Manual S200

User’s Manual

for S200 and S300

Laser Tech

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S200

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Tel : 15 3291-7777 / www.lasertechbrasil.com.br

1

Setup

TruSense S200 and S300 require

� Power supply from 9.6V to 24V (12V typical)

� 6 pin cable for communication

� A computer with RS232 connector

� Terminal program like Hyper terminal

Hyper Terminal Settings

Baud rate: 115200bps (factory default)

8bit, 1 stop bit, XON/XOFF flow control

NOTE: S300 has RS485/422 interface

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NOTE: Flow control XON/XOFF is required during firmware

upgrade. In normal operation, XON/XOFF is not required.

Pin Configurations for S200

1. Standard S200

Turck cable pin 5, J4 pin 1 - Power off (active high)

Turck cable pin 4, J4 pin 2 - GND

Turck cable pin 1, J4 pin 3 - RS232 TX

Turck cable pin 3, J4 pin 4 - RS232 RX

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Turck cable pin 6, J4 pin 5 - Power in

Turck cable pin 2, J4 pin 6 – SDI-12/Trigger/Trip

2. RS485 version

Turck cable pin 5, AUX J2 pin 1 - RS485/422 TX+ (pin 7 DB9)

Turck cable pin 4, AUX J2 pin 2 - GND

Turck cable pin 1, AUX J2 pin 3 - RS485/422 TX- (pin 4 DB9)

Turck cable pin 3, AUX J2 pin 4 - RS485/422 RX+ (pin 2 DB9)

Turck cable pin 6, AUX J2 pin 5 - Power in

Turck cable pin 2, AUX J2 pin 6 - RS485/422 RX- (pin 8 DB9)

3. 4-20mA and HART version

Turck cable pin 5, AUX J3 pin1 - 4-20mA loop power in

Turck cable pin 4, AUX J3 pin2 - GND

Turck cable pin 1, AUX J3 pin3 - RS232 TX

Turck cable pin 3, AUX J3 pin4 - RS232 RX

Turck cable pin 6, AUX J3 pin5 - Power in

Turck cable pin 2, AUX J3 pin6 - 4-20mA loop return

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Pin configuration for S300

Pin 1 White RS422/485 RX-

Pin 2 Brown GND

Pin 3 Green Power down (active high)

Pin 4 Yellow RS422/485 RX+

Pin 5 Grey Trigger IN

Pin 6 Pink GND

Pin 7 Blue SDI-12

Pin 8 Red Power In

Pin 9 Orange RS232 RX

Pin 10 Tan RS232 TX

Pin 11 Black RS422/485 TX-

Pin 12 Violet RS422/485 TX+

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TruSense S200/S300 Software Setup

Output format setting

1. Power on banner

2. Time since power on

3. Error code or message (English Mnemonic)

Password setting

1. How to change password

2. Remove user password function

3. Remove non changeable user password (CAUTION: if it is

removed, there is no way to access unit when user

password is lost. Contact LTI for service.)

Autostart setting

1. Starting measurement when power on

2. External port configuration: input, output or SDI-12

Set factory default

• Banner on

• Time since power on included

• Error code

• Autostart off

• Set “admin” as user password if user password function is

not removed

• Recovery non changeable user password

• External port (pin 6) is disabled

Passwords

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• User changeable password (default): admin

• User non changeable password: wjdwldbsvotmdnjwm917

NOTE: TruSense does not echo back on parameter(s) you entered.

If entered data is valid, they are accepted and TruSense replys

with valid results.

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$DB – Output format setting: Banner enable or not

Input format: $DB,<0 or none zero>

0: No banner when power on

None zero: Banner when power on

For example, if 0 is set, there is no message when power on. If

none zero is set, following message will be displayed.

TruSense S200 100-1.00 SR[1K/4K] [CP-WR-UL]

(c) 2009 Laser Technology Inc. All rights reserved.

$READY

NOTE: $ERROR will be displayed even if $DB is 0 (no banner).

