Author: Hinson Release Version: V1.00 Update Time: 2024.10.16

 

1. Safety Matters

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1.1 Notes on Applicable Environment
 Steam, smoke, dust, and visible particles in the air may cause the sensor to misjudge or even become unusable.

 Qualified technicians should regularly check whether the sensor's connections and installations are correct.

 The maximum service life of the sensor is 10 years; after that, it must be replaced, otherwise it may not meet the required performance standards.

 The sensor should be checked and cleaned regularly.

 This product is only allowed to be used within the specified limits and under designated technical parameters and operating conditions at all times.

 

1.2 Notes on Wiring Environment

 Do not reverse the power supply or connect it to a voltage higher than the specified maximum operating voltage, as this may damage the sensor.

 Connecting the power supply below the specified minimum operating voltage will cause the sensor to malfunction or operate abnormally.

 Please follow the manual instructions for wiring; otherwise, the sensor may not correctly detect the input signal.

 Do not exceed the sensor's load capacity when connecting devices to the output signal terminal, as this may cause sensor failure.

 

1.3 Notes on Debugging Environment

 Only qualified authorized personnel are allowed to connect, install, debug, and set the laser sensor.

 Ensure that the peripheral devices associated with the sensor are in a reliably stopped state.

 Ensure that the debugging personnel are in a safe position.

 Ensure that other personnel or objects are outside the active range of the equipment.            

 

2. Function Introduction

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2.1 Main Features      

 

Performance
Detection Distance	0.05m-8m (@ reflectivity 2%) 0.05m-35m (@ reflectivity 90%)
Detection Angle	312°
Measurement Frequency	540Khz
Measurement Method	Pulse ranging technology (PRT)
Scanning Frequency	12.5Hz: 750r/min (0.025°, 0.05°, 0.1°, 0.25°, 0.5° angle resolution) 25.0Hz: 1500r/min (0.05°, 0.1°, 0.25°, 0.5° angle resolution)
Object Shape Recognition	Any shape, resolution calculated based on sensing distance
Measurement Resolution	1mm
Absolute Accuracy	±10mm
Measurement Noise	±20mm
Interface
Switching Input	4*NPN
Switching Output	4*NPN
CAN	Can bus CAN OPEN *1
Ethernet	TCP/IP (TCP server, UDP) 100M
Number of Echoes	3
Output Raw Measurement Data	Supported
Number of Area Protection	3
Number of Obstacle Avoidance Channels	64
Mechanical/Electrical
Operating Voltage	DC10~30V
Operating Current	125-150mA
Power Consumption	< 3.4W
Light Source Wavelength	905nm
Laser Class	Class 1 (IEC 60825-1:2014)
Indicator Light	4*LED (Working status display light green, output status display light yellow, orange, red)
Material	Aluminum alloy, PMMA
Protection Level	IP65

3. Packaging Accessories

1	FE Laser Sensor	1 unit
2	Hinson Configuration Software	1 set
3	Sensor Qualification Certificate	1 piece
Software Tools	Software version Hinson 1.5.2 or above	1 set
Power Supply	DC24V Power Supply	1 piece
Tools	The computer configuration has an RJ45 port (or obtained through conversion)	1 piece

4. Installation

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4.1 Size Parameters

 

4.2 Component Description

 

 

 

 

 

 

 

 

 

 

 

 

 

     

Serial Number	Function Description	Remarks
1	Top Cover	Indicate scanning range and angle position
2	Sensor detection window	Sensor detection window
3	Indicator Light	Display working status
4	Base	Installation hole position
5	Output Line 1	Ethernet cable connection
6	Output Line 2	Power and IO signal line connection

4.3 Indicator Light Description

Identification	Display	Function Description	Operating Instructions
PWR	Green	Working status indicator light	Green indicator light Off: Sensor is not powered or not working properly; On: Sensor is working normally; Flashing: Sensor detects internal fault, stops working;
Q1	Yellow	OUT1 Output Indicator Light	Yellow indicator light Off: Sensor is not powered, no object detected; On: Intruding object detected; Flashing: Sensor detects trigger edge;
Q2	Orange	OUT2 Output Indicator Light	Orange indicator light Off: Sensor is not powered, no object detected; On: Intruding object detected; Flashing: Sensor detects trigger edge;
Q3	Red	OUT3 Output Indicator Light	Red indicator light Off: Sensor is not powered, no object detected; On: Intruding object detected; Flashing: Sensor detects trigger edge;

