lti trusense s200

Laser Technology, Inc.

TruSense S200 User’s Manual 2nd Edition

TruSense S200 User’s Manual 2nd Edition Copyright (c) [2011] Laser Technology, Inc. All Rights Reserved. Unauthorized duplication, in whole or in part, is strictly prohibited.

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Table of Contents

Introduction ........................................................................................................................................... 3Basic Package .............................................................................................................................. 3Accessory Items ........................................................................................................................... 3

Safety Precautions ................................................................................................................................ 3

Mounting the TruSense S200 ............................................................................................................... 3

Getting Started ...................................................................................................................................... 3

Configuration ......................................................................................................................................... 4Configuration Settings .................................................................................................................. 5

Measurement Modes .............................................................................................................. 5Weak Targets ........................................................................................................................ 5

Target Selection Modes ................................................................................................................ 6

Serial Communication Protocol ........................................................................................................... 7

Serial Commands .................................................................................................................................. 7Request Only Commands .............................................................................................................. 7

Instrument Identification ........................................................................................................ 7Instrument Serial Number ....................................................................................................... 7Instrument Status .................................................................................................................. 8Instrument Temperature ........................................................................................................ 8High Voltage Settings ............................................................................................................. 8Convert Error Code to Error Message ....................................................................................... 9

Measurement Configuration Commands ......................................................................................... 9Enter User Password .............................................................................................................. 9Change User Password ........................................................................................................... 10Measurement Mode ................................................................................................................ 10Target Mode .......................................................................................................................... 11Long Range Scan Mode .......................................................................................................... 11Number of Pulses Per Measurement ........................................................................................ 12Number of Pulses Per Measurement for Intelligent Long Range Measurement Mode .................... 12Manual Start .......................................................................................................................... 12Remote Trigger ...................................................................................................................... 13Measurement Units ................................................................................................................ 13User Offset for Standard Range Measurement Mode ................................................................. 13User Offset for Extended Range Measurement Mode ................................................................. 14User Offset for Intelligent Long Range Measurement Mode ....................................................... 14


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Instrument Configuration Commands ............................................................................................ 15Display Banner ....................................................................................................................... 15Warm Up Period ..................................................................................................................... 15Time Since Power ON ............................................................................................................. 16Error Code Format ................................................................................................................. 16Power Down and Restart Unit with New Baud Rate ................................................................... 16Reset Factory Default ............................................................................................................. 16RS232 Baud Rate ................................................................................................................... 17Save User Settings ................................................................................................................. 17

Measurement Control Commands .................................................................................................. 18Start Distance Measurement ................................................................................................... 18Stop Distance Measurement .................................................................................................... 18

Measurement Output Messages ..................................................................................................... 19Distance Measurements ................................................................................................................ 19

First Target ............................................................................................................................ 19Strongest Target .................................................................................................................... 19Last Target ............................................................................................................................ 19First, Second, Third Targets .................................................................................................... 19Last 2 (Farthest and Second to Farthest) Targets ..................................................................... 19First, Strongest, Last Targets .................................................................................................. 20First, Second, Third, Strongest, and Last Targets ...................................................................... 20

Error Messages ............................................................................................................................ 20

Reference ............................................................................................................................................... 21Application Examples .................................................................................................................... 21

Tank and Silo Measurement .................................................................................................... 21Industrial Plant Management .................................................................................................. 22Perimeter Detection ............................................................................................................... 22

Frequently Asked Questions .......................................................................................................... 23

Specifications ........................................................................................................................................ 25

Care and Maintenance .......................................................................................................................... 26

Warranty ................................................................................................................................................. 26

Diagrams ................................................................................................................................................ 27Internal Cable .............................................................................................................................. 27External Cable ............................................................................................................................. 28Housed Model Dimensions ............................................................................................................ 29OEM Model Dimensions ................................................................................................................ 30

Additional Information .......................................................................................................................... 31


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Introduction

Basic Package S200 Sensor or S200 OEM Sensor Communication Cable with Flying Leads CDROM (includes the Interface Software and User’s Manual) LTI Limited Warranty

Accessory Items 4" Tank Adaptor with Housing Tilt/Rotate Mounting Bracket Sun Shade DB9 to USB Adaptor Power/Communication Cable

Safety Precautions

• Avoid staring directly at the laser beam for prolonged periods. The TruSense S200 is designed to meet FDA eye safety requirements and is classified as eye safe to FDA (CFR21) Class I 7 mm limits, which means that virtually no hazard is associated with directly viewing the laser output under normal conditions. As with any laser device, however, reasonable precautions should be taken in its operation.

• It is recommended that you avoid staring into the transmit aperture while firing the laser. The use of optical instruments with this product may increase eye hazard.

• Never point the instrument directly at the sun. Exposing the lens system to direct sunlight, even for a brief period, may permanently damage the laser transmitter.

