SICK LMS500-20000 PRO Indoor Operating Instructions Manual Download | Manualshive

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© SICK AG · Division Auto Ident · Germany · Subject to change without notice

8013796/UL20/2010-09-27

Operating Instructions

Laser Measurement Systems of the LMS500 Product Family

Chapter

3

3.5

Operating principle of the LMS

The LMS is an electro-optical laser measurement system that electro-sensitively scans the
perimeter of its surroundings in a plane with the aid of laser beams. The LMS measures its
surroundings in two-dimensional polar coordinates. If a laser beam is incident on an object,
the position is determined in the form of distance and direction.

Fig. 3:

Measuring principle of the LMS

Scanning takes place in a sector of 190°. The scanning range of the LMS is maximum 65 m
(213.25 ft) on light, natural surfaces with an object remission > 100% (e.g. a white house
wall).

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Summary of Contents for LMS500-20000 PRO Indoor

Page 1: ... ...

Page 2: ...ription LMS511 10100 Devicespecificsoftwaremodule for SOPAS ET V 01 00 00 or higher Device description LMS511 20100 Devicespecificsoftwaremodule for SOPAS ET V 01 00 00 or higher SOPAS ET Configuration software V 02 32 or higher User level Password Maintenance personnel main Authorised client client Copyright Copyright 2010 SICK AG Waldkirch Auto Ident Reute Plant Nimburger Straße 11 79276 Reute G...

Page 3: ...n 30 3 9 Inputs and outputs 34 3 10 Data interfaces 35 3 11 Data communication using messages 37 3 12 Planning 38 4 Mounting 39 4 1 Overview of the mounting steps 39 4 2 Preparations for mounting 39 4 3 Mounting steps 40 4 4 Dismanteling the system 46 5 Electrical installation 47 5 1 Overview of the installation steps 47 5 2 Connections of the LMS 47 5 3 Preparing the electrical installation 50 5 ...

Page 4: ...ontents Operating Instructions Laser Measurement Systems of the LMS500 Product Family 9 Technical specifications 67 9 1 Data sheet LMS laser measurement system 67 9 2 Dimensional drawings 70 10 Annex 76 10 1 Overview of the annexes 76 10 2 Messages 76 10 3 Ordering information 95 10 4 Glossary 96 ...

Page 5: ...ation Language proprietary SOPAS ET communication language ASCII CoLaFA or binary CoLaFB CS Checksum EEPROM Electrically erasable programmable read only memory HTML Hypertext markup language page description language on the Internet LED Light Emitting Diode LMS SICK AG laser measurement system RAM Random access memory volatile memory with direct access ROM Read only memory permanent SOPAS ET SICK ...

Page 6: ...ary coding 37 Tab 9 Terminal assignment of the LMS500 48 Tab 10 Pin assignment of the Ethernet connection on the LMS500 48 Tab 11 Pin assignment of the Power connection on the LMS511 49 Tab 12 Pin assignment of the RSF232 connection on the LMS511 49 Tab 13 Pin assignment of the I O connection on the LMS511 49 Tab 14 Pin assignment of the Ethernet connection on the LMS511 50 Tab 15 SOPAS ET default...

Page 7: ...asurement of the fifth received echo 29 Fig 18 Principle of the field application 30 Fig 19 Protection against tampering due to shading and glare 32 Fig 20 Examples of different evaluation field shapes 33 Fig 21 Logical operators for inputs and outputs 35 Fig 22 Direct mounting 40 Fig 23 Mounting with mounting kit 1 41 Fig 24 Mounting with mounting kit 2 and 3 42 Fig 25 Mounting with mounting kit ...

Page 8: ... inputs In 1 4 56 Fig 43 Connection of the outputs to a PLC active low 56 Fig 44 Connection of the outputs to a PLC active high 56 Fig 45 Wiring of the RSF232 or RSF422 interface 57 Fig 46 Principle of data storage 61 Fig 47 Dimensional drawing LMS500 mm 70 Fig 48 Dimensional drawing LMS511 mm 71 Fig 49 Dimensional drawing mounting kit 1 72 Fig 50 Dimensional drawing mounting kit 2 73 Fig 51 Dimen...

Page 9: ... 1 2 Target group The intended audience for this document is people in the following positions 1 3 Depth of information These operating instructions contain the following information on the LMS product description mounting electrical installation commissioning and configuration maintenance fault error diagnosis and troubleshooting conformity and approval Planning and using laser measurement system...

Page 10: ...on Here you must do something This symbol indicates an instruction to perform an action that contains only one action or actions in warnings where a specific sequence does not need to be followed Instructions to perform actions that contain several steps in sequence are numbered This symbol refers to additionally available documentation Software notes show where you can make the appropriate settin...

