Leddar T16 Solid-State LiDAR Traffic Sensor USER GUIDE
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© 2019 LeddarTechTM Inc. All rights reserved. LeddarTechTM Inc., referred to as the Company shall not be liable for any errors contained herein or for any damages arising out of or related to this document or the information contained therein, even if the Company has been advised of the possibility of such damages. The information contained herein is the property of the Company, and shall not be reproduced in whole or in part without prior written approval of the Company.
DISCLAIMER LeddarTechTM Inc. reserves the right to modify the products and/or specifications described herein at any time, without notice, at LeddarTech’s sole discretion. Performance specifications and operating parameters of the described products are determined in an independent state and are not guaranteed to perform the same way when installed in customer products.
Table of Contents VERSION HISTORY ....................................................................................................................... 7 LIST OF FIGURES .......................................................................................................................... 8 LIST OF TABLES.......................................................................................................................... 10 CONTACT INFORMATION .......................................................
7.2.2. Data Logging (.txt file) .............................................................................................. 51 7.2.2.1. How to Setup Data Logging ................................................................................. 51 7.2.2.2. How to Start and Stop Data Logging.................................................................... 51 7.3. DEVICE MENU ................................................................................................................... 52 7.3.1.
Version History VERSION 54A0043-1EN 54A0043-2EN Page 7 of 109 DATE DESCRIPTION (YYYY-MM-DD) Initial release • • • • 2019-02-06 Reviewed Document Conventions section. FCC mention moved to section 1.1. Table 6 and Table 9: Mention of 48° Traffic configuration deleted. Table 10 and Table 11: Detection ranges modified and notes added.
List of Figures Figure 1: Time of Flight .................................................................................................................. 15 Figure 2: Front View of the Leddar T16 Traffic Sensor ................................................................. 20 Figure 3: Front View of the Leddar T16 Tolling Sensor................................................................. 20 Figure 4: Back View of the Leddar T16 Traffic ..............................................................
Figure 46: Enter Password Dialog Box ......................................................................................... 79 Figure 47: Change Adapter Settings ............................................................................................. 89 Figure 48: Ethernet Network Option .............................................................................................. 90 Figure 49: Ethernet Properties ......................................................................................
List of Tables Table 1: Explanation of Labels on the Sensor ............................................................................... 13 Table 2: Regulatory Compliance ................................................................................................... 13 Table 3: Definitions ........................................................................................................................ 14 Table 4: Key Factors for Best Performance ................................................
Contact Information Address Phone Number LeddarTech LeddarTech Head Office Production and Shipping 4535 Wilfrid-Hamel Blvd, Suite 240 Quebec City QC G1P 2J7 Canada 3220 Watt Ave, Suite 120 Quebec City QC G1X 4Z6 Canada +1 418 653-9000 +1 855 865-9900 8:30 a.m. - 5:00 p.m. EST Technical Support support@leddartech.com Website www.leddartech.
Document Conventions This document uses the following conventions. Name of Menu > Name of Window Arial bold Shows the access path to menus under each section of Leddar™ Configuration. The name of buttons, menus, and dialog boxes are presented in bold. Notes contain helpful suggestion and references to information included within this user guide. Warnings refers to a warning or an important information to follow. 54A0043-2EN 032019 © LeddarTech Inc.
Label Explanation and Safety Information Table 1: Explanation of Labels on the Sensor Label Location on the Sensor Model Serial Number On the back of the sensor Description Part number (PN) starting with 75A and Serial Number (SN). This information is useful when contacting LeddarTech support. 1.1.
Introduction Definitions 2.1. Table 3: Definitions Term Definition Active grid Sensing area of a sensor. The active grid measures the range of detected objects and must be centered on the zones that need to be monitored. It is represented by an overlay of the live video window (Traffic configuration only). Amplitude Measure of the signal strength. AR Anti-reflective Area of interest The area that needs to be monitored.
2.2. Underlying Principles and LiDAR Fundamentals Created by LeddarTechTM Inc., Leddar™ (light-emitting diode detection and ranging) is a unique sensing technology based on LED illumination (infrared spectrum) and the time-of-flight of light principle. The LED emitters illuminate the area of interest and the multi-segment sensor receiver collects the backscattered light and measures the time taken for the light to return to the sensor.
