Date：2005.10.26

Scanning Laser Range Finder

URG-04LX
Specifications

x1

Correction of errors

32017.12.8

Shibuya

RS-01023

x1

Correction of errors

42017.10.10

Shibuya

RS-00995

x2

Revision history of firmware added

5

2008.4.25

Yamamoto

PR-5451

x 1

Scanning area5

2007.4.16

Maeda

PR-5269x 2

Com. Protocol added, revision history of firmware added

4,5

2007.1.18

Maeda

PR-5225

x 3

Changes in resolution, revision history of firmware added

3,5

2006.9.21

Maeda

PR-5160

x 5

Changes in cable color

4

2006.6.14

Maeda

PR-5111Symbol

Amended Reason

Pages

Date

Drawn by

Scanning Laser Range Finder URG-04LX

Approved by Checked by

Designed by

Corrector Amendment NoSpecifications
MAEDA

DrawingNo.

Title

C-42-3389

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1. General
URG-04LX is a laser sensor for area scanning. The light source of the sensor is infrared laser ofwavelength 785nm with laser class 1 safety. Scan area is 240º semicircle with maximum radius
4000mm. Pitch angle is 0.36º and sensor outputs the distance measured at every point (683 steps).
Laser beam diameter is less than 20mm at 2000mm with maximum divergence 40mm at4000mm.
Principle of distance measurement is based on calculation of the phase difference, due to which
it is possible to obtain stable measurement with minimum influence from object’s color andreflectance.
URG-04LX is designed under JISC8201-5-2 and IEC60947-5-2 standards for industrial
applications.

Non-detection area: 120º
Detection Area: 240ºMax. Distance: 4000mm

Power: 5v DC
Interface: RS-232C, USB

Figure 1
NoteFigure 1 shows the detectable area for white Kent sheet (70mm×70mm). Detection distance may varywith size and object.

2. Important NoticeThis sensor is designed for indoor use only.
This sensor is not a safety device/toolThis sensor is not for use in military applications
Read specifications carefully before use.

Title

URG-04LX

Specification

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C-42-3389

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3. Specifications
Product name
Model

Scanning Laser Range Finder
URG-04LX
Semiconductor laser diode (λ=785nm),
Laser power : less than 0.8mW
Laser safety Class 1 (IEC60825-1)
5VDC ±5%500mA or less (Start-up current 800mA)
60 mm ~ 4,095 mm (Guaranteed accuracy distance)
20mm ~ 5,600mm (Distance)*
Distance
20 60 ~ 1000mm： ±10mm*
Distance 1000 ~ 4000mm： ±1% of measurement*
1 mm
240°
0.36°(360°/1024)
100msec/scan
RS-232C (19.2, 57.6, 115.2 ,500 ,750 kbps)
USB Version 2.0 FS mode (12Mbps)

Light source
Power voltage
Power consumption
Detection
Accuracy
Resolution
Scan angle
Angular resolution
Scanning speed
Interface
Ambient(Temperature/Humidity)
Storage temperature
Ambient light resistance-10 ~ 50ºC / 85%RH or less (without dew and frost)-25 ~ 75ºC
10000Lx or less
1.5mm double amplitude, 10 ~ 55Hz, X, Y and Z direction (2hours), 98m/s2 55Hz ~ 150Hz in 2 minutes sweep, 1 hour
each in X, Y and Z direction
196 m/s2, 10 times each in X, Y and Z direction

Vibration resistance
Shock resistance

Optics : IP64

Protective structure

Case : IP40

Insulation

10MΩ for DC 500Vmegger

WeightCasingApprox. 160 g
Polycarbonate
50×50×70mm
Dimension (W×D×H)(Refer to design sheet No. C-40-3362)*Under standard test conditions with white Kent sheet 70mm×70mm

4. Quality reference value

Operating impact resistance

19.6m/s2, 10Hz ~ 150Hz with 2 minutes sweep, 0.5 hours
each in X, Y and Z direction
49 m/s2, 10 times each in X, Y and Z direction

Angular speed

360 deg/s

Angular acceleration

π/2 rad/s25 years(Vary on the operating conditions)25db or less (at 300mm)
This product complies with 21 CFR parts 1040.10 and1040.11. (Registration Number 0521258)

Operating vibration resistanceLifespan
Noise level
FDA

Title

URG-04LX

Specification

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C-42-3389

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5. Interface
CN1 (8 Pins)
URG-04LX
1N.C.
2
N.C.
3
OUTPUT (SYNCHRONOUS)
4
GND (9pin Dsub 5p)
5RxD (9pin Dsub 3p)
6TxD (9pin Dsub 2p)
70V
8DC 5VLead Color
REDWHITEBLACKPURPLEYELLOWGREENBLUE
BROWN

Note
GND and 0V are internally connected
A standard unit consists of power supply cable and 9-pin D-sub communication connector
CN2 USB-mini (5 Pin)
Cable is not included. Use commercially available compatible unit.

Communication protocol
Please refer to the respective document for details on communication protocola) SCIP 1.0 : C-42-3320Ab) SCIP 2.0 : C-42-3320B

1 Sync signal (approx. 12.5 ms) is outputted at each scan. Figure 2 shows the timing of thesync signal.

Scan Direction

Approx. 66.7 ms

Scan Range

Approx. 4.2 ms
Sync signal timeApprox. 12.5 ms
Figure 2Title

URG-04LX

Specification

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C-42-3389

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6. Output circuit:100Ω
OUT
0.01μ0v

Transistor (50V,30mA)
Figure 3

7. Additional notes:
 This sensor only needs 5VDC as power supply. Excessive power supply could cause damage
to the sensor.
 Maximum data step is 683 steps. Since the angular resolution is 0.3515625º (360º /1024steps), angular range is 239.765625º ((683-1)×360/1024).
 Angular resolution is configurable by the host. Read communication protocol specification(No C-42-3320) for details.
 Scan direction of the sensor is counterclockwise.
 In RS-232C communication, communication problems could happen if baud rate above 500
Kbps is set.
 USB driver used is the communication device class (CDC) supported by standard operating
system. Sensor will be treated as COM port under the same utility when connected to thestandard operating system.
 Plug and play function of the USB driver is not supported.

8. Firmware revision history
Firmware version
Ver. 2.91a
Ver. 3.1.00

Ver. 3.1.04
Ver. 3.3.00

Title

Changes
Laser is not radiated and LED will continue to blink until the connection isestablished.
Fixed for SCIP 2.0. Function in ver. 2.91a is disabled. LED indicating thepower supply will turn ON before communication is establish and start laser
radiation.
Corrections on MD/MS of SCIP
HS command is added.
Corrections on MD/MS of SCIP 2.0
Enhancement on error handling

URG-04LX

Specification

DrawingNoC-42-3389

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