Leuze electronic rotoScan ROD4 plus Series Original Operating Instructions Download Page 54

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Status messages, errors and error rectification

ROD4… plus

Leuze electronic

1111

Short-circuit test of the switching outputs

A switching output Fn1/Fn2 is short
circuited with Vcc

1606

Rotational speed monitoring

Rotational speed deviation; zero pulse was
not correctly detected; internal defect

1607

Monitoring the duration of a scan

Rotational speed deviation; motor not at
nominal rotational speed

1608

Rotational speed monitoring

Motor speed not constant during operation

1608

Rotational speed monitoring

Motor speed not constant during operation

1608

Rotational speed monitoring

Motor speed not constant during operation

1705

Processing of the window-monitoring
photoelectric sensor data

Signal from photoelectric sensor of the
front-cover monitor above upper limit; liq-
uid media on front cover

1906

Test of the external watchdog

Watchdog does not release the Fn outputs;
possible wiring or control error

1906

Test of the external watchdog

Watchdog does not release the Fn outputs;
internal defect

1906

Test of the external watchdog

Switching outputs Fn1/Fn2 have a state
other than that which is expected by the
ROD4…plus; possible wiring or control
error

1906

Test of the external watchdog

Watchdog does not switch off the shut-
down path for the laser; internal defect

1907

Test of the external watchdog

Event detected by watchdog; watchdog
has switched off (rotational speed devia-
tion); possible rotation of the ROD4…plus
housing

1907

Test of the external watchdog

Event detected by watchdog; watchdog
has switched off (rotational speed devia-
tion); possible rotation of the ROD4…plus
housing

2002

Processing of the parameter command

Data displayed for inspection not acknowl-
edged quickly enough

2007

Check of received
parameter data

Date of the currently transferred detection
field is older than the date of the detection
field in the ROD4…plus

2201

Field monitoring

Number of measurements in the scan too
small due to rotational speed deviation of
the motor or switching off of the watchdog;
internal fuse defective

2302

Control of software execution

Error occurred during ROD4…plus start-
up, secondary error

Code Description

No Error description

Table 10.2:ROD4…plus - Diagnostic codes and causes

Summary of Contents for rotoScan ROD4 plus Series

Page 1: ...rotoScan ROD4 plus Laser scanner en 05 2015 08 50127551 We reserve the right to make technical changes O R I G I N A L O P E R A T I N G I N S T R U C T I O N S ...

Page 2: ... 3 4 Application examples 15 3 4 1 Object measurement 15 3 4 2 Object detection only ROD4 plus and ROD4 08 plus 16 4 Mounting 19 5 Electrical connection 20 5 1 Connecting the rotoScan ROD4 plus 20 5 1 1 Connection functions Y1 to Y4 21 5 1 2 Connector assignments for connection Y1 22 5 1 3 Connector assignments for connection Y2 Ethernet 22 5 1 4 Connector assignments for connection Y3 service 23 ...

Page 3: ...the device 36 7 Testing and maintenance 37 7 1 Test 37 7 2 Cleaning 37 8 Delivery contents and accessories 38 8 1 Type overview 38 8 2 Accessories 38 8 2 1 Pin assignments KB 014S 14 39 8 2 2 KB ROD4plus pin assignments 39 8 2 3 Pin assignment KB ET SA RJ45 crossover cable 39 8 2 4 Pin assignments KB ET SA 40 8 2 5 Pin assignments K D M12A 8P 40 8 2 6 BT ROD4 mounting system 41 9 Technical data 42...

Page 4: ...in assignments for connection Y4 24 Figure 5 2 Inputs of interface Y1 25 Figure 5 3 Example Detection field pair switch for a DTS application 26 Figure 5 4 Outputs of interface X1 27 Figure 5 5 Connection example without detection field pair switch 31 Figure 5 6 Connection example with detection field pair switch 32 Figure 6 1 User interface of the RODsoft configuration software 35 Figure 8 1 Dime...

Page 5: ...Leuze electronic ROD4 plus 5 Abbildungs und Tabellenverzeichnis ...

Page 6: ...in the ROD4 plus is a laser device of laser safety class 1 acc to DIN EN 60825 1 Observe the legal and local regulations applicable to the operation of laser units Notice This symbol indicates text passages containing important information 1 2 Declaration of conformity The rotoScan ROD4 plus distance sensors have been manufactured observing current European standards and guidelines Notice The corr...

Page 7: ...evice in accordance with its intended use The protection of per sonnel and the device cannot be guaranteed if the device is operated in a manner not complying with its intended use Leuze electronic GmbH Co KG is not liable for damages caused by improper use Read the technical description before commissioning the device Knowledge of this technical description is an element of proper use NOTICE Comp...

