LE-50821F/FA激光扫描传感器|360°避障雷达广泛应用于工业自动化、移动机器人应用场景中的环境感知、高精度定位（如建图、扫描、避障、防护等） LE-50xxxF系列升级扫描频率最高可达600KHz。
本文重点介绍LE-50821F/FA激光扫描传感器|360°避障雷达之功能与连接使用说明。
一、LE-50821F/FA避障雷达尺寸图
二、LE-50821F/FA避障雷达正视图及按键显示
| 序号 | 符号 | 功能说明 | 备注 | ||||||||||||||
| 1 | - | 传感器检测窗口 | 请务必保持传感器检测窗口的清洁 | ||||||||||||||
| 2 | PWR | 电源指示灯 | 正常供电时为橙色 | ||||||||||||||
| 3 | Q1 | out3动作状态指示灯 | 有障碍物入侵out3区域指示灯为红色 | ||||||||||||||
| 4 | Q2 | out2区动作状态指示灯 | 有障碍物入侵out2区域指示灯为橙色 | ||||||||||||||
| 5 | Q3 | out1区动作状态指示灯 | 有障碍物入侵out1区域指示灯为橙色 | ||||||||||||||
| 6 | Q4 | 暂未定义 | 无效 | ||||||||||||||
| 7 | ERR | 故障状态指示灯 | 传感器有故障时指示灯为橙色 | ||||||||||||||
| 8 |
| 窗口显示内容切换 | 按此按钮“扫描范围显示”与“自定义中英文显示”循环切换显示 | ||||||||||||||
| 9 |
| 窗口显示内容切换 | 按此按钮依次循环切换显示
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三、LE-50821F/FA避障雷达连接器
四、LE-50821F/FA避障雷达以太网端口
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| 序号 | 符号 | 功能说明 | |||||||
| Pin1 | Tx+ | 以太网TX+ | |||||||
| Pin3 | Tx- | 以太网TX- | |||||||
| Pin2 | Rx+ | 以太网RX+ | |||||||
| Pin4 | Rx- | 以太网RX- | |||||||
| 电缆型号 | 序号 | 颜色 | 符号 | 功能说明 | RJ45 | ||||
| HCX4L20BE | Pin1 | 白红 | Tx+ | 以太网TX+ | 1 | ||||
| Pin3 | 红 | Tx- | 以太网TX- | 2 | |||||
| Pin2 | 白绿 | Rx+ | 以太网RX+ | 3 | |||||
| Pin4 | 绿 | Rx- | 以太网RX- | 6 | |||||
五、LE-50821F/FA避障雷达电源及通信端口
 | ||
| 序号 | 符号 | 功能说明 |
| Pin1 | 无效 | |
| Pin2 | VCC | 电源正极输入 |
| Pin3 | GND | 电源负极输入 |
| Pin4 | 无效 | |
| Pin5 | 无效 | |
| Pin6 | 无效 | |
| 电缆型号 | 序号 | 颜色 | 符号 | 功能说明 |
| HCX6L20BX | Pin1 | 白 | 无效 | |
| Pin2 | 棕 | VCC | 电源正极输入 | |
| Pin3 | 绿 | GND | 电源负极输入 | |
| Pin4 | 黄 | 无效 | ||
| Pin5 | 灰 | 无效 | ||
| Pin6 | 粉 | 无效 |
六、LE-50821F/FA避障雷达IO端口
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| 序号 | 符号 | 功能说明 |
| Pin1 | INCOM | 输入公共端 |
| Pin2 | IN1 | 输入端口1 |
| Pin3 | IN2 | 输入端口2 |
| Pin4 | IN3 | 输入端口3 |
| Pin5 | IN4 | 输入端口4 |
| Pin6 | IN5 | 输入端口5 |
| Pin7 | IN6 | 输入端口6 |
| Pin8 | OUTCOM | 输出公共端 |
| Pin9 | OUT1 | 警告 2 区感应到物体时端口动作 |
| Pin10 | OUT2 | 警告 1区感应到物体时端口动作 |
| Pin11 | OUT3 | 保护区感应到物体时端口动作 |
