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LMS4400/LMS4500
2D LiDAR sensors
O P E R A T I N G I N S T R U C T I O N S
Described product
LMS4400
LMS4500
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be reserved for SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Any modifica‐ tion, abridgment or translation of this document is prohibited without the express writ‐ ten permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.
Original document
This document is an original document of SICK AG.
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CONTENTS
Contents
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1
About this document........................................................................
1.1
Information on the operating instructions..............................................
1.2
Explanation of symbols............................................................................
1.3
2
Safety information............................................................................
2.1
2.2
2.3
Internet protocol (IP) technology..............................................................
2.4
2.5
Modifications and conversions................................................................
2.6
Requirements for skilled persons and operating personnel..................
2.7
Operational safety and particular hazards..............................................
2.8
Warning signs on the device....................................................................
3
Product description........................................................................... 12
3.1
3.2
3.3
3.4
3.5
3.5.1
3.5.2
Measuring principle.................................................................
Ethernet data interface...........................................................
3.5.3
3.5.4
3.5.5
3.5.6
3.5.7
3.5.8
3.5.9
Output of measured values..................................................... 15
Laser control............................................................................
Angle channel..........................................................................
Impact of object surfaces on the measurement...................
Filters........................................................................................
Motor synchronization for measuring range extension.........
Remission value....................................................................... 18
4
Transport and storage....................................................................... 25
4.1
4.2
4.3
4.4
5
5.1
5.2
Example installation of a conveyor system.............................................
5.3
Mounting the device.................................................................................
6
Electrical installation........................................................................ 29
6.1
6.2
Prerequisites for safe operation of the device........................................
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CONTENTS
6.3
Connection diagram.................................................................................
6.4
Connecting the device electrically...........................................................
7
7.1
Operation via SOPAS ET...........................................................................
7.2
Output of measured values via terminal program..................................
8
Maintenance...................................................................................... 41
8.1
8.2
9
Troubleshooting................................................................................. 43
9.1
General faults, warnings, and errors.......................................................
9.2
9.3
9.4
10
11
12
12.2 EU declaration of conformity / Certificates............................................. 56
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1
1.1
1.2
ABOUT THIS DOCUMENT
1
About this document
Information on the operating instructions
These operating instructions provide important information on how to use devices from
SICK AG.
Prerequisites for safe work are:
• Compliance with all safety notes and handling instructions supplied.
• Compliance with local work safety regulations and general safety regulations for device applications
The operating instructions are intended to be used by qualified personnel and electrical specialists.
NOTE
Read these operating instructions carefully to familiarize yourself with the device and its functions before commencing any work.
The operating instructions are an integral part of the product. Store the instructions in the immediate vicinity of the device so they remain accessible to staff at all times.
Should the device be passed on to a third party, these operating instructions should be handed over with it.
These operating instructions do not provide information on operating the machine or system in which the device is integrated. For information about this, refer to the operat‐ ing instructions of the specific machine.
Explanation of symbols
Warnings and important information in this document are labeled with symbols. Signal words introduce the instructions and indicate the extent of the hazard. To avoid acci‐ dents, damage, and personal injury, always comply with the instructions and act care‐ fully.
DANGER
… indicates a situation of imminent danger, which will lead to a fatality or serious injuries if not prevented.
WARNING
… indicates a potentially dangerous situation, which may lead to a fatality or serious injuries if not prevented.
CAUTION
… indicates a potentially dangerous situation, which may lead to minor/slight injuries if not prevented.
NOTICE
… indicates a potentially harmful situation, which may lead to material damage if not prevented.
NOTE
… highlights useful tips and recommendations as well as information for efficient and trouble-free operation.
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1
ABOUT THIS DOCUMENT
1.3
Further information
NOTE
Further documentation for the device can be found on the online product page at:
• www.sick.com/LMS4000
There, additional information has been provided depending on the product, such as:
• Model-specific online data sheets for device variants, containing technical data, dimensional drawing, and specification diagrams
• EU declarations of conformity for the product family
• Dimensional drawings and 3D CAD dimension models of the device variants in var‐ ious electronic formats
• This documentation, available in English and German, and in other languages if necessary
• Other publications related to the devices described here
• Publications dealing with accessories
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2
2.1
2.2
2.3
SAFETY INFORMATION
2
Safety information
Intended use
The 2D LiDAR sensor LMS4400/LMS4500 is intended exclusively for use in industrial environments. Radio interference may result when used in residential areas.
The device measures objects of any shape during continuous output of measurement data.
The following contour data are output to a computing unit (e.g. industrial PC or SICK
Sensor Integration Machine (SIM)) via the Ethernet interface for further processing:
• Distance values: Distance from zero point in the corrected angular position
• Remission values: Object remission as a dimensionless scale value (digits) or a calibrated grayscale value (%) in the corrected angular position
• Angle correction values: Deviation from implicit angular position
• Quality values: Measured value quality in the corrected angular position
SICK AG assumes no liability for losses or damage arising from the use of the product, either directly or indirectly. This applies in particular to use of the product that does not conform to its intended purpose and is not described in this documentation.
Improper use
Any use outside of the stated areas, in particular use outside of the technical specifica‐ tions and the requirements for intended use, will be deemed to be incorrect use.
• The device does not constitute a safety component in accordance with the respec‐ tive applicable safety standards for machines.
• The device must not be used in explosion-hazardous areas, in corrosive environ‐ ments or under extreme environmental conditions.
• Any use of accessories not specifically approved by SICK AG is at your own risk.
■
■
■
WARNING
Danger due to improper use!
Any improper use can result in dangerous situations.
Therefore, observe the following information:
Product should be used only in accordance with its intended use.
All information in these operating instructions must be strictly observed.
Shut down the product immediately in case of damage.
Internet protocol (IP) technology
NOTE
SICK uses standard IP technology in its products. The emphasis is placed on availability of products and services.
SICK always assumes the following prerequisites:
• The customer ensures the integrity and confidentiality of the data and rights affected by its own use of the aforementioned products.
• In all cases, the customer implements the appropriate security measures, such as network separation, firewalls, virus protection, and patch management.
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2
SAFETY INFORMATION
2.4
2.5
2.6
Limitation of liability
Relevant standards and regulations, the latest technological developments, and our many years of knowledge and experience have all been taken into account when com‐ piling the data and information contained in these operating instructions. The manufac‐ turer accepts no liability for damage caused by:
■
■
■
■
■
■
Non-adherence to the product documentation (e.g., operating instructions)
Incorrect use
Use of untrained staff
Unauthorized conversions or repair
Technical modifications
Use of unauthorized spare parts, consumables, and accessories
With special variants, where optional extras have been ordered, or owing to the latest technical changes, the actual scope of delivery may vary from the features and illustra‐ tions shown here.
Modifications and conversions
NOTICE
Modifications and conversions to the device may result in unforeseeable dangers.
Interrupting or modifying the device or SICK software will invalidate any warranty claims against SICK AG. This applies in particular to opening the housing, even as part of mounting and electrical installation.
Requirements for skilled persons and operating personnel
WARNING
Risk of injury due to insufficient training.
Improper handling of the device may result in considerable personal injury and material damage.
■
All work must only ever be carried out by the stipulated persons.
This product documentation refers to the following qualification requirements for the various activities associated with the device:
■
■
■
Instructed personnel
have been briefed by the operator about the tasks assigned to them and about potential dangers arising from improper action.
Skilled personnel
have the specialist training, skills, and experience, as well as knowledge of the relevant regulations, to be able to perform tasks delegated to them and to detect and avoid any potential dangers independently.
Electricians
have the specialist training, skills, and experience, as well as knowl‐ edge of the relevant standards and provisions to be able to carry out work on elec‐ trical systems and to detect and avoid any potential dangers independently. In Ger‐ many, electricians must meet the specifications of the BGV A3 Work Safety Regu‐ lations (e.g.
Master Electrician). Other relevant regulations applicable in other countries must be observed.
The following qualifications are required for various activities:
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2.7
SAFETY INFORMATION
2
Table 1: Activities and technical requirements
Activities
Mounting, maintenance
■
■
Qualification
Basic practical technical training
Knowledge of the current safety regulations in the workplace
Electrical installation, device replacement
Commissioning, configura‐ tion
Operation of the device for the particular application
■
■
■
■
■
■
■
■
Practical electrical training
Knowledge of current electrical safety regulations
Knowledge of the operation and control of the devices in their particular application
Basic knowledge of the Windows TM operating system in use
Basic knowledge of the design and setup of the described con‐ nections and interfaces
Basic knowledge of data transmission
Knowledge of the operation and control of the devices in their particular application
Knowledge of the software and hardware environment for the particular application
Operational safety and particular hazards
Please observe the safety notes and the warnings listed here and in other chapters of this product documentation to reduce the possibility of risks to health and avoid dan‐ gerous situations.
CAUTION
Optical radiation: Laser class 2
The human eye is not at risk when briefly exposed to the radiation for up to 0.25 sec‐ onds. Exposure to the laser beam for longer periods of time may cause damage to the retina. The laser radiation is harmless to human skin.
■
Do not look into the laser beam intentionally.
■
■
Never point the laser beam at people's eyes.
If it is not possible to avoid looking directly into the laser beam, e.g., during com‐ missioning and maintenance work, suitable eye protection must be worn.
■
■
■
Avoid laser beam reflections caused by reflective surfaces. Be particularly careful during mounting and alignment work.
Do not open the housing. Opening the housing may increase the level of risk.
Current national regulations regarding laser protection must be observed.
Caution – Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure.
■
■
■
■
WARNING
Electrical voltage!
Electrical voltage can cause severe injury or death.
■
Work on electrical systems must only be performed by qualified electricians.
The power supply must be disconnected when attaching and detaching electrical connections.
The product must only be connected to a voltage supply as set out in the require‐ ments in the operating instructions.
National and regional regulations must be complied with.
Safety requirements relating to work on electrical systems must be complied with.
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2
SAFETY INFORMATION
■
■
■
WARNING
Risk of injury and damage caused by potential equalization currents!
Improper grounding can lead to dangerous equipotential bonding currents, which may in turn lead to dangerous voltages on metallic surfaces, such as the housing. Electrical voltage can cause severe injury or death.
Work on electrical systems must only be performed by qualified electricians.
Follow the notes in the operating instructions.
Install the grounding for the product and the system in accordance with national and regional regulations.
2.8
Warning signs on the device
LMS4x2x
10
Figure 1: LMS4x2x – Warning signs on the device
1
2
3
4
5
Avoid exposure – Laser radiation is emitted from this aperture.