Mounting the TruSense S200

IMPORTANT! When mounting the S200, always use a washer between housing feet and screw head.Do not exceed 5 inch-pounds of torque when securing.

Getting Started

You may choose to get familiar with the sensor performance and configuration in a controlled environment. After unpacking, power on the unit with the supplied cabling and connect the DB9 pin serial connector to a serial I/O device such as a PC. A DB9 to USB adaptor is available from LTI. A ready to use power and communication cable is also available from LTI - see Accessory Items (above).

Connect using either the supplied Interface Software or a terminal emulation program such as Hyperterminal. Defaults=115200 baud rate, no parity, 8 data bits, 1 stop bit, no flow control.


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Configuration

You may choose to use the supplied Interface Software to configure the sensor. A terminal emulation program may also be used. For information about the Serial Communication Protocol see page 7.


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NOTE: External Trigger Enable: This control line has dual functionality. It acts similar to the physical trigger/fire button on a conventional handheld laser rangefinder. In normal operating mode, when this line is forced to an active state (high level) the LRF module will initiate a measurement. Trigger voltage levels are between +3VDC and +12VDC.

Configuration SettingsMeasurement Modes

• Standard: Use if non-reflective target distance is less than 750 meters (2461 feet). Best accuracy.• Extended: Use if non-reflective target distance is as far as 900 meters (2953 feet). Better accuracy.• Intelligent: Use if non-reflective target distance is as far as 1600 meters (5249 feet). Good accuracy.

Weak Targets• Do Not Show Weak Targets: This filter will ignore unwanted weak return signals.• Show Weak Targets If No Strong Target: This filter will output a weak

return signal if a stronger signal is not present. If a strong signal is present, no weak targets will be output.

• Show Weak Targets Always: This filter will always display a weak return signal regardless of the presence of other signals.


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Target Selection Modes• First:

The unit takes a single measurement, transmits the output results and stops. The measurement output represents the distance to the first target the unit sees that is above the minimum detection level.

• Strongest: The unit takes a single measurement, transmits the output results and stops. The measurement output represents the distance to the strongest target the unit sees that is above the minimum detection level.

• Last: Multiple target operating mode. Allows the unit to detect multiple target reflections along the measurement sight line and output the distance to the farthest target it sees. The unit continues to gather target data along the sight line, allowing weaker distant targets to eventually be detected beyond stronger, close-in targets. Example: measuring a distant building while shooting through close-in brush.

• First, Second, Third: Multiple target operating mode. Allows the unit to detect multiple target reflections along the measurement sight line and output the distance to the first three targets it sees.

• Last Two (Farthest, Second to Farthest): Multiple target operating mode. Allows the unit to detect multiple target reflections along the measurement sight line and output the distance to the last two targets it sees.

• First, Strongest, Last: Multiple target operating mode. Allows the unit to detect multiple target reflections along the measurement sight line and output the distance to the first, strongest, and last targets it sees.

• First, Second, Third, Strongest, Last: Multiple target operating mode. Allows the unit to detect multiple target reflections along the measurement sight line and output the distance to the first, second, third, strongest and last target it sees.


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Serial Communication Protocol

• Each command and reply starts with a ‘$’ sign and ends with <CR><LF>.• Default communication parameters: baud rate 115200, no parity, 8 data bits, 1 stop bit, no flow control.• Issuing a mnemonic command without an associated parameter, prompts the S200 to reply with the current

setting of that parameter (examples follow).• Upon applying power, the unit performs an initialization and onboard self test. And then, If the S200 passed the self test and the banner is enabled, the TruSense S200 Banner and READY

message are displayed. If the S200 passed the self test and the banner is not enabled, the TruSense S200 Banner and READY

message are not displayed and the appearance of the terminal window will vary depending upon the terminal program settings.

If the S200 failed the self test, an error message such as $ER,nn<CR><LF> will be displayed. Where 'nn' indicates the type of failure (page 20).

• Two methods for initiating a measurement: Serial command request. Hardware control via the Ext-Trig control signal.

• The time for an individual measurement will vary depending on the target mode, target reflectance and distance. Targets that are closer and more reflective will return a measurement quicker than targets that are farther away and less reflective.

Serial Commands

Request Only CommandsInstrument Identification

Get: $ID<CR><LF>Instrument Reply: $ID,S200-version-build number,build date,*CRC16<CR><LF>

where: $ = message identifierID = mnemonic for firmware version information-version = The version number of the internal firmware-build number = Firmware minor revision sequence numberbuild date = The effective date of the firmware version*CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed

Example Reply: $ID,S200-1.10-5,FEB 23 2010,D13B855E*9A08


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Instrument Serial NumberGet: $SN<CR><LF>Instrument Reply: $SN, DSnnnnnn*CRC16<CR><LF>

where: $ = message identifierSN = mnemonic for Serial NumberDSnnnnnn = instrument serial number*CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed

Example Reply: $SN,DS000001*4C58<CR><LF>

Instrument StatusGet: $IS<CR><LF>Instrument Reply: $IS,run flag,system error status,password status*CRC16<CR><LF>

where: $ = message identifierIS = mnemonic for Instrument Statusrun flag = laser status

0 = laser is not firing1 = laser is firing

system error status = system status0= normal operationError code. See page 20.

password status = password status0 = Password is not active:

User Commands that require password areprohibited and will result in an error.

