HOKUYO AUTOMATIC UST-05LN, UST-05LA User Manual
Document No: C-41-02490-9
Scanning Laser Range Finder
UST-05LN/UST-05LA
User’s Manual
Document No: C-41-02490-9
Table of contents
1. Introduction ................................................................................................................................................. 3
1.1 About this document/manual ............................................................................................................... 3
1.2 Applicable products ............................................................................................................................... 3
1.3 Special markings and symbols ............................................................................................................. 3
1.4 Cautions.................................................................................................................................................. 4
2. Safety precautions ....................................................................................................................................... 5
2.1 General precautions .............................................................................................................................. 5
2.2 Operating environment ......................................................................................................................... 5
2.3 Installation of UST ................................................................................................................................ 5
2.4 Wiring ..................................................................................................................................................... 6
2.5 Configuration ......................................................................................................................................... 6
2.6 Inspection and maintenance ................................................................................................................. 6
3. Product overview ......................................................................................................................................... 7
3.1 Features of UST-05LN/UST-05LA ....................................................................................................... 7
3.2 Components of UST-05LN/UST-05LA................................................................................................. 8
3.3 Operation principle ............................................................................................................................. 10
3.4 Area configuration ............................................................................................................................... 11
3.5 Area switching...................................................................................................................................... 12
3.6 Detection condition .............................................................................................................................. 14
3.7 ON /OFF delay ..................................................................................................................................... 15
3.8 Hysteresis function of detection area ................................................................................................. 17
3.9 Setting of UST ...................................................................................................................................... 17
3.10 Output ................................................................................................................................................ 19
3.10.1 Output 1 to Output 3 ................................................................................................................... 19
3.10.2 Malfunction output ...................................................................................................................... 19
3.10.3 Synchronization output ............................................................................................................... 19
3.11 Input ................................................................................................................................................... 19
3.11.1 Input 1 to Input 5 ......................................................................................................................... 19
3.11.2 Synchronization input ................................................................................................................. 19
3.12 Indicator lamp ................................................................................................................................... 20
3.13 Laser spot ........................................................................................................................................... 21
3.14 Data logging ....................................................................................................................................... 22
3.14.1 Record of log data ........................................................................................................................ 22
3.14.2 Playing log data............................................................................................................................ 23
3.15 SD card log function (for UST-05LA only) ...................................................................................... 24
3.16 Laser emission skip function ............................................................................................................ 25
3.16.1 Scan skip function ........................................................................................................................ 25
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3.16.2 Laser pulse skip function ............................................................................................................ 26
4. Application examples of the UST ............................................................................................................. 27
4.1 Access protection (Horizontal application Stationary） .................................................................. 27
4.2 Protrusion detection (vertical placement) ......................................................................................... 28
4.3 Area protection (Mobile) ..................................................................................................................... 29
5. Installation ................................................................................................................................................. 31
5.1 Light interference ................................................................................................................................ 31
5.2 Mutual interference ............................................................................................................................. 32
5.3 Synchronous operation ....................................................................................................................... 34
6. Wiring ......................................................................................................................................................... 35
6.1 Precautions ........................................................................................................................................... 35
6.2 Power supply ........................................................................................................................................ 35
6.3 Wire color and function ...................................................................................................................... 36
6.4 Input/Output circuit ............................................................................................................................ 37
6.4.1 Input circuit ................................................................................................................................... 37
6.4.2 Output circuit ................................................................................................................................. 37
6.5 RS422 (For UST-05LA only) ............................................................................................................... 38
7. UST Area Designer application software................................................................................................. 39
7.1 Area Designer ....................................................................................................................................... 39
7.2 System requirements ........................................................................................................................... 39
8. Inspection and maintenance ..................................................................................................................... 41
8.1 Pre-operation inspection ..................................................................................................................... 42
8.2 Operation inspection ........................................................................................................................... 42
8.3 Daily inspection ................................................................................................................................... 43
8.4 Periodical inspection ........................................................................................................................... 44
8.5 Cleaning the optical window .............................................................................................................. 45
9. Troubleshooting ......................................................................................................................................... 46
10. Specification ............................................................................................................................................. 47
11. Applicable directives and standards ...................................................................................................... 49
12. Package contents ..................................................................................................................................... 50
13. External Dimensions ............................................................................................................................... 51
14. Revision history ....................................................................................................................................... 52
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Document No: C-41-02490-9
Mark
Meaning
Procedures that could lead to dangerous situation, critical injury or death if not
carried out properly
Procedures that could lead to dangerous situation, serious injury or physical
damage if not carried out properly
Points that should be considered for the proper operation
1. Introduction
This user’s manual is designed with the purpose of providing guidelines and instructions for the machine
user or system designer while operating, installing, wiring and servicing the UST sensor (UST-05LN,
UST-05LA).