4.4 Installation Requirements

Fixed screws must have spring washers to prevent loosening	Reserve 30mm space at the rear for cables

5. Cable Definition

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5.1 Power and Switch Quantity Ports

Function	IO, Power Supply, Ethernet Communication
Type	Wires
Terminal Specifications	RJ45, FT10001-F2H
Number of Pins	14 pins
Output Method	Direct output

Terminal	Serial Number	Symbol	Color	Function
CN3	Pin1	+VIN	Brown	Power positive input
	Pin2	-VIN	Blue	Power negative input
	Pin3	XCOM	Brown-white	Input common terminal
	Pin4	IN1	Black	IO input 1
	Pin5	IN2	Orange	IO input 2
	Pin6	IN3	Yellow	IO input 3
	Pin7	CAN_L	Green	CAN_L
	Pin8	CAN_H	Purple	CAN_H
	Pin9	IN4	Gray	IO input 4
	Pin10	YCOM	White	Output common terminal
	Pin11	OUT1	White-green	IO output 1
	Pin12	OUT2	White-blue	IO Output 2
	Pin 13	OUT 3	Red	IO Output 3
	Pin 14	OUT 4	White and Red	IO Output 4

Terminal	Serial Number	Symbol	Color	Function
CN2	Pin1	ETH TX+	Red and White	Ethernet Output +
	Pin2	ETH TX-	Red	Ethernet Output -
	Pin3	ETH RX+	Green and White	Ethernet Input +
	Pin4	ETH RX-	Green	Ethernet Input -

5.2.1 Input Signal Connection
The input is an NPN signal, using opto-isolated input.
Use external power supply: XC0M input DC24V±20%, above 100mA;

The sensor has 16 channels, which input signals are combined through 4 IO ports to switch to the specified channel number. The detection range of the channel needs to be set in advance through configuration software. External devices select and switch regions through input signals.

5.2.2 Signal Combination

FE sensor provides 4 input ports to combine signals.
ON: Signal is present;
OFF: No signal or open circuit;

Channel Number	IN4	IN3	IN2	IN1
63	OFF	OFF	OFF	OFF
62	OFF	OFF	OFF	ON
61	OFF	OFF	ON	OFF
60	OFF	OFF	ON	ON
59	OFF	ON	OFF	OFF
58	OFF	ON	OFF	ON
57	OFF	ON	ON	OFF
56	OFF	ON	ON	ON
55	ON	OFF	OFF	OFF
54	ON	OFF	OFF	ON
53	ON	OFF	ON	OFF
52	ON	OFF	ON	ON
51	ON	ON	OFF	OFF
50	ON	ON	OFF	ON
49	ON	ON	ON	OFF
48	ON	ON	ON	ON

Reminder: If not all 16 channels are needed, the input signals can be determined based on the required number of channels.

Switching Time

After the sensor receives the channel switching signal, there is a switching delay due to the scanning cycle. The switching delay is shown in the figure below.

NoteWhen switching to a channel without a graphic, the sensor will continue to monitor the state of the previous graphic channel;

5.2.3 Output Signal Wiring

Output signal uses function

Port	Function	Output Logic
OUT1	Used for remote obstacle warning and deceleration;	Default: Normally closed, can be changed to normally open through configuration software;
OUT2	Used for normal obstacle detection and stopping;	Default: Normally closed, can be changed to normally open through configuration software;
OUT 3	Used for near-end emergency stop;	Default: Normally closed, can be changed to normally open through configuration software;
ERR	Used for sensor fault status output;	Default: Normally open, cannot be changed;
Output is a collector open (NPN) signal, using opto-isolated output, the output voltage is 0V- when there is a signal. The maximum load capacity of the output port is 100mA. All output ports are NPN outputs. Please refer to the schematic diagram below:
The sensor output ports correspond to the graphics drawn in the configuration software.
Note:Detection output will only occur when the corresponding output has a drawn graphic;

5.2.4 Connection Diagram
Wiring when all 16 channels and all outputs are fully utilized.

FE35FB--01000 PLC

The figure shows the upper computer outputting signals through NPN tubes and receiving signals.

