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Quick‐ start 8020471/12FY/2019-04-02 PWR connection 4 3 5 SICK AG Erwin-Sick-Straße 1 D-79183 Waldkirch www.sick.com
MRS1000 Q U I C K S T A R T 8020471/12FY/2019-04-02/en e n
1 About this document
The purpose of this Quickstart is to allow you to commission the product quickly and easily and to achieve initial measurement results.
Supplementary and other relevant documents MRS1000 operating instructions (German no. 8020493, English no. 8020494) This document and additional information, such as application examples and downloads of associated documents and associated software, can be found on the SICK product page on the Internet at: www.sick.com/MRS1000 All rights reserved. Subject to change without notice.
• • • • • • • • • • •
2 Safety information
Please observe the safety notes and the warnings listed in the publication Safety Notes (part no. 8018793) to reduce the possibility of risks to health and avoid dangerous situations.
Read these instructions before commissioning the product in order to famil‐ iarize yourself with the device and its functions.
Mounting and electrical installation are to be performed only by qualified technicians.
Electrical connections between the LiDAR sensor and other devices may only be made when there is no power to the system. Otherwise, the devices may be damaged.
Wire cross-sections in the supply cable from the customer’s power system should be designed in accordance with the applicable standards. Protect the LiDAR sensor with an external 5 A slow-blow fuse at the start of the supply cable, from the perspective of the voltage supply.
All electric circuits connected to the device must be configured as PELV or SELV circuits (PELV= protective extra-low voltage, SELV = safety extra-low voltage).
In order to comply with the specified enclosure rating, non-contacted con‐ nections must be closed with protective caps.
Use the device only under permitted ambient conditions (e.g., temperature) (see “Technical specifications”).
Turn the rotatable electrical connections max 270° from end position to end position.
Opening the screws of the LiDAR sensor housing will invalidate any warranty claims against SICK AG.
The LiDAR sensor does not constitute personal protection equipment in accordance with the respective applicable safety standards for machines.
2.1 Intended use • The MRS1000 3D LiDAR sensor features 4 scan planes and is designed for the following applications: Detection of objects during continuous output of measured data as required.
• Field monitoring of freely defined areas with signaling of field breaches via switching outputs.
It is suitable for applications which demand precise, non-contact optical measur‐ ing contours and dimensioning. Typical areas of application include property/ building protection, access monitoring, and collision protection.
3 Product description
• • • • 3.1 Scope of delivery LiDAR sensor in the version ordered.
Protective caps included or possibly attached to the device. Without connect‐ ing cables and brackets.
Printed Quickstart (this document): English (no. 8020471), German (no. 8020470), French (no. 8020472) Safety notes for 2D/3D LiDAR sensors in laser class 1 (multiple languages: 8018793) 3.2 Device structure and dimensions See
.
3.3 Connection diagram NOTE The recommended connecting cables and their associated technical data can be found online at: www.sick.com/MRS1000 1 2
Figure 1: Male connector M12, 5-pin, A-coded Pin assignment for PWR connection
Pin Identification Description 1 2 3 4 5 Vs GND IN8 / OUT8 Supply voltage: +10 ... +30 V DC Reserved Supply voltage: 0 V Digital input 8 / digital output 8 Reserved Wire color, part num‐ ber 2095733 1 Brown White Blue Black Gray 1 Information only valid when using the specified open-ended connecting cable which is available as an accessory Ethernet connection 3 4 2 1
Figure 2: M12 female connector, 4-pin, D-coded Pin assignment for Ethernet connection
Pin Identification Description 1 2 3 4 TX+ RX+ TX RX Sender+ Receiver+ Sender Receiver I/O connection 5 4 6 8 3 2 1 7
Figure 3: Female connector, M12, 8-pin, A-coded Pin assignment for I/O connection
Pin 5 6 7 1 2 3 4 8 Identification IN1 / OUT1 IN2 / OUT2 IN3 / OUT3 IN4 / OUT4 IN5 / OUT5 IN6 / OUT6 GND INx/OUTx IN7 / OUT7 Description Digital input 1 / digital output 1 Digital input 2 / digital output 2 Digital input 3 / digital output 3 Digital input 4 / digital output 4 Digital input 5 / digital output 5 Digital input 6 / digital output 6 Ground for all digital inputs / out‐ puts Digital input 7 / digital output 7 Wire color, part num‐ ber 6036155 1 White Brown Green Yellow Gray Pink Blue Red 1 Information only valid when using the specified open-ended connecting cable which is available as an accessory 3.4 Status indicators 1
Figure 4: Status indicators
1 2 LED1 LED2 LED1 (color) O (Red) O (Green) O (Green) 2 LED2 (color) O (Red) O (Yellow) O (Green) Description Start up, configuration Off Field breached Field free MRS1000 | SICK 1
• • •
4
1.
