SICK LMS5 Series Operating Instructions Manual Download

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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

LMS5xx

2D LiDAR sensors

Summary of Contents for LMS5 Series

Page 1: ...O P E R A T I N G I N S T R U C T I O N S LMS5xx 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: ...Status indicators 16 3 6 Principle of operation 17 3 6 1 Measurement principle 17 3 6 2 Range finding 17 3 6 3 Direction measurement 18 3 6 4 Impact of object surfaces on the measurement 18 3 6 5 Dist...

Page 4: ...Cable reserve on system plug 67 6 5 5 General conditions for data interfaces 67 6 6 Performing the electrical installation 67 6 6 1 Connection to the auxiliary interface USB and the Ether net interfac...

Page 5: ...1 LED fault indicators 81 9 3 2 Indicators in the 7 segment display 82 9 3 3 Detailed fault analysis 82 9 4 Disposal 83 10 Technical data 84 10 1 Features 84 10 2 Performance 86 10 3 Interfaces 86 10...

Page 6: ...system in which the device is integrated For more information refer to the operating instructions of the specific machine or system 1 2 Scope The operating instructions are valid for the following var...

Page 7: ...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 1 4 Further information NOTE Further...

Page 8: ...ironmental 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 o...

Page 9: ...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 s...

Page 10: ...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 Wo...

Page 11: ...al safety notes 3 2 Device variants Table 4 Device variants Type Purpose Sensing range LMS500 2x000 Lite PRO Indoor Max 80 m 26 m at 10 LMS511 1x100 Lite PRO Heavy Duty Outdoor Max 80 m 40 m at 10 LMS...

Page 12: ...origin 4 Ethernet connection 5 USB connection 6 Status indicators 7 Cable entry 7 1 4 2 9 8 5 6 3 Figure 2 View of the LMS511 581 531 Outdoor 1 System plug with cloning parameter memory Removable only...

Page 13: ...the prevailing ambient conditions In particular for applications with frequently changing environmental influences e g large tempera ture fluctuations or fast temperature changes or with standing wate...

Page 14: ...d continuously during the application continuous operation It is recommended to connect the integrated sensor heating according to the specifications in the operating instructions to ensure additional...

Page 15: ...ion date 5 MAC address 6 DataMatrix code with product data and link to product page 7 Voltage supply typical power max power operating temperature enclosure rating 8 Manufacturer and production site 9...

Page 16: ...1 6 2 Display Description 1 Device is either not in measuring mode stopped by the user or it is running in measurement mode but errors have occurred 2 Off No contamination On lit up Contamination war...

Page 17: ...ordinates relative to its measurement origin This is indicated by small marks on the sides of the optics cover If a laser beam strikes an object the position of that object is determined in terms of d...

Page 18: ...specular surfaces reflectors have remissions of over 100 Reflection Most surfaces produce a diffuse reflection of the laser beam in all directions The structure smooth or rough shape flat or curved an...

Page 19: ...ts 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...

Page 20: ...must be maintained from the ground wall The range dependent beam expansion can be calculated using this formula Beam diameter distance mm divergence light spot size on the front screen For values see...

Page 21: ...liably 3 6 7 Beam diameter and measuring point distance As the distance from the device increases the laser beam expands As a result the diameter of the measuring point increases on the surface of the...

Page 22: ...re 15shows the beam diameter and the measuring point distance depending on the distance to the device NOTE The correct selection of sensor type SR or HR and angular resolution is required for gapless...

Page 23: ...age 17 An object is then reliably hit completely at any time if it is at least as large as the measuring point distance plus the beam diameter Scan 1 Scan 2 Scan 3 1 2 Figure 16 Minimum object size fo...

Page 24: ...differ ent contamination measurement strategies SOPAS ET Project tree LMS Parameters Contamination Measurement Deactivated Contamination measurement is not carried out High availability Contamination...

Page 25: ...er certain circumstances need to increase the recommended supplement The width of the switching field should cover the vehicle width You should also configure a supplement of at least 100 mm on every...

Page 26: ...the response time of the LiDAR sensor SBr The braking distance found in the vehicle documentation The distance SAnS covered during the response time of the LiDAR sensor depends on the response time o...

Page 27: ...poses Object measurement see Object measurement page 27 Detection of objects with evaluation fields see Field application page 37 That is why there is a wide range of possible applications Some of the...

