LDS-50C-C30E

Overview and Specification for Laser Scanning Ranging Lidar

Overview
LDS-50C-C30E is the high performance-price ratio 2D pulsed laser lidar

developed by Pacecat, which uses the pulsed laser to launch a single laser

pulse toward the target, then receives the laser pulse back – wave

diffusely reflected from the target for calculation and processing of the
round-trip time, and finally sends distance data and angle information to

other devices via a serial port. With high-speed laser ranging sampling

capacity of up to 18,000 times per second and the optical magnetic fusion

technology, it can overcome the life limitation of traditional lidar and

achieve long reliable and stable operation.

LDS-50C-C30E 2D lidar can achieve 360-degree laser ranging scanning

within the 40-meters radius of the 2D plane. And the laser scanning

ranging module has been widely used in the map mapping, robot

positioning navigation, cleaning robot, service robot, AGV, anti - defense,

uav, etc.

The typical rotation frequency of LDS-50C-C30E is 10HZ (600RPM),

the angle resolution is 0.2 degrees, and it can be switched to 15HZ

(900RPM), and the angle resolution is 0.3 degrees.

This sensor can perform well in various indoor and outdoor environments

due to the high - performance pulse TOF range system of PACECAT. In

addition, each product has been strictly tested before leaving the factory

to meet human eyes’ safety grade - FDA Class l.

System Composition and Connection

LDS-50C-C30E mainly includes the laser ranging module as well as the

power supply processing module and the mechanical part that makes the

laser ranging module rotate at a high speed. The ranging core will start to
rotate and scan clockwise when working normally. The user can not only

obtain the scanning ranging data but also control the start, stop and

rotation speed of the rotation motor through the communication interface.

Cover

Launch window

Receiving window Power interface

Base Ethernet interface

FIG. 1-1 schematic diagram of LDS-50C-C30E system

The angular resolution of LDS-50C-C30E will be adjusted automatically

with the actual rotation frequency when scanning, and the user doesn’t

need to provide a complicated power - supply system for it. See below for

specific information of power supply and communication interface.

Machine Size Map

Unit: (mm)

Working principle and use

LDS-50C-C30E uses pulsed laser TOF ranging technology. With high-
precision time measurement and processing circuit and method, it can

range up to 18,000 times per second. Each ranging data is sent to the

power supply processing module through high-speed optical

communication for calculation, and the distance between the irradiated

target object and radar as well as the current included Angle information

will be output from the communication interface.

Driven by the motor, the ranging module of LDS-50C-C30E will rotate

clockwise so that the surrounding environment will be fully scanned by

360 degree.

LDS-50C-C30E lidar uses a near-infrared pulse laser as a light source

whose pulses are emitted only in nanoseconds to reach the safety standard

of the FDA Class 1 so that the safety of humans and pets can be ensured.

The near-infrared pulse laser combined with the optical filter can

effectively avoid light interference, so it can be used in indoor and

outdoor environment.

Optical Window
It is important to ensure that a reasonable laser launching – receiving

window is installed when the external system is designed, which is able

to ensure the normal operation of LDS-50C-C30E.The ranging

performance and precision will be affected by partial occlusion of the

external system to the ranging optical window. So if you have a special

requirement or need to use a transparent cover to protect the sensor,

please contact PACECAT for the feasibility and refer to the mechanical

dimension part of this document for the specific optical ranging window

dimension.

Performance Test
MODEL LDS-50C-C30E

Ranging range 0.1-40m@90%Reflectivity

 0.1-12m@10%Reflectivity

Scanning angle 360°

Scanning frequency 10HZ, 15HZ

0.2°, 0.3°
Angle resolution

18,000 Measured value /S

Sampling

+/-30mm
Ranging accuracy

Communication Ethernet 100Mbit/S

Interface

Laser wavelength 905nm+/-15nm

＜3W
Power Dissipation

Original data (Distance, Angle, Energy, Timestamp)

Output Content

Optical Interference
＜80,000lux
Resistance

Laser divergence ＜3mrad

Power supply 10-26VDC

Work temperature(℃) -10℃-50℃

Storage
-20℃-65℃
temperature(℃)

Size 55.5*55.5*51mm

Communication and Interface

LDS-50C-C30E uses external power supply and standard RJ45 network

interface, the specific interface definition is as follows:

Power interface

Ethernet interface using 586B connection mode, as shown below:

Development Tools and Support

In order to facilitate users to use lidar for product development and
acceleration of the development cycle, a graphical debugging interface

terminal and SDK development kits that can run on platforms such as x86

windows x86 Linux and arm Linux are provided. For specific

information, please visit https://github.com/BlueSeaLidar/bluesea to

download. If you have any questions, please contact PACECAT.