Page 11: ...lised only by qualified personnel and only in industrial environments In case of any other usage as well as in case of modifications to the LMS e g due to opening the housing during mounting and electrical installation or to the SICK software any claims against SICK AG under the warranty will be rendered void The LMS is only allowed to be operated in the ambient temperature range allowed see secti...

Page 12: ... the LMS is installed are responsible for obtaining and observing all applicable safety regulations and rules The tests must be carried out by specialist personnel or specially qualified and authorised personnel and must be recorded and documented to ensure that the tests can be reconstructed and retraced at any time The operating instructions must be made available to the operator of the system w...

Page 13: ...eye Incorrect usage can result in hazardous exposure to laser radiation Do not open the housing opening the housing will not switch off the laser Pay attention to the laser safety regulations as per IEC 60825F1 latest version Important No maintenance is necessary to ensure compliance with laser class 1 Laser output aperture The laser output aperture is the window of the front screen on the LMS Fig...

Page 14: ...able on the LMS511 The LMS re commences operation with the parameters last saved 2 5 Environmental protection The LMS has been designed to minimise environmental impact It uses only a minimum of power While working always act in an environmentally responsible manner For this reason please note the following information on disposal 2 5 1 Power consumption The LMS500 consumes a maximum of 24 W in op...

Page 15: ... as PDF freely available software Adobe Reader The latest versions of the publications and programs included on the CDFROM are also available for download at www sick com 3 2 Device variants The LMS comprises four components the housing the sensor head with the opto electronic acquisition system the application module this defines the functionality of the LMS the system plug with the configuration...

Page 16: ...0 66 1 rotation frequency 25 35 50 75 100 Hz flexible system configurations configuration measured value request using messages command strings data interfaces Ethernet RSF232 422 USB CAN Measured value output raw data electro sensitive active measurement technique measurement of objects with almost any shape measured value output for all reflection pulses echoes e g in rain or on measurement thro...

Page 17: ...PARAMETER NETWORK INTERFACES IOS DISPLAY LEDs Further information see section 8 2 Error displays of the LEDs on page 65 7 segment display Used for diagnostics on occurring errors or malfunctions see section 8 3 Indications of the 7 segment display on page 66 Display Possible cause LMS in operation no evaluation field is signalling an event LMS in operation at least one evaluation field is signalli...

Page 18: ...m that electro sensitively scans the perimeter of its surroundings in a plane with the aid of laser beams The LMS measures its surroundings in two dimensional polar coordinates If a laser beam is incident on an object the position is determined in the form of distance and direction Fig 3 Measuring principle of the LMS Scanning takes place in a sector of 190 The scanning range of the LMS is maximum...

Page 19: ...ar systems in a similar manner see also section 3 7 4 Measured value output for a 5 echo reflected pulse on page 29 Direction measurement The emitted laser beams are deflected using a mirror and scan the surroundings in a circular manner The measurements are triggered at regular angular steps using an angular encoder The LMS scans with a scanning frequency of 25 35 50 75 or 100 Hz During this proc...

Page 20: ...The scanning range of the LMS will be reduced as a result Fig 6 Reflection angle The reflection angle is the same as the angle of incidence If the laser beam is incident perpendicularly on a surface the energy is optimally reflected Fig 5 on page 19 If the beam is incident at an angle a corresponding energy and scanning range loss is incurred Fig 6 on page 20 Fig 7 Degree of reflection If the refl...

Page 21: ...ould be possible theoretically based on the surface of the object 3 5 1 Scanning range of the LMS The scanning range of the LMS is dependent on the remission of the objects to be detected The better a surface reflects the incident radiation the greater the scanning range of the LMS The diagrams in Fig 10 indicate the relationship between remission and detectability Fig 10 Scanning range of the LMS...

Page 22: ...red points also increases The distance between the measured points is also dependent on the angular resolution configured With a coarser resolution the distance is larger with a finer resolution the distance is smaller The distance dependent spacing between the measured points is the tangent of the angular resolution distance Fig 12 Schematic layout of the distance between measured points at diffe...

Page 23: ... 42 ft with the characteristic curve for beam diameter gives a beam size of approx 150 mm 5 91 in HR or 342 mm 13 46 in SR 3 5 3 Minimum object size To reliably detect an object a laser beam must be fully incident on it once If the beam is partially incident less energy will be reflected by an object than necessary in somecircumstances see Fig 9 on page 21 An object is only reliably fully seen if ...

Page 24: ...level of contamination For this reason the contamination is measured continuously while the device is in operation For a certain level of contamination first a contamination warning is output if the contamination becomes worse a contamination error is output and the LMS stops taking measurements Depending on the application in which the LMS is used you can choose between various strategies for the...

Page 25: ...affic transport robots object building protection low false alarm rate anti collision navigation mapping 3 7 Measurement of objects 3 7 1 Basic parameters The LMS scans with a scanning frequency of 25 up to 100 Hz or with an angular resolution of 0 167 up to 1 At a higher scanning frequency or a finer angular resolution the LMS supplies more measured values PROJECT TREE LMS PARAMETER BASIC PARAMET...