2.3. Key Factors for Best Sensor Performance The following factors are important to consider for obtaining the best operating performance. Table 4: Key Factors for Best Performance Key Factors Description The larger the target, the higher is the range. Size of the target The smaller the target, the lower is the range. With a high surface reflectivity, the range is higher. Reflectivity of the target With a low surface reflectivity, the range is lower.
Description This user guide is intended to provide information on and describe the LeddarTM T16 Solid-State LiDAR Traffic Sensor (hereinafter referred to as “Leddar T16”) for developers, integrators and/or engineers. The LeddarTM T16 Traffic Sensor is a 2D solid-state LiDAR that is specifically designed for traffic management systems from city to highway applications.
Table 6: Leddar T16 Sensor Traffic and Tolling Configurations Leddar T16 Traffic Options 26° (75A0022-1) Options 9° (75A0025-1) • AR coated window • Pan and Tilt 19° (75A0026-1) • Lens shield • Camera 26° (75A0027-1) • Enclosure sunshade • No enclosure sunshade 36° (75A0028-1) • No pan and tilt 48° (75A0029-1) • No camera 9° (75A0030-1) 19° (75A0021-1) Leddar T16 Tolling 36° (75A0023-1) The Leddar T16 Sensor comes with the following software and accessories.
3.1.1. Key Components Receiver • Receiver Lens Emitter • • Light Emitter Diffuser lens Figure 2, Figure 3, and Figure 4 below show the Leddar T16 Sensor key components.
Enclosure sunshade Camera Receiver LED emitters (8) Figure 2: Front View of the Leddar T16 Traffic Sensor Receiver LED emitters (8) Figure 3: Front View of the Leddar T16 Tolling Sensor 54A0043-2EN 032019 © LeddarTech Inc.
Enclosure sunshade Ethernet connector Figure 4: Back View of the Leddar T16 Traffic Sensor Protective vent Brass inserts (4)* Ethernet connector Figure 5: Back View of the Leddar T16 Tolling Sensor * Brass inserts (two on the back and one on each side of the Tolling Sensor) serve to fix the optional enclosure sunshade only.
3.1.2. Distance Measurement The red line indicates the distance that is measured from the screw located on the sides of the Leddar T16 Sensor as shown in Figure 6. Figure 6: Distance Measurement with the Leddar T16 Sensor The blue dashed lines illustrate one segment and the solid line indicates the distance measured by the sensor in that segment. 54A0043-2EN 032019 © LeddarTech Inc.
Specifications 4.1. General Characteristics Table 8: Leddar T16 Characteristics Number of Segments 16 48° x 7.5° 36° x 5.9° Horizontal x Vertical FOV 26° x 4.2° 19° x 3.0° 9° x 1.6° Resolution 3.00°, 2.25°, 1.63°, 1.19°, 0.
Table 10: Test Conditions and Detection Range (Tolling) Leddar T16 Tolling Detection Range (m) Horizontal FOV (°) Vertical FOV (°) Retroreflector1 White 90% Reflectivity2 Gray 18% Reflectivity3 NCAP Pedestrian 40% 75A0025-1 9 1.6 49 36 17 46 75A0026-1 19 3.0 49 32 16 42 75A0027-1 26 4.2 49 17 11 24 75A0028-1 36 5.9 49 13 7 18 75A0029-1 48 7.5 49 11 6 15 Configuration 1. Retro-reflector reference target corresponds to a 5 cm x 7 cm band of retro-reflective tape.
4.2.1. Leddar T16 Traffic Dimensions Figure 7: Leddar T16 Traffic Sensor Dimensions 4.2.2.
4.2.3. Distance Screw Figure 9, Figure 10, and Figure 11 below shows the measurements between the mounting threads of the Traffic and Tolling Sensors. Figure 9: Leddar T16 Traffic Top View – Measurements Between Mounting Threads 54A0043-2EN 032019 © LeddarTech Inc.
Figure 10: Leddar T16 Traffic Bottom View – Measurements Between Mounting Threads Page 27 of 109 Leddar T16 – User Guide
Figure 11: Leddar T16 Tolling Bottom View – Measurements Between Mounting Threads 54A0043-2EN 032019 © LeddarTech Inc.
