SICK LRS4000 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

LRS4000

2D LiDAR sensors

Summary of Contents for LRS4000

Page 1: ...O P E R A T I N G I N S T R U C T I O N S LRS4000 2D LiDAR sensors ...

Page 2: ...ible 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 trademarks stated in this document are the property of their respective owner SICK AG All rights reserved Original document This document is an original document of SICK AG 2 O P E R A T I N G I N S T R U...

Page 3: ... 4 2 Range finding 12 3 4 3 Direction measurement 12 3 4 4 Impact of object surfaces on the measurement 12 3 4 5 Object sizes 14 3 4 6 Multi echo analysis 17 3 4 7 Filter 17 3 4 8 RSSI values 19 3 4 9 Synchronization of the external clock and device clock 19 4 Transport and storage 21 4 1 Transport 21 4 2 Unpacking 21 4 3 Transport inspection 21 4 4 Storage 21 5 Mounting 23 5 1 Mounting instructio...

Page 4: ...intenance plan 35 8 2 Cleaning 35 9 Troubleshooting 36 9 1 General faults warnings and errors 36 9 2 Repairs 36 9 3 Returns 36 9 4 Disposal 36 10 Technical data 37 10 1 Features 37 10 2 Mechanics Electronics 38 10 3 Dimensional drawing 39 10 4 Performance 40 10 5 Interfaces 40 10 6 Ambient data 40 11 Accessories 41 12 Annex 42 12 1 Declarations of conformity and certificates 42 12 2 Licenses 42 CO...

Page 5: ...on on 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 important information in this document are labeled with symbols Sig nal words introduce the instructions and indicate the extent of the hazard To avoid accidents damage and personal injury always com...

Page 6: ...taining technical data dimensional drawing and specification diagrams Declarations of conformity and certificates of the product family Dimensional drawings and 3D CAD dimension models of the device types in various electronic formats Other publications related to the devices described here Publications dealing with accessories 1 ABOUT THIS DOCUMENT 6 O P E R A T I N G I N S T R U C T I O N S LRS4...

Page 7: ...nformation Product should be used only in accordance with its intended use All information in these operating instructions must be strictly observed Shut down the product immediately in case of damage 2 3 Cybersecurity To protect against cybersecurity threats it is necessary to continuously monitor and maintain a comprehensive and holistic cybersecurity concept A suitable concept com prises organi...

Page 8: ...igura tion Basic knowledge of the computer operating system used Basic knowledge of the design and setup of the described connections and interfaces Basic knowledge of data transmission Operation of the device for the particular application Knowledge of the operation and control of the devices in their particular application Knowledge of the software and hardware environment for the particular app...

Page 9: ...the operating instructions National and regional regulations must be complied with Safety requirements relating to work on electrical systems must be complied with WARNING Risk of injury and damage caused by potential equalization currents Improper grounding can lead to dangerous equipotential bonding currents which may in turn lead to dangerous voltages on metallic surfaces such as the housing El...

Page 10: ... APP LED 2 DEV LED APP LED color DEV LED color Description O Red O Red Starting up O Red Configuration Off O Green On Ready for operation Ö Yellow Warning Ö Slow red Ö Slow red Error that can be corrected by the customer Ö Fast red Ö Fast red Fatal error O Yellow Standby Power save Ö Red Ö Yellow Ö Green Ö Red Ö Yellow Ö Green Identification of the device Ö Red Ö Green Firmware update O illuminate...

Page 11: ...connections 3 4 Principle of operation 3 4 1 Measurement principle The device is an optoelectronic LiDAR sensor that contactlessly scans the outline of its surroundings with the help of laser beams The device measures its surroundings in two dimensional polar coordinates relative to its measurement origin This is marked by a circular indentation in the center of the optics cover If a laser beam st...

Page 12: ...ght emitted by the LiDAR sensor which is reflected by an object see Lambert s law Glossy surfaces have different remissions at the same distance with different angles of impact In the case of shiny surfaces maximum remission is achieved when the beam makes vertical impact Matt and dull surfaces have diffuse remission They therefore exhibit similar relative remissions with the same angle of impact ...

Page 13: ...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 surface of the object Angle of reflection The angle of reflection corresponds to the angle of incidence If the laser beam hits a surface at right angles the energy is optimally reflected If the laser beam hits a surface ...

Page 14: ...object may not be detected The portion of the light that does not reach the front object can be reflected by a larger object in the background If all of the light reflected to the sensor is sufficient this object is detected This can lead to a corruption of the measured value Figure 8 Object smaller than the laser beam diameter 3 4 5 Object sizes As the distance from the device increases the laser...