Page 8: ... their technical training knowledge and experience as well as their familiarity with relevant standards and regulations certified electricians are able to perform work on elec trical systems and independently detect possible dangers In Germany certified electricians must fulfill the requirements of accident prevention regu lations BGV A3 e g electrician foreman In other countries there are respect...

Page 9: ... switch off Avoid large temperature fluctuations If a protective housing is provided for the sensor the detection must not occur through additional window material plastic glass etc Physical contact with the front cover of the sensor and the six diffused light windows is to be avoided ATTENTION INVISIBLE LASER RADIATION LASER CLASS 1 The device fulfills the EN 60825 1 2007 safety regulations for a...

Page 10: ...llows the distance to objects to be measured with an accuracy of 5mm within the measurement range drawn in figure 3 1 2 Object detection only ROD4 plus and ROD4 08 plus Detection field contours can be defined within the detection fields drawn in figure 3 1 If an object is located within these detection field contours this is reported by the ROD4 plus to the configurable switching outputs For objec...

Page 11: ...l used for measurement data transfer can be set In addition preprocessing of the measurement data can be performed in the ROD4 plus The data quantity can be reduced in order to match the quantity to the possible trans mission speed The measurement data can be filtered on the basis of user defined specifications For further information on measurement data preparation please refer to the RODplussoft...

Page 12: ... is reflected and subsequently detected and analysed by the ROD4 plus Figure 3 3 Operating principle The ROD4 plus works on the principle of pulse propagation time measurement The light pulse propagation time is a direct measurement of the distance to the object The measurement values are transferred via interfaces Y2 and Y4 as 16bit data 2 bytes One scan over the working range returns 529 measure...

Page 13: ...efine the type of measurement data transfer in polar or cartesian coordinates and pre process and filter the measurement results in the ROD4 plus 3 2 2 Switching function only ROD4 plus and ROD4 08 plus You can configure the switching functions of the ROD4 plus and ROD4 08 plus yourself with the supplied RODsoft software In addition to the device configuration the software can also be used to defi...

Page 14: ...w weight 2 3kg Low current consumption Two interfaces for measurement data transfer Ethernet at socket Y2 RS 232 RS 422 at connector Y4 Easy to use RODsoft and RODplussoft configuration software object detection with ROD4 plus and ROD4 08 plus Measurement data processing X Y coordinate transformation Area configuration Measurement data filtering minimum and maximum values Online commands ROD4 plus...

Page 15: ...n be considered typical areas of application for the ROD4 plus 3 4 1 Object measurement Gripping system Dimension and position measurement for gripping operations Figure 3 4 Application example gripping system Gantry crane ROD4 plus for positioning a gantry crane Figure 3 5 Application example gantry crane ...

Page 16: ...ension measurement in materials handling Figure 3 6 Application example dimension measurement 3 4 2 Object detection only ROD4 plus and ROD4 08 plus Driverless transportation system ROD4 plus as the eye of a service robot Figure 3 7 Application example service robot ...

Page 17: ...arage Overshoot and dimension detection of cars to prevent damage to the car Figure 3 8 Application example automatic parking garage High bay warehouse Overshoot detection for collision prevention with high bay storage devices Figure 3 9 Application example high bay warehouse ...

Page 18: ...pplications Buffing protection e g for telpher lines Overshoot detection e g in fully automatic parking systems Detection counting of persons Room security façade monitoring Access control Contour measurement Packet measurement volume measurement etc ...

Page 19: ...s to be selected such that the possibilities for mechanical damage are minimised Exposed locations are to be equipped with additional protec tive guards or loop guards Reinforcements enclosures mounting alcoves and other machine elements must not result in an obstruction in the field of vision Retro reflectors or very reflective surfaces such as certain metals or ceramics are to be avoided near th...

Page 20: ...may be selected Following the initial configuration subsequent configuration can be performed in parallel with process data transfer via a single interface Y2 or Y4 To configure the detection function with RODsoft it is absolutely necessary to connect Y3 Before commissioning the system please check the pin assignments the wiring the supply voltage and the safeguarding In spite of the robust housin...

Page 21: ...Restart reset input Y2 M12 socket D coded 4 pin Ethernet interface Ethernet measurement data transfer at 10 100Mbit s Configuration measurement data trans fer diagnostics with RODplussoft Y3 M12 socket 5 pin rotoScan ROD4 plus PC interface Detection field definition with RODsoft Configuration diagnostics with RODplus soft Y4 M12 plug 8 pin RS 232 RS 422 interface Factory setting Measurement data t...