1 or 2 = Password is active:All user commands are allowed.

All other values: Contact LTI for more information.*CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed

Example Reply: $IS,0,0,0*BCF4<CR><LF>

Instrument TemperatureGet: $OZ<CR><LF>Instrument Reply: $OZ,n*CRC16<CR><LF>

where: $ = message identifierOZ = mnemonic for Instrument Temperaturen = the instrument temperature (degrees Celsius)*CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed

Example Reply: $OZ,31.8*0161<CR><LF> The temperature on the board is 31.8 Celsius.


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High Voltage SettingsGet: $HV<CR><LF>Instrument Reply: $HV,t,n,f,d*CRC16<CR><LF>

where: $ = message identifierHV = mnemonic for Instrument Temperaturet = HV delay timen = Maximum delayf = PWM frequencyd = PWM duty*CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed

Example Reply: $HV,0,1,55000Hz,75%*5FBB

In this example, the unit is running 55 KHz PWM frequency with 75% duty cycle for APD biashigh voltage logic. There is no delay on HV logic, but it reports 1 cycle delayed in the past.

Note: Error count is valid if from 0 to 20. If error count is higher than a threshold, an error 68will be generated.

Convert Error Code to Error MessageGet: $CL,nn<CR><LF>Instrument Reply: $ER,n,message*CRC16<CR><LF>

where: $ = message identifierCL = mnemonic for Convert Error Code to Error Messagen = the error codemessage = the error message*CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed

Example:Input: $CL,52<CR><LF>Reply: $ER,52,TOO COLD*53B4<CR><LF>


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Measurement Configuration CommandsEnter User Password

The password is required to change user settings, such as measurement mode, target mode, baud rate, or change user password.

Input: $PW,password<CR><LF> Instrument Reply: see below

where: $ = message identifierPW = mnemonic for Enter Passwordpassword = factory default = admin

*CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed

Example:

Input: $PW, admin<CR><LF>Reply: Correct Password: $OK*0774<CR><LF>

Incorrect Password: $ER,24*0908<CR><LF> or $ER,24,INCORRECT PASSWORD*659C

Change User PasswordNote: To change the password, the User Password must be active (see above). Changing the password requires verification, so new password must be entered twice as shown in the example below.

Input: $PS,password<CR><LF> Instrument Reply: see below

where: $ = message identifierPS = mnemonic for Change Passwordpassword = new password

Limitation: no non-printable charactersExamples: tab, back space, delete


Example:

Input: $PS,example<CR><LF> Reply: $OK,PS AGAIN*7774Input: $PS,example<CR><LF> Reply: $OK*0774Input: $SU<CR><LF> **This command saves new password to flash memory (page 17). Reply: $OK*0774


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Measurement ModeNote: To change the Measurement Mode, the User Password must be active (page 10).

Set: $MM,mm<CR><LF> Instrument Reply: $MM,mm*CRC16<CR><LF>

Get: $MM<CR><LF> Instrument Reply: $MM,mm*CRC16<CR><LF>

where: $ = message identifierMM = mnemonic for Measurement Modemm = measurement mode

0 = Standard Range:Up to 750 meters. Maximum Accuracy

1 = Extended Range:Up to 1,500 meters

2 = Intelligent Long Range:Up to 2,900 meters


Example: $MM,1<CR><LF> Sets Measurement Mode to Extended Range.

Target ModeNote: To change the Target Mode, the User Password must be active (page 10). See page 19 for information about Measurement Output Format.

Set: $DM,dm<CR><LF> Instrument Reply: $DM,dm*CRC16<CR><LF>

Get: $DM<CR><LF> Instrument Reply: $DM,dm*CRC16<CR><LF>

where: $ = message identifierDM = mnemonic for Display Modedm = target mode

2 = First Target 3 = Strongest Target 4 = Last Target 5 = First, Second, Third Targets6 = Last 2 (Farthest and Second to Farthest) Targets7 = First, Strongest, Last Targets8 = First, Second, Third, Strongest, Last Targets


Example: $DM,3<CR><LF> Sets Target Mode to Strongest Target.