X0-X3 are the signal input ports of the PLC; Y0-Y3 are the signal output ports of the PLC; IN1-IN4 input current greater than 10mA; Out1-Out4 output current less than 100mA;

Note:Input and output ports must not be short-circuited or connected to loads exceeding the specified current, otherwise it may cause damage to the sensor.

6. Function Configuration

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6.1 Device Preparation

DC Power Supply	Voltage	DC10V-DC30V
	Current	Above 1A
Computer	System	Windows 7 and above
	Port	Equipped with RJ45 interface or equipped with USB to RJ45 network cable interface
	Resolution	Above 1280*720

6.2 Connection between sensor and configuration software

6.2.1 Open configuration software

Unzip the configuration software and double-click After entering the 'Device List' interface, click Enter the following interface:

Connect the sensor and configuration software according to the following steps 1, 2, 3, 4.

After the sensor is connected to the configuration software, the following interface is displayed:

6.2.2 Menu Bar

Primary Menu	Secondary Menu	Tertiary Menu	Corresponding Icon	Remarks
File	New File	-		New File
	Open File	-		Open an existing file
	Save File	-		Save the edited file
	Save As	-		Save the edited file as
	Exit	-		Exit the current configuration software interface
Edit	Undo	-		Undo the last operation
	Redo	-		Restore the last operation
	Copy	-		Copy the detection graph of a certain detection channel
	Cut	-		Cut the detection graph of a certain detection channel
	Paste	-		Paste the detection graph of a certain detection channel to another channel
	Delete	-		Delete the currently selected detection channel graph
	Delete All	-		Delete all detection channel graphs
	Apply Settings	-		-
Window	Window	Edit		Click the icon to display the editing function box of the configuration software
		Monitoring		Click the icon to display the monitoring status of the configuration software
		Sensor Settings		Click the icon to display the sensor parameter setting function box of the configuration software
		Input and Output Simulation		Click the icon to display the sensor input and output simulation function box
		Self-check Status		Click the icon to display the sensor self-check status
	Distance	-		Click to close or display the current 320° range scanning profile of the sensor
	Intensity	-		Click to close or display the reflection intensity of obstacles
	Data List	-		The configuration software does not support the distance data output of all current detection points, this item is not available
Settings	Serial Port	-		The sensor does not support serial port connection to the configuration software, this item is not available
	Ethernet	-		Click to select Ethernet connection to the configuration software
	Serial Port Settings	-		The sensor does not support serial port connection to the configuration software, this item is not available
	Ethernet Settings	-		Click to view the current Ethernet address of the sensor
	Interface	Serial Port		The sensor does not support serial port connection to the configuration software, this item is not available
		Ethernet
Connect	Connect Device	-		Click to connect the sensor to the configuration software
	Disconnect Device	-		Click to disconnect the sensor from the configuration software
	Upload Data	-		Click to upload the detection channel graph and various parameters set for the sensor
	Download Data	-		Click to download the detection channel graph and various parameters
	Restart Device	-		After setting the detection channel graph and its parameters, click this icon to restart the sensor for the parameters to take effect
	Sensor Information	-		-
Display	Graph Display	-		Click this icon to display the sensor's 320° scanning profile as a planar graph
	Point Cloud Display	-		Click this icon to display the sensor's 320° scanning profile as a point cloud
	Line Display	-		Click this icon to display the sensor's 320° scanning profile as lines
Language	Simplified Chinese	-		Click this icon to display the configuration software in Chinese
	English	-		Click this icon to display the configuration software in English
Help	About	-		Click this icon to display version information of the configuration software
	Guide	-

6.2.3 Shortcut Icons
All shortcut icons are explained in Section 1 of the menu bar.

6.2.4 Detection Channel Graphic Editing
The sensor supports detection channels 0-63, each detection channel supports 3 detection area graphic outputs. The sensor can select channels via Ethernet and output whether there are obstacles invading the 3 detection areas of the channel.