Page 22: ...C C GND Supply voltage ground E FPS1 Switch to detection field pair 1 G FPS2 Switch to detection field pair 2 J FPS3 Switch to detection field pair 3 L FPS4 Switch to detection field pair 4 M Restart Safe input restart disable reset the ROD4 plus and connection of the restart button N Fn1 Semiconductor output shutdown on object detection in the near detection field channel 1 O Fn2 Semiconductor ou...

Page 23: ...nection Y3 service Table 5 6 Pin assignments for connection Y3 M12 Pin Signal Pin M12 1 TX 1 3 TX 3 2 RX 2 4 RX 4 M12 Pin Signal Core color Pin RJ45 e g D ET1 1 TX Yellow 1 3 TX Orange 2 2 RX White 3 4 RX Blue 6 1 8 Pin Signal Description 1 NC Do not use 2 TxD Data communication transmission 3 GND Data communication ground 4 RxD Data communication reception 5 NC Do not use ...

Page 24: ...u must connect PIN 6 with PIN 5 GND by means of a bridge Table 5 7 Pin assignments for connection Y4 Pin Signal Description 1 Tx TxD Transmitted data 2 Tx 3 Rx Received data 4 Rx RxD 5 GND shield Ground shielding to be connected only on the cabinet side with PE 6 RS 422 Selection RS 232 RS 422 RS 232 leave PIN 6 open RS 422 bridge to PIN 5 7 NC Do not use 8 NC Do not use ...

Page 25: ...puts If no input is wired detection field pair 1 is activated Attention If an inadmissible signal combination e g 1 1 1 1 is applied at inputs FPS1 FPS4 a warning is output at output ALARM2and outputs Fn1 Fn2 are switched off Notice When switching detection field pairs first switch on the new detection field pair and then switch off the old detection field pair Example of detection field pair swit...

Page 26: ... active Afterward detection field pair 1 I II is switched back on Detection field pair 2 is deactivated and the vehicle continues to travel with active detection field pair 1 I Figure 5 3 Example Detection field pair switch for a DTS application Notice When configuring the switching on or switching off of detection field pairs take into account that the ROD4 plus switches over within the response ...

Page 27: ... software Y1 P active high signals that the ROD4 plus is ready for operation The low output state signals one of the following states 1 Possibility Object detection in the far detection field 2 Possibility Device warning e g light window contamination etc 3 Possibility Object detection in the far detection field or device warning e g light win dow contamination etc 4 Possibility No signalling 5 Po...

Page 28: ...application of a restart pulse could result in an unintended release 5 3 Functions of connection Y2 An Ethernet interface is available at connection Y2 It is used for measurement data transfer with the following protocols Binary ROD4 compatible ASCII Remote It can also be used for configuring the measurement instrumentation with RODplussoft The Ethernet interface supports the TCP IP protocol Accor...

Page 29: ...anged 5 5 Functions of connection Y4 At connection Y4 8 pin M12 plug either an RS 232 or RS 422 interface is available It is used for measurement data transfer with the following protocols Binary ROD4 compatible ASCII Remote It can also be used for configuring the measurement instrumentation with RODplussoft According to the protocols mentioned above in the default setting each measurement data tr...

Page 30: ... Any additionally used switching components e g button for restarting must be permanently mounted Loosely position the button at the intended position Switch on the voltage supply of the ROD4 plus which has been configured for the application Activate one of the detection field pairs FPS1 to FPS4 by applying 24V to E G J or L Position an object in the near detection field of the previously activat...

Page 31: ...th this connection example the restart disable is realised by means of the command device WA connected at the RESTART input Y1 M The device must in this case be configured with the software in such a way that the operating mode with restart disable is active Detection field pair switch is not provided in this example For this purpose directly connect FPS1 Y1 E to the operating voltage VCC The rela...

Page 32: ... one near and one far contour for each The restart disable and contactor monitoring are realised via the RESTART input The ROD4 plus is operated in this case in the operating mode with restart disable The currently active violated detection field is released by the command device WA The relays K1 and K2 used here have overlapping contacts make before break and are operated directly at the two secu...

Page 33: ...isk with at least 150 MB available memory RS 232 interface for configuring the ROD4 plus Ethernet interface or alternatively the RS 232 RS 422 for measurement data trans fer Microsoft Windows 2000 XP SP2 7 8 Microsoft NET Framework 2 0 SP1 The RODplussoft or RODsoft configuration software can be found on the supplied CD To install follow the instructions in the respective readme files which can li...