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Long Range Scan ModeSet: $LS,ls<CR><LF> Instrument Reply: $LS,ls*CRC16<CR><LF>

Get: $LS<CR><LF> Instrument Reply: $LS,ls*CRC16<CR><LF> where: $ = message identifier

LS = mnemonic for Long Range Scan Models = long range scan mode:

0 = Do not report weaker targets.1 = Report weaker targets only if no strong target.2 = Always report weaker targets.


Example: $MM,1<CR><LF> Sets Measurement Mode to Extended Range.

Number of Pulses Per MeasurementThis command applies to the Standard and Extended Range Measurement Modes.The $OL command applies to the Intelligent Long Range Mode.

Set: $OP,iteration<CR><LF> Instrument Reply: $OP,iteration*CRC16<CR><LF>

Get: $OP<CR><LF> Instrument Reply: $OP,iteration*CRC16<CR><LF> where: $ = message identifier

OP = mnemonic for Output Precisioniteration = Each iteration = 14-pulse block.

Valid Range: 16 to 260 (LTI recommends using 16).When iteration = 16, output rate = 12 Hz.

=260, output rate = 1 HzOutput Rate = 4000/(14 x n + 100)


Example: $OP,16<CR><LF> Sets Output Precision to 16 iterations.

Number of Pulses Per Measurement for Intelligent Long Range Measurement ModeThis command applies to the Intelligent Long Range Mode.The $OP command applies to the Standard and Extended Range Measurement Modes.

Set: $OL,iternation<CR><LF> Instrument Reply: $OL,iternation*CRC16<CR><LF>

Get: $OL<CR><LF> Instrument Reply: $OL,iternation*CRC16<CR><LF> where: $ = message identifier

OL = mnemonic for Intelligent Long Range Output Precisioniteration = Each iteration = 14-pulse block.

Valid Range: 16 to 4000 (LTI recommends using 336 or higher).**CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed

Example: $OL,336<CR><LF> Sets Intelligent Long Range Output Precision to 336 iterations.


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Manual StartThis command determines the status of the laser after the unit is powered ON and initialized.

Set: $MA,ma<CR><LF> Instrument Reply: $MA,ma*CRC16<CR><LF>

Get: $MA<CR><LF> Instrument Reply: $MA,ma*CRC16<CR><LF>

where: $ = message identifierMA = mnemonic for Manual Startma = Manual Start status

0 = Manual Start is active: Enter $GO command to fire laser (page 18).

2 = Automatic Start is active: Laser starts to fire immediately after power ON and initialization.


Example: $MA,2<CR><LF> Sets Manual Start Mode to active.

Remote TriggerNote: When the Remote Trigger Mode is enabled, the $GO and $ST commands may not work when there is a conflict with the remote trigger.

Set: $TG,tg<CR><LF> Instrument Reply: $TG,tg*CRC16<CR><LF>

Get: $TG<CR><LF> Instrument Reply: $TG,tg*CRC16<CR><LF>

where: $ = message identifierTG = mnemonic for Remote Triggertg = Manual Start status

0 = Remote Trigger is not active: Enter $GO command to fire laser (page 18).

non-zero= Remote Trigger is active:*CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed

Example: $TG,1<CR><LF> Enables the Remote Trigger Mode.

Measurement UnitsNote: To change the Measurement Units, the User Password must be active (page 10).

Set: $MU,u<CR><LF> Instrument Reply: $MU,u*CRC16<CR><LF>

Get: $MU<CR><LF> Instrument Reply: $MU,u*CRC16<CR><LF>

where: $ = message identifierMU = mnemonic for Measurement Unitsu = measurement units

0 or m = meters1 or f = feet2 or n = nautical miles (knots)


Example: $MU,0<CR><LF> Sets measurement units to feet.


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User Offset for Standard Range Measurement ModeNote: This mnemonic is the letter O followed by the number 0.

Set: $O0,n<CR><LF> Instrument Reply: $O0,n,cm*CRC16<CR><LF>

Get: $O0<CR><LF> Instrument Reply: $O0,n,cm*CRC16<CR><LF> where: $ = message identifier

O0 = mnemonic for User Offset for Standard Range Measurement Moden = the value of the user offsetcm = distance unit of the user offset (centimeters)*CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed

Example: $O0,5<CR><LF> Sets the User Offset for theStandard Range Measurement Mode to 5 cm.

User Offset for Extended Range Measurement ModeNote: This mnemonic is the letter O followed by the number 1.

Set: $O1,n<CR><LF> Instrument Reply: $O1,n,cm*CRC16<CR><LF>

Get: $O1<CR><LF> Instrument Reply: $O1,n,cm*CRC16<CR><LF> where: $ = message identifier

O1 = mnemonic for User Offset for Extended Range Measurement Moden = the value of the user offsetcm = distance unit of the user offset (centimeters)*CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed

Example: $O1,5<CR><LF> Sets the User Offset for theExtended Range Measurement Mode to 5 cm.