$DT – Output format setting: Time since power on

Input format: $DT,<0 or none zero>

0: Exclude time information on measurement message

None zero: Include time information

For example,

$DT,2*35C8

$DM,L,2.41,M,0,4-324,24.199*A8C1

$DT,0*F449

$DM,L,2.44,M,0,4-323*3026

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$DE – Output format setting: Error code or Error code with

Mnemonic

Input Format: $DE,<0 or none zero>

0: Error code only

None zero: Error code with Mnemonic

For example,

$DE,0*F119

$ER,20,JJ*FCF1

$DE,4*3218

$ER,20,UNDEFINED COMMAND,JJ*E9F0

$PW – Enter password

Input format: $PW,<password>

NOTE: no white space allowed

NOTE: factory default password: admin

$PS – Change password or remove password

Input format: $PS,<password>

$PW,admin

$OK*0774

$PS,admin2

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$OK,PS AGAIN*7774

$PS,admin2

$OK*0774

$PW,admin2

$OK*0774

$SU

NOTE: $PS command requires twice affecting the change

NOTE: $SU requires saving new password into flash memory

NOTE: “NO_PASSWORD” is reserved password to remove

password checking function

$RP – remove non changeable user password

Input format: $RP,<0 or none zero>

0: non changeable password “wjdwldbsvotmdnjwm917” is valid

None zero: invalid

$RP,0*7D0C

$PW,wjdwldbsvotmdnjwm917

$OK*0774

$RP,8*BB0D

$PW,wjdwldbsvotmdnjwm917

$ER,24,INCORRECT PASSWORD*659C

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NOTE: if $RP has none zero value and user password is lost, there

is no way to access unit.

Call LTI for service.

$MA – set automatic start or manual start

Input format: $MA,<0 or none zero>

0: manual start

None zero: automatic start

$TG – configure external port

Input format: $TG,<0,1,2,3,4,5>

0: External port disabled

1: Trigger input (+5V or 0V) – active high

2: Trigger input (+5V or 0V) – active low

3: Trip output (+5V with 1K serial resister) – active high

4: Trip output (+5V with 1K serial resister) – active low

5: SDI-12 configuration

NOTE: Configuration 1 and 2 may conflict with $GO and $ST

commands

CAUTION: If external trigger input voltage is higher than 5.6V,

there is some current draw. So, to minimize power consumption

an extra serial resistor (10K to 20K) is recommended. Without

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such resistor, S200 will use additional 59mW at 12V. For 24V

system, the resistor is compulsory.

$FD – reset factory default

Input format: $FD

$WU – set warmup period (recommended if unit is working

outdoor)

Input format: $WU,<0 or none zero>

0: Warmup disabled

None zero: Warmup period (valid from 1 to 99)

Basic Commands

S200 and S300 models have following commands.

$ID – display version and model number

Output format: $ID,<model>-<version>-<build number>,Build

date, checksum,*CRC16

Example:

$ID,S200-1.10-4,FEB 11 2010,9817B8A3*0FE7

$SN – display serial number

Output format: $SN,<serial number>*CRC16

Example,

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$SN,DS000001*4C58

NOTE: S200 will have DSxxxxxx, S300 will have DLxxxxxx

$GO – start measurement

Input format: $GO[,<number of iteration>[,<update period]]

NOTE: 0 has special meaning. 0 will make TruSense run forever.

GO command can set the number of iteration. For example, if it is

needed to run just once, use “$GO,1”. If it is needed to run

forever, use “$GO,0”. If it is needed to run 8 times, use “$GO,8”. If

<number of iteration> is omitted, it executes same as previous

run. To extend laser diode life time TruSense can measure

periodically. For example, if 10 measurements are required every

20 seconds, set update period as 20.

NOTE: <update period> is stored volatile memory. Use $PE

command to store in non-volatile memory. $PE requires $SV or

$PD to burn them into non-volatile memory.

$CO – display $GO command parameters

Output format: $CO,<mode>,<number of iteration>,<update

period>

This command is same as $GO, but it does not initiate

measurements.

$PE – set Update period

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Input Format: $PE,<update period> unit is second. It accepts

decimal point.

