Date: 2008.04.14 Scanning Laser Range Finder UTM-30LX/LN Specification Europe’s Official Distributor 1010 Cambourne Business Park, Cambridge, CB23 6DP UK. Tel +44 (1223) 923 930 : Fax +44 (1223) 923 940 info@sentekeurope.com : www.sentekeurope.com Symbol Amendment Details Amendment Date Amended by Number Approved by Checked by Drawn by Designed by MORI KAMITANI HINO Title Drawing No. UTM-30LX/LN Specification C 42 3615 1/5 

1. Introduction UTM 30LX/LN use laser source (λ = 870nm) to scan 270 º semicircular field (Figure 1). It measures distance to objects in the range and co ordinates of those point calculated using the step angle. Sensor’s measurement data along with the angle are transmitted via communication channel. Sensor is divided into two types depending upon the type of output. 1. UTM 30LX It outputs synchronous signal after every scan. These are mainly intended for robotic applications. 2. UTM 30LN It outputs warning signal whenever there is any object in the pre set area. These are mainly intended for area protection. Detection Angle: 270º Angular Resolution: 0.25º Measurement Step: 1080 Sensor Max. Distance: 30m Figure 1 Title UTM 30LX/LN Specification Drawing No C 42 3615 2/5 

2. Specifications Product Name Model Light Source  Supply Voltage Supply Current Power Consumption Detection Range and Detection Object Accuracy Measurement Resolution and Repeated Accuracy Scan Angle Angular Resolution Scan Speed Interface Output Ambient Condition (Temperature, Humidity) Preservation Temperature Environmental Effect Vibration Resistance Impact Resistance Protective Structure Insulation Resistance Weight Case External Dimension (W×D×H) UTM-30LX UTM-30LN Scanning Laser Range Finder Laser Semiconductor λ = 870nm , Laser Class 1 12VDC ±10% Max: 1A, Normal : 0.7A Less than 8W Guaranteed Range: 0.1 ~ 30m (White Kent Sheet) Maximum Range : 0.1 ~ 60m Minimum Width detected at 10m : 130mm (Change with distance) Under 3000lx : White Kent Sheet: ±30mm*¹ (0.1m to 10m) Under 100000lx : White Kent Sheet: ±50mm*¹ (0.1m to 10m) (Also refer data sheet attached with the product.) 1mm Under 3000lx      : σ = 10mm*¹ (White Kent Sheet up to 10m) Under 100000lx : σ = 30mm*¹ (White Kent Sheet up to 10m) 270º 0.25 º (360°/1440 25m USB Synchronous Output 1 Point 10 ºC ~ 50 ºC Less than 85%RH (Without Dew, Frost) 25~75 ºC Measured distance will be shorter than the actual distance under rain, snow and direct sunlight*². 10 ~ 55Hz Double amplitude 1.5mm in each X, Y, Z axis for 2hrs. 55 ~ 200Hz 98m/s2 sweep of 2min in each X, Y, Z axis for 1hrs. 196m/s2 In each X, Y, Z axis 10 times. Optics: IP64 10M 210g (Without cable) Polycarbonate 60mm×60mm×85mm MC 40 3127 sMotor rotation speed : 2400rpm  Ver2.0 Full Speed (12Mbps) Warning Output 1 Point DC500V Megger *¹ Under Standard Test Condition (Accuracy can not be guaranteed under direct sunlight.) *² Confirm sensor functions under operating environment. Measures such as signal processing in LX type and ON/OFF delay in LN type should be taken if necessary to avoid measurement faults. 3. Quality Reference Value Operating Vibration resistance Operating Impact resistance Angular Speed  Angular Acceleration  Life Sound Level Certification 10~150Hz 19.6m/s2 Sweep of 2min in each X,Y,Z axis for 30min 49m/s2 X, Y,Z axis 10 times 2π/s  (1Hz) π/2rad/ s2 5 Years (Varies with operating conditions) Less than 25dB at 300 mm FDA Approval (21 CFR part 1040.10 and 1040.11) Title UTM 30LX/LN Specification Drawing No C 42 3615 3/5 

4. Interface (1) Robot Cable 10Pin Color Brown Blue Green White Function +12v Power 0v Power Synchronous Output/ Warning Output COM Output (0V: Common to Power) (2) USB Connector TYPE A Note : SG for communication and GND are connected internally (Isolated with Input VIN). Isolate the device form any connection that generate electric noise. This sensor is compatible with SCIP2.0 protocol standard. 5. Control Signal (1) Synchronous Output (UTM 30LX) Output is one pulse for approximately 1msec after every scan (Figure 2). Scan Direction Angular Range 315º 45º 0º Synchronous Output Position On duration: Approx. 1msec. Synchronous Output 1ms 24ms Tr = ON Tr = OFF Tr is OFF duringMalfunction Figure 2 Drawing No C 42 3615 4/5 Title UTM 30LX/LN Specification 

(2) Warning Signal (UTM 30LN) Protection area can be set in LN type sensors using application software (Figure 3). Output is switched off when obstacles are detected inside the pre set area (Output is ON when there are no obstacles). Area is set using 3~7 co ordinate points. Maximum output delay can be set to 128 times (3.2 sec) Preset Area Tr is OFF duringMalfunction Sensor Figure 3 (3) Malfunction Output: 1. Laser Malfunction : When laser does not radiate or exceeds safety class 1. 2. Motor Malfunction : When rotation speed is not equal to preset value. When these malfunctions are detected synchronous/Warning signal is turned to OFF state. Error analysis can be done via communication. Title UTM 30LX/LN Specification Drawing No C 42 3615 5/5