Page 15: ... 25 Hz Formula for calculating the height of the light spot Light spot divergence mrad x distance m light spot height at the device cover mm light spot height mm Calculation example of spot height at 30 m distance 2 6 mrad 30 m 7 mm 85 mm Formula for calculating the minimum object size horizontal Angular resolution mrad x distance m minimum object size mm Calculation example of minimum object size...

Page 16: ...t size at angular resolution 0 040 4 Minimum object size at angular resolution 0 100 5 Minimum object size at angular resolution 0 200 NOTE Depending on the angular resolution selected the number of single spots used varies For uninterrupted measurement of an object it is important to hit the object with the entire light spot width all single spots That means an object should be larger than the mi...

Page 17: ...Multi echo analysis example industrial application for ports cranes and traffic 1 Fog 2 Rain 3 Measuring object 3 4 7 Filter By using digital filters to pre process and optimize the measured distance values the device can be tailored to the specific requirements of the respective application This makes it possible to prevent virtually all faults The active filter functions affect the outputted mea...

Page 18: ...d values consisting of the distance values of a point 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 Median calculation 850 lowest value 850 950 1 100 1150 median 1 150 1 200 1 200 1 250 highest value Table 4 Example Median for scan 2 and angle 3 3 x ...

Page 19: ... whole number values between 1 and 65 535 where 1 stands for the weakest signal and 65 534 for the strongest signal e g with one reflector A value of 65 535 means dazzled The value 0 zero means that the received energy was too low to produce a valid measured value A valid distance measurement has at least an RSSI value of 1 If the RSSI value is 0 then no distance measurement is possible There can ...

Page 20: ...e computer Sending can happen with a delay time of up to a few milliseconds which results in some uncertainty Via index pulse at hardware output The device outputs a signal depending on the sender receiver position This signal is used for example to synchronize scans with the position of a swivel device for 3D measurement 3 PRODUCT DESCRIPTION 20 O P E R A T I N G I N S T R U C T I O N S LRS4000 8...

Page 21: ...r completeness and for any damage that may have occurred in transit In the case of transit damage that is visible externally proceed as follows Do not accept the delivery or only do so conditionally Note the scope of damage on the transport documents or on the transport compa ny s delivery note File a complaint NOTE Complaints regarding defects should be filed as soon as these are detected Damage ...

Page 22: ...rage periods of longer than 3 months check the general condition of all components and packaging on a regular basis 4 TRANSPORT AND STORAGE 22 O P E R A T I N G I N S T R U C T I O N S LRS4000 8026338 0000 2022 02 15 SICK Subject to change without notice ...

Page 23: ...tatus indicator is clearly visible Do not affix any labels or stickers to the optics cover 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 Mounting device 1 Mount the device in a suitably prepared bracket using the fixing holes provided see Dimensional drawing page 39 Mounting brackets are a...

Page 24: ... the supply voltage until installation is complete and all connecting cables are connected to the device and control Wire cross sections in the supply cable from the customer s power system must be implemented in accordance with the applicable standards In the case of open end cables make sure that bare wire ends do not touch Wires must be appropriately insulated from each other Wire cross section...

Page 25: ...any local trigger sensor s system controller via shielded cables The cable shield for the data cable for example rests against the metal housing of the device The device can be grounded through the cable shield or through a blind tapped hole in the housing for example If the peripheral devices have metal housings and the cable shields are also in contact with their housings it is assumed that all ...

Page 26: ...r widely distributed system installations 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 isolators is recommended This measure achieves a high degree of resistance to electromagnetic interference Electro optical signal isolator Electro optical signal...

Page 27: ...Shielded electrical cable Even in the event of large differences in the ground potential ground loops are effec tively prevented As a result equalizing currents can no longer flow via the cable shields and metal housing NOTICE The voltage supply for the device and the connected peripheral devices must also guarantee the required level of insulation Under certain circumstances a tangible potential ...

Page 28: ...e 7 Pin assignment for Ethernet connection Pin Identification Description 1 TX Sender 2 RX Receiver 3 TX Sender 4 RX Receiver Connection I O and encoder 1 7 2 6 3 4 5 8 Figure 21 Female connector M12 8 pin A coded Table 8 Pin assignment for I O connection Pin Identification Description Wire color part num ber 6036155 1 IN1 Encoder input 1 White 2 IN2 Encoder input 2 Brown 3 IN3 OUT3 Digital input ...

Page 29: ...ured values in a single scan and at the same interface A volume for example can be calculated by evaluating the measurement data and position data encoder ticks The input frequency of the encoder signal must not exceed 50 kHz The following incremental encoders with a push pull output stage HTL can be used Single channel only connected at encoder IN1 no direction detection Dual channel phase connec...

Page 30: ... for the device Ensure that the computer and device are located in the same network Ensure that the computer uses a different IP address than the device Opening user interface 1 Open web browser recommendation Google Chrome 2 Enter the device IP address into the address line The standard IP address is 192 168 0 1 The SOPASair user interface is displayed 7 1 2 Overview 4 2 3 1 5 1 Show and hide men...