1.1 About this document/manual
The UST’s features, installation and handling method are described in this document.
Make sure to read carefully and understand this document before installation, wiring, operation,
inspection and maintenance.
User should have a copy of this document at an easy-to-access place for quick reference.
Any modifications or disassembly of the UST is prohibited. Modifications will affect sensor
performance and detection capability that could lead to critical injury and death.
Any modifications or disassembly of the UST will void the warranty.
All information in this user’s manual is subject to change without prior notice. For the latest
information visit our company’s website http://www.hokuyo-aut.jp
1.2 Applicable products
This document is for the following sensor models.
UST-05LN
UST-05LA
1.3 Special markings and symbols
Markings and symbols are used in this document to alert the user about safety-related issues. Follow the
instructions of these special markings and symbols to ensure safety during the operation.
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1.4 Cautions
The UST has been shipped upon strict quality control. If you find any defect in the product contact the
nearest distributor or sales representative.
Hokuyo cannot be held responsible for damages or failure due to misuse of the product.
The actual product may differ from the illustrations and figures in this document as they are used for
explanatory purposes only.
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2. Safety precautions
Make sure to read the following safety precautions for the correct use and operation of the UST.
2.1 General precautions
The UST is not a safety device. Do not use this sensor for the purpose of protecting humans.
The UST uses laser radiation for detecting objects within configured area.
Perform pre-operation tests in order to verify the performance of the UST.
User should prepare test pieces for detection capability verification test. The test piece should emulate
the smallest object that is intended to be detected during operation.
Operate the UST within the specifications described in this user’s manual. Perform necessary
maintenance to prevent deterioration of UST’s detection capability (refer to chapter 8)
Do not modify or disassemble the UST. This could compromise the IP65 housing rating. Such
modifications will void the warranty.
The detection capability of the UST will decrease if dust covers the optical window. Regular cleaning of
the optical window is necessary while working under dusty environment. (Refer to section 8.5)
The UST should be disposed as industrial waste or in accordance with the local disposal directives.
2.2 Operating environment
This product is for indoor use only.
Make sure that the UST’s operating environment is within the stated specification (temperature,
humidity, vibration, ambient light, etc.)
Do not use or mount the UST near devices that could generate strong electromagnetic waves as it
could affect the operation of the sensor.
Do not use or mount the UST in dusty, smoky, or misty environments, or where corrosive substances
are present. Working under such environments may decrease the detection capacity of the sensor.
2.3 Installation of UST
Install the UST on a firm surface or structure to avoid displacement.
Shock and vibration should not loosen the mounting. Detection result will be different if the sensor is
displaced due to such condition.
Mutual interference can occur when two or more UST sensors are mounted at the same detection plane.
Refer to chapter 5 (mutual interference and synchronous operation) for details.
The UST should be mounted with a provision of sufficient space for maintenance.
The UST should be mounted where indicator lamps are easily visible.
Do not put any object in the detection area of the UST. It is not possible for the sensor to detect objects
that lie behind the obstacle.
Do not add any protective materials such as glass, transparent cover, etc. in the front of the optical
window. This may lead to loss of detection capability of the UST.
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Avoid direct sunlight as it may cause sensor malfunction. Refer to chapter 5 (light interference) for
details.
Increasing the response time will also increase the stability of the UST. However, this will reduce the
detection capability towards moving objects. User must perform pre-operation tests before using this
function.
2.4 Wiring
Switch off all the power supplies during wiring.
When a converter is used for supplying the power, make sure it fulfills the following requirements.
・ A rated output voltage within the range of DC 10V to 30V (above 1A)
・ The power supply complies with the requirements of electromagnetic compatibility regulations
(EMC) of the respective country, states and district.
All the input/output signal cables should be installed away from machines, power lines and high-
voltage cables.
2.5 Configuration
Pre-operation test must be performed to verify the configurations before operating the UST.
Changes made during the configuration must be recorded and saved.
