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rotoScan ROD4plus / ROD4-08plus

Area Scanning Distance Sensor

GB 02-07/08 50106879

T E C H N I C A L D E S C R I P T I O N

Содержание rotoScan ROD4-08plus

Страница 1: ...rotoScan ROD4plus ROD4 08plus Area Scanning Distance Sensor GB 02 07 08 50106879 T E C H N I C A L D E S C R I P T I O N ...

Страница 2: ... 044 4961818 C illies Co Ltd Tel Int 81 3 3443 4143 Fax Int 81 3 3443 4118 Profa Tech Ltd Tel Int 254 20 828095 6 Fax Int 254 20 828129 Leuze electronic Co Ltd Tel Int 82 31 3828228 Fax Int 82 31 3828522 KazPromAutomatics Ltd Tel Int 7 7212 50 11 50 Fax Int 7 7212 50 11 50 Leuze electronic S A Tel Int 34 93 4097900 Fax Int 34 93 4903515 Logoprom ODO Tel Int 375 017 235 2641 Fax Int 375 017 230 861...

Страница 3: ...tion examples 14 3 4 1 Object measurement 14 3 4 2 Object detection 15 4 Mounting 18 5 Electrical connection 19 5 1 Connecting the rotoScan ROD4 plus 19 5 1 1 Connection functions Y1 to Y4 20 5 1 2 Connector assignments for connection Y1 21 5 1 3 Connector assignments for connection Y2 Ethernet 21 5 1 4 Connector assignments for connection Y3 service 22 5 1 5 Connector assignments for connection Y...

Страница 4: ...intenance 36 7 1 Testing 36 7 2 Cleaning 36 8 Delivery contents and accessories 37 8 1 Scope of delivery 37 8 2 Accessories 37 8 2 1 Pin assignments KB 014S 14 38 8 2 2 Pin assignments KB ROD4plus 38 8 2 3 Pin assignments KB ET SA RJ45 cross over cable 38 8 2 4 Pin assignments KB ET SA 39 8 2 5 Pin assignments K D M12A 8P 39 8 2 6 BT ROD4 mounting system 40 9 Technical data 41 9 1 Object measureme...

Страница 5: ...s for connection Y3 22 Table 5 7 Pin assignments for connection Y4 23 Figure 5 2 Inputs of interface Y1 24 Figure 5 3 Example Detection field pair switch for a DTS application 25 Figure 5 4 Outputs of interface X1 26 Figure 5 5 Connection example without detection field pair switch 30 Figure 5 6 Connection example with detection field pair switch 31 Figure 6 1 User interface of the RODsoft configu...

Страница 6: ...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 ROD4plus and rotoScan ROD4 08plus distance sensors have been devel oped and produced in accordance with the applicable European standards a...

Страница 7: ...on class I are satisfied Reference measurement A reference measurement cyclically controls the measurement function The following func tions are checked on each rotation of the mirror by means of a test object located inside of the device optical systems e g transmitter and receiver hardware software etc Window monitoring A total of six light axes monitor the degree of soiling of the window During...

Страница 8: ...equirements apply for all connected input and output power circuits The 24VDC power supply must be fed into the scanner via a separate branch by means of a 2 5A fuse without heating or a 4A fuse with heating semi time lag installed in the switch cabinet Operation is permissible only with control cable Y1 screwed down Alarm outputs 1 pins P and R on Y1 must not be used to switch safety relevant sig...

Страница 9: ... any light back to the sensor could falsify the measurement value Additional notices can be found in chapter 9 5 Do not expose the ROD4 plus to flying sparks e g welding sparks the front cover among other parts of the system will be damaged Vapours smoke dust and all particles visible in the air could affect the measurement values and cause the semiconductor outputs to switch off Avoid large tempe...

Страница 10: ... increase the danger of eye damage Adhere to the applicable legal and local regulations regarding protection from laser beams acc to EN 60825 1 in its latest version Avoid mounting the distance sensor at eye level The front cover is the only opening through which the laser radiation can escape from the device The housing of the ROD4 plus distance sensor is sealed and has no parts that need to be a...

Страница 11: ...It should be accessible at all times Safety regulations Observe the locally applicable legal regulations and the rules of the employer s liability insur ance association Qualified personnel Mounting commissioning and maintenance of the device may only be carried out by quali fied personnel Electrical work must be carried out by a certified electrician Repair Repairs must only be carried out by the...

Страница 12: ...ed with an accuracy of 5mm within the measurement range drawn in figure 3 1 2 Object detection 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 object measurement tasks the device is configured using the RODplussoft softwar...

Страница 13: ...n 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 manual 3 1 2 Object detection For obje...

Страница 14: ...eflected 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 measurement ...

Страница 15: ...the applications A detection field pair is considered to be the combination of both a near and far detection field The near and far detection fields are represented by different colours in the RODsoft configuration software near red far green The image of the surroundings generated during the scan process is compared with the specified detection field contours If an object violates a detection fie...

Страница 16: ...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 ...

Страница 17: ...V Pallet measurement Dimension measurement in materials handling Figure 3 6 Application example dimension measurement 3 4 2 Object detection Driverless transportation system ROD4 plus as the eye of a service robot Figure 3 7 Application example service robot ...

Страница 18: ... 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 ...

Страница 19: ...V Other applications 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 ...

Страница 20: ...at 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 the detection fields and a...

