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Scanning RangefinderArea Configuration
This product is no longer in production or sales.

Scanning Laser Range Finder, the best optimized sensor for environment recognition for AGV applications.



-> High accuracy, high resolution and wide angle which provide the best solution for AGV system in material handling industry.
-> Compact size allows more designing freedom. Light weight and low power consumption contribute to the long time operations.
-> No influence by how bright the environment will be. Excellent performance in darkness.


Model No. URG-04LN
Power source 5VDC±5%*1
Current consumption 500mA or less(800mA when start-up)
Measuring area 60 to 4095mm(white paper with 70mm)
225°(any value within 270°, settable area)
Accuracy 60 to 1,000mm : ±10mm
1,000 to 4,095mm : 1% of measurement
Repeatability 60 to 1,000mm : ±10mm
Angular resolution Step angle : approx. 0.36°(360°/1,024 steps)
Light source Semiconductor laser diode(λ=785nm),
Laser safety class 1(IEC60825-1, 21 CFR 1040.10 & 1040.11)
Scanning time 100ms/scan
Noise 25dB or less
Interface NPN open-collector(In : 3 pcs, OUT : 3 pcs), USB(for detecting area)
Ambient temperature/humidity -10 to +50 degrees C, 85% or less(Not condensing, not icing)
Vibration resistance 10 to 55Hz, double amplitude 1.5mm Each 2 hour in X, Y and Z directions
Impact resistance 196m/s2, Each 10 time in X, Y and Z directions
Weight Approx. 160g
Accessory Cable for power・communication/input・output(1.5m) 1 pce,
D-sub connector with 9 pins 1 pce*2
*1 Sensor will not operate with USB bus power. Prepare power source separately.
*2 USB cable and fitting metal are not provided.
Note) This sensor is designed for indoor use only.
Note) This sensor is not safety device
Note) Hokuyo products are not developed and manufactured for use in weapons, equipment, or related technologies intended for destroying human lives or creating mass destruction. If such possibilities or usages are revealed, the sales of Hokuyo products to those customers might be halted by the laws of Japan such as Foreign Exchange Law, Foreign Trade Law or Export Trade Control Order.In addition, we will export Hokuyo products for the purpose of maintaining the global peace and security in accordance with the above laws of Japan .

External dimension

External dimension

External dimension
*Power source・IN・OUT

I/O Circuit

Input(IN1 to IN3)

Input(IN1 to IN3)

Output(OUT1 to OUT3)

Output(OUT1 to OUT3)


• CN1
Pin No. Signals Colors
1 OUT3 Red
2 OUT2 White
3 OUT1 Black
4 IN3 Purple
5 IN2 Yellow
6 IN1 Green
7 0V Blue
8 DC 5V Brown

• CN2


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Download List

Category File name File size Date modified Download
Instruction Manual_URG-04LN
Application Software
Configuration Software_URG-04LN
USB Driver(Win)