User Offset for Intelligent Long Range Measurement ModeNote: This mnemonic is the letter O followed by the letter B.

Set: $OB,n<CR><LF> Instrument Reply: $OB,n,cm*CRC16<CR><LF>

Get: $OB<CR><LF> Instrument Reply: $OB,n,cm*CRC16<CR><LF> where: $ = message identifier

O1 = mnemonic for User Offset for Intelligent Long Range Measurement Mode

n = the value of the user offsetcm = distance unit of the user offset (centimeters)*CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed

Example: $OB,5<CR><LF> Sets the User Offset for theIntelligent Long Range Measurement Mode to 5 cm.


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Instrument Configuration CommandsDisplay Banner

When the Banner is enabled, as long as no errors are encountered, the following message is displayed when the unit is powered ON:

TruSense S200-1.10 SR[1K/4K] [CP-WR-UP](c) 2009-2010 Laser Technology Inc. All rights reserved.$READY

If the Banner is disabled and an error is encountered when the unit is powered ON, the appropriate error code will be displayed (page 20).

Set: $DB,n<CR><LF> Instrument Reply: $DB,n*CRC16<CR><LF>Get: $DB<CR><LF> Instrument Reply: $DB,n*CRC16<CR><LF>

where: $ = message identifierDB = mnemonic for Display Bannern = display banner status

0 = Banner is disabled1 = Banner is enabled


Example: $DB,0<CR><LF> Disables the Banner

Warm Up PeriodThe Warm Up Period is the number of measurements which will be discarded before the first measurement is displayed. The factory default value is 6. If using the unit outdoors, it is recommended this setting be adjusted according to current conditions.

Set: $WU,n<CR><LF> Instrument Reply: $WU,n*CRC16<CR><LF>

Get: $WU<CR><LF> Instrument Reply: $WU,n*CRC16<CR><LF>

where: $ = message identifierWU = mnemonic for Warm Up Periodn = Number of measurements discarded before the

first measurement displayed.0 = Warm Up Period is disabled.non-zero = Warm Up Period is enabled.

Valid Range: 1 to 99.*CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed

Example: $WU,0<CR><LF> Disables the Warm Up Period.


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Time Since Power ONSet: $DT,n<CR><LF> Instrument Reply: $DT,n*CRC16<CR><LF>Get: $DT<CR><LF> Instrument Reply: $DT,n*CRC16<CR><LF>

where: $ = message identifierDT = mnemonic for Display Time Since Power ONn = Display Time Since Power ON = number of seconds since power ON.

0 = Display Time Since Power ON is disabled(Not part of measurement output)

2 = Display Time Since Power ON is enabled(Part of measurement output)


Example: $DT,0<CR><LF> Disables/Excludes Time Since Power ON.

Error Code FormatSee page 20 for a list of error codes.

Set: $DE,n<CR><LF> Instrument Reply: $DE,n*CRC16<CR><LF>Get: $DE<CR><LF> Instrument Reply: $DE,n*CRC16<CR><LF>

where: $ = message identifierDE = mnemonic for Display Error Coden = display Error Code status

0 = Display Error Code Only4 = Display Error Code with Mnemonic


Example: $DE,0<CR><LF> Sets to display error code only.

Power Down and Restart Unit with New Baud RateSend this command after changing the communication baud rate. The instrument will power down and restart using the new baud rate. If the Display Banner is enabled, the Display Banner (page 15) and Ready message will be displayed when this process is complete.

Set: $PD<CR><LR>

where: $ = message identifierPD = mnemonic for Power Down and Restart<CR> = carriage return<LF> = line feed

Reset Factory DefaultDisplay Banner = on, Time Since Power On = included, Error Code only, set user password to “admin” if user password function has not been removed, external trigger = disabled.

Set: $FD<CR><LR> Instrument Reply: $OK*CRC16

where: $ = message identifierPD = mnemonic for Reset Factory Default*CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed


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RS232 Baud RateTo change the baud rate, the User Password must be active (page 10).

Sets the serial communications data rate. The reply message to this command is sent at the previous baud rate. Use the $PD command (page 16) for immediate effect.

Default value = 115200 baud.

Set: $BA,n<CR><LF> Instrument Reply: $BA,n*CRC16<CR><LF>Get: $BA<CR><LF> Instrument Reply: $BA,n*CRC16<CR><LF>

where: $ = message identifierBA = mnemonic for RS232 Baud Raten = baud rate:

9600192003840057600115200230400


Example: $BA,9600<CR><LF> Sets the RS232 Baud Rate to 9,600

Save User SettingsThis command is used to save settings such as measurement mode, target mode, or new password to flash memory. In this case, the next time the unit is powered ON, the new settings will be active.

If user settings are changed and this command is not issued, the new settings will be active until the unit is powered down. In this case, the next time the unit is powered ON, the previous settings will be active.