Laser output aperture corresponds to the front screen at the height of the position shown.
Caution – Laser radiation when opened. Do not stare into beam.
Laser radiation – Do not stare into beam. Class 2 laser product
Average radiation output: 13.5 mW
Maximum radiation output: 27 mW
Wavelength: 660 nm
IEC 60825-1:2014
Complies with 21 CFR 1040.10 and 1040.11 except for tolerances according to Laser
Notice No.
50 of June 24, 2007.
Warning symbol: Laser radiation
Do not remove – Hazardous laser radiation and risk of personal injury if the laser protec‐ tion hood is removed. Limit values of laser class 2 are exceeded.
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SAFETY INFORMATION
2
Notes on the warning signs
• Before commissioning, the English warning label “LASER RADIATION – DO NOT
STARE INTO BEAM” is to be replaced with a warning label in a language that the operators of the system understand. Laser warning labels in German and French are included in the scope of delivery.
• If the devices are installed in a system/casing so that the warning labels are cov‐ ered, other warning labels (not included with delivery) must be attached to the system/casing next to the laser output aperture.
• When operating with the trigger, the laser diode is switched on by the switch-on signal and switched off again by the deactivation signal. When free output of mea‐ sured values is set, the laser diode is continuously on.
• The device automatically monitors beam generation and automatically shuts down the laser diode in the event of irregularities. If this happens, the red “Status” LED lights up. The device stops sending measured values and an entry is added to the error memory.
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3
PRODUCT DESCRIPTION
3
3.1
3.2
Product description
Scope of delivery
The delivery of the device includes the following components:
Table 2: Scope of delivery
No. of units
Component
1 Device in the version ordered
Comment
1
Depending on version.
Without connecting cables and brackets.
Attached to the connections.
1
1
Set of protective caps for electri‐ cal connections
Set of warning labels in German and French.
Printed safety notes, multilin‐ gual
To replace the English version if needed.
Quick guide and general safety notes
Status indicators
3.3
Four LEDs give a visual indication of the operational status and any errors that occur.
LED
Status
Ethernet
Sync
In/Out
Color
Green
Yellow
Red
Green
Green
Yellow
Status
Device is fully functional and the laser is switched on
(continuously lit), device is in standby mode and the laser is switched off (flashing)
Warning
Device is not ready to take measurements
Possible reasons: Login via a terminal is active, device is in error state or restarting
LINK path is established (continuously lit), data trans‐ mission (flashing)
Master: Sync signals are being sent (continuously lit)
Slave: Sync signals are being received (flashing), sync connection is active and device synchronized (continu‐ ously lit)
Specific digital input or digital output (can be parameter‐ ized) is active
Device variants
Type Application
LMS4421R-16000 Volume measurement systems (non-LFT) indoor
Measuring range
Remission range
0.7 m ... 3 m 2% ... 200%
Connections
4x M12 with
CAN
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PRODUCT DESCRIPTION
3
3.4
Type Application
LMS4521R-16000 Custody transfer vol‐ ume measurement systems (LFT) indoor
Measuring range
Remission range
0.7 m ... 3 m 2% ... 200%
Type label
The type label gives information for identification of the sensor.
1 23 4
Connections
4x M12 with
CAN
5
SW: V1.00
Made in
Germany
LMS4521R-16000
P/N: 1086802
S/N: 18090002 www.sick.com/1086802
DC 18 … 30 V
P typ
16 W, P max
31 W
MAC: 00:06:77:06:05:5E
Manufactured: Feb 2018
SICK AG D-79276 Reute
25
1
2
3
4
5
6
7
8
9
ß
5 ß 9 8 7 6
Figure 2: LMS4400/LMS4500 type label (example)
5
Type code
Part number, serial number
Web address of product page
DataMatrix code with product data and link to product page
Conformity mark/certification mark
Voltage supply, typical power consumption/maximum power consumption
MAC address
Production date
Manufacturer/production location
Device software version
3.5
Principle of operation
3.5.1
Measuring principle
The device is an opto-electronic LiDAR sensor that uses non-contact laser beams to scan its surroundings. The device measures its surroundings in polar coordinates (dis‐ tance, angle) relative to its measurement origin. The measurement origin is marked by a circular indentation on the top and bottom of the housing.
It is an active system featuring a light laser in the visible range (red). It does not require position marks, reflectors, or object illumination.
When a laser beam strikes an object, the distance and measuring angle are deter‐ mined.
The distance is determined according to the principle of phase shift (continuous wave).
There is a phase difference between the transmitter and receiver beams resulting from the run time of the light and the wavelength used. This phase difference is used to cal‐ culate the distance of the object from the zero point. The measuring angle is the angle at which the laser radiation exits the device.
The device must have a clear view of the object being measured.
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3
PRODUCT DESCRIPTION
Working range
The working range of the device is illustrated in the drawing below.
0
.7
3
.0
0.98
70°
3.5.2
3.44
12
5°
55
°
Figure 3: Working range
90°
Notes on measuring objects
The measuring method used can lead to changes in measured values when measuring edges, borders, or protruding parts. Measurement results can stray out of tolerance on smaller surface areas.
Output of measured values
The device outputs measurement data via an Ethernet interface. It sends measured values to the interface when requested to do so via a telegram.
The following data can be polled individually or in combination:
• Distance values: Distance from zero point in the corrected angular position
• Remission values: Object remission as scale value without unit (digit) or calibrated
greyscale value (%) at the corrected angular position. For details, see "Remission value", page 18
.
•
Angle correction values: Deviation from implicit angular position. For details, see
• Quality values: Measured value quality in the corrected angular position
In the event of an error, the output of measured values is terminated immediately and an error code is output which can be evaluated by the connected application. The error code can also be read out with the SOPAS ET PC software.
Ethernet data interface
The device has an Ethernet data interface for configuration and the transmission of measured values.
The Ethernet interface has a data transmission rate of 100/1,000 Mbit/s. The inter‐ face is a TCP/IP interface supporting full duplex and half duplex.
The Ethernet interface allows the configuration of the device as well as the output of measured values.
The factory setting for the Ethernet interface is as follows:
• IP address: 192.168.0.1
• Subnet mask: 255.255.255.0
• TCP port: 2111 (CoLa binary)
• TCP port: 2112 (CoLa ASCII)
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PRODUCT DESCRIPTION
3
3.5.3
3.5.3.1
You might need to adjust the TCP/IP configuration of the Ethernet interface so that a connected PC (client) can communicate with the device via Ethernet.
NOTE
If you change the parameters of the Ethernet interface via the Ethernet interface, you must first save the data permanently to non-volatile memory and then restart the device.
Output of measured values
A fundamental distinction must be made between continuous and triggered output of measured values.
NOTICE
A permanent measurement (with or without output of measured values) reduces the service life of the laser diode and thus the device.
There are 3 possible ways to extend the service life of the laser diode:
1 Disconnect the device from the voltage.
2 Use software trigger options for laser control with the sMN LMCstandby telegram command
(hexadecimal:
734D4E204C4D437374616E646279
). Do not reactivate the laser until immediately before sending the request for measured val‐ ues with the Start Measurement telegram sMN LMCstartmeas
(hexadecimal:
734D4E204C4D4373746172746D656173
, login on device not necessary).
3 Use hardware trigger options for laser control.
Continuous output of measured values
With continuous output of measured values, once the device has received an sEN
LMDscandata 1
telegram (hexadecimal:
73454E204C4D447363616E646174612001
) requesting measured values, measured value telegrams are sent until the output of measured values is terminated by the stop telegram sEN LMDscandata 0
(hexadeci‐ mal:
73454E204C4D447363616E646174612000
). When the output of measured values stops, the motor continues to turn normally, the laser diode remains switched on, and measurement data continues to be generated and processed inside the device. Laser control must be set to “free-running”.
See "Telegram structure", page 52
for a description of the measured value telegrams.
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3
PRODUCT DESCRIPTION
1
2
3
5
4
3.5.3.2
3.5.3.3
1
2
3
4
5
Figure 4: Continuous output of measured values
Start telegram
Start transmission of measured values
Output measured-value telegrams
Stop telegram
Stop output of measured values
Triggered output of measured values
During triggered measurement, the start and end of the measurement are determined by a reading gate.
First, the trigger source is selected via the laser control settings,
.
After this, measured values are initially requested with the sEN LMDscandata 1
telegram, "Telegram structure", page 52
, in the same way as for the continuous out‐ put of measured values.
Measured values are only output if the laser is switched on (to open the reading gate). If the reading gate is closed, the laser will switch off, thereby terminating the measure‐ ment process and the output of measured values.
Triggering is activated via a CAN command.
Connecting the incremental encoder
If the device is mounted for mobile use or if the objects to be measured are in motion, the application will usually also need position data to further process the measured val‐ ues.
Encoders can be connected for this purpose. The encoder data is then available with the other measured values in a single scan and at the same interface. A volume, for example, can be calculated by evaluating the measurement data and position data
(encoder ticks). The input frequency of the encoder signal must not exceed 50 kHz.
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3.5.4
PRODUCT DESCRIPTION
3
The following incremental encoders with a push-pull output stage (HTL) can be used:
• Single-channel, only connected at encoder A, no direction detection.
• Dual-channel (phase), connected at encoder A and encoder B; the pulses have a phase shift of 90°, making direction detection possible. By definition, during for‐ ward motion (CW = clockwise) phase A precedes phase B; conversely, during reverse motion (CCW = counterclockwise) edge A rises before edge B.
• Dual-channel (level), connected at encoder A and encoder B; the pulses are at encoder A; at encoder B, the direction is indicated by level 0 or level 1 (rarely used).
NOTE
Incremental encoder transmits a zero index signal often (encoder Z). This signal is not processed by the device. So the signal does not need to be connected to the device.
NOTICE
Device damage due to incorrect parameterization!
• When connecting an encoder, configure IN1/OUT1 of the device as an input.
Laser control
Laser control is used to switch the laser on and off. Measurement data is only transmit‐ ted when the laser is switched on. To initiate the transmission of measurement data, the telegram command sEN LMDscandata 1
(hexadecimal:
73454E204C4D447363616E646174612001
) , "Telegram structure", page 52
must be sent once after switching on the device.
Since the motor turns constantly at the scan speed as long as the device is ready for operation, the device is ready to start taking measurements immediately after the laser has been switched on.
Laser control reduces the data load at the Ethernet interface. Switching the laser on and off specifically when required also increases the service life of the laser diode.
The “switch-on delay” and “switch-off delay” parameters can be set to switch the laser on subject to a time delay and/or to leave it switched on longer for a defined period after the trigger signal has dropped out.