6.2.5 Output Editing
Channel detection graphic output 1, output 2, output 3 editing mode.
Independent Mode: In independent mode, irregular shapes, sectors, and rectangles can be set separately, where irregular shapes can consist of up to 100 connected points.

Dependent Mode: After setting the graphic of output 1, you can choose dependent mode to copy the graphic of output 1 at different scales.

6.2.6 Coordinates and Angle Values
Coordinates (X, Y) of each point of the irregular shape in independent mode:

Note: Point 8 is the origin of the coordinates.
Distances and angles of each point of the irregular shape from the origin in independent mode:

Note: Point 8 is the origin of the coordinates.

6.2.7 Scanning Status Display
Scanning profile, reflection intensity, detection channel graphic display area

Note: 1 The green line indicates the scanning profile, 2 The blue line indicates the reflection intensity.

6.2.8 Input and Output Monitoring

• 4 switch quantity inputs and 2 switch quantity outputs
• 4 switch quantity inputs select detection channels 48-63 (can also specify the selected channel via Ethernet)
• 2 switch quantities output the status signals of output 1 and output 3 respectively.

6.2.9 Sensor Parameters

Parameter List	Parameter Value	Remarks
Sensor Control Method	IO Interface Control	When selecting the sensor channel, choose one from IO, Modbus, Canopen; only one can be effective at the same time, IO is always effective during output.
	Modbus Communication Control	When selecting the sensor channel, choose one from IO, Modbus, Canopen; only one can be effective at the same time, IO is always effective during output. When Modbus communication control is selected, Modbus output is effective.
	Canopen Communication Control	When selecting the sensor channel, choose one from IO, Modbus, Canopen; only one can be effective at the same time, IO is always effective during output. When Canopen communication control is selected, Canopen output is effective.
RS485 Address (1-127)	1-127	RS485 communication address 1-127 can be set.
RS485 Communication Baud Rate	9600bps	Setting of RS485 communication baud rate
	19200bps
	38400bps
	57600bps
	115200bps
RS485 Parity Bit	No Parity	Setting of RS485 Parity Code
	Odd Parity
	Even Parity
RS485 Communication Stop Bit	Stop Bit 1Bit	Setting of RS485 Stop Bit
	Stop Bit 1.5Bit
	Stop Bit 2Bit
CAN Bus Address (1-127)	1-127	CAN communication address 1-127 can be set.
CAN Bus Baud Rate	125K	CAN Bus Baud Rate
	250K
	500K
	1000K
Sensor Output Logic	Normally Open Mode	Sensor output normally open, normally closed setting
	Normally Closed Mode
Laser Angle Resolution	0.025°/12.5HZ 0.050°/12.5, 25HZ 0.100°/12.5, 25, 50HZ 0.200°/50HZ 0.250°/12.5, 25HZ 0.500°/12.5, 25, 50HZ	Default Resolution 0.250°
Noise Filtering Level	Off Simple Medium Strict	Noise filtering level setting, default is off
Sensor Installation Direction	Forward Installation	Parameter currently not effective
Crosstalk Filtering Mode	Off Fitting Delete	Default Delete. Enable interference prevention for other sensors
Crosstalk filtering quantity	3-8	Default is 5, the number of filtering points; the more filtering points, the better the anti-interference effect, but there will be some distortion in the edge parts of the image.
Trailing filter level	Off Simple Medium Strict	Trailing filter level setting, default is simple
Laser measurement frequency	540KHz	Sensor measurement frequency, this parameter cannot be modified at present
Echo selection	First time Second time Last time Maximum energy	First time: normal mode, no filtering function Second time: select the second echo, with filtering function Last time: select the last echo, with filtering function Maximum energy: select the echo with maximum energy, with filtering function Default is the first time
Dirt filtering distance	0-2000	Dirt filtering distance setting, default is 200
Dirt filtering intensity	0-2000	Dirt filtering distance setting, default is 200
Ethernet mode interface	TCP server	Default TCP server
	UDP mode
Ethernet IP address		Setting of sensor IP address

6.2.10 Multi-echo settings (for FE35FB-XXXXX)

First time	Normal mode, no filtering function
Second time	Select the second echo, with filtering function (echo function recommended option)
Last time	Select the last echo, with filtering function
Maximum energy	Receive echo with maximum energy
Note: In the case of multiple lasers, using the multi-echo function and selecting to delete the crosstalk filtering mode will result in some point cloud disappearing in the image. Please do not use the above functions simultaneously.

