LRF USER MANUAL LRF MODULES, KITS, AND COMPONENTS

Transcription

1 LRF USER MANUAL LRF MODULES, KITS, AND COMPONENTS Voxtel Literature LRF User Manual 02Nov2017. Voxtel makes no warranty or representation regarding its products specific application suitability and may make changes to the products described without Page notice. 0

2 CONTENTS Safety... 2 Cautions, Warnings & Notes... 2 Safety Symbols... 2 Handling Precautions, Unpacking & Inspection... 3 Handling Precautions... 3 Unpacking... 3 ROX APD Photoreceiver Evaluation Board... 4 Initial Configuration... 4 Operation... 5 time variable threshold (TVT) Configuration... 5 Selecting T 0 Trigger Source (electrical or optical)... 5 Setting Threshold Voltages (V th,hi and V th,lo )... 6 DPSS Lasers and Laser Driver Boards... 7 Safety Information... 7 Unpacking... 8 Inspection... 8 Exit Window Inspection... 8 Mating Surface Inspection... 8 Setup DPSS Laser with Laser Driver Electronics Board... 9 Troubleshooting LRF Developer s Kit Unpacking & Inspection Operation & Configuration LRF OEM Module Unpacking & Inspection Operation & Configuration F Series LRF Safety Information Electrical Connection Power on Installation, Configuration & Control Within Host System Without Host System Quick Start & Serial Communications Laser Rangefinders (LRFs), LRF Modules & LRF Developer s Kits Introduction Update, Configure & Control the LRF outside the host system LRF Commander GUI Interface Terminal Serial Communications Page 1

3 CAUTIONS, WARNINGS & NOTES In this handbook, the following conventions are used: Warning SAFETY Failure to follow this guidance may result in injury. Failure to follow this guidance may result in damage to the equipment. Note Failure to follow this guidance may result in sub optimal performance of equipment. SAFETY SYMBOLS When handling this product, the labels and hazard descriptions below apply. Due to size limitations, labels do not appear on the product. Explanatory Label This product is a Class 1 Laser Product as defined by EN/IEC Non Interlocked Protective Housing Label The eyesafe, microminiature DPSS laser contains a Class 4 laser diode. There are no user serviceable parts on any of the items supplied. Do not attempt to open the laser to attempt maintenance, service, repair or reconfiguration of any kind. Certification Label Manufacturer s Identification Label This laser complies with U.S. FDA performance standards for laser products except for deviations pursuant to Laser Notice No. 50, dated June 24, Manufacturer, address, product and serial number. Page 2

4 ESD Warning Label Handling this product requires ESD precautions. HANDLING PRECAUTIONS, UNPACKING & INSPECTION HANDLING PRECAUTIONS o o o o Follow the ESD precautions outlined in this guide A single electrostatic discharge (ESD) event can cause catastrophic or latent device failure. When product is not in use, store the laser in an ESD protective location with leads shorted together. The original container will protect against ESD events. Handle the laser at a static free work environment, such as a grounded workbench or surface. Wear a grounded wrist strap when handling the laser. When transporting the laser, use an ESD protective environment, such as the original container, an antistatic bag, or a grounded cart. Note o Avoid touching the laser with bare hands. Oil or grease from skin on the exit window affects laser performance. Wear static dissipative gloves when handling to prevent skin contact UNPACKING Follow the ESD precautions outlined in this guide. 1. Place the package on your work surface. 2. Verify that the serial number on the laser matches the serial number on the box label. 3. Verify that all product items are present. Page 3