Page 28: ...x 2 80 m Table 10 Possible configurations for LMS5xx PRO Heavy Duty Scan ning fre quency Angular resolution Scaling factor for data output Max scanning range Inter laced 25 Hz 0 042 x 1 65 m 4 fold 0...

Page 29: ...fold interlaced sequence for 0 3333 at 100 Hz Scan num ber 0 0 3333 0 6667 1 1 3333 Sequence 1 x x x 2 x x Sequence 3 x x x 4 x x 5 Table 12 Example of a 4 fold interlaced sequence for angular resolu...

Page 30: ...he device and an object is calculated via the time of flight of the emitted pulse The device can evaluate up to five echo signals for each measuring beam to deliver reliable measurement results even u...

Page 31: ...tivations at close range in fog Figure 17 Without the fog filter objects are difficult to detect through the fog due to reflec tions Figure 18 Using the fog filter objects can be detected reliably bec...

Page 32: ...le filter is activated measurement data output or reaction of the field evaluation is delayed by one scan Figure 22 Without the particle filter Violation of the contour due to dust particles in the vi...

Page 33: ...us 7 measurement That is why you should request the status of the device with the sRN STIms telegram Then request measured data via telegram at the data interface from which you want to receive measur...

Page 34: ...quest again 5 Starting output of measured values of a single scan Request STX sRN LMDscandata ETX Reply STX sRA LMDscandata ETX If an error is present and reported in the response telegram Depending o...

Page 35: ...put of measured values The scan data is output until output of measured values is over Request STX sEN LMDscandata 1 ETX Confirmation STX sEA LMDscandata 1 ETX Continuous response STX sSN LMDscandata...

Page 36: ...t 254 Reflector 255 Dazzled If the RSSI value is 0 then no distance measurement is possible There can be two reasons for this The target object lies outside the scanning range 80 m The target object h...

Page 37: ...ters Data Processing Output Data Configuration 3 7 2 Field application Using the integrated field application the LMS5xx PRO Heavy Duty evaluates up to ten evaluation fields within its scanning range...

Page 38: ...ten four configurable evaluation fields an evaluation strategy an output and possibly a combination of inputs or time periods that activate the evaluation case are selected For each output a link is...

Page 39: ...following properties Polygon Square Beginning on device With distance to device island field Dynamic i e the length varies according to the speed detected by the encoder see encoder inputs page 43 LMS...

Page 40: ...ssible evaluation strategies Pixel analysis The device evaluates the entire area of the field Each individual beam is taken into account in evaluation If an object enters the field this result is forw...

Page 41: ...evaluation strategy the contour breach must be detected at the same location for at least the duration of the response time Manipulation prevention When Pixel analysis is configured dazzling can cause...

Page 42: ...ases at the output page 42 3 7 2 3 Linking of evaluation cases at the output If several evaluation cases act on one output you must determine how the results of the evaluation cases are linked The res...

Page 43: ...n field breaches or contour breaches In SOPAS ET you can configure which evaluation case affects which output External digital outputs Up to 8 additional digital outputs can be controlled via a CAN ex...

Page 44: ...Sync LMS511 PRO Outdoor I O connection Pin 12 OUT Sync OUT6 Pin 8 I O connection IN Sync IN4 LMS511 Heavy Duty I O connection Pin 12 OUT Sync OUT6 I O connection Pin 8 IN Sync IN4 LMS581 PRO Outdoor I...

Page 45: ...he upper LMS5xx In its evaluation case 2 this LMS5xx links the input to output 1 At the same time evaluation case 1 affects the upper LMS5xx and its output 1 By OR linking the two results evaluation f...

Page 46: ...IOS Serial Serial HOST Interface section The factory setting for the host interface is as follows 57 6 kBd 8 data bits 1 stop bit No parity NOTE If you change the parameters for the host interface vi...

Page 47: ...MS5xx Frame and coding for the telegrams The data frame varies depending on the coding Table 17 Frame for the telegrams with ASCII coding CoLaA Frame Telegram Frame Designation STX Application data ET...

Page 48: ...rt 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 pro...

Page 49: ...orage periods of longer than 3 months check the general condition of all components and packaging on a regular basis TRANSPORT AND STORAGE 4 8013796 1ALS 2021 03 SICK O P E R A T I N G I N S T R U C T...

Page 50: ...hat 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 5 2...