Set: $SU<CR><LF> Instrument Reply: $OK*CRC16<CR><LF>

where: $ = message identifierSU = mnemonic for Save User Settings



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Measurement Control CommandsA distance measurement can be initiated by one of two methods: via a serial command request or by hardware control via the Ext-Trig control signal. The exact instrument response to either of these methods will depend upon the current Target Mode (page 11).

Start Distance MeasurementThis command will make the unit respond the same as if the Ext-Trig control signal is activated and held active.

Set: $GO,n<CR><LF> Instrument Reply: $OK*CRC16<CR><LF> Measurement Output Messages (page 19)

where: $ = message identifierGO = mnemonic for Start Distance Measurementn = number of iteration

0 = continuous (must issue $ST command to stop)1 = one measurement2 = two measurements, etc

Note: if number of iteration is omitted, it executessame as previous run.


Stop Distance MeasurementThis command is only effective if the ‘GO’ command has been previously sent to the unit. This command will make the unit respond the same as if the Ext-Trig control signal is deactivated.

Set: $ST<CR><LF> Instrument Reply: $OK*CRC16<CR><LF>

where: $ = message identifierST = mnemonic for Stop Distance Measurement*CRC16 = 16-bit CRC<CR> = carriage return<LF> = line feed


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Measurement Output MessagesWhen a distance measurement is initiated, the unit will always respond with one of two output messages; either the measured range or an error message. The output message will be predicated by one of three actions:

• Completion of a valid measurement.• Deactivation of the Ext-Trig control signal during a measurement.• Reaching the Measurement Timeout limit.

Notes:• If Long Range Scan Mode (page 12) is enabled, processing time may not be uniform.• Time since power on can be omitted using the $DT command (page 16).• The S200 may detect multiple targets. They are normally caused by transparent

materials like windows, a mosquito net, a baseball stadium protection net, a partially occupied targets like a tree, a building roof and rarely by some irregular reflection. However, it may give false targets due to the nature of the laser receiver. Normally, false targets are followed by a strong (cooperative) target.

• The S200 always generates measurement output, even if there is an error condition.

Distance MeasurementsMeasurement output format varies with Target Selection Mode (page 11).

• First• Strongest• Last• First, Second, Third• Last 2 (Farthest and Second to Farthest)• First, Strongest, Last• First, Second, Third, Strongest, Last

First Target$DM,F,distance,distance units,error code,signal strength,time since power on*CRC16<CR><LF>

Example: $DM,F,2.91,M,0,4-544,37.365*813B

Strongest Target$DM,S,distance,distance units,error code,signal strength,time since power on*CRC16<CR><LF>

Example: $DM,S,2.91,M,0,4-529,140.454*03B7

Last Target$DM,L,distance,distance units,error code,signal strength,time since power on*CRC16<CR><LF>

Example: $DM,L,2.50,M,0,4-601,586.889*7327

First, Second, Third Targets$DM,F3,distance 1,distance 2,distance3,distance units,error code,signal strength,

time since power on*CRC16<CR><LF>

Note: If there are less than 3 targets, distance will be replaced with an underscore.

Example: $DM,F3,2.08,-,-,M,0,759.786*7018


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Last 2 (Farthest and Second to Farthest) Targets$DM,L2,distance last,distance 2nd last,distance units,error code,signal strength,



Example: $DM,L2,2.88,-,M,0,802.176*CDBE

First, Strongest, Last Targets$DM,A,distance first,distance strrongest,distance last,distance units,error code,signal strength,


Example: $DM,A,3.08,3.08,3.08,M,0,853.851*B056

First, Second, Third, Strongest, and Last Targets$DM,B,distance first,distance 2nd, distance third,distance strongest,distance last,distance units,error code,

signal strength, time since power on*CRC16<CR><LF>


Example: $DM,B,2.99,-,-,2.99,2.99,M,0,901.044*6BEE

Error Messages

NOTE: If critical errors happen more than 5 times, the S200 will re-boot automatically. Therefore, if unit reboots periodically, contact LTI for service.

Error Code Description

0 Good. No error.

01 No target found.

02 Insufficient data.

07 Light interference. Normally, old fashion jammer, sunshine, lamp, etc.

20 Undefined command.

52 Temperature is cold (-25 degree Celsius). Allow unit to warm up by firing for 30 to 60 seconds.

53 Temperature is too hot (70 degree Celsius). Stop operation.

56 SPAN Error. It gives up to 75cm error. Discard it if 75cm error is critical.

58 ADC Error. It gives up to 5cm error. Discard it if 5cm error is critical.NOTE: If it persists, call LTI for service.

59 RX_CAL Error. It gives up to 5cm error. Discard it if 5cm error is critical.

63 to 67 Memory Error. Call LTI for service.

68 High voltage error: RX or TX boards may be wrong.

71 If this error persists, call LTI for service.

All Others Non critical errors.