4.3. Electrical Specifications Table 12: Leddar T16 Electrical Specifications Power Supply IEEE 802.3at PoE+ (Power over Ethernet Plus), 56 VDC 54 V to 57 V (56 V nominal) Power Supply Tolerance Power Consumption (total) 4.4. It is strongly recommended not to exceed this range as there is a surge protection at 58 V.
Installing the Leddar T16 Sensor This section provides information and procedures to install and start the Leddar T16 Sensor. 5.1. Installing and Orienting the Sensor This section presents how to install and orient the sensor. The mounting bracket can be attached to the top or bottom of the Leddar sensor as shown in the examples below. Figure 12: Mounting Position Examples Required tools and materials • • 10 mm wrench Mounting brackets (of customer-supplied) To install and orient the sensor: 1.
Figure 13: Orienting the Sensor with Reference Marks The sensor has three position controls: pan, tilt, and roll (see Figure 14). The pan and tilt are adjustable using the sensor motor (Traffic configuration only); the roll can only be adjusted by hand using the mounting bracket. These adjustments vary according to the side of the road on which the sensor is installed. Figure 14: Sensor Position Adjustments Refer to section 7.3.4 Orientation Control to know how to change the sensor orientation.
5.2. Connecting the Leddar T16 Sensor Once LeddarTM Configuration is installed, you can connect the sensor. The sensor is in DHCP mode by default. Refer to Appendix A (part A or part B) for the detailed procedure on how to configure the network with either a static IP or DHCP connection. 54A0043-2EN 032019 © LeddarTech Inc.
Installing LeddarTM Configuration 1. Download LeddarInstall.exe via the provided link or LeddarTech’s support portal. 2. Double-click the file to start the installation. 3. If the Windows Security dialog box opens, click the Install button to accept the installation of the drivers from LeddarTech during the process. Figure 15: Windows Security Dialog Box The first time the sensor is connected to a computer, about 30 seconds are required for Windows™ to detect it and complete the installation. 4.
Connecting to LeddarTM Configuration 6.1. 1. Open Leddar™ Configuration. The following window appears: Figure 16: Leddar™ Configuration Opening Window 2. Click to connect to the sensor. The first time the sensor is connected to a computer, about 30 seconds are required for Windows™ to detect it and complete the installation. 3. In the Connection window, select a sensor in the list. Information about that sensor will appear under the list box. 54A0043-2EN 032019 © LeddarTech Inc.
The sensor list displays all the sensors that are currently recognized by the network. The color of items in the list indicates the status of a sensor. • • • Black: This sensor is available, and no user is connected to it. Blue: There is a user connected to this sensor. Red: Incapable of communicating. After a certain delay, if the sensor does not respond to requests, it is displayed in red. Figure 17: Connection Window 4. a) If the sensor is automatically detected.
Table 15: Connection Window Information Connection Details and Feature Description The status message is the connection status for a sensor, which indicates for example if a sensor is available or in use. The most common status messages are: Status Message/State Serial Number • • • • • • Waiting for connection Connected Connected and busy Running Running | Connected Running | Connected | Busy The serial number of the sensor as attributed by LeddarTech. FPGA: Firmware version of the sensor.
Connection Details and Feature Description Unicast enumerates the sensors by sending unicast messages to every address defined by the IP Address and Subnet Mask boxes. Mode - Unicast Mode - Address For example, if 192.168.60.0 is entered as an IP address and 255.255.255.0 as a subnet, then unicast messages will be sent to every address from 192.168.60.1 to 192.168.60.254 to verify if there is a sensor present. If there is, then the sensor will appear in the connection list.
LeddarTM Configuration The LeddarTM Configuration software allows the user to view the detection measurements provided by the connected sensor. The detections may vary based on the configuration of the parameters. The main window can be resized manually or set to full-screen view. When a dialog box or a window is already open a checkmark appears next to the command on the menu.
7.1. Main Windows, Menus and Buttons Once connected to the sensor, the main window of LeddarTM Configuration displays the following menus, toolbar and view. See their description below.
Figure 21: Leddar™ Configuration Tolling Configuration Main Window 54A0043-2EN 032019 © LeddarTech Inc.