Page 26: ...ly the first echo all echoes or the last echo received see section 3 7 4 Measured value output for a 5 echo reflected pulse on page 29 Particle filter The particle filter can be used in dusty surroundings or in case of rain or snow to filter out interference due to particles of dust rain drops snow flakes etc Important The particle filter is an application filter It acts on the field application n...

Page 27: ...ed data by using a message on the interface from which you want to receive measured data There are two possible ways of doing this Exactly one measured value message can be requested using the sRN LMDscandata message the last scan measured is transferred see section 10 2 4 Read scan data on page 80 Measured data can be continuously requested using the sEN LMDscandata message measured data are then...

Page 28: ...he LMS you should only request the scan data for a single scan The scan counter in the measured value output can be used as an indication that processing is too slow see section 10 2 4 Read scan data on page 80 1 Start measurement Request STX sMN LMCstartmeas ETX LMS answer STX sAN LMCstartmeas 0 ETX 2 Query measuring status You must query the status until status 7 that is ready to measure is achi...

Page 29: ...Most of the sending pulse energy will continue to propagate and will eventually reflect against the actual target object This final pulse could be up to 5 received echoes Fig 17 Principle of operation of the measurement of the fifth received echo If the Global Filter is set to First Echo the LMS500 will only take the first echo into account and ignore all following echoes With All Echoes the scann...

Page 30: ...s In the evaluation case one of ten configurable evaluation fields an evaluation strategy an output and in somecircumstances a combination of inputs that activate the evaluation case are selected An operator is selected for each output this operator determines the result on the output if more than one evaluation case acts on the output In the example in Fig 18 in evaluation case 1 evaluation field...

Page 31: ... must be permanently and completely in the evaluation field As a result the LMS can detect e g that a door is opening outwards or that the position of the LMS is being changed Also crawling beneath a vertical evaluation field or the deflection of the laser beam by a mirror can be detected Using blanking the lack of part of a contour can be blanked up to a certain size I O operator Using the I O op...

Page 32: ...e of the evaluation fields already configured for the evaluation case Its shape must match the evaluation strategy see section 3 8 2 Evaluation fields on page 33 Output Choose one of the outputs for the evaluation case If several evaluation cases act on an output you must define how the results of the evaluation cases are linked see section 3 8 3 Operator for the evaluation cases on the output on ...

Page 33: ...the encoder see section 3 9 1 Encoder inputs on page 34 You can configure the evaluation fields in SOPAS ET PROJECT TREE LMS PARAMETER EVALUATION FIELDS If the area to be monitored changes then you can re configure the LMS via software without additional mounting effort 3 8 3 Operator for the evaluation cases on the output If several evaluation cases act on an output you must define how the result...

Page 34: ...Digital switching outputs The LMS500 511 has three digital switching outputs The outputs can be used as digital switching outputs to ground as floating outputs or as resistance monitored outputs see section 5 4 5 Wiring of inputs and outputs on the LMS on page 55 For each output you configure whether it is switched by the field evaluation application or via SOPAS ET messages or whether it is used ...

Page 35: ...tion case 1 also acts on the LMS at the top and its output 1 Using the OR operator for the two results evaluation field infringements on both LMS are signalled on output 1 on the LMS at the top 3 10 Data interfaces The LMS has different data interfaces for the configuration and the transmission of measured values Important It is only possible to output all measured values of a scan in real time us...

Page 36: ...n SOPAS_ET You will find a description of the electrical interface in section 5 2 Connections of the LMS on page 47 3 10 2 Serial host interface The serial host interface is an RS 232 RS 422 interface The host interface permits the configuration of the LMS and only limited measured value output The interface parameters are freely configurable PROJECT TREE LMS NETWORK INTERFACES IOS SERIAL area SER...

Page 37: ...pending on the coding Messages with ASCII coding The frame for the serial host interface can be configured in SOPAS ET PROJECT TREE LMS INTERFACES SERIAL area SERIAL HOST INTERFACE In this way for example you can use two stop bytes e g to end messages with CR LF Messages with binary coding Calculation of the checksum The checksum is calculated using an XOR operator for every byte of the data that ...

Page 38: ...Windows 2000 Windows XP or Windows Vista see also section 6 2 1 System requirements for SOPAS ET on page 58 3 12 2 Mounting requirements The LMS must be mounted as follows robust as far as possible without shocks as far as possible without vibration protected from direct sunlight and heat sources Mounting kits The following mounting kits are available mounting kit 1 mounting bracket for mounting a...

Page 39: ...ing material not in the delivery or weather protection hood with mounting kit not in the delivery or as an alternative if a fixing bracket is provided by the user stable mounting bracket that provides adjustable alignment of the LMS in the X and Y axis 4 M6 screws for the LMS screw length dependent on the wall thickness of the mounting bracket used 4 2 3 Necessary tools 4 M6 screws for mounting th...