7. Sensor data description

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7.1 Sensor coordinate system

7.2 Multiple echoes

7.2.1 Filtering environment and minimum distance

The multi-echo technology can detect multiple echo signals for each measurement beam, thus identifying echoes caused by rain, dust, or complex structures during the operation cycle of the emitted beam, and filtering them when necessary.
To display echoes as separate measurement values, there must be a minimum distance of about 2.5m between two objects.

7.2.2 The impact of object surfaces on measurements

● Smooth reflective surfaces
Smooth reflective surfaces cannot be detected, but objects illuminated by the reflected light from smooth reflective surfaces can be detected.

● Detecting small objects or no objects
If the detected object is smaller than the beam diameter, it may be the case that
① The surface of the small object reflects insufficiently, and there are no background objects, so it cannot be detected;
② The small object reflects insufficiently, but the background object reflects sufficiently, leading to detection errors;
③ Both the small object and the background object reflect sufficiently, resulting in distorted measurement values;

7.3 Ethernet data transmission

◆ Parameter settings

Open the configuration software, enter the sensor (server side) setting interface, and set the following parameters.

	Parameter name	Parameter Value	Default value
	Ethernet mode	TCP server	TCP server
		UDP mode
	Ethernet IP address	192.168.1.1-254 The last byte can be set from 1-254 The sensor (server) port is fixed at 8080	192.168.1.88

After the client initiates a request and establishes a connection, data transmission begins, following these rules:

The host computer (client) sends a 'start data frame' to the sensor (server side), and the sensor returns measurement data for 0°-360° in several frames. After returning the complete measurement data for 0°-360° (a total of 360°), the sensor continues to send the next measurement data until it receives a 'stop data frame' sent by the host computer.

• Start data frame (Hex)

Data structure

 

Start code:Fixed data is0x52 0x41 0x750x740x6F

Control bit:

0x01The sensor starts to automatically send data;

0x00The sensor stops sending data;

Check bit:Low byte first, high byte last, using Modbus-CRC16The check bit calculated by the method.

 

• Measurement data frame (Hex)

 

Data structure:

 

Data frame header format (Hex):

1. Identifier (4Byte): 0x48 0x49 0x53 0x4e

2. Starting angle (2Byte): The starting angle of the current returned measurement data;

3. Ending angle (2Byte): The ending angle of the current returned measurement data;

4. Total number of measurement points in the current data frame (2Byte):

Due to different angle resolutions, the total number of measurement points in the range from the starting angle to the ending angle will also vary. The measurement data will be returned in several data frames within this range. The 'total number of measurement points in the current data frame' is the sum of the measurement points returned in the current data frame.

 

5. Sequence number of the last detection point in the current data frame (2Byte):

For example: The total number of measurement points from the starting angle to the ending angle is800, divided into 2 frames to return measurement data. The current data frame returns data for points 1 to400, then the value of 'sequence number of the last detection point in the current data frame' is400, if the current data frame returns from point401to800, then the value of 'sequence number of the last detection point in the current data frame' is800.

 

6. Total number of measurement points in the range from the starting angle to the ending angle (2Byte):

The total number of measurement points in the range from the starting angle to the ending angle is determined by the current 'laser scanning frequency', 'scanning motor speed', and 'single point sampling

times'. The following will provide examples.

7. Time stamp (2Byte):

Displays the internal timing of the current frame sent, time unit is us, time recording range is 0-65535us, data is cleared after recording is full.

 

Measurement data (Hex):

 

The unit of measurement distance is mm, outputting the distance data between the reflection point and the sensor.

Measurement intensity reflects the intensity of the reflection point, with higher values indicating stronger reflection capability of the object.

Both measurement distance and measurement intensity are low byte first, high byte last.

 

• Stop data frame (Hex)

0x52 0x41 0x75 0x74 0x6F 0x00 0x46 0x40

After the host computer sends the stop data frame to the sensor, the sensor stops returning measurement data.