Page 34: ... for configuring the switching function of the ROD4 plus The protocol is very fast and efficient due to the fact that a measurement value is transferred with 2 bytes It can be used to define a measurement segment with start and stop angle and the angular resolution angular separation of two successive measurements in the segment All configuration data which are transferred to the ROD4 plus using t...

Page 35: ...OD4 plus and ROD4 08 plus Commissioning procedure Install the RODsoft configuration software on the PC setup exe Connect the ROD4 plus to the PC via the KB ROD4 plus cable Use the Start RODsoft menu option to start RODsoft from within RODplussoft Enter password ROD4LE in level authorised customer Short description The detection field can then be displayed under Display measurement contour Under RO...

Page 36: ...optimised for the monitoring task 6 3 Screwing down and aligning the device The ROD4 plus is to be mounted and aligned as described in chapter 4 6 4 Switch on the device Once the device is installed the required device parameters set and the detection fields defined the ROD4 plus can be put into operation After you have switched on the voltage supply of the ROD4 plus illumination of the red LED on...

Page 37: ...ity 7 2 Cleaning The front cover should be cleaned at regular intervals application dependent with a soft cloth and commercially available non aggressive glass cleaner Attention Do not use solvents or cleaning agents containing acetone Use of improper cleaning agents can damage the housing window If window monitoring continues to report a soiled cover even after cleaning it must be replaced with a...

Page 38: ...nd 14 pin cable length 10m shielded 50109881 KB ET 5000 SA RJ45 Connection cable M12 Ethernet PUR M12 connector D coded RJ 45 connector cable length 5m 50109882 KB ET 10000 SA RJ45 Connection cable M12 Ethernet PUR M12 connector D coded RJ 45 connector cable length 10m 50106740 KB ET 5000 SA Connection cable M12 Ethernet PUR M12 connector D coded open cable end 4 pin cable length 5m 50106741 KB ET...

Page 39: ...l Core color A UB Red C GND Blue E FPS1 Pink G FPS2 Gray J FPS3 Yellow L FPS4 Green M Restart Brown N Fn1 White O Fn2 Violet P ALARM2 Black R ALARM1 White green S NC Red blue T NC Brown green U NC Gray pink M12 plug Pin Signal Core color PIN on Sub D socket 1 NC Brown 2 TxD White 2 3 GND Blue 5 4 RxD Black 3 5 NC Gray M12 plug Pin Signal Core color Pin RJ45 1 TX Yellow 3 3 TX Orange 6 2 RX White 1...

Page 40: ...Pin assignments KB ET SA 8 2 5 Pin assignments K D M12A 8P M12 plug Pin Signal Core color 1 TX Yellow 3 TX Orange 2 RX White 4 RX Blue M12 socket Pin Signal Core color 1 Tx TxD White 2 Tx Brown 3 Rx Green 4 Rx RxD Yellow 5 GND shield Gray 6 RS 422 Pink 7 NC Blue 8 NC Red ...

Page 41: ...ROD4 mounting system The advantage of this mounting variant lies in the exchangeability of the device The device can in this way be removed from the mounting system and returned at a later time without readjusting the device With the aid of the BT ROD4 mounting system pitches of maximum 8 downward or upward are possible In addition the mounting kit allows lateral inclinations of up to 4 Figure 8 1...

Page 42: ... 1 Reflectivity ROD4 plus from min 1 8 flat black ROD4 08 plus from min 6 Object size see figure 9 1 Response time at least 40ms corresponds to 1 scan Number of detection field pairs 4 selectable via switching inputs Output two PNP transistor outputs 24V 250mA Start up the start up testing and start disable are configured separately Far detection field Radius of far detection field ROD4 plus 0 50m...

Page 43: ...6 1 VDE 0113 part 201 Inputs at Y1 Restart Reset command device for operating mode with restart dis able and or device reset dynamically monitored 24VDC optically decoupled activate for 0 12 3s Detection field changeover selection between max 4 detection field pairs via four control lines with internal monitoring 24VDC opto decoupled Interfaces 1 1 With RODplussoft all three interfaces can be used...

Page 44: ...A configurable For far detection field warning and error output ALARM2 PNP transistor output max 100mA not configurable Object measurement Configuration software configuration software RODplussoft under Windows 2000 XP 7 8 Object detection Configuration software configuration software RODsoft under Windows 2000 XP 7 8 Optical properties Scanning angle max 190 Angular resolution 0 36 Scanning rate ...