$ST – stop measurement

$MM – set mode

Input format: $MM,<mode>

Where, mode can be 0, 1, or 2

0: standard mode (up to 750meter range, maximum accuracy

level)

1: extended range mode (up to 1,500meter range)

2: intelligent long range mode (up to 2,900 meter range)

$DM – set display mode

Input format: $DM,<mode>, where mode can be 0 to 9

See Output format section for detailed information

$LS – set long range scan mode

Input format: $LS,<mode> where mode can be 0, 1, or 2

0: do not report weaker targets

1: report weaker targets only if there is no strong target

2: report weaker targets always

$OP – set output precision

Input format: $OP,<iteration> where iteration can be 16 to 260.

NOTE: LTI recommends using 16.

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$OL – set output precision for intelligent long range

Input format: $OL,<iteration> where iteration can be 16 to 4000

NOTE: output may differ to input because of internal adjustment.

NOTE: LTI recommends using 336 or higher.

$O1 – set fixed offset for mode#1

Input format: $O1,<offset> where unit of offset is cm.

Output format: $O1,<offset>,cm

$O1,5,cm*3B0C

$O0 – set fixed offset for mode#0

Input format:$O0,<offset> where unit of offset is cm

Output format: $O0,<offset>,cm

Example,

$O0,5,cm*EA0D

$OB – set fixed offset for longer distance

Input format: $OB,<offset> where unit of offset is cm

Output format: $OB,<offset>,cm

Example,

$OB,5,cm*3807

$SU – Save changed user parameters

$PD – Power down and restart unit with new parameter

NOTE: Use this command after you change baud rate of

communication or some others.

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$BA – set baudrate for main serial port (RS232)

Input format: $BA,<baudrate> where baudrate can be 9600,

19200, 38400, 57600, 115200, or 230400. All other value will be

rejected. It is always 1 stop bit, and 8bit no parity. XON/XOFF flow

control is required when some advanced option.

NOTE: Use $PD for immediate effect

$BR – set baudrate for aux serial port (RS485/RS422)

Input format: $BA,<baudrate> where baudrate should be 921600,

460800,230400 or any baudrate equal to or below 115200.

NOTE: Only S300 and some S200 can use R485/R422.

NOTE: Use $PD for immediate effect

$CL – Convert error code to error message

Input format: $CL,<error code>

$IS – Show current status

Output format: $IS,<run flag>,<system error status>,<password

status>

Run flag: 0: not operation

None zero: operation

System error status 0: normal operation

None zero: some system error: See error

code table

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Password status: 0: some commands are prohibited to

execute.

1, 2: all user commands are allowed.

Others: Call LTI for further information

NOTE: If unit is permanently locked, there is no way to unlock

except jumper installation.

$OZ – show current temperature (unit: degree Celsius)

Output format: $OZ,<temperature>

Example,

$OZ,33.0*07C1

The temperature on the board is 33.0 degree Celsius.

$HV – show high voltage settings

Output format: $HV,<HV delay time>,<Maximum delay>,<PWM

Frequency>,<PWM duty>

Example,

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

The unit is running 55 KHz PWM frequency with 75% duty cycle for

APD bias high voltage logic. There is no delay on HV logic, but it

reports 1 cycle delayed in past.

NOTE: Error count is valid if it is from 0 to 20. If Error count is

higher than a threshold, error 68 will be generated.

$RD – set trip distance

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Input format: $RD,<min value>,<max value>

S200 will assert trip output (pin6) when distance is greater than

min value and less than max value. Use 0 or a value less than min

value to set max value as infinite.

$VO – Laser pointer on

NOTE: Because laser pointer has different operating temperature

range, it may not accept $VO command if it is too cold or hot.

However, $VO, 9 can turn on laser pointer anyway.

$VF – Laser pointer off

$AU – Display AUX Board status

Output Format: $AU,<aux board configuration>,<working aux

configuration>,<factory setting>

S200 gives actual aux board configuration as well as working

configuration. Normally, actual configuration is same as working

one, but some function is disabled if there is conflict. If Actual

configuration set a bit for wrong setting, S200 may not work

correctly. All data are hexadecimal digits. See below bit

description.