2.6 Inspection and maintenance
User must perform inspection and maintenance by referring to the following checklists provided in this
document (refer to chapter 8)
・ Pre-operation inspection
・ Operation inspection
・ Daily inspection
・ Periodical inspection
・ Cleaning the optical window
Checklists in this document are provided as basic guidelines while performing the test and maintenance.
User must perform additional inspection and maintenance tasks deemed necessary for the respective
application.
Stop the machine and system if faults are detected during these tests.
Clean the optical window when it gets contaminated. If the optical window is damaged it should be
replaced by a new one so contact the nearest distributor or sales representative.
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3. Product overview
This chapter describes the features and properties of UST-05LN/UST-05LA.
3.1 Features of UST-05LN/UST-05LA
Detection range : Maximum 5m
Detection angle : 270°
Angular resolution : 0.5°
31 set of areas (configurable)
LED indicates UST’s status
Easy configuration using PC installed with UST configuration application software (Area Designer)
Teaching function
For detail refer to Area Designer instruction manual
Minimum response time of 66ms (configurable)
Malfunction output: Activates malfunction output according to self-diagnosis function.
Synchronize function: A maximum of 3 sensors for master/slave operation is possible
Hysteresis function of detection area
ON delay and OFF delay function
Minimum detectable size set function
SD Card Log function (for UST-05LA only)
SCIP communication protocol (for UST-05LA only)
For details refer to the communication protocol specification “Document No. C-42-4049”
Laser emission skip function: It is possible to set laser pulse skip and scan skip.
*Non-supported in the firmware version below “1.00”.
Redundant slave function
*Not supported in the firmware version below “2.00”.
UST can be used for the following applications:
Security monitoring of a building and locations (entrances, passages, etc.)
In detecting the collapse of cargo at an automatic warehouse, detection of protruding objects from
shelves.
In automated guided vehicles (AGV), overhead transportation (OHT), robots, cranes, etc.
For automation process (detection of transported object)
Object detection
Other similar applications
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3.2 Components of UST-05LN/UST-05LA
Cable
Optical window
Housing
LED display
USB Connector
Figure 3-1 shows the components of UST-05LN/UST-05LA
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Figure 3-1 UST-05LN/UST-05LA components
Figure 3-2 shows the scanning range and detection zone origin of the UST, while figure 3-3 shows its
detection plane.
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Detection plane
Detection plane marking
Detection zone origin
Scanning range
Figure 3-2 Scanning range and detection zone origin (Top view)
Figure 3-3 Detection plane of UST (Back view)
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3.3 Operation principle
0°
Output region 1
Output region 2
Output region 3
UST
270°
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Figure 3-4 Scanning range
Figure 3-4 shows the scanning range of the UST. The sensor emits pulsed laser beams which reflect on a
rotating mirror forming a fan-like scanning pattern over 270 ° field.
Maximum detection range is 5m for white Kent sheet. Detection range for objects of 10% diffused
reflectance is 2m.
User can configure output regions 1, 2, and 3 by using the Area Designer application. When the sensor
detects an object in the configured area, corresponding outputs are switched to OFF state.
When the emitted laser beams are reflected back from an object, its distance is measured by applying the
Time-of-Flight (TOF) principle. The duration of the reflected pulsed laser beam is taken for distance
calculation as shown below.
Where, L＝Distance of the object
C＝Speed of the light
T＝Time difference
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The operation principle of TOF is shown in schematic diagram (Figure 3-5) below
Figure 3-5 TOF operation principle
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3.4 Area configuration
The detection area of the UST consist the output regions 1, 2, and 3 respectively. Output 1 to Output 3 can
be configured by using the Area Designer application software through a USB cable. Area configuration
methods can be Independent and Dependent. A maximum of 31 sets of areas can be configured.
For the Independent method the following shapes are supported: Polygon, Arc and Rectangle (numerical
input is also available)
a) Polygon b) Arc c) Rectangle
Figure 3-6 Area configurations (Independent method)
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Offset bar
Output region 1
Output region 2
Laser is switched ON only in the selected area.
User should prepare test pieces for detection capability verification test.
For the Dependent method, the following shapes are defined: Straight line, Fan, and Ratio (numerical
input is also available).