Table 16: Main Window Menus Menu Description Click File to access the following menus: File File > Record Replay File > Load Configuration File > Save Configuration As File > Start/Stop Recording File > Import Configuration File > Start/Stop Data Logging File > Quit Refer to section 7.2 File Menu for more details.
View > Raw Detections View > Raw Detections Graph Tolling Configuration Menu View > Device State View > Raw Detections Refer to section 7.4 View Menu for more details. The d-tec Virtual Channels option is not compatible with the Leddar T16 Sensors. Click Settings to access the following menus: Settings Settings > Record Settings > Data Logger Settings > Preferences Settings > Access Levels Refer to section 7.5 Settings Menu for more details.
Table 17: Main Window Toolbar Button Description The Connect button allows you to connect to a sensor. Once you are connected, the Connect button will change for the Disconnect button. The Disconnect button will then allow you to disconnect the sensor from the system. The Apply button allows you to confirm and apply the changes you just made to the system related to the sensor.
7.2. File Menu Table 18: File Menu Options Option Description This option allows the user to load the sensor configuration previously saved in the system as a *.lto file (Leddar TM Configuration file). Choose the wanted sensor configuration from the Open dialog box. Load Configuration You can also get the configuration that was stored with a record file.
Option Import Configuration Description To import a *.ltl file, go to File > Import Configuration. Once you have completed a recording, you can review it by selecting Replay in the File menu. Record Replay The Position slider lets you move directly to a desired position. The Playback Speed slider lets you adjust the speed of the recording playback. Refer to section 7.2.1.3 How to Play a Recording for more details.
Figure 22: Record Settings Window 1. Choose a directory where you want to save the record file. 2. Indicate a Maximum file size. 3. Only check Debug 1, Debug 2, and Debug 3 if requested by LeddarTech to activate troubleshooting information. If activated, data acquisition rate (Hz) decreases. 4. Indicate a Maximum record time. Click OK. The file name of the recording will be the sensor name followed by the date and time of the recording.
7.2.1.2. How to Record a Scene To start recording the detection scene: 1. Under Settings menu > Preferences > Recording tab, indicate a maximum file size and a maximum record time. Refer to section 7.2.1.1 How to Edit Recording Settings for more details. 2. In the File menu, select Start Recording (shortcut F9). When selecting this option, a counter will start at the bottom left of the main window next to the name of the sensor.
Figure 23: Record Replay Window at Opening 2. Click Browse to select a *.ltl file. Figure 24: Record Replay Window with File Open 54A0043-2EN 032019 © LeddarTech Inc.
Table 19: Record Replay Window Button/Feature Description Click Browse to select the record file of the scene that you want to view again. Once selected, the name of the file will appear next to the Browse button. Click the play button to start the recording. Click the stop button to end the recording. Click the previous or next buttons to either move to the previous frame or move to the next frame. Position Move the Position slider to go to a desired position in the recorded file.
7.2.1.4. How to Extract a Scene Segment This feature allows you to extract a segment from a previously recorded scene. 1. Click to select the record file to play. 2. In the Open window, select the desired record file and click Open. 3. Click to start the playback. To extract a record file segment: 1. Set the Position slider to the position where you want to see the file segment start and click . 2. Set the Position slider to the position where you want to see the file segment stop and click .
7.2.2. Data Logging (.txt file) 7.2.2.1. How to Setup Data Logging To setup data logging file and launch data logging: 1. To configure a .txt recording, go to the Settings > Data Logger. 2. Click to select where to save the log and click OK. Figure 26: Data Log Settings Dialog Box The file name of the recording will be the sensor name followed by the date and time of the recording. The user can change the name of the file by changing the sensor name (refer to section 7.3.1.
7.3. Device Menu Table 20: Device Menu Options Option Device > Disconnect Description Click to disconnect the sensor from the software and come back to Leddar™ Configuration. Select this option to confirm the changes to the settings or click Device > Apply Changes in the toolbar. Select this option to undo the changes to the settings or click Device > Undo Changes in the toolbar. Device > Configuration > Name Select this option to view and modify the name of the sensor. Refer to section 7.3.1.