#define AUX_VISIBLE 0x01

#define AUX_4_20_MA 0x02

#define AUX_HART 0x04

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#define AUX_422_485 0x08

#define SDI_12_ENABLED 0x10

#define AUX_CODE_ERROR 0x80

$FT – 4-20mA current loop setting

Input Format: $FT, <value for 4mA>, <value for 20mA>, <update

period> [, <error handling>, <number of measurement>, [<PV>,

<SV>, <TV>, <QV>]]

Output Format: $FT, < value for 4mA>, <value for 20mA>, <update

period>, <error handling>,<number of

measurement>,<PV>,<SV>,<TV>,<QV>

Value for 4mA denotes distance limit for 4mA. Value for 20mA

denotes distance limit for 20mA. It does not require that 4mA

value should be less than 20mA value. If 4mA value is greater than

20mA value, S200 works like 20-4mA mode. If it is required to

measure periodically, use <update period> whose unit is second.

<Error handling> can be 0,1,239 or 240.

0: if distance is out of 4-20mA limits, set current loop as 24mA

1: if distance is out of 4-20mA limits, set current loop as 3.5mA

239: if distance is out of 4-20mA, keep the previous value

240: if distance is out of 4mA, set 3.5mA. If it is out of 20mA, set

24mA

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<Number of measurement> is only valid if S200 is configured as

periodic sampling. Once S200 wakes up, it takes <number of

measurement>.

<PV>,<SV>,<TV>,<QV> set for HART output parameters. HART 7.2

supports PV,SV,TV,QV settings, but old version of HART may

require this setting. See HART manual for detail,

Default setting is

PV: first target

SV: strong target

TV: last target

QV: current board temperature

NOTE: 4-20mA users can ignore last 4 parameters (PV,SV,TV,QV)

except PV.

PV,SV,TV,QV can have 0,1,2,3,4 or 5.

0: First target

1: Second target

2: Third target

3: Strong target

4: Last target

5: Temperature on board

NOTE: $RD command use PV.

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$FM – 4-20mA current loop setting (Not for end-user)

Input Format: $FM, <address>[,<loop mode> [,<burst disable>

[,<unit for temperature>[,<write protection]]]]

Output Format: $FM,<address>,<loop mode>,<burst

disable>,<unit for temperature>,<write protection>

NOTE: This command is not designed for end user.

<Address> is a polling address for HART and SDI-12.

<Loop mode> is a state of current loop control. It can be 0 or

nonzero. 0 means fixed current mode for HART. HART command

#6 can control this. <Burst disable> can disable burst mode which

is only meaningful if S200 lost HART communication. <Unit for

temperature> is to notice degree Celsius (code=0 or 32) or degree

Fahrenheit (code =1 or 33). <Write protection> is to prevent

changes from HART.

$FK HART or SDI-12 communication log control

Input Format: $FK, <value>

Value 0: disable all communication logs

Value 1: enable communication logs

Value 2: enable notice logs

Value 3: enable both communication and notice logs

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NOTE: this is not for end-user command, but for HART or SDI-12

recorder development.

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Advanced commands

The commands in this section are only for advanced users.

$AB – set APD setting level

Input format: $AB,<less APD voltage> where unit is mV.

TruSense will set APD bias voltage as APD maximum operating

voltage subtracted by <less APD voltage>. Default factory value is

12000 (mV). If there is too many false detections in long range,

larger value should be better. 14000 or 15000 is good candidate is

in such case.

$AP – set APD parameter for automatic APD handling (some

models may not allow this command. Call LTI to activate this

command.)

Input format: $AP,<set peak-to-peak noise level>

Recommended value is 4 sigma. Default value is 4 * 3. (3LSB)

$AV – set APD parameter for automatic APD handling (some

models may not allow this command.)

Input format: $AV,<set sigma in terms of standard deviation of

noise level>

Recommended value is sigma * sigma. Default value is 3 * 3.

(3LSB)

$EO – Enable engineering data in Display Mode 1

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Input format: $EO,<0 or 1>

NOTE: Set 1 for a custom high accurate system

$FE – Enable noise removal logic

Input format: $FE,<0, 1, 2, or 3>

NOTE: 0: Disable noisy removal, 1= 0.1% noise removal, 2= 0.05%

noise remval, 3=0.2% noise removal. Do not set 0 unless it is

working with a custom high accurate system.

$DG – Unlock a unit for upgrade (some models may not allow

this command.)

Input format: $DG,862171138

NOTE: Error will be generated if unit does not allow this

command.

$IA – Lock a unit (some models may not allow this command)

Input format: $IA,862171138

NOTE: User should lock a unit after upgrade firmware.