5 ROX APD PHOTORECEIVER EVALUATION BOARD The ROXTM APD Photoreceiver Evaluation Board a peripheral option designed for use with the ROX photoreceivers allows users to quickly evaluate the performance of the ROX photoreceivers. The Evaluation Board is delivered with an AC to DC power adaptor that provides all the power, control, and signal conditioning necessary to operate the ROX photoreceiver. The board is shipped with hardware to allow it to be mounted on an optical table for evaluation. The photoreceiver operating modes can be chosen using a simple dual in line plug (DIP) connector. The threshold voltage setting is adjusted with a potentiometer. The Evaluation Board also accommodates time variable threshold. References See ROX APD Photoreceiver Datasheet and ROX APD Photoreceiver Evaluation Board Datasheet INITIAL CONFIGURATION Do not aim the laser directly at the receiver. Aiming some lasers directly at the receiver may result in a power density exceeding the damage threshold of the ROX APD. For the purposes of testing, a sufficient signal level can be achieved by pointing the laser so that only a diffuse reflection reaches the ROX receiver. To avoid damage to the APD, it is recommended that the evaluation board be returned to Mode 1 (M = 1) whenever the laser is repositioned. or when the APD is not actively being used in a test Mount the ROX Evaluation Board within an optical test apparatus. Ensure the jumper on J7 is removed or is otherwise not connecting any of the three pins together. The jumper on J7 is used only to enable time variable threshold (TVT) functions. Using a 50 Ω coaxial cable, connect the analog output to an oscilloscope channel configured for DC coupled 50 Ω termination. Failure to use a 50 Ω termination will cause the output buffer amplifier to oscillate. Set the oscilloscope channel to 100 mv per division. Using a second 50 Ω coaxial cable, connect the comparator output to a second channel of the oscilloscope, also configured for DC coupled, 50 Ω termination. Set the oscilloscope channel to 1V per division. Plug the provided 5V power supply into the ROX Evaluation Board. Set the high threshold voltage level, Vth,hi, as follows: Page 4

6 a. When no optical signal is present, turn the R35 potentiometer counterclockwise until the digital channel reacts to electrical noise, which indicates the signal path is functioning. b. After verifying that the output is reacting to the electronic noise, turn the V th,hi potentiometer back (about a half turn clockwise), so that any digital output due to noise is rare. The threshold voltage level for the desired FAR for V th,hi can be set precisely using a digital counter. 7. Set the low threshold voltage level, V th,lo, as follows: a. Press and hold the SW5 switch (located adjacent to the potentiometers). b. Monitoring the digital output, turn the R20 potentiometer counterclockwise until the desired output FAR is achieved. The FAR can be measured using a digital counter. The ROX Evaluation Board is now configured for operation, and is optical signal ready. OPERATION When power is applied to the Evaluation Board, it automatically configures the ROX photoreceiver to operating mode 1, which sets the APD gain to M = 1 for most standard factory configurations of the ROX photoreceiver. The operating modes used in the various ROX Photoreceiver models are described in the datasheet for the specific ROX photoreceiver. Each of the four micro pushbutton switches enables one of the four factory calibrated ROX photoreceiver operating modes (SW1 = mode 1; SW2 = mode 2; SW3 = mode 3; and SW4 = mode 4). The switches can be used to optimize photoreceiver performance for a particular application. Each time an SW switch is pressed, the following sequence occurs: 1. The high voltage supply is enabled. 2. A measurement of the temperature of the photoreceiver is performed. 3. The APD in the ROX photoreceiver is configured to the bias voltage that was factory calibrated. These calibrated operating voltages are stored in memory in the ROX photoreceiver. While, a significant change in temperature is unlikely in lab test scenarios, it is generally advisable to regularly set the APD gain by periodically re affirming the photoreceiver operating mode. This can be achieved, for example, by pressing the SW switch, prior to making a sequence of measurements, so that the APD bias is adjusted for the current ambient temperature. This achieves optimized performance and reduces the risk of damage due to breakdown avalanche currents. When temperature changes are likely e.g., during field testing either manually set the various modes frequently, or automatically set the various modes using a temperature sensor and a controller. TIME VARIABLE THRESHOLD (TVT) CONFIGURATION To enable time variable threshold (TVT), place a jumper between any two adjacent pins on the J7 connector. When configured in this way, during operation the threshold voltage of the pulse detection comparator is set to V th,hi and with a 2.6 μs decay time (determined by an RC time constant in the ROX photoreceiver) falls to the V th,lo threshold voltage level. The threshold voltage remains at the low setting for ~20 ms before automatically resetting to high. The reset time limits the pulse repetition rate capabilities of the ROX Evaluation Board to 50 Hz. SELECTING T 0 TRIGGER SOURCE (ELECTRICAL OR OPTICAL) The optical signal that results from an outgoing laser pulse often referred to as a T 0 pulse provides a precise reference for the beginning of a laser range sequence. The J7 jumper setting determines if the TVT circuit has been triggered by an optical T 0 pulse incident on the detector, or by an externally supplied 5V logic signal. If the jumper is removed, the TVT function is disabled. Page 5