2.
LED1 (color) Ö (Red) O (Green) O (Yellow) Ö (Green) O (Green) Ö (Yellow) Ö (Green) O = illuminated; Ö = flashing LED2 (color) Ö (Red) O (Green) Ö (Yellow) Ö (Green) Ö (Yellow) Ö (Yellow) Ö (Red) Description Fatal error On / Ready for operation Waiting for restart Standby Restart after time EasyTeach / teach-in Alignment mode
Mounting
The device should be as free from shock and vibration as possible during operation.
Protect the sensor from direct sunlight.
In applications with temperatures near the maximum ambient operating temperature, fasten the device firmly on a metal holder with the optional bracket to conduct heat away from the device.
Mount the LiDAR sensor on a prepared bracket.
Align the horizontal 0° axis of the LiDAR sensor’s field of view with the cen‐ ter of the area to be monitored. The marking on the lid of the optics cover serves as a bearing alignment aid.
5
1.
2.
3.
✓
Electrical installation
Connect the communication interface (Ethernet, 4-pin M12 female connec‐ tor) of the LiDAR sensor directly to the PC.
Switch on the PC.
Supply the LiDAR sensor with voltage (5-pin M12 male connector, supply voltage 10 ... 30 V).
After successful initialization, the two status LEDs light up green. The device is ready for use.
6 Configuration without PC
6.1 Field evaluation Configuration is performed by teaching in (EasyTeach) of the surrounding contour in order to automatically generate a field with any shape, including more complex shapes. In the as-delivered configuration, the teach-in phase is activated and deactivated using the wiring for input IN4.
• • Preparing EasyTeach Remove all objects that will not permanently be in the field of view in moni‐ toring mode later on.
Distance yourself sufficiently from the device during the teach-in phase and do not enter the monitored area, so that you are not detected as part of the field contour.
• • • • Teaching in the field contour The device forms the field from the surrounding contour with a negative off‐ set of 100 mm.
The field shape to be formed can be defined by pacing out the limits during the teach-in phase. It is important to make sure that the person can always be unequivocally detected.
The device stores the shortest value measured during the teach-in phase as a field limit for each angle.
1.
2.
Note: A parameter upload is required in order to display the newly taught-in field contour in SOPAS.
Install the device.
Carry out the EasyTeach wiring.
5 4 1 3 2 Vs 10 … 30 V Reserved GND IN8/OUT8 Reserved PWR 1 2 3 4 5 Vs GND I/O 3 4 5 2 IN1/OUT1 6 8 IN2/OUT2 IN3/OUT3 1 7 IN4/OUT4 IN5/OUT5 IN6/OUT6 GND INx/OUTx IN7/OUT7 1 2 3 4 5 6 7 8 1 2 Teach-In GND Vs 3.
4.
5.
6.
Figure 5: Wiring for EasyTeach (example)
1 2 Teach-in via an external signaling device such as a pushbutton, at input IN4/OUT4 in this example.
Feedback for field infringement; at input IN6/OUT6 in this exam‐ ple Set the EasyTeach input signal to start the teach-in phase (active high).
Define the field (e.g., using the existing surrounding contour or by pacing out the field).
Remove the EasyTeach input signal to end the teach-in phase (active high).
Thoroughly check correct detection of the field borders by performing a func‐ tional check in which field infringements are intentionally caused.
7 Configuration with PC
The SOPAS ET configuration software (from Version 3.3.3) is used as standard to display the surrounding contour (measuring line) recorded by the LiDAR sensor, as well as diagnostic information in the event of an error.
7.1 Installing and starting the configuration software 1.
2.