Option Description This option is available with the Traffic configuration only. Device > Configuration > Video Select this option to set the video parameters. Refer to section 7.3.5 Video Settings for more details. This option is available with the Traffic configuration only. Device > Action > Start/Stop Live Update Select this option to start or stop the live update or click to start or to stop the update in the toolbar. Refer to section 7.3.6 Action for more details.
Figure 27: Device Name Dialog Box 2. A warning message in red appears. 3. Click in the toolbar to save your changes. 7.3.2. Acquisition Settings To access this menu, click Device > Configuration > Acquisition Settings. This menu allows the user to set the acquisition parameters for detection of objects or people. To apply new acquisition settings, click in the toolbar. Figure 28: Acquisition Settings Dialog Box 54A0043-2EN 032019 © LeddarTech Inc.
Table 21: Acquisition Settings Window Parameter Description Range Inter-segment interference noise removal. Crosstalk Removal Crosstalk is a phenomenon inherent to all multiple segments time-of-flight sensors. It causes a degradation of the distance measurement accuracy of an object when one or more objects with significantly higher reflectivity are detected in other segments at a similar distance.
Parameter Echoes Crosstalk Removal Temperature Compensation Description When selected, this parameter can further increase accuracy by removing secondary echoes that might still be present in adjacent segments after applying the first stage of crosstalk removal. The signal processing algorithm also embeds an advanced temperature compensation scheme which attenuates the distance measurement drift over large and sudden sensor temperature changes.
7.3.3. Network Settings To access this menu, click Device > Configuration > Network. This window allows the user to view and modify the IP configuration and communication protocol configuration. The network configuration applies after a system reboot. Figure 29: Network Settings Configuration Window Table 22: Network Configuration Window Parameter Description IP Address The IP address attributed to the sensor.
7.3.4. Orientation Control (Pan/Tilt Adjustment) To access this menu, click Device > Configuration > Orientation. This menu is available with the Traffic configuration only. This feature allows the user to adjust the orientation of the sensor. In the Orientation Control dialog box, use the arrows to move the sensor so that the active grid is centered on the zones to monitor. The Step Size field sets the move, in degrees, for each click on an arrow button (0.1 to 1.0 degrees).
7.3.5. Video Settings To access this menu, click Device > Configuration > Video. This menu is available with the Traffic configuration only. Video activation and settings choices can affect the detection performance in real time. Figure 32: Video Settings Window Table 23: Video Settings Parameter Description Select the Manual checkbox to manually change the camera intensity with the Position slider. If you clear the checkbox, the intensity will adjust itself automatically.
Parameter Description Real bit rate (kbps) Real bit rate in kilobits per second. Low speed connection (WAN) Select this option to get a low speed connection. High speed connection (LAN) Select this option to get a high-speed connection. Resolution 320 x 240 QVGA (Quarter Video Graphics Array display standard) 7.3.6. Action To access this menu, click Device > Configuration > Action. This menu is available with the Traffic configuration only.
7.4. View Menu Table 25: View Menu Options Menu Description Select this option to view sensor information. View > Device State Refer to section 7.4.1 Device State for more details. This option is available with the Traffic configuration only. View > Image Select this option to get a live view from the camera sensor. Refer to section 7.4.2 Image Activation for more details. This option is available with the Traffic configuration only.
7.4.1. Device State To access this menu, click View > Device State. This window allows the user to view information about the sensor. Figure 33: Device State Dialog Box Table 26: Device State Information Description Parameter Temperature This section indicates the temperature of the sensor and of its chip. Timers & Load This feature gives information in number of days, hours, minutes, and seconds about two types of activities of a sensor.
Description Parameter Part Numbers This provides the Hardware and Software part numbers of a sensor, as attributed by LeddarTech. Ethernet Address Also called the Ethernet MAC address, this is a unique identifier of the sensor on the network. 7.4.2. Image Activation To access this menu, click View > Image. This menu is available with the Traffic configuration only. This option allows the user to activate or deactivate the camera of the sensor and get a live view.
7.4.4. Raw Detections To access this menu, click View > Raw Detections. This window allows the user to view detection values. It also provides filters to isolate segments and detection parameters. An object crossing the beam of the sensor is detected and measured. This detection is qualified by its segment position, distance, and amplitude. The quantity of light reflected to the sensor by the object generates the amplitude. The bigger the reflection is, the higher the amplitude will be.