7 Enabling TVT with Optical (T 0 Signal from APD) Trigger When Pin 2 and Pin 3 of Jumper J7 are electrically shorted together, the TVT circuit will cause the threshold voltage to decay from V th,hi to V th,lo over a 2.6 µs decay time, after the T 0 pulse is detected, Enabling TVT with Electrical (T 0 Signal from External Logic) Trigger To trigger the TVT circuit on the rising edge of an externally provided electronic trigger T 0 signal (5V logic), place a jumper to electrically short Pin 1 and Pin 2 of J7 (Pin 1 is closest to the edge of the board). The 5V logic signal is applied to the SMA connector labeled J6. The rising edge of the user supplied T 0 trigger signal will cause the voltage threshold level to decay from V th,hi to V th,lo. SETTING THRESHOLD VOLTAGES (V TH,HI AND V TH,LO ) To disable time variable threshold, remove the J7 jumper. To adjust the high threshold voltage level (V th,hi ) and the low threshold voltage level (V th,lo ), adjust the potentiometers as described above. Page 6

8 DPSS LASERS AND LASER DRIVER BOARDS References See the datasheet for the DPSS laser, which includes the specifications for the laser driver electronics board. SAFETY INFORMATION Before handling the equipment, read and become familiar with this safety information. Warning Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure. Voxtel s DPSS laser are designated as a Class 1 laser product when used as described for all procedures and operations in the information accompanying the product. Do not attempt to open the laser for maintenance, service, repair or reconfiguration of any kind. There are no user serviceable parts. Users are not authorized to perform any maintenance scheduled or otherwise on any items supplied. Service, repair, or reconfiguration is only to be carried out by Voxtel trained technicians and engineers. Do not operate if there is any mechanical damage to the base or cover, or if the cover is removed. The DPSS lasers contain a Class 4 laser diode. Do not attempt to view the DPSS laser output directly with any external viewing aids such as magnifying lens or microscope. Any focusing of the beam directly into the eye may cause damage or blindness. Do not operate with a laser trigger pulse longer than 2.5 ms. The laser trigger pulse provides current to the pump laser diode while the signal is high. A laser trigger pulse with a duration longer than 2.5 ms can overdrive the laser and result in damage. Do not operate with a frequency above the specified frequency. Each laser has a specified maximum pulse repetition rate. Exceeding this value can overdrive the laser and result in damage. Page 7

9 UNPACKING Follow the ESD precautions outlined in this guide. Unpack as follows: 1. Place the package on your work surface. 2. Verify that the serial number on the laser matches the serial number on the box label. 3. Verify that all product items are present. INSPECTION Follow the ESD precautions outlined in this guide. Avoid touching the laser with bare hands. Wear static dissipative gloves when handling to prevent skin contact. EXIT WINDOW INSPECTION Verify there are no scratches or grease in the center third of the exit window. Remove excess particulates with clean dry air. MATING SURFACE INSPECTION Verify the mating surface has no raised imperfections that could prevent flush contact with the mounting surface. Page 8

10 SETUP DPSS LASER WITH LASER DRIVER ELECTRONICS BOARD Configuring the Laser Driver Electronics Board requires a 5V power supply, a pulse generator, and a mechanical mounting surface for orienting the laser. The steps in this section provide an example of how the laser can be set up for proper operation. In addition to the options shown here, different power sources, pulse sources, and/or custom mechanical interfaces may be used. 1. Mount the laser to custom fixture and torque screws to 1.0 in lbs. (M2 x 3 mm or 2 56 x 1/8 ). 2. Mount the Laser Driver Electronic Board through the corner hole(s) to prevent shorting. 3. Connect the cable connections as shown. Ensure the 5V supply and the transistor transistor logic (TTL) signal are off. Page 9

11 4. Attach the laser to the Laser Driver Electronic Board as follows: o Attach the red/white wire to the Anode. o Attach the black wire to the Cathode. Note: The driver board may look different than shown; refer to drawings on data sheet. 5. Configure the TTL laser trigger signal source as follows: Do not allow the pulse frequency to exceed the specification. The laser has been designed for a maximum pulse repetition frequency. Exceeding the specification can overdrive the laser and result in damage. o o Set the Frequency to 2 Hz. Set the Laser On time, τ, to τ = [0.05 ms + Delay Time]. The Delay Time is indicated on the product datasheet; if the datasheet is unavailable, set τ = 1.0 ms. x 6. Place the laser pulse detection card about 4 inches from the exit window. Page 10

