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-|Transparent Guide|-
-|Transparent Guide|-
Filter
Filters: Fog, Particle can be applied duplicated depending on the surrounding
environment and detection object.
In case of multiple filters applied, 1. Fog filter 2. Particle filter is applied in order.
• When a filter is applied, the output cannot be reverted to the original scan data.
■ Fog filter
Reduces the laser reception sensitivity to avoid detecting fog, rain, and snow to
prevent obstacle detection errors.
• Default: 3
• Setting range
SV
0
1
2
3
4
5
6
Max. detection distance [cm]
01)
400
370
350
320
300
270
250
01) At object reflectivity: 5 %
■ Particle filter
It uses continuous scan data to block the measurement of fine objects such as static
objects or dust when detecting backgrounds.
• Default: 5
• Setting range
SV
1
2
3
4
5
Level
OFF
Low
<
<<
High
Function
It is set in the LiDAR sensor management software atLiDAR.
For more information, refer to the atLiDAR software manual.
■ Output
Set the output type between obstacle detection output (OUT 1) and error status
output (OUT 2).
Obstacle detection output (OUT1) Error status output (OUT2)
01)
Normally open
Normally open (default)
Normally closed
Normally closed
Normally open
Normally closed
01) In case of Pulse of OUT2 (error status output) as ON,
it repeats open-close operation for 1 sec at the normal operation and it closes at error status.
■ Field output activation
Set the relay output ON/OFF when detecting an obstacle.
• Default: ON
• Setting range: ON / OFF
■ Anti-Masking error
An anti-masking error occurs when obstacle detection is not possible due to a foreign
object on the front window of the device.
• Default: ON
• Error occurrence condition
- Anti-masking error occurs when an object is detected within about 15 cm from the
front window for more than 3 seconds
• Error clearing condition
- Anti-masking error is cleared when no object is detected within about 15 cm from
the front window for more than 5 seconds
■ Background error
When the initial set reference distance of background teaching data is changed,
background error occurs.
• Default: ON
• Error occurrence condition
- If the reference distance value is changed by 60 cm or more for about 3 seconds
or more at one of the initial background teaching values (the reference distance
of the scan angle 0 / 45 / 90 °), it is determined that the position of the device has
changed and a background error occurs.
• Error clearing condition
- If the reference distance data is within 'reference distance data during te
about 30 cm' for longer than about 5 seconds, the background error is cleared.
■ Sensor position
Set the actual installed device position: view (top or bottom) and installation (left,
right, or center).
SV
View
Position
Top
Left
Center
Right (default)
Bottom
Left
Center
Right
■ Concentrated monitoring zone: W (width) × H (height)
Set the unnecessary area to exclude from the monitoring zone.
• Default: W 0 m × H 0 m
• Setting range [m]: Each of W, H 0, 0.1, 0.2, 0.3
Monitoring zone
width (W)
Monitoring
zone height (H)
Concentrated monitoring
zone height (H)
Concentrated
monitoring zone
Concentrated
monitoring
zone width (W)
■ Monitoring zone: W (width) × H (height)
By setting the width and height, the monitoring zone of the rectangle can be set.
• Default: W 4.500 m × H 1.700 m
• Setting range: W 0.001 m × H 0.001 m ~ W 5.600 m × H 5.600 m
■ Teaching
The ability to pre-train field.
Objects whithin the monitoring zone are not detected while teaching.
• Re-teach when the environment has been changed or objects are added or removed
in same area.
• Operate teaching in the environment free from snow, rain, fog, hail, or mutual
interference of another laser scanner.
• For re-install the unit teaching already at no teaching required area, set the use of
teaching data to OFF.
■
Minimum object size
Set the size of minimum detection object.
Even objects smaller than the set minimum detection object size can be detected
depending on the environment.
• Default: 50 mm
• Setting range [mm]: OFF, 50, 80, 100, 150, 200, 250, 300, 350, 400
■ Monitoring time
If there is an object in the field during the set monitoring time, an obstacle detection
output is ON.
By setting monitoring time longer, the laser scanner scans field repeatedly and scans
obstacles without being affected by snow or rain.
• Default: 100 ms
• Setting range [ms]: 0, 100, 200, 300, 400, 500, 600, 700, 800, 900
■ Visible laser activation
By operating the visible laser, the user can check the area the device is scanning for 30
seconds.