Page 40: ...oading on the laser measurement system On applications that suffer from heavy vibration prevent the fixing screws from coming loose using screw locking devices see section 9 1 Data sheet LMS laser measurement system on page 67 Regularly check the tightness of the fixing screws Pay attention to the maximum torque for the fixing screws on the LMS M6 on rear max 12 Nm M8 on side max 16 Nm The LMS can...

Page 41: ...l drawing LMS500 on page 70 4 3 2 Mounting with mounting kit 1 With the aid of mounting kit 1 you can mount the LMS on a mounting surface wall machine Fig 23 Mounting with mounting kit 1 1 Mount mounting kit 1 on the mounting surface 2 Then mount the LMS on the mounting kit 1 Important During mounting please observe the dimensional drawings see section 9 2 3 Dimensional drawings mounting kits on p...

Page 42: ...ou can align the LMS in two planes The maximum adjustment angle is 11 in both planes Fig 24 Mounting with mounting kit 2 and 3 1 Mount the mounting kit 2 on the mounting surface 2 Then mount mounting kit 1 on mounting kit 2 3 Then mount the LMS on mounting kit 1 4 Adjust the LMS longitudinally and cross wise Important During mounting please observe the dimensional drawings see section 9 2 3 Dimens...

Page 43: ...table floor mounting or ensures that mounting kit 2 remains precisely adjustable cross wise on uneven wall surfaces Fig 25 Mounting with mounting kit 2 and 3 1 Mount mounting kit 3 on the mounting surface 2 Then mount mounting kit 2 on mounting kit 3 3 Then mount mounting kit 1 on mounting kit 2 4 Finally mount the LMS on mounting kit 1 5 Adjust the LMS longitudinally and cross wise Important Duri...

Page 44: ...unlight when used outside a weather protection hood is available The weather protection hood can be mounted on the LMS500 511 in two different positions depending on the orientation of the scanner You will find detailed dimensions in section 9 2 4 Dimensional drawings weather protection hoods on page 75 Fig 26 Weather protection hood upright orientation of the scanner Fig 27 Weather protection hoo...

Page 45: ...veral laser measurement systems is unlikely To completely exclude erroneous switching we recommend mounting the laser measurement systems as shown in the following examples Use mounting kits 1 to 3 to adjust the laser measurement systems to different angles Correct placement of several LMS Illustration of the LMS500 have to been inserted on the following figures Arrange or shield several LMS such ...

Page 46: ...lacement of two LMS upside down parallel offset Fig 33 Placement of two LMS with parallel offset one of these upside down 4 4 Dismanteling the system 1 Switch off the supply voltage 2 Remove the connection cables 3 Undo the mounting screws for the LMS to the mounting bracket and remove the device Important On final decommissioning please observe the disposal requirements in section 2 5 2 Disposal ...

Page 47: ...ion Wire data interface for operation 5 2 Connections of the LMS Depending on the variant the LMS has different connections The LMS500 has a removable system plug This has a M16 screw type cable entry on the rear The connections are made to the screw type terminal in the system plug In addition these variants have a round M12 plug connector for the connection to Ethernet You can move the M16 cable...

Page 48: ...utput 4 9 OUT 5 Digital output 5 10 OUT 6 Digital output 6 11 CAN H CAN BUS High 12 GND CAN HST Ground CAN host 13 CAN L CAN BUS Low 14 SHIELD Shield 15 Reserved Do not use 16 Reserved Do not use 17 IN3 Digital input 3 18 IN4 Digital input 4 19 IN34EXT 20 IN12EXT 21 IN1 Digital input 1 22 IN2 Digital input 2 23 RTS TDP 24 TXD TDN 25 GND CAN HST Ground CAN host 26 RXD RDN 27 CTS RDP 28 SHIELD Shiel...

Page 49: ...RxD Serial RSF422 host interface receiver 31 Out 1 4 RS422 CAN GND Ground Serial RS 422 and CAN 51 Out 2 61 NC Not connected 7 RS422 TxD Serial RSF422 host interface sender 81 NC Not connected 9 RS422 RxD Serial RSF422 host interface receiver 10 RS422 TxD Serial RSF422 host interface sender 111 CAN Low CAN BUS Low 121 CAN High CAN BUS High Tab 12 Pin assignment of the RSF232 connection on the LMS5...

Page 50: ... sections Wire all connections with copper cables Use the following wire cross sections supply voltage at least 0 25 mm2 approx 24 AWG if local power supply in the immediate vicinity supply voltage at least 1 0 mm2 approx 18 AWG at maximum length of 20 m 65 62 ft if the connection is made to an existing 24 V DC supply switching outputs minimum 0 25 mm2 approx 24 AWG maximum cable length 50 m 164 0...