Following login (minimum Authorized customer ), it is possible to select between various modes on the Basic settings tab in SOPAS ET or using a corresponding terminal program.
In free-running mode, the laser is permanently switched on and the device detects measurement data permanently (default setting). This mode is intended specifically for test purposes or for aligning a device with the laser line.
The laser is switched off initially in software trigger mode. The laser is activated with the
Start measuring SOPAS command or the sMN LMCstartmeas telegram (hexadecimal:
734D4E204C4D4373746172746D656173
). It is deactivated with the Standby command or the sMN LMCstandby telegram (hexadecimal:
734D4E204C4D437374616E646279
).
This mode is designed for the use of telegrams for triggering measurement data output and for setting up the device with the SOPAS ET parameterization software.
In CAN trigger mode, laser control is based on CAN commands. This is standard prac‐ tice when using the device as part of a system with other SICK sensors.
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3
PRODUCT DESCRIPTION
3.5.5
3.5.6
NOTE
The laser is also switched off when logging in on the device via a terminal with the sMN
SetAccessMode
telegram command (see the Listing Ranging sensors telegram, no. 8014631).
Changes to the device are only taken into account with the sMN Run log-off command; this also switches the laser back on.
Remission value
Remission is the ability of a material to reflect light. The remission value of an object correlates with the ratio of the amount of the laser light emitted by the LiDAR sensor that falls on the object and the amount that is reflected by the object (see Lambert-
Beer law).
Shiny surfaces have different remission values at different angles of incidence. In the case of shiny surfaces, maximum remission is achieved when the beam makes vertical incidence. A multiple of the typcial remission value of a material is reached at such places and may cause invalid measurement values. On such occasions distance values will be flagged with "1" and remission values with "FF FF" in the measurement data out‐
put, see "Telegram structure", page 52 , LMDscandata - reserved values.
Matt and dull surfaces have a diffuse remission and therefore have similar relative remission values independent of the angle of incidence.
Table 3: Typical remission values of frequently used materials
Material
Rubber tires (vulcanized, black)
Foam rubber (black)
Photographic board (black, matte)
Cardboard (gray)
Wood (untreated fir, soiled)
PVC (gray)
Paper (white, matte)
Plaster (white)
Aluminum (black anodized)
Steel (stainless, shiny)
Steel (high gloss)
Typ. relative remission value
2%
2.4%
10%
20%
40%
50%
80%
100%
110 … 150%
120 … 150%
140 … 200%
Angle channel
The motor of the device rotates with 100 Hz and enables the device to reach a scan‐ ning frequency of 600 Hz by way of deflecting the laser beam on a six-sided mirror wheel.
Assuming that the motor turns at a constant speed, the sensor creates every 1.16 µs a new measurement value in order to reach an angular resolution of 1/12°. However, due to hardware limitations there are minor fluctuations in the motor speed. Due to external influences (e.g. high acceleration or deceleration of the device), these ripples can reach a deviation of several tenths of a degree, which may lead in measurement error of some centimeters for object measurement.
The angle channel allows an adjustment of the measurement values to their true angle position. When activated, an additional correction value is provided in the measure‐ ment telegram for each measurement point.
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3.5.7
PRODUCT DESCRIPTION
3
Every value states the deviation to the implied angle position within a range of
± 3.2768° with an accuracy of approx. ± 0.01°. Since the channel is only able to put out positive numbers, the value 32768 (8000h) signifies a deviation of exactly 0°.
Higher values, from 32768 to 65535 (8001h … FFFFh), indicate an acceleration of the motor (objects appear to be more narrow), lower values, from 0 to 32767
(0h … 7999h), indicate an deceleration of the motor (objects appear to be wider).
Impact of object surfaces on the measurement
The received signal from a perfectly diffuse reflection from a white surface (diffuse
Lambertian reflector) corresponds to a remission of 100%. By this definition, surfaces that reflect the light in bundles (specular surfaces, reflectors) have remissions of over
100%.
Reflection
Most surfaces produce a diffuse reflection of the laser beam in all directions. The struc‐ ture (smooth or rough), shape (flat or curved), and color (light or dark) of the surface determine how well the laser beam is reflected.
On very rough surfaces, a large proportion of the energy is lost due to absorption.
Curved surfaces produce a higher diffusion. Dark surfaces reflect the laser beam worse than light ones (brilliant white plaster reflects approx. 100% of the light, while black foam rubber reflects approx. 2.4%). The aforementioned surface characteristics can reduce the scanning range of the device, in particular for surfaces with low remission values.
Figure 5: Reflection of light on the surface of the object
Angle of reflection
The angle of reflection corresponds to the angle of incidence. If the laser beam hits a surface at right angles, the energy is optimally reflected. If the laser beam hits a sur‐ face at an oblique angle, energy and range are lost accordingly.
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Figure 6: Angle of reflection
O P E R A T I N G I N S T R U C T I O N S | LMS4400/LMS4500 19
3
PRODUCT DESCRIPTION
Retroreflection
If the reflective energy is greater than 100%, the beam is not reflected diffusely in all directions; instead it is reflected in a targeted way (retroreflection). Thus a large part of the emitted energy can be received by the laser distance measurer. Plastic reflectors
(cat’s eyes), reflective tape, and triple prisms have these properties.
Figure 7: Retroreflection
Reflective surfaces
The laser beam is almost completely deflected on reflective surfaces. This means that an object hit by the deflected beam may be detected instead of the reflective surface.
Figure 8: Specular surfaces
Small objects
Objects that are smaller than the diameter of the laser beam cannot reflect the laser light’s full energy. The portion of the light beam that does not reach the object is lost. If all of the light reflected to the sensor is insufficient, the object may not be detected.
The portion of the light that does not reach the front object can be reflected by a larger object in the background. If all of the light reflected to the sensor is sufficient, this object is detected. This can lead to a corruption of the measured value.
Figure 9: Object smaller than the laser beam diameter
3.5.8
Filters
The device has digital filters for pre-processing and optimizing the measured distance values. They enable the device to be adapted to meet the specific requirements of the respective application.
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PRODUCT DESCRIPTION
3
3.5.8.1
3.5.8.2
3.5.8.3
The filters can be combined without restrictions. If several filters are active, then the filters are applied sequentially to the results of the preceding filter. The processing sequence is as follows:
• Scan range filter
• Edge filter
• Median filter
• Mean filter
The active filter functions affect the output measured values. It is not possible to recal‐ culate the original measured values from the filtered output values. For this reason, cer‐ tain combinations of filters might not be advisable.
A particularly effective way to reduce the data in a scan is to restrict the scan range
(reducing the measurement points). A good way of reducing data in multiple scans is to use the mean filter (reducing the event rate) or, alternatively, to select a higher output interval.
Scan range filter
The scan range filter is used to restrict the angular range output per scan.
The maximum range is set to 70° by default. This produces 841 measurement points.
The range can be restricted by increasing the start angle (default setting = 55°) or reducing the stop angle (default = 125°). Please note that the angle beam is defined orthogonally in relation to the front at 90° and the direction of rotation of the device is
set to counterclockwise, see figure 3, page 14
.
The minimum difference between start angle and stop angle is 1/12°; this is equiva‐ lent to the output of a single measurement point. It is not possible to output multiple scan ranges (e.g., 55° ... 70° and 90° ... 110°).
Edge filter
The edge filter eliminates erroneous or extreme distance values at edges. These arise as a result of laser light, which partly hits an object in the foreground and partly hits a
distance between adjacent points.
When the edge filter is activated, the device sets a distance value of 0 at each edge
(values in
bold
in the table).
Table 4: Example: Measured values with and without edge filter
Angle (distance values in mm)
Scan
1, not filtered
1, filtered
1
0
0
2
0
3
1145
4
1150
5
1147
6
750 1145 1150 1147 1500
0
7
0
0
…
…
…
The edge filter enables points to be entirely suppressed at the outer edges of the object. In this case, the width of an object is detected by up to 2× angular resolution too narrow.
Median filter
This filter is suitable for excluding individual outliers in the distance values.
The values included in the calculation are defined using a 1 x 3 matrix:
3 measured values, consisting of the distance values of a point and its two adjacent points in the scan, are sorted by size.
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3
PRODUCT DESCRIPTION
3.5.8.4
The measured value in the middle of this sequence is output as the distance value, along with its remission value and quality value, as well as the original angle correction value.
The median values are determined and output as moving values (median angular incre‐ ment 2 from the unfiltered distances values 1, 2, and 3; median angular increment 3 from the unfiltered distances values 2, 3, and 4, etc.).
A median cannot be determined as the measured value for the first and last angular increments in a scan. The distance value 0 (= invalid) is always output.
Table 5: Example: Median in angular position 2, 3, and 4
2
Angle (distance values in mm)
3 4 5
3
…
1
2
1
2
Scan 1
Unfiltered measured values
850
849
3 850
… …
Filtered measured values
0
…
0
0
851
850
850
…
852
851
849
…
851
851
851
…
851
850
853
…
850
852
851
…
849
853
851
…
…
…
…
…
850
852
850
…
…
…
…
…
…
…
…
…
…
When using the median filter, the measured values are output with a time delay of one scan.
Mean filter
The mean filter smooths the distance values. It does this by calculating the arithmetic mean from several scans at the same angular position. The number of scans can be configured.
4
5
2
3
Table 6: Example: Mean filter over 5 scans
Angle position (distance values in mm)
Scan
1
1
0
2 3 4 5 6 7 8
0 1100 1100 1150 1150 1380 1380
0
0
0
0
0 1200 1200 1190
0 1150 1450
950 1500 1500
1200 1200 1450 1450
0 1280 1280 1180 1180 1430 1430
0 1170 1170 1220 1220 1470 1150
7
8
1st output value
6
9
10
2nd output value
…
0
0
0
0
0
0 1180 1240 1188 1140 1446 1382
0
0
0 1100 1150 1150 1380 1380
0 1200 1200 1190
0 730 1150 0
0 1500 1500
1200 1200 1450 1450
0 1280 1180 1180 1430 1430
0 1170 1170 1220 1220 1470 0
0 730 1173 1187 1188 1187 1446 1440
… … … … … … … …
0
0
0
0
0
…
0
0
0
0
0
0
9
0
…
…
…
…
…
…
…
…
…
…
…
…
…
…
Individual outliers (shown in
bold
in the table) influence the mean value.
