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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

LMS1104C-111031S01

2D LiDAR sensors

Summary of Contents for LMS1104C-111031S01

Page 1: ...O P E R A T I N G I N S T R U C T I O N S LMS1104C 111031S01 2D LiDAR sensors...

Page 2: ...ble within the limits of the legal determination of Copyright Law Any modi fication abridgment or translation of this document is prohibited without the express written permission of SICK AG The trade...

Page 3: ...ciple of operation 11 3 4 1 Measurement principle 11 3 4 2 Range finding 12 3 4 3 Direction measurement 12 3 4 4 Impact of object surfaces on the measurement 13 3 4 5 Scanning range 14 3 4 6 Object si...

Page 4: ...tronics 48 10 3 Dimensional drawing 49 10 4 Performance 50 10 5 Interfaces 50 10 6 Ambient data 50 11 Accessories 51 12 Annex 52 12 1 EU declaration of conformity Certificates 52 12 2 Cybersecurity 52...

Page 5: ...operating the machine or system in which the device is integrated Information on this can be found in the operating instructions for the machine or system 1 2 Explanation of symbols Warnings and impor...

Page 6: ...e 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 Information on this...

Page 7: ...n 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...

Page 8: ...r 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 follow...

Page 9: ...urrent 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 ra...

Page 10: ...Fs at www sick com LMS1000 3 2 Status indicators 2 1 Figure 1 Status indicators 1 LED1 2 LED2 LED1 color LED2 color Description O Red O Red Start up parameterization firmware update correctable error...

Page 11: ...bel 6 Production date 7 Part number 8 Serial number 9 Data Matrix code with product data and link to product page Web address of product page Type code Labeling of connections 3 4 Principle of operati...

Page 12: ...165 000 echoes per second with every scan Every single HDDM measured value output therefore provides even more information because it is not just composed of a single time of flight measurement but in...

Page 13: ...er 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 4 Reflection of light on the s...

Page 14: ...bject 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...

Page 15: ...ated no influence from fog rain or dust a 10 klx b 40 klx c 80 klx Statistical error in mm in 0 0 40 131 2 50 164 1 60 196 9 5 0 20 10 0 39 15 0 59 20 0 79 Object distance in m ft 20 65 6 10 32 8 30 9...

Page 16: ...ting the light spot width Light spot divergence mrad HDDM supplement mrad x distance mm light spot size on the device cover mm light spot width mm Example calculation of the light spot width at a dist...

Page 17: ...particular when using the device to output measured values the laser needs to hit the object several times Therefore the object either needs to be larger than the minimum object size or both the LiDA...

Page 18: ...filters are applied sequentially to the results of the preceding filter Processing occurs in the following sequence echo filter particle filter median filter ground reference evaluation mean filter I...

Page 19: ...nt conditions You can set whether the first the last or all three echoes are output The other pulses triggered by undesirable ambient conditions are not taken into account Echo 1 Echo 2 Figure 18 With...

Page 20: ...oint and its two neighboring points along with the distances values of these points determined from the preceding and following scan The fifth largest measured value is outputted as the distance value...

Page 21: ...rea Table 5 Example Measured values with and without edge filter Angle distance values in mm Scan 1 2 3 4 5 6 7 1 not filtered 0 750 1145 1150 1147 1500 0 1 filtered 0 0 1145 1150 1147 0 0 The edge fi...

Page 22: ...f a sequence The ScanView displays the individual scans similar to the LMDscandata telegrams sent to the customer con troller Normally the jitter of the angular position of the scan points is detectab...

Page 23: ...osition of the scan planes when switching to interlaced mode 1 Module 3 30 2 Module 2 120 3 Module 4 blind zone 4 Module 1 60 5 Near range 6 Detection zone 7 Measuring range With interlaced mode 2x 0...

Page 24: ...measurement is possible There can be two reasons for this The target object lies outside the sensing range The target object has an extremely low remission Please note that white paper can have very...

Page 25: ...tion environment is the lower you can set the contami nation measurement sensitivity If a high precision of the measured values is required the contamination measurement must be set to the most sensit...

Page 26: ...stance ZG General safety supplement for the LiDAR sensor 100 mm ZR Supplement for application related influences or the selected application parame ters ZB Supplement for the decreasing braking force...

Page 27: ...ime of the LiDAR sensor whether multiple sampling is set the filter settings e g particle filter ZR supplement This supplement must be determined on an application specific basis and taken into accoun...

Page 28: ...ction 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...

Page 29: ...eriods of longer than 3 months check the general condition of all components and packaging on a regular basis TRANSPORT AND STORAGE 4 8023051 1AZG 2021 05 10 SICK O P E R A T I N G I N S T R U C T I O...

Page 30: ...device to excessive shock or vibrations In systems subjected to heavy vibrations secure the fixing screws with screw locking devices 5 2 Mounting device 1 Mount the device in a suitably prepared brac...