| Pin12 | Error OUT | 传感器发生故障时端口动作 |
| 电缆型号 | 序号 | 颜色 | 符号 | 功能说明 |
| HCX12L20BX | Pin1 | 白 | INCOM | 输入公共端 |
| Pin2 | 棕 | IN1 | 输入端口1 | |
| Pin3 | 绿 | IN2 | 输入端口2 | |
| Pin4 | 黄 | IN3 | 输入端口3 | |
| Pin5 | 灰 | IN4 | 输入端口4 | |
| Pin6 | 粉 | IN5 | 输入端口5 | |
| Pin7 | 蓝 | IN6 | 输入端口6 | |
| Pin8 | 红 | OUTCOM | 输出公共端 | |
| Pin9 | 橙 | OUT1 | 警告 2 区感应到物体时端口动作 | |
| Pin10 | 紫 | OUT2 | 警告 1区感应到物体时端口动作 | |
| Pin11 | 黑 | OUT3 | 保护区感应到物体时端口动作 | |
| Pin12 | 浅紫 | Error OUT | 传感器发生故障时端口动作 |
七、LE-50821F/FA避障雷达输入输出信号连接
输入为集电极开路（NPN）信号，采用光耦隔离输入。
使用外部的电源：C0M+输入DC24V±20%，100mA以上
传感器有64个通道，通过6个 IO口输入信号组合，切换到指定编号的通道。通道的检测范围需要预先通过配置软件进行设置。外部设备通过输入信号进行区域选择和切换。
传感器提供6个输入端口组合信号。
ON：输入有信号；
0FF：输入无信号或者开路；
| 通道编号 | In6 | In5 | In4 | In3 | In2 | In1 |
| 63 | OFF | OFF | OFF | OFF | OFF | OFF |
| 62 | OFF | OFF | OFF | OFF | OFF | ON |
| 61 | OFF | OFF | OFF | OFF | ON | OFF |
| 60 | OFF | OFF | OFF | OFF | ON | ON |
| 59 | OFF | OFF | OFF | ON | OFF | OFF |
| 58 | OFF | OFF | OFF | ON | OFF | ON |
| 57 | OFF | OFF | OFF | ON | ON | OFF |
| 56 | OFF | OFF | OFF | ON | ON | ON |
| 55 | OFF | OFF | ON | OFF | OFF | OFF |
| 54 | OFF | OFF | ON | OFF | OFF | ON |
| 53 | OFF | OFF | ON | OFF | ON | OFF |
| 52 | OFF | OFF | ON | OFF | ON | ON |
| 51 | OFF | OFF | ON | ON | OFF | OFF |
| 50 | OFF | OFF | ON | ON | OFF | ON |
| 49 | OFF | OFF | ON | ON | ON | OFF |
| 48 | OFF | OFF | ON | ON | ON | ON |
| 47 | OFF | ON | OFF | OFF | OFF | OFF |
| 46 | OFF | ON | OFF | OFF | OFF | ON |
| 45 | OFF | ON | OFF | OFF | ON | OFF |
| 44 | OFF | ON | OFF | OFF | ON | ON |
| 43 | OFF | ON | OFF | ON | OFF | OFF |
| 42 | OFF | ON | OFF | ON | OFF | ON |
| 41 | OFF | ON | OFF | ON | ON | OFF |
| 40 | OFF | ON | OFF | ON | ON | ON |
| 39 | OFF | ON | ON | OFF | OFF | OFF |
| 38 | OFF | ON | ON | OFF | OFF | ON |
| 37 | OFF | ON | ON | OFF | ON | OFF |
| 36 | OFF | ON | ON | OFF | ON | ON |
| 35 | OFF | ON | ON | ON | OFF | OFF |
| 34 | OFF | ON | ON | ON | OFF | ON |