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3.5.9
PRODUCT DESCRIPTION
3
Once the measured value telegram has been confirmed, the first measured value is not output until after the configured number of scans. Therefore, there is always a time delay equivalent to the number of scans configured for averaging. The digit of the first scan included in the averaging calculation is always output in the scan counter. Invalid distance values (= 0) are not included in the averaging calculation, so that in these places a smaller number of scans is used in the division calculation. The measured val‐ ues from other channels (remission, angle correction, quality) are not averaged; instead, the value of the first scan from each channel is output.
Based on the scanning frequency of 600 Hz, a measured value is generated every
1.67 ms. The time delay affecting data output results from this base value multiplied by the number of averaging operations (e.g., 2 averaging operations = 3.34 ms,
10 averaging operations = 16.67 ms). This time delay is not increased if the median filter is activated at the same time.
Motor synchronization for measuring range extension
Based on the technical and geometrical properties of the device, objects up to 1 m in height can be measured continuously on a width of approx. 2.6 m. At a height of up to
2 m, a continuous width of approx. 1.4 m is achievable.
To increase the width of the field for the intended application or to avoid shadowing effects caused by geometrical properties, multiple devices can be mounted side by side at the same level.
To avoid mutual optical interference of adjacent sensors (beam dazzle or reflection), the motors can be synchronized. The devices must have the same orientation when doing so.
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Figure 10: Mounting 2 LMS4000 LiDAR sensors side by side (example)
If you are using motor synchronization, please note:
• The slave devices do not send feedback to the master. The
Sync
LED on the mas‐ ter lights up as soon as the sync signal is sent. The
Sync
LED on the slave starts flashing as soon as a sync signal is received and lights up permanently once the motors have been synchronized.
• If devices are mounted exactly in parallel (angle of rotation = 0°), the default set‐ ting for the phase at the slave can usually be left unchanged at 0°.
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3
PRODUCT DESCRIPTION
• For devices that are mounted at a specific angle of rotation in relation to each other, direct dazzle can be virtually excluded through motor synchronization.
Reflection can occur at certain angles depending on the distance between devices and the measuring distance to the object. Although these effects can be reduced by adjusting the phase, if the objects being scanned are of different heights they cannot be ruled out completely.
• The maximum phase angle is 80°; this is approximately equivalent to the angle at which the laser exits the device. Inside the device, the covered angle is 120°.
• There is no fixed upper limit on the number of devices that can be synchronized via the master signal. However, the total length of the transmission cables must not exceed 20 m.
Setting up motor synchronization:
1.
Connect the motor-sync I/Os and the sensors to be synchronized using shielded cables (in a star configuration).
2.
Viewed from the front, define the device located furthest to the left as the master
(set the corresponding parameter value in the Interfaces view in the SOPAS ET soft‐ ware).
NOTICE
Device damage due to incorrect parameterization!
• Ensure that only one device is defined as master .
3.
Configure all other connected devices as slaves and set the angle of rotation of each device relative to the master as the phase (the phase specifies the angular offset by which the slave motor lags behind the master motor).
✓
After a few seconds, the
Sync
LED on the slave lights up permanently green. The devices are now synchronized.
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4
4.1
4.2
4.3
4.4
TRANSPORT AND STORAGE
4
Transport and storage
Transport
For your own safety, please read and observe the following notes:
■
■
■
■
■
NOTICE
Damage to the product due to improper transport.
■
The device must be packaged for transport with protection against shock and damp.
Recommendation: Use the original packaging as it provides the best protection.
Transport should be performed by trained specialist staff only.
The utmost care and attention is required at all times during unloading and trans‐ portation on company premises.
Note the symbols on the packaging.
Do not remove packaging until immediately before you start mounting.
Unpacking
■
■
■
To protect the device against condensation, allow it to equilibrate with the ambient temperature before unpacking if necessary.
Handle the device with care and protect it from mechanical damage.
To avoid ingress of dust and water, only remove the protective caps of the electri‐ cal connections just before attaching the connecting cable.
Transport inspection
■
■
Immediately upon receipt in Goods-in, check the delivery for completeness and for any damage that may have occurred in transit. In the case of transit damage that is visible externally, proceed as follows:
■
Do not accept the delivery or only do so conditionally.
Note the scope of damage on the transport documents or on the transport com‐ pany's delivery note.
File a complaint.
NOTE
Complaints regarding defects should be filed as soon as these are detected. Damage claims are only valid before the applicable complaint deadlines.
Storage
■
■
■
■
■
■
■
■
■
Store the device under the following conditions:
Recommendation: Use the original packaging.
Electrical connections are provided with protective caps and plugs (as they are on delivery).
Do not store outdoors.
Store in a dry area that is protected from dust.
So that any residual damp can evaporate, do not package in airtight containers.
Do not expose to any aggressive substances.
Protect from sunlight.
Avoid mechanical shocks.
Storage temperature:
.
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4
TRANSPORT AND STORAGE
■
■
Relative humidity: see "Technical data", page 46 .
For storage periods of longer than 3 months, check the general condition of all components and packaging on a regular basis.
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5
5.1
5.2
MOUNTING
5
Mounting
Mounting instructions
• Observe the technical data.
• Protect the sensor from direct sunlight.
• To prevent condensation, avoid exposing the device to rapid changes in tempera‐ ture.
• The mounting site has to be designed for the weight of the device.
• It should be mounted so that it is exposed to as little shock and vibration as possi‐
ble. Optional mounting accessories are available, see "Accessories", page 51 .
• Avoid having shiny or reflective surfaces in the scanning range, e.g., stainless steel, aluminum, glass, reflectors, or surfaces with these types of coatings.
• Protect the device from moisture, contamination, and damage.
• Make sure that the status indicator is clearly visible.
• Do not subject the device to excessive shock or vibrations. In systems subjected to heavy vibrations, secure the fixing screws with screw-locking devices.
• If necessary, affix additional laser warning labels to the device and/or replace an
English laser warning label with a warning label in another language.
Conveyor system requirements (if used)
• The conveyor system must work with a constant conveyor speed, or an incremental encoder must be installed.
• The objects can be moved on a conveyor system with a flat conveyor surface. If the objects rotate, vibrate, roll, or slip on the conveyor system or on uneven conveying surfaces, the accuracy of the measurements may be reduced thereby negatively impacting the analysis.
Example installation of a conveyor system
1
2
4
3
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1
2
3
4
Figure 11: Example installation of a conveyor system
Mounting kit (accessory)
LMS4000
Beam separation for limiting detection
Conveyor system
O P E R A T I N G I N S T R U C T I O N S | LMS4400/LMS4500 27
5
MOUNTING
5.3
To achieve the best possible measurement result, please note:
• Typical space requirement for the device installation: approximately 700 mm above the tallest object (measured from measured value origin).
• The device must have a clear view of the conveyor system.
• The laser beams of the device should not reach beyond the application space, so that people or goods, which are being transported on an adjacent conveyor sys‐ tem, are not detected (limiting detection by beam separation).
• The maximum detection must be limited to a working range of three meters, as measurement inaccuracies may otherwise result.
• Ensure sufficient distance between the device and curves, induction lines, start/ stop areas, areas with upward and downward inclines, and breaks in the conveyor system.
• If two or more devices are mounted one behind the other offset in parallel and are not synchronized, the orthogonal distance of the laser lines must be at least 7 cm.
• There must be no foreign objects in the receiving range of the sensor (see the dimensional drawing).
Mounting the device
1.
Mount the device in a suitably prepared bracket using the fixing holes provided and make provision for limiting detection by beam separation.
2.
Tighten the mounting screws to 6 Nm. If you are using coated screws, select a pre‐ tension of 5 Nm after screw contact.
3.
Make the electrical connection. Attach a voltage-free cable and tighten to 0.6 Nm
(note the tightening torque specified on the cable).
4.
Switch on the voltage supply.
✓
The status LED lights up after successful initialization. The device is ready for use.
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ELECTRICAL INSTALLATION
6
6
6.1
Electrical installation
Wiring notes
NOTE
Preassembled cables can be found online at:
• www.sick.com/LMS4000
NOTICE
Faults during operation and device or system defects!
Incorrect wiring may result in operational faults and defects.
■
Follow the wiring notes precisely.
All electrical connections of the device are configured as M12 round connectors.
The pins of the voltage supply are reverse polarity protected.
The protection class stated in the technical data is achieved only with screwed plug con‐ nectors or protective caps.
Observe the following notes to ensure safe and trouble-free operation:
• When using shielded cables, place the cable shield in the control cabinet.
• Connect the connecting cables in a de-energized state. Do not switch on the sup‐ ply voltage until installation is complete and all connecting cables have been con‐ nected to the device and control.
• The tightening torque for cables is typically 0.4 Nm or 0.6 Nm. This value must not be exceeded.
• Wire cross-sections in the supply cable from the customer’s power system should be designed in accordance with the applicable standards. Protect the device with an external slow-blow fuse of 6.3 A at the beginning of the supply cable, viewed from the voltage supply.
• All electric circuits connected to the device must be designed as SELV or PELV cir‐ cuits (SELV = Safety Extra Low Voltage, PELV = Protective Extra Low Voltage).
• The specified enclosure rating of the device when mounted is reached only if suit‐ able mating connectors or protective caps are used.
• Do not open the screwed housing of the device and do not remove the laser pro‐ tection hood (if one has been fitted) as this will invalidate the warranty.
• When configuring the digital inputs/outputs, make sure that the wired pins of two devices are not functioning as an output concurrently (i.e., motor synchronization with two devices configured as a master, or Out 1 concurrent with zero index signal of an incremental encoder).
Table 7: Max. total length of cable (CAN) for device supply at 10% cable loss
Supply voltage
Cable cross-section
0.5 mm²
18 V DC
30 m (1 device)
15 m (2 devices)
10 m (3 devices)
24 V DC
50 m (1 device)
25 m (2 devices)
15 m (3 devices)
30 V DC
75 m (1 device)
35 m (2 devices)
25 m (3 devices)
0.34 mm²
0.25 mm²
20 m (1 device)
10 m (2 devices)
7 m (3 devices)
15 m (1 device)
7.5 m (2 devices)
5 m (3 devices)
30 m (1 device)
15 m (2 devices)
10 m (3 devices)
25 m (1 device)
12 m (2 devices)
8 m (3 devices)
50 m (1 device)
25 m (2 devices)
17 m (3 devices)
35 m (1 device)
17 m (2 devices)
12 m (3 devices)
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6
ELECTRICAL INSTALLATION
6.2
Prerequisites for safe operation of the device
■
■
WARNING
Risk of injury and damage caused by electrical current!
As a result of equipotential bonding currents between the device and other grounded devices in the system, faulty grounding of the device can give rise to the following dan‐ gers and faults:
■
■
■
Dangerous voltages are applied to the metal housings.