✓ 3.
4.
✓ Download and install the latest version of the SOPAS ET configuration soft‐ ware, as well as the current device description files (*.sdd): www.sick.com
In this case, select the “Complete” option as suggested by the installation wizard. Administrator rights may be required on the PC to install the soft‐ ware.
.
Start the “SOPAS ET” program after completing the installation. Path: Start > Programs > SICK > SOPAS ET Engineering Tool > SOPAS .
SOPAS ET automatically starts searching for connected devices and displays connected devices in the Device search window.
Select the appropriate LiDAR sensor from the list of available devices: ° Use MRS1xxx (port 2111) to configure the device.
° Use MRS1xxx (port 2112) to view only measured data.
If necessary, install an updated device description file for the device.
Click on Add to establish communication.
SOPAS ET establishes communication with the LiDAR sensor, loads its cur‐ rent device description (parameters), and displays it in the New Project win‐ dow.
8020471/12FY/2019-04-02/en
Figure 6: SOPAS ET: main window
7.2 Logging into the device 1.
2.
In the project window, click Login to establish communication.
Select Autorisierter Kunde as the as user level and enter the password client . Click the Login button.
7.3 Output of measured values via terminal program Example commands for output of measured values If the LiDAR sensor receives one of the two example commands by telegram through the Ethernet interface, it will start the output of measured values through MRS1000 | SICK 2
this data interface. Prerequisite: The Measurement Data Output application is selected.
The detailed structure of the output telegram as well as the flow of requests and outputs is described in the “Measurement output telegram” chapter in the Telegram listing publication (English, no. 8014631).
Request for output of measured values:
Telegram structure: sRN LMDscandata
Telegram part Command type Description Request (SOPAS read by name) Variable type string Command Request data string Length (byte) Value range 3 11 sRN LMDscandata
Example: sRN LMDscandata
Telegram type Command ASCII HEX
Telegram structure: sEN LMDscandata measurement start/stop
Telegram part Command type Command StartStop measure‐ ment Description Request (SOPAS event by name) Request data Variable type string string Enum8 Length (byte) Value range 3 sEN 11 1 LMDscandata 0: Stop output of measured values 1: Start output of measured val‐ ues
Example: sEN LMDscandata
Telegram type ASCII Command
After starting the measurement mode, the device needs some time to reach status 1 (“ready”). You should therefore query the status of the device using the sRN SCdevicestate telegram.
Then request measured data via telegram at the data interface from which you want to receive measured data. This can be achieved in two ways: The request of exactly one measured value with the sRN LMDscandata telegram – the last measured scan is transmitted.
Continuous request of measured data with the stopped with the sEN LMDscandata 0 telegram.
sEN LMDscandata 1 telegram – measured data is transmitted until the output of measured values is Activating the output of the measured values in SOPAS on a test basis: 1.
Start the terminal emulator: Tools menu > Terminal .
2.
3.
In the dialog window in the function.
Connections menu, select the Create new connection In the connection wizard, select the communication interface ( nection ( Finish button).
Ethernet ) and connection settings (default IP address: 192.168.0.1) and establish the con‐ 4.
Enter in the input line one of the two example telegrams from the annex as they appear (automatically framed by STX and ETX when sending in the default setting). Pay attention to blank characters in the string.
5.
✓ Use the button to transmit the telegram to the LiDAR sensor.
The LiDAR sensor responds by providing the data as a one-off or continu‐ ously in the display area of the terminal emulator. The data is output in the
following order: Layer 2, 3, 1, 4 ( see Features, page 4 “Working range dia‐
gram, side view”).
Data output format of the measured values The data output format per scan is comprised of the configuration information, measured values, radial distance, RSSI/SNR (signal noise ratio value), layer assignment, device and status information, and time stamp.
In the default settings, the distance is output as a measured value (in mm).
To output the reflectance values in the telegram: Open the device window ( Device > Open menu) and, in the Application view, select the RSSI check box under Output data format .
7.4 Measured value display and configuration via device window b ✓ Open the window: Device > Open menu.
The Start view with information on the device , device status , and the graphic scan display opens.
Figure 7: SOPAS ET: device window
7.5 Selecting the application 1.
2.