$BT – Upgrade firmware (some models may not allow this

command)

Input format: $BT

NOTE: User should unlock a unit before this command. LTI will

send to you how to upgrade firmware when needed.

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$BO – disable boot loader (some models may not allow this

command.)

Input format: $BO,862171138

Use this command when firmware was upgraded by end-user

$MU – change measurement unit (some models may not allow

this command.)

Input format: $MU,<unit>,<digits after decimal point> where unit

can be 0, 1, 2 or 3 or M, F, N or E.

F or 0: feet

M or 1: meter

N or 2: nautical mile (1852meter)

E or 3: engineering (1mm resolution). This mode is for factory

only.

<digits after decimal points> can be 0, 1, 2, 3

0: no decimal point

1: one digit after decimal point like 1.2

2: two digits after decimal point like 1.23

3: three digits after decimal point like 1.234

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Output format

NOTE: if $LS (long range scanning) is enabled, processing time may

not be uniform.

NOTE: <time since power on> can be omitted. USE $DT command.

NOTE: <unit for distance> can be M, F, E or N.

M: meter

F: feet

N: Nautical mile

E: meter (engineering output 1mm resolution)

NOTE: multiple targets can be detected by S200 and S300 and

they are normally caused by 1) transparent materials like

windows, mosquito net, protected net like in a baseball stadium,

2) partially occupied targets like tree, roof of buildings, and 3)

rarely, but some irregular reflection. However, it may give false

targets due to nature of laser receiver. Normally, false targets are

just followed by a strong (cooperative) target.

NOTE: TruSense S200 and S300 generate outputs even if there is

error condition.

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Errors

Error

Code

Description

0 Good. No error

7 light interference (normally, old fashion jammer,

sunshine, lamp)

52 Temperature is cold (-25 degree Celsius). Wait a

minute, it will warm up

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 it persists, call LTI for service

All others Non critical error.

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NOTE If critical errors happen more than 5 times, unit

will re-boot automatically.

Therefore, if unit reboots periodically, call LTI for

service.

Display Mode 0:

No output, but working as Display mode 8. HART and SDI-

12 must be either mode 0 or 8. Or, S200 will set mode 0

automatically.

Display Mode 1: Internal range data

Ask LTI for detailed information. Format and example are

available in this document (see Mode 9). No range calculation in

this mode.

Display Mode 2: First target only mode

FORMAT: $DM,F,<distance>,<unit for distance>,<error

code>,<signal strength>,<time since power on> *CRC16

Example

$DM,F,2.38,M,0,4-309,1107.438*457E

Display Mode 3: Strongest target only mode

FORMAT: $DM,S,<distance>,<unit for distance>,<error

code>,<signal strength>,<time since power on> *CRC16

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Example

$DM,S,2.41,M,0,4-325,1190.623*6A1E

Display Mode 4: Last (farthest) target only mode

FORMAT: $DM,L,<distance>,<unit for distance>,<error

code>,< signal strength>,<time since power on> *CRC16

Example

$DM,L,2.34,M,0,4-307,1296.746*2873

Display Mode 5: First, second, third targets mode

FORMAT: $DM,F3,<distance for 1st>,<distance for

2nd>,<distance for 3rd>,<unit for distance>,<error code>,<time

since power on> *CRC16

NOTE: If there are less than 3 targets, distance will be

replaced by underscore.

Example

$DM,F3,2.18,0.00,0.00,M,0,3474.861*844D

$DM,F3,2.18,0.00,0.00,M,0,3474.945*E71C

$DM,F3,2.18,0.00,0.00,M,0,3475.029*80F2

Display Mode 6:First, last targets mode

FORMAT: $DM,L2,<distance for first>,<distance for

last>,<unit for distance>,<error code>,<time since power on>

*CRC16

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Example

$DM,L2,161.18,3.88,M,0,12.077 *6051

$DM,L2,572.89,3.97,M,0,13.809 *B600

$DM,L2,572.98,161.19,M,0,15.541 *2CC4

Display Mode 7: First, strongest, last targets mode (default

mode)

FORMAT: $DM,A,<distance for first>,<distance for

strongest>,<distance for last>,<unit for distance>,<error

code>,<time since power on> *CRC16

Example

$DM,A,1.75,1.75,1.75,M,0,24.203 *0482 (there is only one

target)