Page 51: ...o minimize the probability of mutual interference including between different LiDAR sensors To rule out any negative impacts on the measurement accuracy the devices should be arranged in such a way th...

Page 52: ...y volt age until installation is complete and all connection work on the device and controller has been finished Wire cross sections in the supply cable from the customer s power system must be implem...

Page 53: ...al 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 sh...

Page 54: ...lations 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 si...

Page 55: ...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...

Page 56: ...Signal description Figure 39 2 x terminal strip 8 pin 01 VS Sensor supply voltage 02 GND Ground sensor 03 OUT1 Digital output 1 04 OUT2 Digital output 2 05 OUT3 OUT Sync Digital output 3 Synchronizat...

Page 57: ...ital output 5 14 VS OUT Digital output supply voltage 15 GND VS OUT Supply voltage ground of digital outputs 16 TD RS 422 sender 17 TD TxD RS 422 RS 232 sender 18 GND RS RS 422 RS 232 ground 19 RD RxD...

Page 58: ...ND from Pin2 Table 22 Ground inputs S2 position V_OUT S1 default S2 position PIN 8 9 GND IN1 2 PRO Heavy Duty Set via GND supply voltage as with S1 Via Pin8 GND IN3 4 IN Sync PRO Heavy Duty Via Pin9 G...

Page 59: ...RO Heavy Duty Outdoor LMS581 PRO and LMS531 Lite PRO Ethernet connection Male female connector Contact Short form Signal description 1 4 3 2 Figure 42 M12 female con nector 4 pin D coded 1 TX Sender 2...

Page 60: ...y Outdoor Data connection Table 27 LMS511 PRO LMS581 PRO and LMS511 Heavy Duty Outdoor Pin assignment of Data connection Male female connector Contact Short form Signal description Wire colors connect...

Page 61: ...utput 6 Synchroni zation output Red blue 1 Example values when using the specified connecting cable s Signal assignment and wire colors can vary when using other connecting cables 6 4 3 Connections of...

Page 62: ...ple values when using the specified connecting cable s Signal assignment and wire colors can vary when using other connecting cables LMS531 Lite Security Outdoor Alarm connection Table 32 LMS531 Lite...

Page 63: ...tal inputs White 4 GND RS CAN RS 422 RS 232 CAN ground Green 5 D N IN3 Day Night digital input 3 Pink 6 WT IN2 Walk test digital input 2 Yellow 7 TD TxD RS 422 RS 232 sender Black 8 TEACH IN4 EasyTeac...

Page 64: ...tact B Gray 9 Sab B Sab output relay contact B Red 10 Disq B Disqualification output relay contact B Violet 11 Sab R A Sabotage output resistance monitoring contact A Gray pink 12 Sab R B Sabotage out...

Page 65: ...ric shock Only use a power supply unit whose output circuit has safe electrical separation from the input circuit For example with a safety transformer in accordance with EN 61558 1 6 5 2 LMS500 Indoo...

Page 66: ...pecific resistance of copper m 3 9 10 3 K 1 Temperature coefficient of copper 1 C Ambient conditions T0 20 C Reference temperature C T 80 C Cable temperature C Cable load I 2 5 A Load current A Voltag...

Page 67: ...Maximum lengths of cables for the data interfaces Interface type Transfer rate Maximum length of cable RS 232 115 2 kBd 2 m 38 4 57 6 kBd 3 m Max 19 2 kBd 10 m RS 422 Max 115 2 kBd 500 m Max 38 4 kBd...

Page 68: ...aid before the screw connection of the cable entry and push it back over the plastic insert of the cable entry 4 Undo screw connection of the M16 cable entry 5 Feed cables for the supply voltage and t...

Page 69: ...ND IN1 External signal source UIN 11 V 30 V 1 Figure 54 Wiring floating digital inputs 1 External signal source NOTE The inputs require a switching voltage of at least 11 V For this reason the supply...

Page 70: ...gure 57 Connecting outputs 1 or 2 to a PLC Active LOW Device VS OUT3 6 OUT3 6 Imax GND VS OUT SPS Figure 58 Connecting outputs 3 or 6 to a PLC Active HIGH 6 ELECTRICAL INSTALLATION 70 O P E R A T I N...

Page 71: ...or connecting the RS 232 or the RS 422 interface NOTE Observe the maximum length of cable according to see General conditions for data interfaces page 67 RxD TxD Device GND TxD RxD GND RS 232 RS 422 R...