Open the Select Application Field evaluation view.
or Measurement data output .
7.6 Field evaluation application Creating a new evaluation b Click the button.
Entering evaluation parameters b Click the button and enter evaluation parameters.
Inserting field points 1.
Click the button.
2.
Insert field points by clicking.
3.
Double-click to close the field.
Editing field points The Edit field points tool ( ) can be used to customize the field geometry with the assistance of the mouse pointer. Alternatively, the field vertices can also be cus‐ tomized by entering the coordinate values in the Field coordinates mask.
Function Scale field Rotate field Customize field shape Add field vertices Delete field vertices Delete field Procedure Drag square red handle.
Drag round black handle.
Drag square green handle.
Double-click in required position.
Click to select the square green handle and press the [del] key.
Press the [del] key without first selecting a green handle.
Important information about fields It is possible to define up to 24 fields and 6 evaluations.
In the default settings, fields are projected into all levels. If you do not want this to happen, you can deactivate the option in Field properties.
8020471/12FY/2019-04-02/en MRS1000 | SICK 3
7.7 Configuring inputs/outputs Settings for using the multifunctional I/Os can be made in the I/O area. In addi‐ tion, the current status and saved function of the input/output are displayed.
The multifunctional I/Os are switchable and can therefore each be used as either a digital input or output. The factory settings are as follows: multifunctional I/Os 1-4 preset as inputs and multifunctional I/Os 5-8 preset as outputs.
The inputs may switch on, switch off, and switch over analysis cases, for example.
The inputs can also be used to activate other functions, such as EasyTeach or measurement data output triggering.
The outputs can be used as digital switching outputs, for example to ground (PNP) (depending on the device type). For each output, it is necessary to define whether it is to be switched by the field evaluation application or by means of SOPAS ET telegrams, or whether it is being used to signal device readiness. If the field evalu‐ ation application is being used to switch an output, the sensor may signal evalua‐ tion field breaches or contour breaches. In SOPAS ET, you can configure which evaluation affects which output.
7.8 Some useful functions button: Resets scan display to default view.
And button: Displays measured values as points or lines.
button: Freely rotates scan display.
perspective cube: Changes perspective of the laser scanner.
7.9 Configuring the device 1.
2.
Set the desired configuration data in the (buttons under the menu bar).
Basic settings and Interfaces views Finally, permanently save the configuration in the Finish view: ° Click the Save permanent button to save the parameter set in the device.
° Click the Export… button to save the parameter set on the PC.
8 Technical data
• NOTE The relevant online data sheet for your product, including technical data, dimensional drawing, and connection diagrams can be downloaded, saved, and printed from the Internet: www.sick.com/MRS1000 8.1 Features Application Light source Laser class Horizontal aperture angle Vertical aperture angle Scan field flatness Scanning frequency Angular resolution Heating Working range Scanning range with 10% remission Scanning range with 90% remission Spot size Number of echoes evalu‐ ated MRSxxxxx-0xxxxx: Indoor MRSxxxxx-1xxxxx: Outdoor Infrared (wavelength 850 nm, max. output power 1.26 W, pulse duration 3.5 ns, average power 4.0 mW) Laser class 1 (EN/IEC 60825-1:2014, EN/IEC 60825-1:2007) 275° 7.5° (over 4 measurement levels) Conical error: ± 0.6° Tilt: ± 0.6° 50 Hz, 4x 12.5 Hz 0.25° self-heating 0.2 m ... 64 m 16 m 30 m 10.4 mrad 3 8020471/12FY/2019-04-02/en Working range diagram Scanning range in m 80 60 275° 40 20 0 –20 –40 –60 –80 –80 –60 –40 –20 0 20 40 60 80 Scanning range in m Scanning range max. 64 m Scanning range for objects up to 90 % remission 30 m Scanning range for objects up to 10 % Remission 16 m
Figure 8: Working area diagram, top view
Height in m (ft) 6 (19.69) 4 5 ( 16.41
) 4 ( 13.12
) 2,5° 3 ( 9.84
) 3 2 ( 6.56
) 1 ( 3.28
) 2 2,5° 0 –1 (– 3.28
) –2 (– 6.56
) –3 (– 9.84
) 0 20 (65.62) 40 (131.24) 1 2,5° 60 ( 196.86
) 80 ( 262.48
) Radius in m (ft) Typical scanning range Max. scanning range 90 % Remission 10 % Remission
Figure 9: Working area diagram, side view
8.2 Performance Scan/frame rate Response time 1 Systematic error Statistical error Integrated application Number of field sets Simultaneous analysis cases Up to 64 fields Up to 16 analyses 1 2 3 4 Layer 1 Layer 2 Layer 3 Layer 4 55000 … 165000 measuring points/second typically 20 ms (4 layers), typically 80 ms (1 layer) min. 7 ms, max. 84 ms + 1 scan ± 60 mm Temperature drift: typically ± 0.5 mm/K ≤ 30 mm Integrated field evaluation with flexible fields on 4 levels, data output MRS1000 | SICK 4
Filters Fog filter, particle filter, mean filter, median filter, ground refer‐ ence evaluation 1 Depends on the object size and selected filter settings.