Devices will behave incorrectly or be destroyed.
Cable shielding will be damaged by overheating and cause cable fires.
Remedial measures
■
■
Only skilled electricians should be permitted to carry out work on the electrical sys‐ tem.
If the cable insulation is damaged, disconnect the voltage supply immediately and have the damage repaired.
Ensure that the ground potential is the same at all grounding points.
Where local conditions do not meet the requirements for a safe earthing method, take appropriate measures (e.g., ensuring low-impedance and current-carrying equipotential bonding).
The device is connected to the peripheral devices (voltage supply, any local trigger sen‐ sor(s), system controller) via shielded cables. The cable shield – for the data cable, for example – rests against the metal housing of the device. The device can be grounded through the cable shield or through a blind tapped hole in the housing, for example.
If the peripheral devices have metal housings and the cable shields are also in contact with their housings, it is assumed that all devices involved in the installation have the
same ground potential
.
■
■
■
This is achieved by complying with the following conditions:
Mounting the devices on conductive metal surfaces
Correctly grounding the devices and metal surfaces in the system
If necessary: low-impedance and current-carrying equipotential bonding between areas with different ground potentials
1 2 3
System
Controller
SICK
Device
Power Supply
I
=
8
=
9
7 6
U
5 4
1
2
3
4
5
Figure 12: Example: Occurrence of equipotential bonding currents in the system configuration
System controller
Device
Voltage supply
Grounding point 2
Closed current loop with equalizing currents via cable shield
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ELECTRICAL INSTALLATION
6
6
7
8
9
Ground potential difference
Grounding point 1
Metal housing
Shielded electrical cable
If these conditions are not fulfilled, equipotential bonding currents can flow along the cable shielding between the devices due to differing ground potentials and cause the hazards specified. This is, for example, possible in cases where there are devices within a widely distributed system covering several buildings.
Remedial measures
The most common solution to prevent equipotential bonding currents on cable shields is to ensure low-impedance and current-carrying equipotential bonding. If this equipo‐ tential bonding is not possible, the following solution approaches serve as a suggestion.
NOTICE
We expressly advise against opening up the cable shields. This would mean that the
EMC limit values can no longer be complied with and that the safe operation of the device data interfaces can no longer be guaranteed.
Measures for widely distributed system installations
On widely distributed system installations with correspondingly large potential differ‐ ences, the setting up of local islands and connecting them using commercially available
electro-optical signal isolators
is recommended. This measure achieves a high degree of resistance to electromagnetic interference.
1 2 2 3 4
System
Controller
Electrooptical signal isolator
Electrooptical signal isolator
SICK
Device
Power
Supply
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6 5
=
7
=
8
=
9
1
2
3
4
5
6
7
8
9
Figure 13: Example: Prevention of equipotential bonding currents in the system configuration by the use of electro-optical signal isolators
System controller
Electro-optical signal isolator
Device
Voltage supply
Grounding point 2
Grounding point 1
Metal housing
Shielded electrical cable
Optical fiber
The use of electro-optical signal isolators between the islands isolates the ground loop.
Within the islands, a stable equipotential bonding prevents equalizing currents on the cable shields.
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6
ELECTRICAL INSTALLATION
Measures for small system installations
For smaller installations with only slight potential differences, insulated mounting of the device and peripheral devices may be an adequate solution.
1 2 3
System
Controller
SICK
Device
Power Supply
6.3
5
8
U
6 4
7
=
9
=
ß
8
9
ß
5
6
7
1
2
3
4
Figure 14: Example: Prevention of equipotential bonding currents in the system configuration by the insulated mounting of the device
System controller
Device
Voltage supply
Grounding point 3
Insulated mounting
Grounding point 2
Ground potential difference
Grounding point 1
Metal housing
Shielded electrical cable
Even in the event of large differences in the ground potential, ground loops are effec‐ tively prevented. As a result, equalizing currents can no longer flow via the cable shields and metal housing.
NOTICE
The voltage supply for the device and the connected peripheral devices must also guar‐ antee the required level of insulation.
Under certain circumstances, a tangible potential can develop between the insulated metal housings and the local ground potential.
Connection diagram
NOTE
The recommended connecting cables and their associated technical data can be found online at: www.sick.com/LMS4000
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ELECTRICAL INSTALLATION
6
CAN IN connection
3
5
4
1 2
Figure 15: Male connector M12, 5-pin, A-coded
1
3
4
5
1
2
Pin Description
Shield
V s
24 V DC ± 25%
Ground
CAN high
CAN low
Wire colors connecting cables part no.
6021166 or 6053042 1
–
Red
Black
White
Blue
Example values when using the specified connecting cable(s). Signal assignment and wire colors can vary when using other connecting cables.
CAN OUT connection
3 4
5
2 1
Figure 16: Female connector M12, 5-pin, A-coded
3
4
5
Pin
1
2
Description
Shield
V out
24 V DC ± 25% (identical to V s
)
GND
CAN high
CAN low
Ethernet connection
3
4 5
6
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2
1 8
7
Figure 17: Female connector M12, 8-pin, X-coded
6
7
4
5
8
2
3
Pin
1
Description
TRD0_P
TRD0_N
TRD1_P
TRD1_N
TRD3_P
TRD3_N
TRD2_P
TRD2_N
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6
ELECTRICAL INSTALLATION
6.4
Encoder connection
3 4
5
2 1
Figure 18: Female connector M12, 5-pin, A-coded
1
1
4
5
2
3
Pin Description Wire colors connecting cable part no.
2097305 1
V out
24 V DC ± 25% (identical to V s
) Brown
Encoder B White
Ground
Encoder A
Motor Sync
Blue
Black
Gray
Example values when using the specified connecting cable(s). Signal assignment and wire colors can vary when using other connecting cables.
Connecting the device electrically
NOTICE
Observe the wiring instructions, see "Wiring notes", page 29 .
1.
Ensure the voltage supply is not connected.
2.
Connect the device according to the connection diagram,
see "Connection dia‐ gram", page 32 .
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7
7.1
OPERATION
7
Operation
Operation via SOPAS ET
Version 2018.2 and higher of the SOPAS Engineering Tool (SOPAS ET) software can be used to parameterize the device and for service and diagnostic purposes.
To configure the device, you will require a PC with SOPAS ET installed and a free Ether‐ net connection. Alternatively, for a test setup, the connection can be established via a
USB connection using an Ethernet USB adapter.
NOTE
The most up-to-date version of the SOPAS ET software can be downloaded from www.sick.com/SOPAS_ET . The respective system requirements for installing SOPAS ET are also specified there.
1.
Connect the communication interface (Ethernet, 8-pin M12 female connector) of the device to the PC.
2.
Switch on and start the PC.
3.
Supply the device with voltage.
✓
The status LED and the Ethernet LED light up green after successful initialization.
The device is ready for use.
NOTE
To use SOPAS ET with the device, you need a device description file (SDD) for this device. You can install this within SOPAS ET using the device catalog. The device description file is saved on the device and can be installed there. Alternatively, installa‐ tion is possible from the SICK website (Internet connection required). Use the wizard in
SOPAS ET to do this.
Following installation of the device description file, the device can be selected from the device catalog and added to a project.
A connection to the device is established via the communication interface. The connec‐ tion must be activated for data transmission ( online ).
Certain functions (e.g., Edit parameters) require you to be logged in to the device:
> Device > Log In > Select user level and enter password:
User level
Maintenance personnel
Authorized client
Service
Password main client servicelevel
Information about the device is displayed in the device window ( > Device > Open ) and the device can also be configured here.
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7
OPERATION
Description of the device window
The device window features various views supporting a selection of functions:
•
(Start): Start device configuration with display of information about the device
(left-hand side) and display of the current scan (right-hand side).
The scan view can be customized with the assistance of various tools (to the left of the scan view), for example:
: Resets scan display to default view.
/ : Displays measured values as points or lines.
: Freely rotates scan display.
• Default settings : Scan display (left-hand side), entry of the basic device parameters
(right-hand side):
• Application : Scan display (left-hand side) and entry of more parameters (right-hand side):
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OPERATION
7
• Interfaces : Scan display (left-hand side) and configuration of interfaces (right-hand side):
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7
OPERATION
• Complete : Scan display (left-hand side) and buttons for finalizing device configura‐ tion.
7.2
NOTE
Changes to parameters that are made in SOPAS ET are not saved automatically in the device. After you have completed the configuration, you must save it in the device permanently by pressing the Save permanently button.
Output of measured values via terminal program
Example commands for output of measured values
If the LMS4000 sensor receives one of the two example commands by telegram via the
Ethernet interface, it will start the output of measured values via this data interface.
The device must be switched on and in measuring mode.
The detailed structure of the output telegram as well as the flow of requests and out‐ puts is described in the “Measurement output telegram” chapter in the Telegram listing publication (English, no. 8014631).
Request for output of measured values:
Table 8: Telegram structure: sRN LMDscandata
Telegram part Description Variable type
Command type string
Command
Request (SOPAS read by name)
Request data string
Length (Byte) Value range
3 sRN
11 LMDscandata
Table 9: Example: sRN LMDscandata
Telegram type Command
CoLa A ASCII
HEX
<STX>sRN{SPC}LMDscandata<ETX>
02 73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 03
CoLa B Binary 02 02 02 02 00 00 00 0F 73 52 4E 20 4C 4D 44 73 63 61
6E 64 61 74 61 05
Request for continuous output of measured values:
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OPERATION
7
Table 10: 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)
3
11
1
Value range sEN
LMDscandata
0: Stop output of measured values
1: Start output of measured values
Table 11: Example: sEN LMDscandata
Telegram type Command
ASCII
HEX
<STX>sEN{SPC}LMDscandata{SPC}1<ETX>
02 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20
31 03
Binary 02 02 02 02 00 00 00 11 73 45 4E 20 4C 4D 44 73 63
61 6E 64 61 74 61 20 01 33
For the content of the response telegram for the measured value request, see the telegram listing (no. 8014631) under Send Data Permanently in Chapter 4. The telegram consists of one part with information on the configuration of the device and the time stamp, one part with measured data, and a status part with information on the device status and the statuses of the inputs/outputs.
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 telegram with the sRN LMDscandata telegram
(hexadecimal:
73524E204C4D447363616E64617461
) – the last mea‐ sured scan is transmitted.
• Continuous request of measurement data with the sEN LMDscandata 1 telegram
(hexadecimal:
73454E204C4D447363616E646174612001
) – measure‐ ment data is transmitted until the output of measured values is stopped with the sEN LMDscandata 0 telegram
(hexadecimal:
73454E204C4D447363616E646174612000
) .