Table 27: Raw Detections Parameters Parameters Min Amplitude Max Amplitude Description Range The value entered in the Min Amplitude box shows only detections of amplitude higher or equal to that value. The value entered in the Max Amplitude box will show only detections of amplitude lower or equal to that value. The maximum amplitude is set at 1024.0 by default. 0.0 to 1024.0 Setting a value in both fields will result in a range of amplitude to display.
Table 28: Flag Value Description Bit position Bit = 0 Bit = 1 0 Invalid measurement Valid measurement 1 Reserved Reserved 2 Reserved Reserved 3 Reserved Saturated 4 Reserved Reserved 5 Reserved Reserved 6 Reserved Reserved 7 Reserved Reserved 54A0043-2EN 032019 © LeddarTech Inc.
7.4.5. Raw Detections Graph To access this menu, click View > Raw Detections Graph. The Raw Detection Graph window is available with the Traffic configuration only. The raw detections graph window allows the user to view the segments.
The measurements are represented in a symbolic graph containing the 16 segments (white lines) originating from the sensor. Detections are drawn as arcs in their corresponding segments. Only valid measurements are displayed. A more detailed description of the measurements can be obtained in the Raw Detections dialog box (refer to section 7.4.4 Raw Detections). The X and Y numbers displayed at the bottom are the mouse cursor position coordinates.
Figure 36: Vertical Scale Setting Areas (Traffic Configuration) Page 69 of 109 Leddar T16 – User Guide
Figure 37: Vertical Scale Setting Areas (Tolling Configuration) 54A0043-2EN 032019 © LeddarTech Inc.
Figure 38: Horizontal Scale Setting Areas (Traffic Configuration) Page 71 of 109 Leddar T16 – User Guide
Figure 39: Horizontal Scale Setting Areas (Tolling Configuration) 54A0043-2EN 032019 © LeddarTech Inc.
You can hover the mouse on a segment to get the following information: • • • Segment Distance (in meter) Amplitude Figure 40: Detection Point Coordinates (Traffic Configuration) Page 73 of 109 Leddar T16 – User Guide
Figure 41: Detection Point Coordinates (Tolling Configuration) 7.4.5.2. Detection Scene Short Keys Short keys allows you to pan or zoom the display of the detection scene. Mouse wheel: to zoom in or zoom out vertically and horizontally (Traffic and Tolling configurations). Mouse click: to move the detection scene vertically and horizontally (Traffic and Tolling configurations). Shift + mouse wheel: to resize the detection scene horizontally (Traffic and Tolling configurations).
7.5. Settings Menu The Settings menu includes the Record, Data Logger, Preferences and Access Levels. 7.5.1. Record Settings To access this menu, click Settings > Record. Figure 42: Recording Settings Window Table 29: Recording Settings Feature Description Record Directory The record directory is the folder to which all record files will be saved. These files are in a proprietary format, with extension *.ltl, and can only be opened and viewed with the Leddar™ Configuration software.
Feature Description maximum file size and automatically switches the recording to another file. This is to keep record files of manageable sizes. This option is available with the Traffic configuration only. This feature is needed to record the live images with the data. When not selected, only the data will be recorded. Video Video activation and the debug mode set for recording can affect the detection performance in real time. These check boxes are reserved for the use of LeddarTech technicians.
Figure 43: Data Logger Dialog Box Refer to section 7.2.2.2 How to Setup Data Logging for more details. 7.5.3. Preferences To access this menu, click Settings > Preferences. This menu allows the user to change various settings related to window display. Figure 44: Preferences Options Window With the Tolling option, Leddar T16 does not appear in the General menu.
Table 30: Preferences Window Options and Settings Option Units Description Range The units that are applied to distances displayed in the Leddar™ Configuration software. Meter Foot Celsius Temperature Unit The units for displaying temperatures of sensors. Fahrenheit Kelvin Error Log Network Select Show error log to display error messages that are logged during the current session. Error messages are displayed in the Error Log box.