Page 51: ...current voltage measurement 5 4 2 Connection on the USB auxiliary interface and the Ethernet interface of the LMS500 511 Pre assembled cables are available to configure the LMS via the USB auxiliary interface and via the Ethernet interface Fig 34 LMS500 511 USB connection at the auxiliary interface Fig 35 LMS500 511 Ethernet connection using the Ethernet cable 24 V DC Plug Socket USB Mini USB Part...

Page 52: ...se undo the four fixing screws Fig 9 2 1 on page 70 and pull the adapter carefully off the device perpendicular to the base 3 The M16 cable entry metal has an earth connection to the device If a screened connecting cable is used as necessary connect the screen braid on the cable to the cable entry For this purpose shorten the screen braid as appropriate before assembling the cable entry and fit ov...

Page 53: ...10 or 20 m 16 40 32 81 or 65 62 ft of cable with flying leads Connection of the voltage supply on the LMS511 Pre assembled cables with flying leads are available for the supply to the LMS511 Fig 36 LMS511 connection of the voltage supply Important On the connecting cables part no 6036159 part no 6036160 and part no 6036161 the cables for GND and GND heating are either blue and black or yellow and ...

Page 54: ...m 16 40 ft Part no 6042736 10 m 32 81 ft Part no 6042737 20 m 65 62 ft Socket M12 12 pin Grey NC White Out 1 Green RS422 CAN GND 0V Pink Out 2 Red RS422 RxD Blue RS422 RxD Black RS422 TxD Violet RS422 TxD Green Pink CAN Low Red Blue CAN High LMS Yellow In 3 Green GND In 3 4 Part no 6042732 5 m 16 40 ft Part no 6042733 10 m 32 81 ft Part no 6042734 20 m 65 62 ft Plug M12 8 pin Black GND Out 3 6 Whi...

Page 55: ...g Fig 39 Connecting digital inputs as non floating Important The inputs require a switching voltage of at least 11 V For this reason the supply voltage must be at least 11 V Connecting digital inputs as floating Fig 40 Connecting digital inputs as floating Wiring encoder inputs Fig 41 Wiring encoder inputs LMS IN1 IN1 GND GND VS 11 V 30 V External switch LMS IN1 IN1 GND External signal source UE 1...

Page 56: ...s Laser Measurement Systems of the LMS500 Product Family Chapter 5 Wiring inputs In 1 4 Fig 42 Wiring inputs In 1 4 Connection of the outputs of the LMS to a PLC Fig 43 Connection of the outputs to a PLC active low Fig 44 Connection of the outputs to a PLC active high In 1 4 GND ext LMS LMS PLC Out 1 2 VCC ext LMS Out 3 6 VCC ext PLC GND ext ...

Page 57: ...Subject to change without notice 57 Chapter 5 Wiring the RS 232 or RS 422 interface A screened cable is required for the wiring of the RSF232 or the RS 422 interface Pay attention to the max cable length Fig 45 Wiring of the RSF232 or RSF422 interface LMS Host RxD TxD GND TxD RxD GND R R T T T T R R GND GND LMS Host RSF232 RSF422 ...

Page 58: ...on software you can configure and test the measurement properties the analysis behaviour and the output properties of the system as required The configuration data can be saved as a parameter set project file on the PC and archived Help for the program user interface as well as for the different options can be found in SOPAS ET menu HELP HELP F1 comprehensive online help for the program interface ...

Page 59: ...C to the LMS using data cable 3 Switch on the supply voltage for the LMS The LMS performs a self test and initialises itself 6 3 1 Connect the data interfaces Connect PC and LMS together as per table Parameter Value Language for the user interface English the software must be re started after a change Units of length Metric User group operating level Machine operator Download of the parameters to ...

Page 60: ...NNECTION STANDARD PROTOCOL activate the ACTIVATE SERIAL COMMUNICATION checkbox 2 Click ADVANCED button 3 In COLA DIALECT choose the BINARY option 4 Choose following PORT SETTINGS 8 data bits no parity 1 stop bit 5 Confirm the settings with OK The ADVANCED SCAN SETTINGS dialog box is closed 6 Confirm the settings in the SCAN ASSISTANT dialog box with OK The SCAN ASSISTANT dialog box is closed 6 3 4...

Page 61: ...ad This action is performed either immediately SOPAS ET option IMMEDIATE DOWNLOAD or manually SOPAS ET command DOWNLOAD ALL PARAMETERS TO THE DEVICE Important Once the configuration has been completed the parameter set must be saved in the non volatile memory in the laser measurement system In addition the parameter set can be saved as a project file sprF file with configuration data on the PC and...

Page 62: ... protected Following completion of the configuration you should change the password so that it can perform its protective function A password is not defined for the Operator user level as supplied Use the project tree in SOPAS ET to configure the parameters necessary for your application Do not switch off the voltage supply during configuration Switching off the voltage supply during configuration...