 

 

• Example explanation

1. The sensor parameters are set as follows:

Ethernet mode interface: TCP server

Ethernet IP address: 192.168.1.88

Scanning motor speed: 12.5HZ

Sensor (server) port: 8080

It is important to note that the sensor (server) port is fixed at 8080, and the host computer successfully establishes a connection with the sensor..

 

2. Calculation of measurement angle resolution:

Laser scanning frequency: The number of laser beams emitted by the laser emitter in one second, taking 432KHZ as an example;

Scanning motor speed: the number of revolutions of the laser emission tube rotating motor in one second, taking 12.5HZ (12.5r per second) as an example;

Single point sampling times: the number of repeated measurements at a single measurement point. Taking a single detection point measurement as an example;1times;

Measurement angle resolution = scanning motor speed * 360° / (laser scanning frequency / single point sampling times) =0.100°, the measurement angle resolution is automatically calculated by the configuration software and does not need to be set separately;

3. Calculation of total measurement points:

Total measurement points = (end angle - start angle) / measurement angle resolution, the total measurement points are rounded to one decimal place, and according to the design of the sensor, it is divided into 13 angular range data blocks. This angular range value is fixed and does not change with the change of angle resolution. See Figure 4 below.

First start angle	First end angle	Angle range	Second start angle	Second end angle	Angle range	Third start angle	Third end angle	Angle range	Fourth start angle	Fourth end angle	Angle range
24°	48°	24°	48°	72°	24°	72°	96°	24°	96°	120°	24°
Fifth start angle	Fifth end angle	Angle range	Sixth start angle	Sixth end angle	Angle range	Seventh start angle	Seventh end angle	Angle range	Eighth start angle	Eighth end angle	Angle range
120°	144°	24°	144°	168°	24°	168°	192°	24°	192°	216°	24°
Ninth start angle	Ninth end angle	Angle range	Tenth start angle	Tenth end angle	Angle range	Eleventh start angle	Eleventh end angle	Angle range	Twelfth start angle	Twelfth end angle	Angle range
216°	240°	24°	240°	264°	24°	264°	288°	24°	288°	312°	24°
Thirteenth start angle	Thirteenth end angle	Angle range
312°	336°	24°

Taking the end angle of 24°, start angle of 0°, and angle resolution of 0.100° as an example, total measurement points = (24-0) / 0.100 = 240.

Sensor status and area detection data acquisition

After initiating a request and establishing a connection on the client side, data transmission begins, following the rules below.

Data acquisition sendingMessage

• Data identifier (5byte)

Identifier is fixedData:0x57 0x53 0x69 0x6d 0x75The function of this data;

• Sensor working mode (1byte)

00: Invalid command

01: Channel designated mode

02: Intelligent channel selection mode

• Sensor channel value (1byte)

Control the current sensing channel used by the sensor, data range 00-63;

• Sensor channel angle (2byte)

Angle value in channel group mode, data is in the signed data range -180 to 180;

•  Sensor channel speed value (2byte)

Speed value in channel group mode, data is in the signed data range -300-300;

• Sensor channel group number (2byte)

Control the current sensing channel group number used by the sensor, data range 00-04;

• Invalid data (3byte)

Invalid data, default data must be sent0x00;

• Check bit (2byte)

Data check bit, using modbus low byte first CRC16Check method. The check value is calculated using the check formula, for specific calculation methods see the appendix.

 

Sensor return data

• Data identifier (5byte)

Identifier is fixedData:0x57 0x53 0x69 0x6d 0x75The function of this data;

• Current channel value (1byte)

Current channel value of the sensor;

• Invalid data (1byte)

Invalid data;

• Output status (1byte)

 

Related to parameter settingsSensor Output Logic:

Normally closed mode (default)

00: Object detected;

01: Object not detected

Normally Open Mode

01: Object detected;

00: Object not detected;

• Invalid data (1byte)

Invalid data;

• Sensor fault status (2byte)

 