7.5.4. Access Level To access this menu, click Settings > Access Level. You can also change license by double-clicking on User located at the bottom of the main window. The Leddar™ Configuration software has two access levels: The User operation mode (by default at startup) for normal use and the Technician operation mode which is password protected for approved personnel use only. In the Enter Master Password dialog box, type the password provided by LeddarTech.
7.6. Help Menu The Help menu includes User Guide, LeddarTM SDK Help, and About options. 7.6.1. User Guide To access this menu, click Help > User Guide. The User Guide option allows the user to select and consult a PDF version of a user guide directly from Leddar™ Configuration. Select a user guide in the list to open a PDF version of the selected user guide. 7.6.2. LeddarTM SDK Help To access this menu, click Help > LeddarTM SDK Help.
Communication Protocol The Leddar T16 Sensor uses LeddarTech’s proprietary communication protocol (TCP/IP socketbased protocol called Ipv4). Refer to the Communication Protocol User Guide provided by LeddarTech for more information about the communication protocol of the sensor.
Troubleshooting Problem Action to Take Verify that your sensor is connected. No power Verify that your sensor is connected to an appropriated PoE+ port. The optical window is damaged Contact LeddarTech Support. Verify that your computer is configured with a static IP address. The Ethernet connection is not available Verify that the cable is well secured in the Ethernet port.
Maintenance Following this maintenance guideline will ensure optimal performance of the product. Manipulation Avoid touching the optical surface as fingerprints can permanently damage optical coatings. 1. Remove dust using blow dry compressed air. Cleaning of the optics 2. Clean using lens tissue or isopropanol. To safely perform maintenance operations of the Leddar T16 Sensor, please contact LeddarTech Support at support@leddartech.com.
Warranty PLEASE READ CAREFULLY V2.0 2018-06-01 LeddarTech® Limited Warranty 1. Application. This limited warranty (this “Warranty”) from LeddarTech Inc. (“LeddarTech”) applies to all LeddarTech products referenced on the LeddarTech website at leddaretch.com (each, a “Product”). This Warranty does not apply to any prototype units of the Product. 2. Limited Product Warranty.
The original Warranty Period shall not be extended by any replacement, but the remaining Warranty Period shall continue in effect and be applicable under the terms and conditions of this Warranty to the replaced Product. 5. Disclaimer.
Technical Support For technical inquiries, please contact LeddarTech technical support by registering online at https://support.leddartech.com to: • • • Follow up on your requests Find quick answers to questions Get valuable updates Or by contacting us at: • + 1 418 653 9000 • + 1 855 865 9900 • support@leddartech.com 8:30 a.m. - 5:00 p.m. Eastern Standard Time To facilitate the support, please have in hand all relevant information such as part numbers, serial numbers, pictures (if possible).
Index 2 F 2D solid-state LiDAR......................................... 17 A Accuracy ........................................................... 23 Active grid ......................................................... 14 Amplitude .............................................. 14, 65, 73 Area of interest.................................................. 14 C Camera ............................................................. 14 Cat 5e Ethernet cable ....................................... 95 Celsius .
Memory ............................................................. 29 MEMS mirror ..................................................... 19 Min Amplitude ................................................... 65 Min Distance ..................................................... 65 mounting bracket .............................................. 30 Mounting Threads ............................................. 24 N network static IP................................................ 89 Number of Segments ........
Appendix A. Static IP and DHCP Configuration Under Windows 7 and Up Part A – Configuring the network for static IP mode. You will lose internet connection if you are not connected via other means. 1. In Control Panel > Network and Internet > Network and Sharing Center, select Change adapter settings.
2. In the Network Connections window. Double-click on Ethernet. Figure 47: Ethernet Network Option 54A0043-2EN 032019 © LeddarTech Inc.
3. In the Ethernet Properties window, select Internet Protocol Version 4 (TCP/IPv4), then click on Properties.
4. Select Use the following IP address and insert an IP address different than the sensor, for example: 192.168.000.100 in the IP address field. 5. Insert the same subnet mask as the sensor (255.255.255.0 by default) in Subnet Mask field. Figure 49: IP Address and Subnet Mask Refer to section 6 Installing LeddarTM Configuration once the configuration is done. 54A0043-2EN 032019 © LeddarTech Inc.