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Reference

Application Examples

These examples are not absolute - sensor setup configuration varies depending on ambient conditions, target integrity, distance, constraints, and user requirements.

Tank and Silo MeasurementConsideration: Measure the material depth in the tank or silo past any ambient conditions such as dust.

Summary: In this example the maximum distance to the bottom of the tank is 25 meters so the Standard Measurement Mode will yield the best accuracy. We want to ignore the weak targets and only return one reading - the contents of the silo which is a light color and will return a strong signal. Another concern is the sensor being able to penetrate air-born dust inside of the silo - choose Last Target for this. We also want the unit to begin measuring upon power up - enable Autostart.


Page 22

Industrial Plant ManagementConsideration: Measure container height in clean environment.

Summary: In this example, the distance from the face plate of the sensor to the target is 50 meters so the Standard Measurement Mode will yield the best accuracy. Our measuring environment is very clean with minimal air-born particulates so we simply want to measure to the first target that the sensor sees. We also want the unit to start measuring automatically on power up.

Perimeter DetectionConsideration: Monitor three targets at a range of 2000 feet and include time since power on.

Summary: In this application we would like to monitor a fence line 1,600 meters long. We select the Intelligent Long Range Measurement Mode. We want to monitor all targets that enter our detection field including some which may return a weaker return signal - enable “Show Weak Targets if No Strong Target”. We also want the unit to start measuring automatically on power up and include time since power on.


Page 23

Frequently Asked QuestionsWhat measurement technique is used with the S200?

The S200 uses infrared laser light to measure distance. This invisible light is emitted from the transmit lens of the sensor, reflects off of the target and returns to the receive lens of the senor. The exact distance is then calculated by comparing the return time to the speed-of-light constant.

Can the sensor measure to my target?

The ability of a laser sensor to measure to a target depends on the target’s reflectance and any interference between the sensor and target such as dust, fog, foliage or other. Reflectance is determined by color, opacity, distance, and the reflection angle as well as the density of any ambient interference between the sensor and the target. For example, a lighter target is more reflective than a darker one and thick dust will reduce the signal strength more than light dust.

The S200 is a highly-sensitive precision sensor and can measure to most targets within its range specification. This includes penetrating dust or fog using the Last target mode for instance. A good rule of thumb when measuring through fog or dust is if you can visually see the target, the sensor likely can as well.

What is the beam diameter?

Beam Diameter at the Target = Free Aperture + (Divergence x Range)

Example: Distance to the Target = 100 mDivergence = 3 mradFree Aperture = 23 mm

Beam Diameter at the Target = 0.023 + (0.003 x 100) = 323 mm Therefore, beam diameter is 32.3 cm at 100 m or 12.7 inches at 328 feet.

Which side is the Transmit lens?

Left side referencing the frontal view as shown in the figure to the right.

The measured distance is using what reference?

Distance measurements are from the sensor front plate to the target as shown in the figure to the right.

Does the sensor need additional protection when using outdoors?

The sunshade accessory is recommended to keep direct moisture and sun rays (heat) from coming in contact with the sensor. Direct sun rays on the sensor housing can easily heat the sensor above its operating temperature.

Is the laser beam eye safe?

Yes, but it is always a good practice not to stare directly into the transmit aperture of any light transmitting device.


Page 24

How do I protect the housing from damage in vulnerable location?

The heavy duty housing accessory is recommended.

How do I align the S200?

The S200 will output a signal strength reading-1-xxxx,2-xxxx,3-xxxx,4-xxxx where the increasing number indicates a stronger target.

Example: To center the sensor on your desired target “sweep” the sensor in the X and Y direction in order to determine where the maximum signal return is and this ensures your target is centered. This example shows an orange pole with reflective tape wrapped around it. We will scan the sensor first in the X direction and then the Y direction. A higher intensity reading will show on the reflective surface as shown.

So in this example, we would center the beam on the reflector when our measurement is 4-984 in the X direction and 4-474 in the Y direction.

The signal strength is shown below as the highlighted characters. This number will likely be different each time but will always return a larger number from a more reflective or stronger target.

Point 1: $DM,S,2.66,M,0,4-420*B76D

How can I adjust the sensor after mounting?

The tilt/rotate mounting bracket accessory is recommended.

How do I mount to measure into a tank or silo?

The heavy duty housing with dust tube accessory is recommended.

What considerations are there when measuring through a window?

When measuring through a window, ensure the face plate of the sensor is 3 mm or closer to the window. Reflections will increase with a larger gap and could result in measurement error. This is due to “crosstalk”. Crosstalk occurs when a reflection off of a very close reflector like a window is combined with the actual target reflection and could lead to an inaccurate measurement.