12 7. Enable the TTL signal and verify the laser pulse can be seen on the laser pulse detection card. Do not allow the Laser On time to exceed 2.5 ms. If the trigger signal pulse width is too long, the laser will emit more than one laser pulse, which can damage the laser. o o If the laser pulse is not seen, increase the Laser On time in increments of 0.01 ms until the laser fires, then increase Laser On time once more by 0.05 ms. If the Laser On time reaches 2.5 ms and the laser pulse is not seen, contact the supplier. TROUBLESHOOTING Symptom Troubleshooting steps No light 1. Place the laser pulse detection card directly in front of the laser about 4 inches from the exit window while operating the laser at 2 Hz with a TTL pulse width of 2.5 ms. 2. Verify the DC supply using a digital multimeter (DMM). 3. Verify the TTL signal with an oscilloscope. 4. Verify the anode / cathode connection and the polarity. 5. Verify the TTL signal does not exceed 2.5 ms, 2 Hz. 6. If the problem persists, contact Voxtel. Dim light, large area on laserpulse detection card 1. Verify the base and mounting surfaces are free from burrs that stand proud of either surface, gouges, and other contaminants. 2. Verify that both mounting screws are torqued correctly to 1.0 in. lb. 3. Verify the TTL pulse width is started at 1.0 ms, and is taken up to 2.5 ms in 0.1 ms steps. 4. With the laser firing at 2.5 ms and the pulse detection card in front of the exit window, slowly loosen one mounting screw on the laser. o If lasing is seen and can be turned on and off with the mounting screw, record conditions and contact Voxtel. 5. If the problem persists, contact Voxtel. Take careful note of all events leading up to this observation. Of key interest are: o Potential for a TTL signal longer than 2.5 ms. o Frequency higher than specified. o Any reflective or uncoated optical surface in front of the laser that has potential to reflect directly back into the laser exit window, such as an uncoated optical window or partially reflective pulse energy sensor. o Any potential ESD events. Page 11

13 LRF DEVELOPER S KIT This guide provides the user with detailed instructions to assemble, power up, communicate and range with the Voxtel LRF Developer s Kit. References See DPSS Laser, Laser Driver Board, and APD Photoreceiver Datasheets and User Manuals UNPACKING & INSPECTION The LRF Developer s Kit consists of: 1. LRF system board 2. ROX APD photoreceiver board 3. Laser driver board 4. DPSS laser 5. Ribbon cable (to connect LRF System Board to ROX APD Photoreceiver Board) 6. Laser pulse detection card 7. Power supply Do not fire the laser directly into a close target or aim the laser directly at the photoreceiver aperture. Firing the laser directly into a close target or aiming the laser directly at the photoreceiver aperture may result in catastrophic damage to the receiver. When operating this LRF at ranges less than 100 meters, keep the receiver set to low gain (e.g., M = 1) for operation. Page 12

14 OPERATION & CONFIGURATION 1. Connect the ROX APD Photoreceiver Board to the LRF System Board using the ribbon cable. This cable is polaritysensitive. 2. Attach the LRF System Board to the Laser Driver Board. This is a non keyed cable connection and the connection of the cable is labeled on the board and the relevant drawings: 3. Solder the laser Anode and Cathode wires into the on the Laser Driver Board. These wires are polarity sensitive. Solder the black wire into the Cathode hole and the red/white wire into the Anode hole. 4. Provide power and communications connection to the LRF System Board set. The necessary pin connections are included in the datasheet. To aid in alignment purposes, the analog output may be used. It is connected to the UFL connector on the APD photoreceiver board. The analog output requires a 50Ω termination. To avoid damage to the APD, it is recommended that the evaluation board be returned to Mode 1 (M = 1) whenever the laser is repositioned. or when the APD is not actively being used in a test. 5. Configure the LRF Developer s Kit using serial software commands or a terminal emulator of a graphical user interface as follows: Using serial software commands: There are several methods to configure and operate the LRF using serial commands. The available software commands can be found in the Voxtel document LRF Software ICD: Modules, Kits, and Components. The commands can be sent using serial commands from a host processor. Using a terminal emulator of a graphical user interface: Voxtel also has application notes that describe methods to configure and operate the LRF using a Terminal Emulator of a Graphical User Interface (GUI). These are described in the Quick Start & Serial Communications section of this user manual. Page 13