Part B – Configuring the network for DHCP mode 1. Connect the Ethernet cable (POE+ connection) into the Ethernet port of the sensor and the other end of the Ethernet cable to your computer or switch. See Figure 50.
2. In the network connections, make sure that the TCP/IPV4 is set to automatic. Figure 51: Ethernet Properties Figure 52: IP Address and Subnet Mask Refer to section 6 Installing LeddarTM Configuration once the configuration is done. 54A0043-2EN 032019 © LeddarTech Inc.
Appendix B. Making Connectors for the Ethernet Cable A Cat 5e RJ45 Ethernet cable must link the sensor to a network or a computer. You must install a connector at both ends of the Ethernet cable. To do so, use the supplied RJ45 connector kits. See Figure 53 and Figure 61. Figure 53: RJ45 Industrial Modular Connector Kit for the Sensor Side of the Ethernet Cable Required tools and materials Tools 1. RJ45 crimp tool 2. 18 mm, open-end wrench 3.
Figure 54: Ethernet Cable with the Jacket Stripped and Plug Housing 2. Untwist wire pairs and separate them. Figure 55: Twisted Pairs 3. Align the wires according to the T568B standard (see Figure 56). 54A0043-2EN 032019 © LeddarTech Inc.
Do not remove the insulation of individual wires. 1 2 3 4 5 6 7 8 1 1: White-orange 2: Orange 3: White-green 4: Blue 5: White-blue 6: Green 7: White-brown 8: Brown Figure 56: Cat 5e T568B Wiring Diagram 4. Cut the wires and insert them in the load bar. Figure 57: Wires in the Load Bar 5. Slide the load bar until it sits against the cable jacket and cut the wires to approximately 1/4 in. (5 mm). 6. Trim the remaining wire tips and retract the cable to leave about 1/32 in. (1 mm) of wire.
Figure 58: Trimming the Wires 7. Insert the load bar inside the RJ45 plug all the way until the wire tips are seated against the inside wall of the plug housing. Figure 59: Inserting the Load Bar and Wires in the RJ45 Plug 54A0043-2EN 032019 © LeddarTech Inc.
8. Crimp the connector with the crimp tool. Figure 60: Crimping the RJ45 Plug 9. Depress the connector tab and pull the cable until the connector is fully seated inside the plug housing. 10. Hold the plug in position and rotate the cable fitting clockwise until tightened to a torque of 20 lbs-in. (2 Nm). 11. Install the sensor as described in Section 5 Installing the Leddar T16 Sensor. 12.
In step one, instead of using the plug housing, use the yellow strain relief (see Figure 61). Figure 61: RJ45 Strain Relief Connector Kit for the Other End of the Ethernet Cable 14. Repeat steps 1 through 13 for other sensors. 54A0043-2EN 032019 © LeddarTech Inc.
Appendix C. Procedure to Use LeddarCDemo (SDK Code Example) with the Leddar T16 Sensor 1. When installing the Leddar™ Configuration software, you must select both products below. 2. You should have the code Examples in your Documents folder in your computer C:\....Documents\LeddarTech as you can see below.
3. Copy paste all the DLL files from the C:\Program Files\LeddarTech\xtec to LeddaCDemo folder. Copy all the DLL files from here: 54A0043-2EN 032019 © LeddarTech Inc.
4.
5. Open the LeddarCDemo.vcxproj with Visual Studio and compile the Main.c 6. The DOS window below appears: 54A0043-2EN 032019 © LeddarTech Inc.
Click 3. List Sensors to find the sensor with the address 192.168.0.10.
Click option 1. Connect, then option 1. Read Data. 54A0043-2EN 032019 © LeddarTech Inc.
Note: The code example below reads only 8 segments.
LEDDARTECH INC. 4535 Wilfrid-Hamel Blvd, Suite 240 Quebec City QC G1P 2J7 Canada Tel.: +1 418 653-9000 Canada or USA toll free: +1 855 865-9900 Fax: 1-418-653-9099 8:30 a.m. - 5:00 p.m. EST support@leddartech.com www.leddartech.com © 2019 LeddarTechTM Inc. All rights reserved. 54A0043-2EN 032019 © LeddarTech Inc.
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