Page 63: ...art the measurement click on PLAY 3 Compare the measurement line with the desired result Important The SCAN VIEW in the MONITOR is dependent on the available computing power of the PC and is not output in real time For this reason not all measured values are displayed The same limitation also applies when saving measured values displayed in a file The monitor displays the measured values unfiltere...

Page 64: ...agents Important Static charges cause dust particles to be attracted to the front screen You reduce this effect by using the antistatic plastic cleaner SICK part no 5600006 and the SICK lens cloth part no 4003353 see section 10 3 1 Consumables on page 95 How to clean the front screen Use a clean and soft brush to remove dust from the front screen Then wipe the view window of the front screen with ...

Page 65: ...rrors Cease operation if the cause of the malfunction has not been clearly identified Stop the machine system if you cannot clearly identify or allocate the error and if you cannot safely rectify the malfunction 8 2 Error displays of the LEDs Display Possible cause Rectification of the error and off No operating voltage or voltage too low Check the voltage supply and activate if necessary illumina...

Page 66: ...onitor you can analyse whether and how evaluation fields are infringed and how the outputs on the LMS behave PROJECT TREE LMS MONITOR FIELD EVALUATION MONITOR 8 4 2 Field evaluation logging Using the field evaluation logging you can log save and subsequently play back the operation of LMS It is used for diagnostics over extended periods and for the analysis of malfunctions or for the optimisation ...

Page 67: ...1 10 m 25 mm 0 98 in High resolution 10 20 m 35 mm 1 38 in Statistical error 1 10 object remission Standard resolution 1 10 m 6 mm 0 24 in Standard resolution 10 20 m 8 mm 0 31 in Standard resolution 20 30 m 14 mm 0 55 in High resolution 1 10 m 7 mm 0 28 in High resolution 10 20 m 9 mm 0 35 in Immunity to external light 70 klx Distance from mirror axis of rotation zero point on the X and Y axis to...

Page 68: ...00 0 C 32 F 50 C 122 F LMS511 30 C 22 F 50 C 122 F Storage temperature range 30 C 22 F 70 C 158 F max 24 h Humidity taking into account the operating temperature range DIN EN 60068F2F61 method 1 Vibration resistance As per EN 60068F2F6 1995F04 Frequency range 10 Hz 150 Hz Amplitude 5 g RMS Shock resistance As per EN 60068F2F27 1993F03 EN 60068F2F29 1993F04 Single shock 15 g 0 53 oz 11 ms Continuou...

Page 69: ...und M12 plug connector Electrical connection LMS500 System plug with screw terminal block Switching inputs Number 0 2 4 Encoder inputs Number 2 Digital switching outputs Number 3 6 4 Maximum current output 1 25 250 mA Maximum current output 3 4 100 mA Serial auxiliary interface Communication protocol USB 2 0 Transmission speed 9 600 Baud 57 6 kBd 115 2 kBd Serial host interface Communication proto...

Page 70: ... Instructions Laser Measurement Systems of the LMS500 Product Family Chapter 9 9 2 Dimensional drawings 9 2 1 Dimensional drawing LMS500 Fig 47 Dimensional drawing LMS500 mm Connector range ca 80 2 cable gland for cables 5 12 mm 4 fastening thread holes M8 9 4 fastening thread holes M6 8 Area to keep clear when mounting the sensor ...

Page 71: ...10 09 27 SICK AG Division Auto Ident Germany Subject to change without notice 71 Chapter 9 9 2 2 Dimensional drawing LMS511 Fig 48 Dimensional drawing LMS511 mm Connector range ca 80 4 fastening thread holes M8 9 4 fastening thread holes M6 8 Area to keep clear when mounting the sensor ...

Page 72: ...Germany Subject to change without notice 8013796 UL20 2010 09 27 Operating Instructions Laser Measurement Systems of the LMS500 Product Family Chapter 9 9 2 3 Dimensional drawings mounting kits Fig 49 Dimensional drawing mounting kit 1 Scanner Mounting kit 1 ...

Page 73: ...00 Product Family Technical specifications 8013796 UL20 2010 09 27 SICK AG Division Auto Ident Germany Subject to change without notice 73 Chapter 9 Fig 50 Dimensional drawing mounting kit 2 Scanner Mounting kit 1 Mounting kit 2 ...

Page 74: ...dent Germany Subject to change without notice 8013796 UL20 2010 09 27 Operating Instructions Laser Measurement Systems of the LMS500 Product Family Chapter 9 Fig 51 Dimensional drawing mounting kit 3 Scanner Mounting kit 1 Mounting kit 2 Mounting kit 3 ...

