2.0.0
Yes
Revision
Date
Notes
0
01/01/2022
Initial release
Specifications
Performance
Range
0.2 … 100 m / 0.6 … 328 ft (white wall in daylight conditions)
Update rate
48 … 388 readings per second
Resolution
1 cm / 0.033 ft
Accuracy
±10 cm / ±0.33 ft
Connections
Power supply voltage
4.5 V … 5.5 V
Power supply current
55 mA typical
Outputs & interfaces
Serial and I2C (3.3 V TTL, 5V tolerant)
Form Factor
Dimensions
35 mm x 47 mm x 38 mm / 1.4” x 1.85” x 1.5”
Weight
28.7 g / 1.01oz (excluding cables)
Enclosure rating
IP67
Optical
Approvals
FDA: 1710193-000 (2020/09)
Laser safety
Class 1M (refer to www. lightware.co.za/safety for full details)
Optical aperture
10 mm
Beam divergence
< 0.5°
Environmental
Operating temperature
-10 ... + 50°C / 14 … 122 °F
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Shipping temperature
- 40 … + 80 °C / - 40 … +176 °F
Accessories
Main cable
Tensility International Corp Straight 4 position female to wire, 1.83 m (DigiKey:
839-1553-ND)
Optional
Tensility International Corp Right-angled 4 position female to wire, 1.83 m (DigiKey:
839-10-03635-ND)
Default settings
Serial port settings
115200 baud, 8 data bits, 1 stop bit, no parity, no handshaking
I2C address
0x66 (Hex), 102 (Dec)
Update rate
48 readings per second
Quickstart guide
LightWare Studio is an application (available for Windows, macOS, and Linux) that can configure, update, and visualize
data for the LW24/C.
In this guide we will use LightWare Studio to view distance data from the LW24/C.
LightWare Studio can be found here. Download the version compatible with your operating system and proceed with
installation. You can safely install over an existing version of LightWare Studio if you are upgrading.
Insert the communication cable into the LW24/C and a serial to USB adaptor.
You will need a serial to USB adaptor to connect the LW24/C to a computer. Any serial TTL 3.3 V USB adaptor will work,
this guide uses one available from LightWare LLChere.
LW24/C being connected to a cable
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Windows users: Please wait for Windows to install the generic communication driver after connecting the LW24/C for
the first time.
Run LightWare Studio. You will be presented with a home screen that shows devices connected to your computer. Your
USB adaptor will be recognized and displayed here.
LightWare Studio device connection screen
You can register your device by clicking on the Register to receive firmware update notifications banner.
Click on the USB adaptor to establish a connection. From here you can access tools to inspect and configure the
LW24/C.
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LightWare Studio device information screen
Click on the Upgrade tool in the left panel. It is recommended to make sure your LW24/C has the latest firmware. You
can see the changes that have been made to each version, and the option of downgrading is also available. If you
choose to upgrade, then click the Install button and follow the instructions.
LightWare Studio device upgrade screen.
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Click the Distance tool in the left panel. This tool shows you distance readings gathered by the LW24/C. Feel free to
point the LW24/C at various surfaces to measure their distances.
LightWare Studio LW24/C scanning screen.
Parameters are shown in the panel on the top right of theLightWare Studiowindow. Modify these parameters to fit
your application.
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LightWare Studio LW24/C scanning parameters.
For a detailed breakdown on what the parameters do and how they affect the operation of the LW24/C, see
theoperating conceptssection.
What's next?
The next step is to integrate the LW24/C into your platform of choice. Please follow one of the integration guides, or
consult the communication protocol reference for building your own system to interact with the LW24/C.
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Table des matières
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