The test software description of windows

Software explanation

After the lidar is powered on and connected to the Ethernet port, double

click the icon  the icon to open the software and enter the software

interface
Clicking "Connection-Network" in the upper left corner will show the

following:

The software will automatically detect the lidar to be connected: ① the

serial number of the lidar, ② the IP address and port of the lidar, and ③

the IP address and port of the data upload target.

Modify the local IP address to be the same as the target of ③ IP address.

After selecting the lidar to be tested, click confirm to enter the lidar data

interface

Click "Settup..." to display the following information interface

①Type is a lidar model and ②SN is the factory serial number.
③is the device ID, customers can set the number according to their
own needs, can set the range of 0~2147483647(D) (7FFFFFFF(H))

④is the IP address of the lidar, and ⑤is the IP address of the data upload
target. Customers can set the correct IP address and port number

according to the actual needs; the device IP and the target IP should be in

the same network segment

⑥Automatic Start: If it is selected, the data will be uploaded

continuously after the lidar is powered on; If it is not selected, the data

will not be uploaded actively after the lidar is powered on, and the data

will be output only after any command is sent to the lidar

⑦Send to above server…: Only the target IP of lidar can receive

the data after selecting; If it is not selected, the software can receive the
lidar data of any IP address in the same network segment as lidar

⑧Deshadow Filter⑨Smooth Filter: When the filtering

function is turned on, the linear fluctuation of lidar data will be reduced

and the linearity will be smoother. Turning on the Deshadow Filter can

effectively remove the drag points between the front and rear targets.

⑩Resample filter: The current laser scanning frequency of lidar

head is 19K. After the Resample filter is turned off, the lidar outputs 10

packets of data, each packet has about 190 data points. After the

Resample filter is turned on, the fixed angle resolution of 0.2 ° at 10Hz

and 0.3 ° at 15Hz can be achieved.

The function description of the operation area of the

main interface of the upper computer software

1. Remove shadow and Smooth are the same as the "Deshadow Filter "

and "Smooth Filter " (⑨ ⑩) in above "Settup...".

2. Set angle resolution: Currently, it supports the output of raw data, fixed

Angle resolution of 0.2° at 10Hz speed and fixed resolution of 0.3° at

10Hz speed. This option is temporarily on or off. After power on again,

the lidar data will be output according to the "Resume filter" ⑩status
in "setup...".

3. Star, Stop and Single Position: It can control the normal operation, stop

and single position of the lidar

4. Color mapping: The intensity color mapping of lidar output data

can be set

5. Single point analysis: The upper computer software can

continuously monitor the 0° point distance data

6. Data packet points: Continuous detection of lidar data packet points

and packet loss

Data Communication Output Protocol

Measurement data package (cloud point output) format: point cloud

data is transmitted based on Ethernet UDP protocol package, default

port number: 6668 (software configurable).

Format description: One word is for a data with low byte in the front
 and high byte in the latter.

struct {

uint16_t code;

uint16_t count;

uint16_t whole_fan;

uint16_t offset;

uint32_t begin_ang;

uint32_t end_ang;

uint32_t flags;

uint32_t timestamp;

uint32_t dev_no;

};

Start (code): 2 bytes fixed as OxFAC7.

Packet length (count): 2 bytes, represent the number of data of this data

packet is count.

Total number of data in the sector (whole_fan): 2 bytes, indicating the

total number of sector data in which the packet is located.

Offset within sector (offset): 2 bytes, indicating the offset of the packet in

the sector.

Sector start data angle (begin_ang): 4 bytes, indicating the starting angle

of the current datagram, with 0.001 ° as the unit. For example, 180000

indicates 180.000 °
Sector end data angle (end_ang): 4 bytes(0.001°as the unit).

Packet flag (flags): 4 bytes

0x0001 means the unit is CM, 0 is MM.

0X0002 means with intensity information.

0x0004 indicates data to drag point.

0x0008 indicates that the data is smoothed.

0x0080 indicates that the data is resampled

Timestamp (timestamp): 4 bytes, the value range is 0-3600×106 µS, the

current timestamp indicates the laser emission time of the first point

cloud data of the current UDP packet.

Equipment number (dev_no): 4 bytes.

Distance data array: 2×N bytes.

Relative angle offset array: 2×N bytes, deflection relative to starting

angle, 0.001 ° as the unit

Intensity data array: N bytes.