Activating the output of the measured values in SOPAS on a test basis:
1.
Start the terminal emulator: > Tools > Terminal .
2.
In the dialog window in the Connections menu, select the Create new connection func‐ tion.
3.
In the connection wizard, select the communication interface ( Ethernet ) and con‐ nection settings (default IP address: 192.168.0.1) and establish the connection
( Finish button).
4.
Make the following settings in the connection wizard: communication interface
( Ethernet ), communication protocol ( CoLa A/B ), and connection settings ( default IP address : 192.168.0.1; TCP port : 2112 (for CoLa ASCII) or 2111 (for CoLa binary);
SOPAS hub address : 0; CoLa dialect : ASCII or binary; CoLa addressing mode : by name;
Duplex mode : full-duplex; Byte order : big-endian; Connection timeout : 1500 ms; Addi‐ tional timeout : 0 ms). Then establish the connection ( Finish button).
5.
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.
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7
OPERATION
6.
Use the button to send the telegram to the LMS4000.
✓
The LiDAR sensor responds by providing the data as a one-off or continuously in the display area of the terminal emulator.
NOTE
We recommend using CoLa binary for the output of measurement data in the applica‐ tion. CoLa ASCII is suitable in particular for device parameterization. However, depend‐ ing on the parameter settings, there is a risk that errors will occur when using this com‐ mand language for data output.
Data output format of the measured values
The data output format for each scan comprises:
• Configuration information
• Measured values (radial distance (DIST))
• Remission (RSSI/REFL)
• Angle correction (ANGL)
• Quality (QLTY)
• Device and status information
• Time stamp
In the default settings, the distance is output as a measured value (in mm).
To output more measured values or information in the telegram:
1.
Open the device window: > Device > Open .
2.
Check the corresponding box under Output format .
The telegram output interval can also be changed here, so that only every second or third telegram is sent via the data interface during the output of measured values, for example.
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8
8.1
8.2
MAINTENANCE
8
Maintenance
Maintenance plan
Depending on the assignment location, the following preventive maintenance tasks may be required for the device at regular intervals:
Table 12: Maintenance plan
Maintenance work
Check device and connecting cables for damage at regular intervals.
Cleaning housing and front screen
Checking screw connections and plug connectors
Interval
Depends on ambient conditions and climate.
Depends on ambient conditions and climate.
Depends on the place of use, ambi‐ ent conditions or operating require‐ ments. Recommended: At least every
6 months.
To be carried out by
Specialist
Specialist
Specialist
Cleaning
■
■
NOTICE
Equipment damage due to improper cleaning.
Improper cleaning may result in equipment damage.
Only use recommended cleaning agents and tools.
Never use sharp objects for cleaning.
Cleaning the front screen
The front screen must be kept clean and dry during operation.
■
■
■
■
NOTICE
Damage to the front screen
Reduced analysis performance due to scratches or streaks on the screen.
Always use a damp cloth to clean the screen.
Use a mild cleaning agent that does not contain powder additives. Do not use aggressive cleaning agents, such as acetone, etc.
Avoid any movements that could cause scratches or abrasions on the screen.
Only use cleaning agents suitable for the screen material.
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8
MAINTENANCE
Cleaning procedure
CAUTION
Optical radiation: Laser class 2
The human eye is not at risk when briefly exposed to the radiation for up to 0.25 sec‐ onds. Exposure to the laser beam for longer periods of time may cause damage to the retina. The laser radiation is harmless to human skin.
■
Do not look into the laser beam intentionally.
■
■
Never point the laser beam at people's eyes.
If it is not possible to avoid looking directly into the laser beam, e.g., during com‐ missioning and maintenance work, suitable eye protection must be worn.
■
■
■
Avoid laser beam reflections caused by reflective surfaces. Be particularly careful during mounting and alignment work.
Do not open the housing. Opening the housing may increase the level of risk.
Current national regulations regarding laser protection must be observed.
b
Switch off the device for the duration of the cleaning operation. If this is not possi‐ ble, use suitable laser protection goggles. These must absorb radiation of the device’s wavelength effectively.
b
Remove dust from the front screen using a soft, clean brush. If necessary, also clean the screen with a clean, damp, lint-free cloth, and a mild anti-static lens cleaning fluid.
NOTICE
If the front screen is scratched or damaged (cracked or broken), it must be replaced.
Contact SICK Support to arrange this.
■
If the front screen is cracked or broken, take the device out of operation immedi‐ ately for safety reasons and have it repaired by SICK.
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9
9.1
TROUBLESHOOTING
9
Troubleshooting
General faults, warnings, and errors
Possible errors and corrective actions are described in the table below. In the case of errors that cannot be rectified using the information below, please contact the SICK
Service department. To find your agency, see the final page of this document.
NOTE
Before calling, make a note of all type label data such as type designation, serial num‐ ber, etc., to ensure faster telephone processing.
Question/Problem
Unable to switch on device, LEDs not responding
Device starts initially
(LEDs are on, motor starts to turn) but then stops and restarts after a few seconds
Unable to find device in SOPAS ET
Device is configured as a DHCP client
(dynamic IP address), but cannot be found in the network
Possible causes
•
Pins have been wired incor‐ rectly
• Voltage supply is not switched on
• Permissible supply voltage not adhered to
•
Power supply unit not power‐ ful enough
• Applied voltage is almost out of range
• Current limiting set to less than 1.7 A
• Voltage drop on cable when using longer lengths of cable
• Ethernet cable not con‐ nected
• IP address range for network adapter configured incor‐ rectly
• Unsuitable search settings selected in the device search
• Non-compatible SOPAS ET version used
• Device has not received an
IP address (no DHCP server present or reachable)
• Device is not directly con‐ nected to the network (e.g., direct PC connection only)
Troubleshooting
•
Check pin assignments and volt‐ age supply
• Check the supply voltage
•
Check dimensioning of system with connected sensors, lengths of cables, voltage, current limit‐ ing, and power loss
• Check the supply voltage
• Check the Ethernet connection (if you know the IP address, check with a ping CMD)
•
Set the network adapter (TCP/
IPv4) to the IP address range and subnet mask of the sensor (sen‐ sor default: 192.168.0.1;
255.255.255.0)
•
Check the selected search set‐ tings or use the default search
• Update SOPAS ET
• Device is in fallback mode: If “sta‐ tic IP” mode was previously selected, the device can only be reached via that IP (default:
192.168.0.1; 255.255.255.0).
• Device is in repeat mode: Still waiting for a DHCP server. In this case the device can be found using the default search in
SOPAS ET (IP 0.0.0.0) and recon‐ figured to a different IP address.
• Connect the device directly to the network via a patched network socket or a switch. Run the default search in SOPAS ET.
• Have the network checked by a system administrator and any faults eliminated. Disconnect the device from the voltage supply for
10 seconds, then restart it.
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9
TROUBLESHOOTING
Question/Problem
Unable to establish connection to device in SOPAS ET
Connection LED in
SOPAS ET is red
Unable to make any settings in the device window in SOPAS ET
No measurement points are displayed in the scan view in
SOPAS ET
No transmission of measurement data via the Ethernet interface
Status LED lights up green but problem persists
Status LED lights up yellow, device contin‐ ues to be able to take measurements
Status LED lights up red, device is no longer able to take measurements
Motor synchronization fails, synchronization
LED on slave does not light up green perma‐ nently
Encoder ticks not being output in data telegram or are not incrementing
Possible causes
•
• Missing device drivers
Measurement data not sub‐ scribed
• The laser is switched off
• All channels deactivated in the output data format
Troubleshooting
• Click on the warning symbol in the device tile. Follow the instruc‐ tions in the wizard and load the drivers from the device
• Device is offline in SOPAS ET • Click on the “Offline” field in the device tile. If the project is new, load the parameters from the device. To transfer existing set‐ tings, write the parameters to the device
• Insufficient user level
• Device is offline in SOPAS ET
• Log in as “Authorized client”
• Click on the “Offline” field in the device tile in the main window
• The laser is switched off
• No objects in the measuring range
• Obstacles in the field of view
• Check the laser control settings
• Check the settings for the angular and distance ranges
• Check that objects are positioned correctly in relation to the sensor and that the field of view is not being blocked by other objects
• Check that the LMDscandata command has been sent and confirmed by the device
• Check the laser control settings
• Check the output data format set‐ tings (in the application)
• Device is unable to detect errors
• Warning, e.g., due to prob‐ lem with device synchroniza‐ tion or I/O configuration
• Error, e.g., due to internal or external factors. The primary function of the device cannot be fulfilled at the current time.
• Device is ready to take measure‐ ments; check other sources of the problem
• Read the description of the prob‐ lem under System status in
SOPAS ET and take action if appropriate
• Read the description of the prob‐ lem under System status in
SOPAS ET
•
If the error persists, disconnect the device from the voltage sup‐ ply for 10 seconds and then restart
• Check the master and slave set‐ tings
•
Check connections and cables
• No device configured as master
•
No device configured as slave
• Link the sync I/Os
• Sync signal corrupted
• Encoder not connected or signal corrupted
• Unsuitable encoder in use
(e.g., no push-pull output stage or supply voltage does not match LMS4000)
• No encoder configured
• Encoder ticks deactivated in output data format
•
• Check the encoder connection, data sheet, and pin assignment
• Check the settings for the encoder (interfaces) in SOPAS ET
Check the output data format set‐ tings (in the application)
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9.2
9.3
9.4
TROUBLESHOOTING
9
Question/Problem
Data transmission rate is less than 600
Hz
Possible causes
• Output interval is greater than 1
• Mean filter activated
Troubleshooting
• Check the output data format set‐ tings (in the application)
• Check the filter settings
Repairs
Repair work on the device may only be performed by qualified and authorized person‐ nel from SICK AG. Interruptions or modifications to the device by the customer will inval‐ idate any warranty claims against SICK AG.
Returns
b
Do not dispatch devices to the SICK Service department without consultation.
b
The device must be sent in the original packaging or an equivalent padded pack‐ aging.
■
■
■
NOTE
To enable efficient processing and allow us to determine the cause quickly, please include the following when making a return:
Details of the contact person
Description of the application
Description of the fault that occurred
Disposal
If a device can no longer be used, dispose of it in an environmentally friendly manner in accordance with the applicable country-specific waste disposal regulations. Do not dis‐ pose of the product along with household waste.
■
■
NOTICE
Danger to the environment due to improper disposal of the device.
Disposing of devices improperly may cause damage to the environment.
Therefore, observe the following information:
Always observe the valid regulations on environmental protection.