Page 31: ...asswordand click on log in User levels Password User and authorizations Maintenance Customers Display only no configu ration AuthorizedClient Client Technical staff Install and configure device Service Service staff Make advanced config uration settings 7 2 Operation in SOPAS ET Execute the functions listed below via the SOPAS ET configuration software Functions Terminal program Install firmware u...

Page 32: ...o the device 1 In the project window click Login to establish communication 2 Select Autorisierter Kunde as the as user level and enter the password client Click the Login button 7 2 3 Output of measured values via terminal program Example commands for output of measured values If the LiDAR sensor receives one of the two example commands by telegram through the Ethernet interface it will start the...

Page 33: ...query the status of the device using the sRN SCdevicestate telegram Then request measured data via telegram at the data interface from which you want to receive measured data This can be achieved in two ways The request of exactly one measured value with the sRN LMDscandata telegram the last measured scan is transmitted Continuous request of measured data with the sEN LMDscandata 1 telegram measur...

Page 34: ...nd time stamp In the default settings the distance is output as a measured value in mm To output the reflectance values in the telegram Open the device window Device Open menu and in the Distance measurement view select the RSSI check box under Output data format 7 OPERATION 34 O P E R A T I N G I N S T R U C T I O N S LRS4000 8026338 0000 2022 02 15 SICK Subject to change without notice ...

Page 35: ...ist Check the mounting accessories and vibration dampers used Depends on the place of use ambi ent conditions or operating require ments 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 Specialist 8 2 Cleaning NOTICE Equipment damage due to improper cleaning...

Page 36: ...terruptions or modifications to the 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 or an equivalent padded pack aging NOTE To enable efficient processing and allow us to determine the cause quickly please include the following when making a return D...

Page 37: ...ution 12 5 Hz 0 020 0 040 0 060 0 100 0 120 25 Hz 0 040 0 080 0 120 0 200 0 240 Heating Self heating Working range 0 2 m 130 m Sensing range for 10 remission factor typ 40 m Sensing range for 90 remission factor typ 130 m Single spot size verti cal horizontal 2 6 mrad 0 150 0 4 mrad 0 023 Spot size HDDM verti cal horizontal 2 6 mrad 0 150 0 4 mrad 0 023 angular resolution Number of echoes evalu at...

Page 38: ...ission factor 130 m 4 Sensing range for objects up to 10 remission factor 40 m 10 2 Mechanics Electronics Electrical connection 3 x M12 Supply voltage Vs 10 30 V DC Output current 0 25 A per output max combined current of all outputs 1 A Power consumption 13 W typical plus digital outputs Max 20 W plus digital outputs Housing ALSi12 Optics cover material Polycarbonate Housing color Grey RAL 7042 E...

Page 39: ...15 0 59 Figure 24 Device dimensions LRS4000 unit mm inch decimal separator period 1 Gore Tex membrane 2 M5x7 5 fixing hole 3x 3 Sender 4 Receiver 5 APP LED 6 DEV LED 7 Optics cover 8 Rotatable connections max 270 9 M5x7 5 fixing hole 2x ß Ethernet connection à I O connection á Power connection â Type label ã Locating pin for hooking into the bracket during mounting ä 500 mm measuring range å 500 m...

Page 40: ...rrent 1 mA The values of the input thresholds depend on the supply voltage VS Digital output Number 6 High level min VS 2V max VS Low level min 0 V max 0 5 V Delay for index signal 1 µs Optical displays LEDs Configuration software Web server 10 6 Ambient data Remission 2 1 000 reflector Electromagnetic compati bility EMC Radiation emitted EN 61000 6 3 2007 AMD A1 2011 Electromagnetic immunity EN 6...

Page 41: ...ccessories and if applicable mounting information can be found online at www sick com LRS4000 ACCESSORIES 11 8026338 0000 2022 02 15 SICK O P E R A T I N G I N S T R U C T I O N S LRS4000 41 Subject to change without notice ...

Page 42: ...ral Public License LGPL MIT license zlib license and licenses derived from the BSD license This program is provided for general use without warranty of any kind This warranty disclaimer also extends to the implicit assurance 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 licenset...

Page 43: ...ANNEX 12 8026338 0000 2022 02 15 SICK O P E R A T I N G I N S T R U C T I O N S LRS4000 43 Subject to change without notice ...

Page 44: ...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 Mail sales sick co nz Norway Phone 47 67 81 50 00 E Mail sick sick no Poland Phone 48 22 539 41 00 E Mail info sick pl Romania Phone 40 356 17 11 20 E Mail office sick ro Russia Phone 7 495 283 09 90...

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