In the dependent method, output 1 serves as a basis for output 2. Similarly, output 2 can be set as the basis
for output 3.
a) Straight line b) Fan c) Ratio
Figure 3-7 Area configurations (Dependent method)
When setting the output region 2 as dependent on output region 1, the following dependent methods can
be selected: a) Straight line, b) Fan shape, c) Ratio. By moving the offset bar in the Y-axis, it changes the
size of output region 2. The output 2 cannot be made larger than the output 1. Similarly, the output region 3
is used as a basis output region 2.
For details on area configuration methods, refer to the Area Designer UST Series sensor configuration
tool Instruction manual.
When the sensor detects an object in the configured output region 1 to output region 3, the corresponding
outputs signals are switched to OFF state and the corresponding LEDs are also lit.
3.5 Area switching
A maximum of 31 sets of areas can be configured. For area switching, input signals 1 to 5 are required.
Table 3-1 below shows the combination of input signal to switch the area. Laser is switched off when all the
inputs 1 to 5 are switched ON.
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Table 3-1 Input states and corresponding area number
Area Number
Input1
Input2
Input3
Input4
Input5
Laser off
ON
ON
ON
ON
ON
Area1
OFF
ON
ON
ON
ON
Area2
ON
OFF
ON
ON
ON
Area3
OFF
OFF
ON
ON
ON
Area4
ON
ON
OFF
ON
ON
Area5
OFF
ON
OFF
ON
ON
Area6
ON
OFF
OFF
ON
ON
Area7
OFF
OFF
OFF
ON
ON
Area8
ON
ON
ON
OFF
ON
Area9
OFF
ON
ON
OFF
ON
Area10
ON
OFF
ON
OFF
ON
Area11
OFF
OFF
ON
OFF
ON
Area12
ON
ON
OFF
OFF
ON
Area13
OFF
ON
OFF
OFF
ON
Area14
ON
OFF
OFF
OFF
ON
Area15
OFF
OFF
OFF
OFF
ON
Area16
ON
ON
ON
ON
OFF
Area17
OFF
ON
ON
ON
OFF
Area18
ON
OFF
ON
ON
OFF
Area19
OFF
OFF
ON
ON
OFF
Area20
ON
ON
OFF
ON
OFF
Area21
OFF
ON
OFF
ON
OFF
Area22
ON
OFF
OFF
ON
OFF
Area23
OFF
OFF
OFF
ON
OFF
Area24
ON
ON
ON
OFF
OFF
Area25
OFF
ON
ON
OFF
OFF
Area26
ON
OFF
ON
OFF
OFF
Area27
OFF
OFF
ON
OFF
OFF
Area28
ON
ON
OFF
OFF
OFF
Area29
OFF
ON
OFF
OFF
OFF
Area30
ON
OFF
OFF
OFF
OFF
Area31
OFF
OFF
OFF
OFF
OFF
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Detection object
d1
d2
d3
d4
d5
Detection width W = (d2+ d3+ d4)×2π／720
d：Distance value of each step
Detection width W ＞ Minimum detectable size
Depending upon the laser spot, environment and detection object, the
actual width of detected objects may differ from the width measured.
User should verify detection capability before using actual object.
Min detectable size ：High
Area of distance 500mm and width 50mm
3.6 Detection condition
In the configured area, if the detectable size (width) is more than the minimum detectable objects, an
output signal is displayed (for setting refer to section 3.9). The width of detectable object can be calculated
as shown in figure 3-8.
Figure 3-8 Schematic diagrams for the calculation of detection width
If the area is configured with a narrow width below the minimum detectable size, be careful that the
output signal may not be displayed for a short distance as shown in figure 3-9
Figure 3-9 Caution of area configurations when minimum detectable size
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：Object absent
：Object present
Output judgment
Output judgment
Sensor detection
Output
ON
OFF
OFF delay
ON delay
Time
Object absent
Object present
Object absent
Detection object
3.7 ON /OFF delay
ON delay and OFF delay of the output signal can be set by using Area Designer within the range of 1scan
(66ms) to 128scan (3241ms) (default is 1scan (66ms))
ON delay is the response time changing from OFF state to ON state. OFF delay is the response time
changing from ON state to OFF state.
Increasing the response time will increase availability of the UST. However, this will reduce the detection
capability towards moving objects. User must perform verification tests before using ON/OFF delay
function.
Figure 3-10 ON delay /OFF delay
Schematic diagram for ON delay/OFF delay operation is as shown below.
1. Schematic diagram without OFF delay setting
1scan (Object absent) 2scan (Object present)
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