Separate the recyclable materials by type and place them in recycling containers.
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10
TECHNICAL DATA
10
10.1
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/LMS4000
These operating instructions provide additional technical data if required.
Features
Version
Application
Reading window/laser out‐ put aperture
Light source/laser diode
Short range
Indoor
On the front
Laser class
Spot size/laser spread
Aperture angle
Scan frequency
Angular resolution
Operating range
Scanning range
Number of devices for motor synchronization
Visible light
(wavelength 660 nm; LMS4x11: max. output power 20 mW, aver‐ age power 10 mW; LMS4x21: max. output power 27 mW, average power 13.5 mW)
2 (IEC 60825-1:2014&2007)
4 x 3 mm, typical (front screen)
2.5 x 2 mm (3 m distance)
70°
600 Hz
1/12° (0.0833°)
0,7 m ... 3 m
3 m (LMS4x21: 2 % remission; LMS4x11: 3.5 % remission)
3 m (10 % remission)
Virtually unlimited, length of sync cable max. 20 m
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TECHNICAL DATA
10
Working range diagram
Scanning range in m (ft)
2
(6.56)
1
(3.28)
70°
0
-1
(-3.28)
10.2
10.3
-2
(-6.56)
0
1
(3.28)
2
(6.56)
3
(9.84)
Scanning range in m (ft)
4
(13.12)
Working range 0.7 m to 3 m
Figure 19: Working range diagram
Performance
1
Scan/frame rate
Response time
Detectable object shape
Systematic error (typ.)
Statistical error (1 σ)
1
1
504,600 measurement points/second
≥ 4.8 ms
Almost any
LMS4x21: ± 1 mm
LMS4x21:
0.75 mm (@ ≥ 90% 0.7 m … 3 m)
1.5 mm (@ 40% 0.7 m … 3 m)
4.5 mm (@ 6.5% < 1 m & > 2.5 m)
3.5 mm (@ 6.5% 1 m … 2.5 m)
12 mm (@ 3 % < 1 m & > 2.5 m)
9 mm (@ 2% 1 m … 2.5 m)
0.03 mm/K Temperature drift (system‐ atic)
Angle error
Integrated application
Filters
0.05°
Data output
Edge filter, median filter, mean filter
Typical value in the following ambient conditions: measuring range and remission as quoted (otherwise full range), scan range 60° … 120°, ambient temperature 18 °C … 28 °C, ambient light ≤ 2,000 lux. The actual measured values might deviate from the quoted value depending on the application setup.
Interfaces
Ethernet – function TCP/IP
Measurement data output (distance, angle, RSSI, quality)
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10
TECHNICAL DATA
10.4
Ethernet – data transmis‐ sion rate
Digital inputs
Encoder inputs
Digital outputs
Synchronization input/ output
Optical indicators
Configuration software
CAN – data transmission rate
CAN – function
Telegram language
100/1,000 Mbit/s, full duplex, half duplex
0
2 (phase A, phase B), max. 50 kHz
0
1 (master/slave) max. 100 mA at the output (parameterization as master) max. 2 V voltage drop in relation to V s
4 LEDs
SOPAS ET, version 2018.2 or higher
20 kbit/s … 1 Mbit/s
SICK CAN sensor network CSN (slave)
CoLa ASCII
CoLa binary
Mechanics/electronics
Electrical connection 1 x M12, 5-pin male connector (CAN IN)
1 x M12, 8-pin female connector (Ethernet)
1 x M12, 5-pin female connector (CAN OUT)
1 x M12, 5-pin female connector (encoder + sync)
24 V DC ± 25% Supply voltage (V s
)
Permissible residual ripple ≤ 5 %
Voltage output (V out
) 24 V DC ± 25% (identical to V s
)
Max. output current ≤ 1,5 A and depending on external power sup‐ ply
Power consumption ≤ 16 W (typical, at 24 V DC)
≤ 29 W (start-up current)
17 W (max. continuous, all outputs loaded, devices not cascaded)
Output current
Housing
Front screen material
Housing color
≤ 100 mA per output
Aluminum die cast
Float glass
Light blue (RAL 5012)
Enclosure rating
Protection class
Electrical safety
Weight
Dimensions (L x W x H)
IP65 (IEC 60529:1989+AMD1:1999+AMD2:2013)
III (IEC 61140:2016-01)
IEC 61010-1:2011
LMS4x2x: 3.7 kg
LMS4x2x: 397 mm x 370 mm x 107 mm
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70°
4
TECHNICAL DATA
10
Dimensional drawing
91.2 (3.59)
47.4
(1.87)
35.7
(1.41)
2
3
5
10.5
1
103.4
(4.07)
77.8
(3.06)
52.2
(2.06)
26.6
(1.05)
0
6
7
120.9
(4.76)
4.2
(0.17)
20
(0.79)
8
45.2
(1.78)
93.9
98 (3.86)
(3.70)
192
(7.56)
1.0
(0.04)
79.1
(3.11)
396.1
(15.59)
388.8 (15.31)
111
(4.37)
106.6
(4.20)
91.2 (3.59)
AVOID EXPOSURE –
LASER RADIATION IS
EMITTED FROM THIS APERTURE
35.7
(1.41)
28
(1.10)
0
CAUTION
4
5
6
7
1
2
3
Figure 20: Dimensional drawing of the LMS4x2xx with laser protection hood; dimensions in mm
(inch), decimal separator: period
8
Interfaces, types and number can vary
Transmission range
Receiving range
Aperture angle
Laser protection hood
Alignment hole for the locating pin of the alignment bracket
Zero point of the distance measurement (marking on the top and the bottom side of the device)
Threaded mounting hole M6 x 6, max. screw length 7.5 mm
Ambient data
Object remission
Electromagnetic compati‐ bility (EMC)
LMS4x2x: 2% … 200%
EN 61000-6-3:2007+A1:2011 /
IEC 61000-6-3:2006+AMD 1:2010
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10
TECHNICAL DATA
1
Vibration resistance
Shock resistance
Ambient operating temper‐ ature
Storage temperature
Permissible relative humidity
Ambient light immunity
Vibration, sinusoidal (EN 60068-2-6:2007):
10 Hz … 100 Hz, 0.35 mm, 5 g, 20 cycles
Non-repetitive shock (EN 60068-2-27:2008):
15 g, 11 ms, 6 shocks per axis
10 g, 16 ms, 1,000 shocks per axis
-10 °C ... +50 °C (initialization phase: 0 °C ... +50 °C)
-20 °C ... +70 °C
Max. 90% (non-condensing)
2000 lx 1
Illuminance from measurement object; Value for unrestricted measurement performance; Maximum value about 60000 lx
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11
ACCESSORIES
11
Accessories
NOTE
Accessories and where applicable mounting information can be found online at:
• www.sick.com/LMS4000
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O P E R A T I N G I N S T R U C T I O N S | LMS4400/LMS4500 51
12
ANNEX
12 Annex
12.1
Telegram structure
Example: Send data permanently
NOTICE
When the device is starting up and during a restart, no data telegrams or responses are sent by the device for a period of up to 30 seconds. The blank spaces (hexadecimal: 20) must be added to the calculation of the telegram length when both sending and receiving telegrams.
The recommended CoLa binary is structured as follows:
•
4 bytes STX (hexadecimal: 02)
•
4 bytes telegram length
•
Telegram content
•
1 byte XOR checksum (calculated from the content)
For additional information, see the publication
Telegram Listing Ranging sensors
(part number 8014631).
Table 13: Telegram structure: sEN LMDscandata
Telegram part
Description Variable Length Values CoLa A (ASCII)
Command type
Event String 3 sEN
Command Data telegram
Measure‐ ment
Start/stop
String 11
Enum_8 1
LMDscandata
Stop:
0
Start:
1
Values CoLa B (binary)
73 45 4E
4C 4D 44 73 63 61 6E 64 61 74 61
Stop:
00
Start:
01
Table 14: Example: sEN LMDscandata
Telegram type Command
CoLa A ASCII
Hex
<STX>sEN{SPC}LMDscandata{SPC}1<ETX>
02 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 31 03
CoLa B Binary 02 02 02 02 00 00 00 11 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61
20 01 33
Table 15: Telegram structure: sEA LMDscandata
Telegram part
Description Variable Length Values CoLa A (ASCII)
String 3 sEA Command type
Answer
Command Data telegram
Measure‐ ment
Start/stop
String 11
Enum_8 1
LMDscandata
Stop:
0
Start:
1
Values CoLa B (binary)
73 45 41
4C 4D 44 73 63 61 6E 64 61 74 61
Stop:
00
Start:
01
Table 16: Example: Confirmation of sEA LMDscandata
Telegram type Command
CoLa A ASCII
Hex
CoLa B Binary
<STX>sEA{SPC}LMDscandata{SPC}1<ETX>
02 73 45 41 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 31 03
02 02 02 02 00 00 00 11 73 45 41 20 4C 4D 44 73 63 61 6E 64 61 74 61
20 01 33
Telegram data stream
The response to the telegram is followed by the scan data.
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ANNEX
12
NOTE
Leading zeros are not displayed in ASCII.
Table 17: Telegram structure: Data stream from sRA LMDscandata
Telegram part
Command type
Command
Description
Read
Data telegram
Variable
String
String
Length Values CoLa A (ASCII)
3
11 sRA
LMDscandata
Version number
Device Device number
Serial number
Device sta‐ tus
For detecting format changes by the ver‐ sion. Version is always 1 up to now.
Uint_16
Defined with SOPAS Uint_16
Defined in factory Uint_32
(See values column) Uint_8
Status info
Uint_16 Telegram counter
Scan counter
Time since start up in
µs
Time of transmis‐ sion in µs
Number of measure‐ ment telegrams fin‐ ished in the scanner and given to the interface. 1
Number of scans which were created in the device; counts how many scans were really done.
Counting the time since power up the device; starting with
0. In the output telegram this is the time at the zero index before the measurement itself starts.
Time in µs when the complete scan is transmitted to the buffer for data out‐ put; starting with 0 at scanner bootup.