$DM,A,1.84,1.84,29.56,M,0,27.667 *9F4B (first target is

strongest)

$DM,A,3.93,3.93,568.21,M,0,31.132 *8C5E

Display Mode 8: First, second, third, strongest, last targets mode

FORMAT: $DM,B,<distance for first>,<distance for

second>,<distance for third>,<distance for strongest>,<distance

for last>,<unit for distance>,<error code>,<time since power on>

*CRC16

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NOTE: If there are less than 3 targets, distance will be

replaced by underscore.

Example

$DM,B,3.91,_,_,3.91,3.91,M,0,51.919 *ACA7

$DM,B,1.85,161.17,_,1.85,161.17,M,0,44.990 *9297

$DM,B,3.55,39.44,590.93,3.55,590.93,M,0,205.778 *CAA6

$DM,B,4.12,26.91,31.46,26.91,460.46,M,0,330.031 *2AD7

Display Mode 9: Alignment mode

FORMAT: $DM,I,<calibration type>-

<index>,<distance>,<distance without distance offset>,<unit for

distance>,<time since power on> *CRC16

NOTE1: Calibration type has five types; 0 to 4. Meaning of

calibration type is

4: very strong target

3: strong target

2: weak target

1: very weak target (may be false target; normally long

range or dull surface in medium range (400-500meter or longer)).

0: noisy targets or no target.

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NOTE2: output has distance without compensating fixed

offset ($O0, $O1, $OB), so this mode may be useful for fixed offset

setting.

NOTE3: output unit is always meter.

Example

$DM,I,4-389,5.040,4.990,M,180.528*2CC6

$DM,I,4-393,5.039,4.989,M,180.607*7A60

Display Mode 1: internal range data (only for advanced

user)

NOTE: this mode is designed to see all calibration data and raw

ranging information, so there is no range calculation and no

compensation. Accurate range calculation is possible if users have

their own calibration scheme and compensation scheme. This

mode is for high accurate custom application.

NOTE: This mode generates multiple records per measurement.

FORMAT: $RE,<result ID>,<target sequence>,<calibration

type>,<calibration index>, <Time of flight>,<laser firing reference

timing>,<temperature compensation done timing>, <temperature

compensation begin timing>,<temperature at the board (0.1

degree Celsius)>, <calculation error

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32

code>,<span1>,<span2>,<Current APD>,<APD maximum operating

voltage>,<time since power on>*CRC16

� Result ID: it is unique code for each measurement. It is

increased by 1

� Target sequence: it is unique code for each target in one

measurement.

� 0 will be assigned to first target, 1 to second target, 2 to

third target, ……

� Calibration type: 1 to 4. See Mode 9

� Calibration Index: bigger is stronger. Valid range

� Mode 4: 0 to 3499

� Mode 3: 0 to 399

� Mode 2: 0 to 2560 (or higher: unlimited, but 2560 is

logical maximum)

� Mode 1: 0 to 2560 (or higher: unlimited, but 2560 is

logical maximum)

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33

� Time of flight is time of flight since timing circuitry is

synchronized. NOTE: Not from laser fired NOTE: unit is 0.1mm

� Laser firing reference timing is time at laser being fired since

timing circuitry is synchronized. So, time of flight of actual

laser is <Time of flight> - <laser firing reference timing> NOTE:

unit is 0.1mm

� Temperature compensation: Not used in R1.00 model. Mode

R1.00 shows +/-15mm from -20 degree Celsius to 60 degree

Celsius without temperature compensation. Temperature

compensation is required to achieve less than 15mm absolute

error. Contact LTI if very high absolute accuracy is required.

NOTE: unit is 0.1mm

� TruSense has internal onboard thermometer and gives 0.1

degree Celsius accuracy. It is normally 5 to 10 degree higher

than temperature outside TruSense. Internal parts will warm

board. TruSense uses industrial grade parts, so -40 degree

Celsius to 85 degree Celsius should be good. But, to maintain

quality of absolute reading TruSense gives valid output only

from -30 to 60. Call LTI to more extended temperature range

(it causes larger error range).

Documents

Manual S200