15 6. Operate the LRF Do not allow the laser to be fired or reflected directly into the receiver. Firing or reflecting the laser directly into the receiver may result in catastrophic damage to the receiver. It is highly recommended when operating the LRF at short ranges (e.g., less than 100 meters) that the LRF be operated in lowgain mode, or using the commands for double pulse (low gain, then high gain) operation. To verify the operation of the laser, place the Laser Pulse Detection Card near the output of the laser transmitter. With each range request command, a short green pulse should be observed on the active area of the card. 7. Discontinue operation when complete. To discontinue LRF operation, select the Disconnect button from the main page tool tray. Disconnect the power jack from the LRF. Page 14

16 LRF OEM MODULE This guide provides the user with detailed instructions to assemble, power up, communicate and range with the Voxtel LRF Original Equipment Manufacturer (OEM) Module. References See DPSS Laser, Laser Driver Board, APD Photoreceiver, and LRF Developer s Kit Datasheets and User Manuals UNPACKING & INSPECTION The LRF OEM Module consists of: 1. Collimated laser and APD photoreceiver aligned on a common optical base. 2. Electronics, including system board and laser drive board, connected to receiver with ribbon cable. Do not fire the laser directly into a close target or aim the laser directly at the photoreceiver aperture. Firing the laser directly into a close target or aiming the laser directly at the photoreceiver aperture may result in catastrophic damage to the receiver. When operating this LRF OEM Module at ranges less than 100 meters, keep the receiver set to low gain (e.g., M = 1). Page 15

17 OPERATION & CONFIGURATION 3. Connect the LRF OEM Module electronics to the host computer using the serial interface cable. To avoid damage to the APD, it is recommended that the ROX Photoreceiver be returned to Mode 1 (M = 1) at the start of operation, when commencing tests, or when repositioning the LRF OEM Module. 4. Configure the LRF OEM Module using serial software commands or a terminal emulator of a graphical user interface as follows: Using serial software commands: There are several methods to configure and operate the LRF using serial commands. The available software commands can be found in the Voxtel document LRF Software ICD: Modules, Kits, and Components. The commands can be sent using serial commands from a host processor. Using a terminal emulator of a graphical user interface: Voxtel also has application notes that describe methods to configure and operate the LRF using a Terminal Emulator of a Graphical User Interface (GUI). Quick Start & Serial Communications Laser Rangefinders (LRFs), LRF Modules & LRF Developer s Kits section of this user manual. 5. Operate the LRF OEM Module and verify it is operating. To verify the operation of the laser, place the Laser Pulse Detection Card near the output of the laser transmitter. With each range request command, a short green pulse should be observed on the active area of the card. 6. Discontinue operation when complete. To discontinue LRF operation, select the Disconnect button from the main page tool tray. Disconnect the power jack from the LRF. Page 16

18 F SERIES LRF SAFETY INFORMATION Before handling the equipment, read and become familiar with this safety information. Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure. This product is designated as a Class 1 laser product when used as described for all procedures and operations in the information accompanying the product. The LRF contains a Class 4 laser diode. There are no user serviceable parts. Users are not authorized to perform any maintenance scheduled or otherwise on any items supplied. Service, repair, or reconfiguration is only to be carried out by Voxtel trained technicians. Do not attempt to view the LRF output directly with any external viewing aids such as magnifying lens or microscope. Any focusing of the beam directly into the eye may cause damage or blindness. Do not attempt to open the LRF for maintenance, service, repair or reconfiguration of any kind. Do not operate if there is any mechanical damage to the base or cover, or if the cover is removed. Laser Parameters This laser product is designated as Class 1 during all procedures of operation. ELECTRICAL CONNECTION Electrical connection to the LRF is through a micro USB socket located on the rear of the aluminum housing. The micro USB socket accepts both micro A and micro B plug connectors. The connector is used to power the battery and to accommodate the UART CMOS logic level serial programming interface. Page 17