Page 75: ...nical specifications 8013796 UL20 2010 09 27 SICK AG Division Auto Ident Germany Subject to change without notice 75 Chapter 9 9 2 4 Dimensional drawings weather protection hoods Fig 52 Dimensional drawing weather protection hoods Variant 1 Variant 2 ...

Page 76: ...the different notations can be mixed within a message All examples used in the following message lists refer to the CoLa A protocol Variable types The variable types are given in the message syntax The following variable types are possible Important The information in the Length column of the table refers to the binary transfer of the numeric parameters The information in the Value range column in...

Page 77: ... 73 4D 4E 20 4C 4D 43 73 74 61 72 74 6D 65 61 73 03 Answer STX sAN SPC LMCstartmeas SPC 0 ETX HEX string 02 73 41 4E 20 4C 4D 43 73 74 61 72 74 6D 65 61 73 20 30 03 Message part Description Variable type Length byte Value range Type of command Request SOPAS method by name string 3 sMN Command Start measurement string 12 LMCstartmeas Message syntax I Request Start measurement Message part Descripti...

Page 78: ...4D 43 73 74 6F 70 6D 65 61 73 03 Answer STX sAN SPC LMCstopmeas SPC 0 ETX HEX string 02 73 41 4E 20 4C 4D 43 73 74 6F 70 6D 65 61 73 20 30 03 Message part Description Variable type Length byte Value range Type of command Request SOPAS method by name string 3 sMN Command Stop measurement string 11 LMCstopmeas Message syntax III Request Stop measurement Message part Description Variable type Length ...

Page 79: ...st SOPAS read by name string 3 sRN Command Query status string 5 STlms Message syntax V Request Query status Message part Description Variable type Length byte Value range Type of command Acknowledgement of receipt SOPAS read answer string 3 sRA Command Query status string 5 STlms Status Status of the LMS Enum16 1 0 undefined 1 initialisation 2 configuration 3 idle 4 rotating 5 in preparation 6 re...

Page 80: ... measured value output Message structure sRN LMDscandata Request method 2 continuous measured value output Message structure sEN LMDscandata MeasurementStartStop Message structure sRA sSN LMDscandata VersionNumber DeviceNumber SerialNumber DeviceStatus MessageCounter ScanCounter PowerUpDuration TransmissionDuration InputStatus OutputStatus ReservedByteA ScanningFrequency MeasurementFrequency Numbe...

Page 81: ...mit is reached the counter starts again at 0 1st message uint_16 2 0000h 0 FFFFh 65 535 ScanCounter Counter starting with the first scan after confirmation of the measured value message When the upper limit is reached the counter starts again at 0 1 scan uint_16 2 0000h 0 FFFFh 65 535 PowerUpDuration Time since the LMS was switched on in µs uint_32 4 00000000h 0 FFFFFFFFFh 4 294 976 295 µs Transmi...

Page 82: ...Radial distance for the first reflected pulse DIST2 Radial distance for the second reflected pulse DIST3 Radial distance for the third reflected pulse DIST4 Radial distance for the fourth reflected pulse DIST5 Radial distance for the fifth reflected pulse ScalingFactor Multiplier for the values in the message parts Data_1 to Data_n Real 4 00000000h FFFFFFFFh ScalingOffset For the LMS always 0 Real...

Page 83: ...al 4 00000000h FFFFFFFFh ZRotation Z angle of rotation for the LMS in a coordinate system Real 4 00000000h FFFFFFFFh RotationType Rotation type Enum8 1 0 none 1 Pitching 2 Rolling 3 free rotation Name Determines whether the device name is to be output uint_16 2 0 no device name 1 Output of the device name DeviceName Flexible range from 0 to 16 characters 20h FFh string 0 16 Comment Defines whether...

Page 84: ...vent information Event type Fast digital input event string 4 FDIN Encoder position Encoder position at the time of the event information in ticks uint_32 4 00000000h FFFFFFFFh EventTime Time since the LMS was switched on in µs uint_32 4 00000000h 0 FFFFFFFFh 4 294 967 295 µs Angular position Angular position of the LMS at the time of the event information in 1 10 000 Grad int_32 4 0 3 600 000 Mes...

Page 85: ...rt Description Variable type Length byte Value range Type of command Request SOPAS read by name string 3 sRN Command Readingof scanning frequency and angular resolution string 10 LMPscancfg Message syntax X Request Read scanning frequency angular resolution and scan area Message part Description Variable type Length byte Value range Type of command Answer SOPAS read answer string 3 sRA Command Con...

Page 86: ...A SPC LCMstate SPC 0 ETX HEX string 02 73 52 41 20 4C 43 4D 73 74 61 74 65 20 30 03 Message part Description Variable type Length byte Value range Type of command Request SOPAS read by name string 3 sRN Command Read contamination level string 8 LCMstate Message syntax XII Request Read contamination level Message part Description Variable type Length byte Value range Type of command Acknowledgement...