Page 72: ...the online product page for the software by following the instructions provided there 3 In this case select the Complete option as suggested by the installation wizard Administrator rights may be requ...

Page 73: ...ick on 2 In the device family options select LMS5 LMS5xx 25x and click on 3 Confirm the selected communication interface by clicking on 4 If necessary manually configure the IP addresses using Add Cli...

Page 74: ...download or manually SOPAS ET command Download all parameters to the device NOTE After completing configuration the changed parameter set must be permanently stored in the non volatile memory of the d...

Page 75: ...ice level There is no password assigned at the factory for the Operator user level Use the project tree in SOPAS ET to configure the necessary parameters for your application NOTICE Loss of configurat...

Page 76: ...displayed measured values in a file The monitor displays the measured values unfiltered i e the effect of filters cannot be checked using the monitor 3 After successfully completing the test measurem...

Page 77: ...E No maintenance is required to ensure compliance with the laser class Depending on the assignment location the following preventive maintenance tasks may be required for the device at regular interva...

Page 78: ...system is disconnected from the voltage supply during all exchange processes 8 3 1 Exchange of the LMS500 Lite PRO or LMS511 Heavy Duty when reusing the previous system plug parameter cloning 1 2 1 F...

Page 79: ...the old system plug including wired cables fixed cables at the sensor 7 Make sure that the inlay sealing the supporting surface opposite and all the electrical contacts are undamaged and free from dir...

Page 80: ...74 If a device is replaced after start up the replacement device checks whether there is a plausible parameter set in the system plug If so the device loads this parameter set to its RAM cloning plug...

Page 81: ...de the following when making a return Details of the contact person Description of the application Description of the fault that occurred 9 3 General faults warnings and errors Possible faults and cor...

Page 82: ...t temperature is too low for measurement mode 3 Heating not connected or temperature too low only for Outdoor device Wait until the device has warmed up Check heating connection Contact SICK Service E...

Page 83: ...lyzing faults or optimizing processes SOPAS ET Project tree LMS Monitor Field Evaluation Logging 9 4 Disposal If a device can no longer be used dispose of it in an environmentally friendly manner in a...

Page 84: ...0 5 0 667 1 Exclusively in Interlaced mode 0 042 0 083 Scan field flatness Scan field flatness combined 0 72 Typical conical error 1 sigma value 0 11 0 10 Typical tilt 1 sigma value 0 15 0 08 Heating...

Page 85: ...anning range 80 m 3 Scanning range for objects up to 10 remission 26 m 0 60 196 85 60 196 85 90 295 20 90 295 20 30 98 43 30 98 43 Scanning range in m ft Scanning range in m ft 30 98 43 60 196 85 30 9...

Page 86: ...ected filter settings scanning frequency angular resolution and the object size 2 After what distance from the first echo full accuracy measurements can be taken again depends on the target that refle...

Page 87: ...m 100 mm s to 20 000 mm s Number of pulses per cm At least 50 Recommended length of cable of the incremental encoder max 10 m Outputs Lite 3 digital Pro 6 digital Lite 3 2 relays 1 digital Pro 4 relay...

Page 88: ...3 W Pmax sensor 22 W Pmax heating 60 W Pmax output 1 W total output of all OSSDs Start up current The start up current depends on the supply voltage and the length of cable This will be a multitude of...

Page 89: ...operating tempera ture 0 C 50 C Lite PRO 30 C 50 C Without heating at switch on 0 C 50 C Without heating during operation 10 C 50 C 3 Heavy Duty 40 C 60 C Without heating at switch on 0 C 60 C Withou...

Page 90: ...rea to be kept free while mounting the device approx 100 mm 2 2x cable glands for cables from 5 12 mm 3 4x threaded mounting hole M8x9 glued in with high strength screw adhesive 4 Minimum area to be k...

Page 91: ...round connector 3 4x threaded mounting hole M8x9 glued in with high strength screw adhesive 4 Area to be kept free while mounting the device 5 4x threaded mounting hole M6x8 glued in with high streng...

Page 92: ...SICK Support 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 accessori...

Page 93: ...that must be continuously monitored and maintained Such a concept consists of organizational technical process related electronic and physical defense levels and sets up appropriate measures for the...

Page 94: ...8080 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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