Check: 2 bytes, sum of all data above (that is, all after 0xFAC7), in word

units (strength data is expanded to 2 bytes)

Check: 2 bytes, sum all the above data (that is, all after 0xFAC7) to

Word as a unit (strength data is expanded to 2 bytes)

Examples of actual data:

c7 fa 04 00 bc 00 b8 00 60 d8 03 00 00 65 04 00 0e

00 00 00 61 08 e6 dd 01 00 00 00 00 00 08 17 00 00
04 17 c6 89 84 8a 42 8b 05 8c 00 11 00 0f f2 7e
Data Description
C7FA Frame Header 
04 00 The number of ranging points in the packet is 4.
bc 00 The total number of data in the sector where this

b8 00 packet is 188
The offset of the sector data where this packet is
60 d8 03 00 Sector
184 start data angle 252. 00
00 65 04 00 Sector end data angle 288.000
0x0001 means the unit is CM, 0 is MM.
0X0002 means with intensity information.
0x0004 indicates data to drag point.
0e 00 00 00
0x0008 indicates that the data is smoothed.
61 08 e6 dd Timestamp
01 00 00 00 Device number
00 00 08 17 00 00 04 17 Distance（mm)
c6 89 84 8a 42 8b 05 8c Relative sector start bit angle
00 11 00 0f The intensity of the data
f2 7e Checksum
Prompt alarm data packet format

Start: 4 bytes fixed as OxCECECECE

Data: Two bytes are one data, low byte in the front and high byte in the

latter.

Such as: CE CE CE CE 00 01 indicates power failure - please check

whether the input power supply voltage is too low or the output power is

not enough.

The followings are control words:

LSTOPH – Stop rotating and powering the ranging. Return: OK,

Indicating success.
LSTARH – start working normally; Return: OK, Indicating success.

LMEASH–stop rotating, fixed ranging; Return: OK, Indicating success.

LRESTH – Reset reboot ; No return.

LVERSH – return version number.

LGCPSH–Request output to scan the cloud point

LTCPSH– Disable output scan cloud points; Return: OK, Indicating

success.

LSFAPH------- Save the firmware to FLASH；Return: OK, Indicating

success.

LSPZ0H-------Save strategy 0 to FLASH; Return: OK indicating success.

LSPZ1H-------Save strategy 1 to FLASH; Return: OK indicating success.

LSMMDH------Data unit acquisition; Return: 9 means the read data is in

mm unit; Return: 3 means the read data is in cm unit.

The followings are setting words (parameters saved during the power

loss):

LSUDP:xxx.xxx.xxx.xxx yyy.yyy.yyy.yyy zzz.zzz.zzz.zzz

kkkkkH

-------Set the lidar IP address, subnet mask, gateway, service port number,

Such as:

Set the lidar IP address to 192.168.158.91

Subnet mask: 255.255.255.0

Gateway: 192.168.158.1
 Service port number: 5000

Then LSUDP: 192.168.158.091, 255.255.255.000, 192.168.158.001,

05000H

LSRPM: xxxH - set the rotation speed to xxx, such as setting it to 450

RPM, then LSRPM: 450 h;

LSERR: xxxH - set the bias to xxx, such as setting it to -23cm, then

LSERR: - 23 h; setting it to 23cm, then LSERR: 23H;

LSSMT: xH------- Data smoothing (Smooth Filter), 0 is open, 1 is closed;

Return: OK indicating success. Return: NG indicating failure

LSFLT: xH-------Remove the drag point (Deshadow Filter), 0 is open, 1

is closed; Return: OK indicating success. Return: NG indicating failure

LSMMU: xH-------The output unit of point cloud data output, 1 is

millimeter unit and 0 is centimeter unit.

Return: OK indicating success. Return: NG indicating failure

LSSS0H------- Disable shadow removing; Return：LiDAR set smooth

ok, Indicating success

LFFF1H-------Disable Smooth

LFFF0H-------Enable Smooth ; Return：LiDAR set filter ok indicating

success
Alarm information output
struct Alarm
{
uint8 code;//Alarm code
uint8 position;// Positioning
uint16 seq_id;// Serial number
};
struct AlarmPack
{
char sign[4]; // must be "ALRM"
uint32 proto_version; // Protocol version
uint64 timestamp; // Timestamp
char dev_sn[20];
char dev_type[16];
uint32 dev_id; // Device number
uint32 count;
Alarm alarms[count];
uint32 crc;
};

Network heartbeat protocol

Struct DevInfo
{
char sign[4]; // must be "LiDA"
uint32 proto_version; // Protocol version
uint64 timestamp;// Timestamp
char dev_sn[20];
char dev_type[16];
uint32 dev_id; // Device number
unsigned char ip[4]; // Device address
unsigned char mask[4]; //
unsigned char gateway[4];
unsigned char remote_ip[4]; // Server Address
uint16 remote_udp; // Server port
uint16 remote_udp; // Server port
uint16 port; // lidar service udp port
uint16 status;// Device State
uint16 rpm; // Current rotation speed
uint8 alarm[16]; // Alarm information
uint32 crc;
};

JINHUA LANHAI PHOTOELECTRICITY TECHNOLOGY CO., LTD.

ADD: NO.358, JIDAO STREET, JINHUA321000, CHINA

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