Page 25

Specifications

Performance: Min. Range: 1.5 feet (0.46 meters)

Max.Range (reflective/non-reflective):Low Accuracy Mode: 9514/5249 feet (2900/1600 meters)Medium Accuracy Mode: 4921/2953 feet (1500/900 meters)High Accuracy Mode: 2461/2461 feet (750/750 meters)

Accuracy:Short Range Mode 0.1 feet (4 cm)Medium Range Mode 0.3 feet (8 cm)Long Range Mode 0.5 feet (15 cm)

Resolution: 0.01 feet (0.01 meter)

Pulse Repetition Frequency: 1 kHz or 4kHz (4kHz in intelligent long range mode)

Data Output Rate 1 to 15 Hz (depending on target integrity)

Target Modes: First, Strongest, Last, First Second Third, Last Two, First Strongest Last, First Second Third Strongest Last

Self Check: On boot up

Timing: From shutdown to ready = 90 msec

Wavelength: 905 nm (near IR)

Beam Divergence: 3 mrad (equal to 1 foot beam diameter at328 feet or 30 cm at 100 meters)

Free Aperture: 0.91 inch (23 mm)

Cordset: Male gender, straight, shielded, 6 pin Turck Picofast PSG 6M-*/S90/S618(* = cable length)

I/O: Pin1 = shutdown, Pin2 = ground, Pin3 = RS232 Tx, Pin4 = RS232 RX,Pin5 = power input, Pin6 = ext trigger

Baud Rate (min./max.): 9600/230400

Input Power: 12-24 VDC (12VDC recommended)


Page 26

Optical & Electrical: Current Draw: Measuring = 65 mAStandby = 40 mA

Physical: Dimensions (LxWxH) 4.11 in x 3.22 in x 1.64 in(104.4 mm x 81.7 mm 41.6 mm)

Weight: OEM = 2.7 oz (76 g)Standard = 4.8 oz (138.6 g)

Housing & Frame Material: Glass filled polycarbonate

Environmental: Eye Safety: Class I, 7mm (FDA CFR21)Class 1m (IEC 60825-1:2001)

Shock Vibration: MIL-STD-810E

Moisture: IP67, NEMA 6 (S200 in housing only)** S200 in housing only. Does not apply to the S200 OEM Sensor.

Operating Temperature: -20F to 140 F (-28C to C)

Care and Maintenance

Operating Temperature

The S200 is rated for a temperature range of -20F to F (-28C to C). Do not operate the instrument in temperatures outside of that range.

Moisture and Dust Protection

The sun shade is recommended if the sensor is exposed to the elements. The lenses of the sensor should be kept clear of excessive contamination for optimal performance.

Cleaning

Excess Moisture: Towel off excess moisture and air dry the instrument at room temperature.

Exterior Dirt: Wipe exterior surfaces clean.

Dirty lenses: Use a brush to remove surface dust and loose particles from the transmit and receive lenses. To clean a lens, moisten it with lens cleaning solution and wipe it clean with a lenscloth or lens tissue.

Warranty

The TruSense S200 is covered by the one-year LTI Limited Warranty. When you received your TruSense S200, you should have received the current copy of the LTI Limited Warranty. The PDF version of the LTI Limited Warranty should also be available on the TruSense S200 CD ROM. If you did not receive a copy or if you cannot locate your copy, please contact LTI.

To register your TruSense S200, please visit the LTI web site: www.lasertech.com/Warranty-Registration.aspx


Page 27

Diagrams

Internal Cable

3.0"

LO

NG

1 S

HUTD

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2 G

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Page 28

External Cable2m

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Page 29

Housed Model Dimensions

6 PI

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Page 30

OEM Model Dimensions

6 PI

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ON

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PIN

1

AA

77.5

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60.0

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.


Page 31

Additional Information

How to Contact LTI: Street Address: 7070 S. Tucson Way, Centennial, CO 80112 USA

Phone: 1-303-649-1000

1-800-790-7364 (USA and Canada)

Fax: 1-303-649-9710

Web Site: www.lasertech.com

Email: [email protected]

Warranty: The TruSense S200 is covered by the LTI Limited Warranty. When you received your TruSense S200, you should havereceived the current copy of the LTI Limited Warranty. If you did not receive a copy or if you cannot locate your copy,please contact LTI.

Copyright Notice: Information in this document is subject to change without notice and does not representa commitment on the part of Laser Technology Inc. No part of this manual may bereproduced in any form or by any means, electronic or mechanical, includingphotocopying, recording, or information storage and retrieval systems, for any purposeother than the purchaser's personal use, without the express written consent of LaserTechnology, Inc.

Copyright (c)[2011] Laser Technology, Inc. All Rights Reserved.Unauthorized duplication,in whole or in part, is strictly prohibited.

Patents: This product is covered by pending patent applications and/or one or more of the following issued patents: 5,612,779 and 6,445,444

http://www.lasertech.com/

lti trusense s200

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