Страница 21: ... Y2 or Y4 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 rob...

Страница 22: ...t 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 Interface rotoScan ROD4 plus PC Detection field definition with RODsoft Configuration diagnostics with RODplus soft Y4 M12 plug 8 pin RS 232 RS 422 interface Factory setting Measurement data trans f...

Страница 23: ...ield 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 output shutdown on object detection in the near detection fi...

Страница 24: ...le 5 5 Connection M12 to RJ45 1 1 5 1 4 Connector assignments for connection 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 PIN RJ45 e g D ET1 1 TX 1 3 TX 2 2 RX 3 4 RX 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...

Страница 25: ...erface you 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 ...

Страница 26: ...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 ALARM2 and 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 switch D...

Страница 27: ...pair 2 II 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 ...

Страница 28: ...tware 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 Possib...

Страница 29: ...tions the 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 prot...

Страница 30: ... 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 transfe...

Страница 31: ...utton 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 activated detection field pair The following status indi...

Страница 32: ...xample 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 relays K1 and K2 used he...

Страница 33: ...PS4 Y1 L 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 ...

Страница 34: ...ard disk 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 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 l...

Страница 35: ... 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 this protocol are stored in the parameter memor...

Страница 36: ...o 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 ROD4 configuration the response times the detection field switches and other parameters are defined To configure the detection fields select the Define detection areas field Error codes and other information a...

Страница 37: ...escribed in chapter 4 6 4 Switching 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 the interface box indicates the operational readiness of the ROD4 plus ...

Страница 38: ... 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 optical window If window monitoring continues to report a soiled cover even after cleaning it must be replaced with a ne...

Страница 39: ...socket on one end 14 pin cable length 10m shielded 501 09881 KB ET 5000 SA RJ45 Connection cable M12 Ethernet PUR M12 connector D coded RJ 45 connector cable length 5m 501 09882 KB ET 10000 SA RJ45 Connection cable M12 Ethernet PUR M12 connector D coded RJ 45 connector cable length 10m 501 06740 KB ET 5000 SA Connection cable M12 Ethernet PUR M12 connector D coded open cable end 4 pin cable length...

Страница 40: ...lour A UB red C GND blue E FPS1 pink G FPS2 grey 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 grey pink M12 connector PIN Signal Core colour PIN on Sub D socket 1 NC brown 2 TxD white 2 3 GND blue 5 4 RxD black 3 5 NC grey M12 Stecker PIN Signal Core colour PIN RJ45 1 TX yellow 3 3 TX orange 6 2 RX white...

Страница 41: ... 2 4 Pin assignments KB ET SA 8 2 5 Pin assignments K D M12A 8P M12 connector PIN Signal Core colour 1 TX yellow 3 TX orange 2 RX white 4 RX blue M12 socket PIN Signal Core colour 1 Tx TxD white 2 Tx brown 3 Rx green 4 Rx RxD yellow 5 GND shield grey 6 RS 422 pink 7 NC blue 8 NC red ...

Страница 42: ...unting 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 Dimens...

Страница 43: ...om min 1 8 matte black ROD4 08plus 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 ROD4plus 0 50m 1 1 Particularly in the far ...

Страница 44: ...DE 0113 part 201 Inputs at Y1 Restart Reset command device for operating mode with restart disa ble and or device reset dynamically monitored 24VDC optically decoupled activate for 0 12 3s Detection field pair switch 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 for...

Страница 45: ...ion field soiling ALARM1 PNP transistor output max 100mA 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 Object detection Configuration software configuration software RODsoft under Windows 2000 XP Optical properties Angular range ...

Страница 46: ...10000 20 15 8 4 2 1 10 100 10 100 1000 10000 20 15 8 4 2 12 5 25 50 Remission in for ROD4plus 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 08plus Distance m Reflector White plaster writing paper Grey cardboard 18 Black cord ...

Страница 47: ...uze electronic rotoScan ROD4 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 ...

Страница 48: ...ottom 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 Transmitter infrared laser diode λ 905nm Housing diecast aluminium 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 ac...

Страница 49: ...chnical data Leuze electronic rotoScan ROD4 47 TNT 35 7 24V 9 7 Dimensioned drawingROD4 plus Figure 9 3 Dimensioned drawingROD4 plus b b a a Zero point for measuring b Scanning plane All dimensions in mm ...

Страница 50: ...n be read from three LEDs located on top of the connector housing A cover protects the LEDs from contamination and guarantees protec tion class IP 65 When in a voltage free state the LEDs are hidden from view by this cover Figure 10 1 Ethernet status indicator LED Colour Function Meaning H1 red Ethernet system ready H2 red Ethernet connection present H3 red Ethernet data transmission active H1 H2 ...

Страница 51: ... free state the LEDs are hidden from view by this cover Figure 10 2 ROD4 plus status indicator LED Colour 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 a...

Страница 52: ...ata Load diagnostic 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...

Страница 53: ...ing 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 interna...

Страница 54: ...defect 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 ...

Страница 55: ...nputs 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 2...

Страница 56: ...nterface of the RODsoft configuration software by the colour green Ff Short version of the term far detection field FP Field pair detection field pair The configuration software can be used to configure a total of 4 field pairs in the ROD4 plus each with 2 detection fields near and far FPS Field pair switch FPS1 Field pair switch to field pair 1 Measurement segment Area defined by start angle and ...

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