1Byte high byte 1Byte low byte Invalid Fault code

Sensor fault code 0x00 0x00 Sensor normal status 0x00 0x01  Sensor encoder signal error 0x00 0x02 No receiving board signal 0x00 0x04 Memory data error 0x00 0x08 Connection error 0x00 0x10 Simulation error 0x00 0x20 Over-temperature protection 0x00 0x40 Sending under-voltage protection 0x00 0x80 Sending over-voltage protection 0x01 0x00 Drive under-voltage protection 0x02 0x00 Drive over-voltage protection 0x03 0x00 Receiving under-voltage protection 0x04 0x00 Receiving over-voltage protection

• Current temperature (2byte)

1Byte high byte 1Byte low byte Temperature value

Signed data, data range -5000-10000; displays the current internal temperature of the sensor, temperature unit 0.01℃; when the monitored temperature exceeds 80.00℃, the sensor indicates over-temperature protection;

• Internal motor speed (2byte)

1Byte high byte 1Byte low byte Internal motor speed

Unsigned data, data range 0-3000, displays the current internal motor speed of the sensor, speed unit 1r/min;

• Drive voltage (2byte)

1Byte high byte 1Byte low byte Drive motor voltage

Unsigned data, data range 0-1600; displays the current sensor drive motor voltage, voltage unit 0.01V;

• Receiving board voltage (2byte)

1Byte high byte 1Byte low byte Receiving board voltage

Unsigned data, data range 0-25000; displays the current sensor receiving board ADP voltage, voltage unit 0.01V;

• Sending board voltage (2byte)

1Byte high byte 1Byte low byte Receiving board voltage

Unsigned data, data range 0-5500; displays the current sensor sending board voltage, voltage unit 0.01V;

• Check bit (2byte)

Data check bit, using modbus low byte first CRC16Check method. The check value is calculated using the check formula.

7.4 CRC check function

cBuffer: Array for calculating CRC check code.

iBufLen: Length of the array.

unsigned int CRC_Verify(unsigned char *cBuffer, unsigned int iBufLen)

{

    unsigned int i, j; //#define wPolynom 0xA001

    unsigned int wCrc = 0xffff;

    unsigned int wPolynom = 0xA001;

/*---------------------------------------------------------------------------------*/

    for (i = 0; i < iBufLen; i++)

    {

        wCrc ^= cBuffer[i];

for (j = 0; j < 8; j++)

        {

            if (wCrc &0x0001)

            { wCrc = (wCrc >> 1) ^ wPolynom; }

            else

            { wCrc = wCrc >> 1; }

         }

     }

return wCrc;

}

7.5 ROS Driver Acquisition

For customers using sensors in a ROS environment, specific provided drivers can be used. The ROS driver package can be obtained as follows:

Visit: www.hinson-xs.com

Contact Hinson sales and technical support personnel

Visit Gitee:https://gitee.com/hinson-xs/hins_he_driver.git

8. Fault Handling

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8.1Fault Diagnosis

When the sensor fails to operate normally or the sensor status cannot be determined, refer to the following table for fault diagnosis and confirmation.

 

The laser sensor indicates fault status through LED flashing:

 

 

9. After-sales Information

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9.1 Warranty Period
     * The sensor provides a limited warranty. During the warranty period, if the product cannot be used normally due to quality issues or design defects, we will provide free after-sales maintenance.
     * Warranty period: 2 years from the date of sale.

 

9.2 Warranty Scope

    * Products within the warranty period that meet warranty conditions will be repaired or replaced free of charge.
    * This product's warranty and after-sales service are limited to mainland China;
    * Products that cannot be used normally due to damage during transportation;
    * Products that cannot operate normally due to damage to components themselves;
    * Products that cannot be used normally due to design defects;

 

9.3 Exemption Scope
    * Please pay attention to the following conditions during product use; we will not provide free after-sales service and warranty.

    * Damage caused by incorrect installation of the product according to the manual;

    * Damage caused by using the product in unsuitable environments and conditions;
    * Damage caused by not following the product manual specifications;
    * Unauthorized disassembly or repair of the product without the company's permission;
    * Damage caused by natural disasters, fires, and other irresistible external forces.

 

9.4 Technical Support
      If there are unresolvable faults, please contact us as follows.
      Phone: +86-757-22218956
      Email: lixianjiao@hinson-xs.com
      Company Website:www.hinson-xs.com
      Manufacturer: Guangdong Hinson Technology Co., Ltd.