Page 45: ...Technical data Leuze electronic ROD4 plus 43 TNT 35 7 24V Table 9 5 Technical data optical data Beam divergence 2mrad Time basis 100s Beam dimensions see diagram figure 9 2 Optical properties ...

Page 46: ...15 8 4 2 1 10 100 10 100 1000 10000 20 15 8 4 2 12 5 25 50 Diffuse reflection in for the ROD4 plus Distance m Object size mm Distance m Reflector White plaster writing paper Grey cardboard 18 Black cord 1 10 100 10 1 8 100 1000 10000 20 15 8 4 2 Diffuse reflection in for the ROD4 08 plus Distance m Reflector White plaster writing paper Grey cardboard 18 Black cord ...

Page 47: ...Leuze electronic ROD4 plus 45 TNT 35 7 24V Figure 9 2 Typical beam dimensions with the ROD4 plus 140 120 100 80 60 40 20 0 0 25 30 5 10 15 20 Y X Distance m Beam dimensions in mm Light spot height Y Light spot width X ...

Page 48: ...m scanning plane to bottom edge of housing 48 75mm Connection 4 connectors Cable length max 50m with conductor cross section 0 5mm2 valid for Y1 Y2 and Y4 as RS 422 Housing diecast aluminum plastic Weight approx 2 3kg Vibrating stress acc to IEC 60068 part 2 6 10 55Hz max 5G Continuous shock acc to IEC 60068 part 2 29 10G 16ms Interference rejection as per DIN EN 61496 3 in accordance with the req...

Page 49: ...echnical data Leuze electronic ROD4 plus 47 TNT 35 7 24V 9 7 Dimensioned drawing ROD4 plus Figure 9 3 Dimensioned drawing ROD4 plus b b a a Zero point for measuring b Scanning plane All dimensions in mm ...

Page 50: ...e read from three LEDs located on top of the connector housing A cover protects the LEDs from contamination and guarantees degree of protection IP 65 When in a voltage free state the LEDs are hidden from view by this cover Figure 10 1 Ethernet status indicator LED Color Function Meaning H1 Red Ethernet system ready H2 Red Ethernet connection present H3 Red Ethernet data transmission active H1 H2 H...

Page 51: ... free state the LEDs are hidden from view by this cover Figure 10 2 ROD4 plus status indicator LED Color Function Meaning 1 Green Sensor functions active near detection field is free 2 Yellow Continuous light CL far detection field is occupied 3 Red Near detection field is occupied Fn outputs are switched off 4 Green Near detection field is free Fn outputs are active 5 Yellow Slowly flashing SF at...

Page 52: ...iagnostic data from scanner on the menu bar The error messages from the last 8 events are documented This first memory slot always contains the most recent error message LED Status Near detection field is free Fn outputs Y1 N Y1 O are enabled Near detection field is free Fn outputs Y1 N Y1 O are enabled Far detection field is occupied Output Y1 R ALARM1 is enabled Near detection field is free Fn o...

Page 53: ...ng 2 Event memory cannot be read internal defect 805 Processing the command for the event memory 6 Event memory cannot be transferred data transmission error at the configuration interface 1002 Motor control during initialisation 1 Motor does not reach nominal rotational speed after start up internal defect 1002 Motor control during initialisation 2 Motor speed not constant after start up internal...

Page 54: ...ect 1906 Test of the external watchdog 5 Switching outputs Fn1 Fn2 have a state other than that which is expected by the ROD4 plus possible wiring or control error 1906 Test of the external watchdog 6 Watchdog does not switch off the shut down path for the laser internal defect 1907 Test of the external watchdog 4 Event detected by watchdog watchdog has switched off rotational speed devia tion pos...

Page 55: ...ts for detection field switching 3 The detection field switching which occurred does not match the preset which was programmed in the ROD4 plus 2800 Processing of the inputs for detection field switching 4 More than 2 detection fields selected dur ing operation 2800 Processing of the inputs for detection field switching 6 Unusable data or inadequate data quality for detection field activation 2801...

Page 56: ...epresented in the user interface of the ROD soft configuration software by the colour red Fn Short version of the term near detection field Far detection field max detection range 50m 25m for ROD4 08plus object detection within the far detection field affects output ALARM pin Y1 P depending on the configuration The far detection field is represented in the user interface of the RODsoft configurati...

Page 57: ...ectronic ROD4 plus 55 TNT 35 7 24V Angular segment The working range of the ROD4 plus is divided into 529 angular segments An angular segment corresponds to 0 36 One measurement value is transmitted per angular segment ...

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Leuze electronic rotoScan ROD4 plus Series, Original Operating Instructions

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