Page 31: ...Figure 28 Arrangement for 2 devices MOUNTING 5 8023051 1AZG 2021 05 10 SICK O P E R A T I N G I N S T R U C T I O N S LMS1104C 111031S01 31 Subject to change without notice...

Page 32: ...tions 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 5 A at the beginning of...

Page 33: ...ger 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...

Page 34: ...On widely distributed system installations with correspondingly large potential differen ces the setting up of local islands and connecting them using commercially available electro optical signal iso...

Page 35: ...n 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 Th...

Page 36: ...Ethernet connection Pin Identification Description 1 TX Sender 2 RX Receiver 3 TX Sender 4 RX Receiver I O connection 1 7 2 6 3 4 5 8 Figure 34 Female connector M12 8 pin A coded Table 8 Pin assignme...

Page 37: ...tputs used Inputs IN1 3 Field set switching IN4 EasyTeach teach in Outputs maximum output current Technical data page 47 OUT5 EasyTeach cut off path evaluation OUT6 Cut off path for subsequent evaluat...

Page 38: ...ing the device electrically NOTICE Observe the wiring instructions see Wiring instructions page 32 and prerequisites for safe operation see Prerequisites for safe operation of the device page 33 1 Ens...

Page 39: ...escription file SDD SOPAS Device Description 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...

Page 40: ...w Displays measured values as points or lines Freely rotates scan display Changes the perspective of the LiDAR sensor Default Scan display left hand side entry of the device parameters as well as disp...

Page 41: ...r adapting the field geometry left hand side and entering detection parameters right hand side OPERATION 7 8023051 1AZG 2021 05 10 SICK O P E R A T I N G I N S T R U C T I O N S LMS1104C 111031S01 41...

Page 42: ...the del key Delete field Press the del pushbutton without first selecting a green han dle Insert new field function is only available if a field has not been created Select Insert field points tool cl...

Page 43: ...t save it in the device permanently by pressing the Save permanent button NOTE For examples of using the software and the configuration options in the device window refer to the annex see Configuratio...

Page 44: ...the device using the field contour teach in EasyTeach function rather than configuring it via SOPAS The teach in phase can be activated deactivated via an input circuit or SOPAS NOTE For an example o...

Page 45: ...nts Recommended At least every 6 months Specialist Check that all unused connections are sealed with protective caps Depends on ambient conditions and climate Recommended At least every 6 months Speci...

Page 46: ...e device by the customer will invalid ate any warranty claims against SICK AG 9 3 Returns b Only send in devices after consulting with SICK Service b The device must be sent in the original packaging...

Page 47: ...N IEC 60825 1 2007 Complies with 21 CFR 1040 10 and 1040 11 except for devia tions pursuant to Laser Notice No 50 dated June 24 2007 Horizontal aperture angle 275 Scan field flatness Conical error 0 6...

Page 48: ...tion Ptyp 18 W Pstart 35 W for 5 s motor start up Pmax 42 W with full specified current at all outputs Housing ALSi12 Optics cover PC Housing color Gray RAL 7042 Enclosure rating IP65 IEC 60529 1989 A...

Page 49: ...83 3 5 0 14 13 8 0 54 9 6 0 38 12 1 0 48 13 2 0 52 5 5 6 58 5 2 30 65 1 2 56 Figure 39 LMS1000 device structure and dimensions dimensions in mm 1 Receiver 2 3 Status LEDs 4 Sender 5 M5x7 5 fixing hol...

Page 50: ...NTP Measured data output distance RSSI Data transmission rate 10 100 Mbit s digital inputs outputs I O 8 multiport Output data Contamination indication IMU secondary sensor data Optical indicators 2 L...

Page 51: ...upport Portal supportportal sick com registration required you will find besides useful service and support information for your product further detailed infor mation on the available accessories and...

Page 52: ...urance of marketability or suitability of the program for a particular purpose More details can be found in the GNU General Public License For license texts see www sick com licensetexts Printed copie...

Page 53: ...ch in phase active high 6 Thoroughly check correct detection of the field borders by performing a functional check in which For this purpose deliberately induce object detections 12 5 Configuration wi...

Page 54: ...the measured value request see the telegram listing no 8014631 under Send Data Permanently in Chapter 4 The tele gram consists of one part with information on the configuration of the device and the...

Page 55: ...format of the measured values The data output format per scan is comprised of the configuration information meas ured values radial distance RSSI device and status information and time stamp In the d...

Page 56: ...rocedure Scale field Drag square red handle Rotate field Drag round black handle Customize field shape Drag square green handle Add field vertices Double click in required position Remove field vertex...

Page 57: ...ice readiness If the field evaluation application is being used to switch an output the sensor may signal evaluation field breaches or contour breaches In SOPAS ET you can configure which evaluation a...

Page 58: ...080 7425 E Mail enquiry my sick com Mexico Phone 52 472 748 9451 E Mail mexico sick com Netherlands Phone 31 0 30 229 25 44 E Mail info sick nl New Zealand Phone 64 9 415 0459 0800 222 278 tollfree E...

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