Page 87: ...X sAN SPC SetAccessMode SPC ETX HEX string 02 73 41 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 31 03 User level Password Hash value Maintenance personnel main B21ACE26h Authorised client client F4724744h Tab 22 Hash values of the passwords Message part Description Variable type Length byte Value range Type of command Request SOPAS method by name string 3 sMN Command Select user level string 1...

Page 88: ...rtingAngle StoppingAngle Message part Description Variable type Length byte Value range Type of command Request SOPAS method by name string 3 sMN Command Configuration of scanning frequency and angular resolution string 14 mLMPsetscancfg ScanningFrequency Information in 1 100 Hz the transmitted value can be 25 Hz or 50 Hz uint_32 4 2 500 25 Hz 3 500 35 Hz 5 000 50 Hz 7 500 75 Hz 10 000 100 Hz Numb...

Page 89: ...memory in the EEPROM on the LMS using a message see 10 2 11 on page 93 or send the message to the LMS again after switch on Message part Description Variable type Length byte Value range Type of command Answer SOPAS answer string 3 sAN Command Configuration of scanning frequency and angular resolution string 14 mLMPsetscancfg Error code The command has been accepted if the error code 0 is returned...

Page 90: ...th 8 bit or 16Fbit resolution Enum8 1 0 8 Bit 1 16 Bit Unit Defines the unit in which the remission values are output Enum8 1 0 digits Encoder The measured data message has several output channels for encoder data The message part defines which output channel is activated uint_16 2 00h no encoder data 01h encoder channel 1 02h reserved FFh reserved Position Defines whether position values are outp...

Page 91: ...ample 2 Output channel 2 active encoder channel 1 active each 10th measured data message Request STX sWN SPC LMDscandatacfg SPC 02 SPC 00 SPC 0 SPC 1 SPC 0 SPC 01 SPC 00 SPC 0 SPC 0 SPC 0 SPC 0 SPC 10 ETX HEX string 02 73 57 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 63 66 67 20 30 32 20 30 30 20 30 20 31 20 30 20 30 31 20 30 30 20 30 20 30 20 30 20 30 20 2B 31 30 03 Answer STX sWA SPC LMDscandatacfg ...

Page 92: ...Output ErrorCode Example Request STX sMN SPC mDOSetOutput SPC 0 SPC 1 ETX Answer STX sAN SPC mDOSetOutput SPC 1 ETX Message part Description Variable type Length byte Value range Type of command Request SOPAS method by name string 3 sMN Command Set output string 12 mDOSetOutput Output Output number uint_8 1 0 output 1 1 output 2 2 output 3 3 output 4 4 output 5 5 output 6 Status State of the outpu...

Page 93: ... Request STX sMN SPC mEEwriteall ETX HEX string 02 73 4D 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 03 Answer STX sAN SPC mEEwriteall SPC 1 ETX HEX string 02 73 41 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 20 31 03 Message part Description Variable type Length byte Value range Type of command Request SOPAS method by name string 3 sMN Command Save data permanently string 11 mEEwriteall Message syntax XXII...

Page 94: ...xample Request STX sMN SPC Run ETX Answer STX sAN SPC Run SPC 0 ETX Message part Description Variable type Length byte Value range Type of command Request SOPAS method by name string 3 sMN Command Start the device string 3 Run Message syntax XXV Request Start device Message part Description Variable type Length byte Value range Type of command Answer SOPAS answer string 3 sAN Command Start the dev...

Page 95: ...ing information about the product and the accessories can be found in the product information LMS500 511 No 8013797 which is included on the provided CD ROM Manuals Software Auto Ident No 2039442 10 3 1 Consumables Part number Part Description 4003353 Lens cloth Special cloth for proper cleaning of the window 5600006 Plastic detergent Antistatic mild detergent solution Tab 23 Consumables ...

Page 96: ...ed radially in the scan direction in front of the laser output aperture this area must contain the objects to be measured Parameter set Data set using which the functions implemented in the LMS are initialised and activated Is transmitted from the LMS to SOPAS ET and in the reverse direction using UPLOAD or DOWNLOAD respectively Remission Remission is the quality of reflection at a surface The bas...

Page 97: ...Operating Instructions LMS500 Product Family Annex 8013796 UL20 2010 09 27 SICK AG Division Auto Ident Germany Subject to change without notice 97 Chapter 10 ...

Page 98: ...81 0 3 3358 1341 E Mail support sick jp Nederlands Phone 31 0 30 229 25 44 E Mail info sick nl Norge Phone 47 67 81 50 00 E Mail austefjord sick no Österreich Phone 43 0 22 36 62 28 8 0 E Mail office sick at Polska Phone 48 22 837 40 50 E Mail info sick pl Republic of Korea Phone 82 2 786 6321 4 E Mail info sickkorea net Republika Slovenija Phone 386 0 1 47 69 990 E Mail office sick si România Pho...

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