8.3 Interfaces Ethernet Optical indicators Configuration software ✓ , TCP/ IP, UDP/ IP Function: HOST, OPC, NTP Data transmission rate: 10/100 Mbit/s LEDs SOPAS ET, web server (display only) 8.4 Mechanics/electronics Electrical connection 3 x M12 round connector Supply voltage Permissible residual rip‐ ple Power consumption Housing 10 V ... 30 V DC ±5% typically ≤ 13 W Start-up phase max. 30 W for 1 s ALSi12 Optics cover: PC Housing color Enclosure rating Protection class MRSxxxxx-xxxxx0: Light blue(RAL 5012) MRSxxxxx-xxxxx1: Gray (RAL 7042) MRSxxxxx-0xxxxx (Indoor): IP65 MRSxxxxx-1xxxxx (outdoor): IP65 / IP67 III (IEC 61140:2016-11) Electrical safety Weight Dimensions (L x W x H) Encoder input frequency Maximum output current IEC 61010-1:2010-06 1.2 kg 151.9 mm x 150 mm x 92.5 mm not available max. 100 mA per output 1 1 e.g., 30 V*100 mA = 3 W Dimensional drawing MRS1000 device structure and dimensions, dimensions in mm:
8.5 Ambient data Object remission Electromagnetic compati‐ bility (EMC) Vibration resistance Shock resistance Ambient operating tem‐ perature Storage temperature Operating and storage air humidity Ambient light immunity 2% ... 1000% (reflector) EN 61000-6-2:2005-08 EN 61000-6-4:2007-01 EN 61000-6-4:2007-01+A1:2011-02 EN 60068-2-6:2007 EN 60068-2-27:2008 MRSxxxx-0xxxxx: -10 °C … +50 °C MRSxxxx-1xxxxx: -30 °C … +50 °C -40 °C … +75 °C Max 90% air humidity (non-condensing) 80 klx 8020471/12FY/2019-04-02/en MRS1000 | SICK 5
A 2 +5° +2.5° 0° –2.5° 1 Ø 37.9
(1.49) Ø 7 (0.28) 3 4 75 (2.95) 7 85° 3 5 3.5
(0.14) 6 5 49 (1.93) 21 (0.83) 151.9
(5.98) 9.6
(0.38) 13.8
(0.54) 30 (1.18) 45 (1.77) 15 (0.59) 30 (1.18) 144 (5.67) 150 (5.22) 8.7
(0.34) 132.6
(5.22) 66.3
(2.61) 8.7
(0.34) 9 ß à á 8 275° 0 à á â ã e 1 2 3 4 5 6 7 8 9 ß Receiver Laser aperture angle, layers 1 to 4 Status LEDs Sender M5x7.5 fixing holes Pressure compensation element Blind spot Field of view Ethernet connection I/O connection PWR connection (supply voltage) M5x7.5 fixing holes Close range (no detection or measurement possible) Detection area Measuring range â ã < 0.2
(7.87) 0.2 … 0.4
(7.87 … 15.75) ä < 0.4
(15.75) 8020471/12FY/2019-04-02/en MRS1000 | SICK 6
8020471/12FY/2019-04-02/en MRS1000 | SICK 7
8020471/12FY/2019-04-02/en MRS1000 | SICK 8
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