19 POWER ON 1. To power on the LRF, there is an ON/OFF momentary switch located on the rear of the device. Press the button once to turn on the LRF. 2. Verify the LED indicator is green. If LED indicator flashes red, ensure Pin 1 of the micro USB connector has 5 V. INSTALLATION, CONFIGURATION & CONTROL WITHIN HOST SYSTEM To configure and operate the LRF, serial commands can be sent from a host processor. The available commands can be found in the document LRF Software ICD: Modules, Kits, and Components. To configure and operate the LRF using a terminal emulator of a graphic user interface, see the Quick Start & Serial Communications Laser Rangefinders (LRFs), LRF Modules & LRF Developer s Kits section of this user manual. WITHOUT HOST SYSTEM To update, configure, and control the LRF from a personal computer, before it is installed in a host systems, there are two primary methods. The first method uses a graphical user interface (GUI) program LRF Commander. The second method is to use a terminal emulator, and configure and operate the LRF or LRF module using the commands found in the LRF Software ICD: Modules, Kits, and Components. Page 18

20 QUICK START & SERIAL COMMUNICATIONS LASER RANGEFINDERS (LRFS), LRF MODULES & LRF DEVELOPER S KITS INTRODUCTION To update, configure, and control the LRF from a personal computer before it is installed in a host systems there are two primary methods: 1. Using a graphical user interface (GUI) program LRF Commander. 2. Using a terminal emulator, and configuring and operating the LRF or LRF module using the commands found in the LRF Software ICD: Modules, Kits, and Components. These are discussed in this guide. UPDATE, CONFIGURE & CONTROL THE LRF OUTSIDE THE HOST SYSTEM LRF COMMANDER GUI INTERFACE Download LRF Commander as described in this section. Browse to the LRF Commander folder shown below on the Voxtel support web site. The LRF Commander program can be downloaded from voxtel inc.com. To download the LRF Commander setup program, click on the LRFCmdrSetup_ exe file. From the Download folder, run the LRF Commander setup program. Page 19

21 Double click the LRFCmdrSetup_<version>.exe setup program. When prompted by the UAC dialog box, click Yes. Click Next. If Microsoft.NET 4.5 has not yet been installed, follow the installation prompts: review and accept the license terms; select the Create a desktop icon check box; and click Next. A notification will indicate when the installation is complete. Click Finish. Page 20

22 When prompted to restart the computer, click Restart Later. Click Install. If Java Runtime has not already been installed, click Install. Upon review, Accept the Java Runtime license agreement. Click Finish to close the Java installation complete dialog. Click Next to install Atmel Flip software. Check the accept box and click Next. Click Next. Click Install. Click Next. Unselect Create desktop shortcut and Show Readme, then click Finish. A new window will appear that will allow you to update the LRF device drivers. Click Next. Page 21

23 To install the ATMEL device software, click Install. At this point, the first of the two drivers will have been loaded. Use the LRF Commander application to continue loading the other driver, then click Finish. Run LRF Commander. Double click the LRF Commander desktop icon. Page 22

24 Loading Device Firmware Start LRF Commander. From the File menu, select Update Device. Select the new version of firmware to load into the LRF device when the open dialog appears. Select Yes to confirm the HEX file is the intended file for updating the LRF device. If the LRF device fails to upload the new firmware, the following error dialog will appear. Page 23

25 To see more details about the update process, select the Communication Tab. After correcting the problem, cycle power on the LRF and restart the LRF Commander and try again. After the LRF firmware has been successfully updated, a successfully updated LRF firmware dialog will appear. Close the LRF Commander application. A cycle power reminder appears. Cycle the power on the LRF device. Click OK. The LRF device firmware is now updated and ready to use. The version of the firmware is shown in the upper right hand corner of the application. TERMINAL SERIAL COMMUNICATIONS Another way to communicate from the computer to the LRF module is using a serial terminal application. A free serial terminal application is Putty, available for download at: Page 24

26 After PuTTY has been downloaded, run the application. The following configuration window will appear. In the windows device manager utility, expand the Ports (COM & LPT) section to determine which COM port the LRF is using. Page 25

27 From the option list on the left, select the Connection > Serial option. Select the appropriate COM port, set baud rate to 57600, data bits to 8, no parity and 1 stop bit as shown below. Select the Terminal option from the option list on the left. In the Local Echo setting, select the Force On radial button. Page 26

28 Select the Sessions option from the option list on the left. To save these settings, click Save (on the right). To connect to the LRF, click Open. To observe the firmware version number displayed, input :VE in the PuTTY terminal window. The serial commands available are contained in the document LRF Software ICD: Modules, Kits, and Components. For example, to send a range request to the LRF, input :RR. Here, three range results were observed meters, meters and meters. Page 27