Low byte represents input 1
Status of digital inputs
Status of digital out‐ puts
Layer angle
Low byte represents output 1
–
Uint_16
Uint_32
Uint_32
Uint_8
Uint_8
Uint_16
2
2
4
0h
…
FFFFh
0h
…
FFFFFFFFh
2 × 1 Ok:
0 0
Error:
0 1
2
0h
…
FFFFh
2
4
4
2 × 1 Always:
0 0
2 × 1 Always:
0 0
2
1
0h
…
FFFFh
0h
…
FFFFFFFFh
0h
…
FFFFFFFFh
0
Values CoLa B (binary)
73 52 41
4C 4D 44 73 63 61 6E
64 61 74 61
00 01
00 00
…
FF FF
00 00 00 00
…
FF FF
FF FF
Ok:
00 00
Error:
00 01
00 00
…
FF FF
00 00
…
FF FF
00 00 00 00
…
FF FF
FF FF
00 00 00 00
…
FF FF
FF FF
Always:
00 00
Always:
00 00
00 00
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12
ANNEX
Telegram part
Frequen‐ cies
Scan fre‐ quency
Measure‐ ment fre‐ quency
Amount of encoder
Description
Output format:
1/100 Hz
Inverse of the time between two mea‐ surement shots (in
1/100 Hz):
LMS4000 =
864000 Hz
If 0, then next two values are missing.
Variable Length Values CoLa A (ASCII)
Uint_32 4 600 Hz:
EA60h
Uint_32 4
Enum_16 2
21C0
Info in ticks
Ticks/mm
Uint_32
Uint_16
4
2
Values CoLa B (binary)
600 Hz:
00 00 EA 60
00 00 21 C0
0
External encoder:
1
CAN system increment:
2
0h
0
…
FFFFFFFFh
00 00
External encoder:
00 01
CAN system increment:
00 02
00 00 00 00
…
FF FF
FF FF
00 00
External encoder values or
CAN sys‐ tem encoder values
(depend‐ ing on the selected value of telegram section
Amount of encoder)
Encoder position
Encoder speed
Amount of 16 bit channels
Number of 16 bit channels that pro‐ vide measured data
Uint_16 2 Output channels:
1
…
3
Output channels:
00 03
00 01
…
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ANNEX
12
Telegram part
Output channel
(16 bit)
Content
Scale fac‐ tor
Scale fac‐ tor offset
Description
Defines the content of the output chan‐ nel
Radial distance val‐ ues (DIST) in
1/10 mm, as the scale factor is 0.1
(see below)
Scale factor or factor of the measurement values
Sets starting point of measurement
Start angle Output format:
1/10000°
Variable
String
Real as float according to
IEEE754
Real
As float according to
IEEE754
Uint_32
Length Values CoLa A (ASCII)
5
4
4
4
Distance values:
DIST1
Energy values in digit:
RSSI1
Calibrated energy values in %:
REFL1
Angle Offset values:
ANGL1
Factor 0.1 (DIST1):
3DC-
CCCDh
Factor 1 (RSSI1):
3F800000h
Factor 1 (REFL1):
3F800000h
Factor 1 (ANGL1):
3F800000h
DIST1:
0h
RSSI1:
0h
REFL1:
0h
ANGL1 (-32768):
C7000000h
55.0000° ... 125.0000°:
86470h
...
1312D0h
0.0833°:
341h
Values CoLa B (binary)
Distance values:
44 49 53
54 31
Energy values in digit:
52
53 53 49 31
Calibrated energy values in
%:
52 45 46 4C 31
Angle Offset values:
41 4E
47 4C 31
Factor 0.1 (DIST1):
3D CC
CC CD
Factor 1 (RSSI1):
3F 80
00 00
Factor 1 (REFL1):
3F 80
00 00
Factor 1 (ANGL1):
3F 80
00 00
DIST1:
00 00 00 00
RSSI1:
00 00 00 00
REFL1:
00 00 00 00
ANGL1 (-32768):
C7 00
00 00
55.0000° ... 125.0000°:
00 08 64 70
…
00 13
12 D0
0.0833°:
03 41
Data_1
Data_n
Amount of 8 bit chan‐ nels
Position
Name
Size of sin‐ gle angular step
Amount of data
Output format:
1/10000°
Defines the number of items on mea‐ sured output
Data stream starting
Data_1 to Data_n
Distance measure‐ ment values from
0.65 m ... 3.15 m
Amount of 8 bit channels, giving out the measured data
Output of position data
Device name
Uint_16
Uint_16
Uint_16
Uint_16
2
2
2
Enum_16 2
Enum_16 2
2
0 ... 841 values:
349h
DIST1:
RSSI1:
REFL1:
0h
ANGL1:
0h
0h
…
0h
…
…
0h
FFFFh
…
FFFFh
...
FFFFh
FFFFh
Output channels:
No position data:
0
0
0 ... 841 values:
03 49
DIST1:
RSSI1:
REFL1:
00 00
ANGL1:
00 00
00 00
…
…
00 00
00 00
…
Output channels:
No position data:
FF FF
FF FF
…
…
FF FF
FF FF
00 00
00 00
Name informa‐ tion
Comment
Time
Length
Name
Length of name
Device name in char‐ acters
Comment
Transmits a time stamp
Uint_8
String
Uint_16
Uint_16
1
16
2
2
No name: 0
Name:
1
0h
…
Fh
20h
…
7Ah
No comment:
No time:
0
Time:
1
0
No name: 00 00
Name:
00 01
00
…
0F
20
…
7A
No comment:
00 00
No time:
00 00
Time:
00 01
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O P E R A T I N G I N S T R U C T I O N S | LMS4400/LMS4500 55
12
ANNEX
1
Telegram part
Time info Year
Event info
Month
Day
Hour
Minute
Second
Microsec‐ ond
Description
1970 to 2037
1 to 12
Variable Length Values CoLa A (ASCII)
Uint_16 2
7B2h
...
7F5h
Uint_8
Day of month 1 to 31 Uint_8
1
1
1
…
C
1
…
1Fh
0 to 23
0 to 59
0 to 59
0 to 999999
Display event info
Uint_8
Uint_8
Uint_8
Uint_32
Uint_16
1
1
1
4
2
0
…
17h
0
…
3Bh
0
…
3Bh
0h
...
F423Fh
No info:
0
Values CoLa B (binary)
07 B2
...
07 F5
01
…
0C
01
…
1F
00
…
17
00
…
3B
00
…
3B
00 00 00 00
…
00 0F
42 3F
No info:
00 00
Does not count how many telegrams were really given out; is relevant if not all scans are delivered from the scan core.
LMDscandata - reserved values
Distance values are only valid starting from 16d and higher. Lower values have the following meaning:
DIST
0d
RSSI
0h
Description
Invalid measurement value; caused by very low remission (extremely dark object), object distance not within measurement range (too close or too far away) or selected filter settings at device
Invalid measurement value, device was dazzled or blinded, e.g. by measuring on reflector 1d FFFFh
(16Bit out‐ put)
4d
–
15d
0h
≥
16d
>
0h
Reserved, currently not in use
Valid measurement values
12.2
12.3
EU declaration of conformity / Certificates
The EU declaration of conformity and other certificates can be downloaded from the
Internet at:
• www.sick.com/LMS4000
Licenses
SICK uses open source software which is published by the rights holders under a free license. Among others, the following license types are used: GNU General Public
License (GPL version 2, GPL version 3), GNU Lesser General Public License (LGPL), MIT license, zlib license and licenses derived from the BSD license.
This program is provided for general use without warranty of any kind. This warranty dis‐ claimer also extends to the implicit assurance of marketability or suitability of the pro‐ gram for a particular purpose.
More details can be found in the GNU General Public License. View the complete license texts here: www.sick.com/licensetexts . Printed copies of the license texts are also available on request.
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ANNEX
12
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O P E R A T I N G I N S T R U C T I O N S | LMS4400/LMS4500 57
Australia
Phone +61 (3) 9457 0600
1800 33 48 02 – tollfree
E-Mail [email protected]
Austria
Phone +43 (0) 2236 62288-0
E-Mail [email protected]
Belgium/Luxembourg
Phone +32 (0) 2 466 55 66
E-Mail [email protected]
Brazil
Phone +55 11 3215-4900
E-Mail [email protected]
Canada
Phone +1 905.771.1444
E-Mail [email protected]
Czech Republic
Phone +420 234 719 500
E-Mail [email protected]
Chile
Phone +56 (2) 2274 7430
E-Mail [email protected]
China
Phone +86 20 2882 3600
E-Mail [email protected]
Denmark
Phone +45 45 82 64 00
E-Mail [email protected]
Finland
Phone +358-9-25 15 800
E-Mail [email protected]
France
Phone +33 1 64 62 35 00
E-Mail [email protected]
Germany
Phone +49 (0) 2 11 53 010
E-Mail [email protected]
Greece
Phone +30 210 6825100
E-Mail [email protected]
Hong Kong
Phone +852 2153 6300
E-Mail [email protected]
Hungary
Phone +36 1 371 2680
E-Mail [email protected]
India
Phone +91-22-6119 8900
E-Mail [email protected]
Israel
Phone +972 97110 11
E-Mail [email protected]
Italy
Phone +39 02 27 43 41
E-Mail [email protected]
Japan
Phone +81 3 5309 2112
E-Mail [email protected]
Malaysia
Phone +603-8080 7425
E-Mail [email protected]
Mexico
Phone +52 (472) 748 9451
E-Mail [email protected]
Netherlands
Phone +31 (0) 30 229 25 44
E-Mail [email protected]
New Zealand
Phone +64 9 415 0459
0800 222 278 – tollfree
E-Mail [email protected]
Norway
Phone +47 67 81 50 00
E-Mail [email protected]
Poland
Phone +48 22 539 41 00
E-Mail [email protected]
Romania
Phone +40 356-17 11 20
E-Mail [email protected]
Russia
Phone +7 495 283 09 90
E-Mail [email protected]
Singapore
Phone +65 6744 3732
E-Mail [email protected]
Detailed addresses and further locations at www.sick.com
Slovakia
Phone +421 482 901 201
E-Mail [email protected]
Slovenia
Phone +386 591 78849
E-Mail [email protected]
South Africa
Phone +27 10 060 0550
E-Mail [email protected]
South Korea
Phone +82 2 786 6321/4
E-Mail [email protected]
Spain
Phone +34 93 480 31 00
E-Mail [email protected]
Sweden
Phone +46 10 110 10 00
E-Mail [email protected]
Switzerland
Phone +41 41 619 29 39
E-Mail [email protected]
Taiwan
Phone +886-2-2375-6288
E-Mail [email protected]
Thailand
Phone +66 2 645 0009
E-Mail [email protected]
Turkey
Phone +90 (216) 528 50 00
E-Mail [email protected]
United Arab Emirates
Phone +971 (0) 4 88 65 878
E-Mail [email protected]
United Kingdom
Phone +44 (0)17278 31121
E-Mail [email protected]
USA
Phone +1 800.325.7425
E-Mail [email protected]
Vietnam
Phone +65 6744 3732
E-Mail [email protected]
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