| 33 | OFF | ON | ON | ON | ON | OFF |
| 32 | OFF | ON | ON | ON | ON | ON |
| 31 | ON | OFF | OFF | OFF | OFF | OFF |
| 30 | ON | OFF | OFF | OFF | OFF | ON |
| 29 | ON | OFF | OFF | OFF | ON | OFF |
| 28 | ON | OFF | OFF | OFF | ON | ON |
| 27 | ON | OFF | OFF | ON | OFF | OFF |
| 26 | ON | OFF | OFF | ON | OFF | ON |
| 25 | ON | OFF | OFF | ON | ON | OFF |
| 24 | ON | OFF | OFF | ON | ON | ON |
| 23 | ON | OFF | ON | OFF | OFF | OFF |
| 22 | ON | OFF | ON | OFF | OFF | ON |
| 21 | ON | OFF | ON | OFF | ON | OFF |
| 20 | ON | OFF | ON | OFF | ON | ON |
| 19 | ON | OFF | ON | ON | OFF | OFF |
| 18 | ON | OFF | ON | ON | OFF | ON |
| 17 | ON | OFF | ON | ON | ON | OFF |
| 16 | ON | OFF | ON | ON | ON | ON |
| 15 | ON | ON | OFF | OFF | OFF | OFF |
| 14 | ON | ON | OFF | OFF | OFF | ON |
| 13 | ON | ON | OFF | OFF | ON | OFF |
| 12 | ON | ON | OFF | OFF | ON | ON |
| 11 | ON | ON | OFF | ON | OFF | OFF |
| 10 | ON | ON | OFF | ON | OFF | ON |
| 9 | ON | ON | OFF | ON | ON | OFF |
| 8 | ON | ON | OFF | ON | ON | ON |
| 7 | ON | ON | ON | OFF | OFF | OFF |
| 6 | ON | ON | ON | OFF | OFF | ON |
| 5 | ON | ON | ON | OFF | ON | OFF |
| 4 | ON | ON | ON | OFF | ON | ON |
| 3 | ON | ON | ON | ON | OFF | OFF |
| 2 | ON | ON | ON | ON | OFF | ON |
| 1 | ON | ON | ON | ON | ON | OFF |
| 0 | ON | ON | ON | ON | ON | ON |
提醒： 如不需要用到全部64个通道，则可以根据所需通道数量确定接入的输入信号；
3、切换时间
传感器在接收到通道切换信号后，由于扫描周期影响存在切换延时。切换延时如下图。
注意：在切换到无图形通道时，传感器将保持之前有图形通道状态监测，上为空图形通道则传感器不检测；
八、LE-50821F/FA避障雷达输出信号连线
输出信号使用功能
| 端口 | 功能 | 输出逻辑 |
| OUT1 | 用于远端障碍物警告提示和减速； | 默认：常闭，可通过配置软件改为常开； |
| OUT2 | 用于正常障碍物检测正常停止； | 默认：常闭，可通过配置软件改为常开； |
| OUT3 | 用于近端紧急停止； | 默认：常闭，可通过配置软件改为常开； |
| ERR | 用于传感器故障状态输出； | 默认：常开，不可更改 |
输出为集电极开路（NPN）信号，采用光耦隔离输出，输出有信号时候电压为0V-，
输出端口最大带负载能力为100mA。
输出端口均为NPN输出。输出原理图请参考下图：
传感器输出端口与配置软件内绘制的图形对应。
注意 ： 对应输出有绘制图形时，才会有检测输出；
九、LE-50821F/FA避障雷达 连接实例
根据所有的64个通道全部使用上和所有输出全部使用时候的接线。
1、NPN信号接入
下图说的是上位机通过NPN型晶体管输出信号和接收信号。
注意： 输入输出端口不能短路或者接入超过规定电流的负载，不然会造成传感器损坏。
十、LE-50821F/FA避障雷达安装要求
