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Chapter

6

Operating Instructions

Laser measurement sensor LD-MRS

86

©

SICK AG · Germany · All rights reserved · Subject to change without notice

8012948/ZMQ0/2017-06-09

Commissioning and configuration

6.6.1

Synchronization details

Important

The synchronization frequency must be between 8.5 Hz and 50 Hz.
Frequencies above and beyond these values are not accepted by the LD-MRS.

The precision of the synchronization (i. e. the time difference between synchronization
pulse and the moment of crossing the angle that was specified as SyncAngle) is approx.
±1,000

μ

s for a scanning frequency of 12.5 Hz if no external forces act on the LD-MRS (es-

pecially no angle acceleration).

This is the equivalent of an angular precision of ± 4.5° around the true 0° direction.
For the scanning frequency of 25 Hz and 50 Hz the precision is ± 500

μ

s, equivalent to an

angular precision of ± 4.5° or ± 9°, respectively.
The external synchronization frequency f

sync

can be selected in a range of 8.5 Hz

≤

f

sync

≤

50 Hz and should have a relative precision better than 0.1 % (the better f

sync

, the better the

laser measurement sensor).

Therefore we recommend not to send the synchronization signal from a PC because they
generally have less precise timers. Instead use a designated micro-controller to generate
the synchronization signal.
The external synchronization frequency and the scanning frequency do not need to match.
The external synchronization frequency must be within ± 4 Hz of the scanning frequency f

s-

can

(f

sync

= f

scan

± 4 Hz). The LD-MRS adjusts the scanning frequency to the external syn-

chronization frequency.
When the external synchronization frequency fails, the LD-MRS adjusts its scanning fre-
quency again to the initially specified value.

Fig. 6-3:

Details synchronisation

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Содержание LD-MRS400001

Страница 1: ...O P E R A T I N G I N S T R U C T I O N S LD MRS 3D LiDAR sensors...

Страница 2: ...PDF at www sick com Device Software Tool Function Version LD MRS400001 LD MRS Firmware DSP Firmware FPGA as of V 2 0 x as of V 9 0 x LD MRS400102 LD MRS HD Firmware DSP Firmware FPGA as of V 2 0 x as...

Страница 3: ...mounting steps 57 4 2 Preparations for mounting 57 4 3 Mounting and adjustment of the device 58 4 4 Mount the optional CAN module 62 4 5 Dismounting the device 63 5 Electrical installation 65 5 1 Ove...

Страница 4: ...t sensor LD MRS 4 SICK AG Germany All rights reserved Subject to change without notice 8012948 ZMQ0 2017 06 09 Content 10 2 Additional documentation 107 10 3 Ordering information 107 10 4 Glossary 108...

Страница 5: ...only Memory non volatile memory that can be electrically erased and programmed LED Light Emitting Diode light emitting diode INT Integer LD Ladar Digital Ladar Laser Radar MRS Multi Layer Range Scann...

Страница 6: ...the cable splitter 1 3 80 Tab 5 9 Pin assignment of the CAN connecting cable 81 Tab 5 10 Wire colour assignment of the supply cable 81 Tab 6 1 Default setting of SOPAS ET 83 Tab 6 2 Password 85 Tab 8...

Страница 7: ...allation of the LD MRS 65 Fig 5 2 Field monitoring Electrical installation of the LD MRS and the CAN module 65 Fig 5 3 Connection of the voltage supply and wiring of the Ethernet interface 71 Fig 5 4...

Страница 8: ...nformation This document contains all information required for mounting electrical installation and commissioning of the LD MRS with factory settings All tasks are described step by step The configura...

Страница 9: ...on Recommendations are designed to assist in the decision making process with respect to a certain function or a technical measure Basic settings Marks a section listing the values of the factory sett...

Страница 10: ...and authorized service personnel of SICK AG may repair the LD MRS The different tasks require the following qualification Activities Qualification Mounting maintenance practical technical basic traini...

Страница 11: ...the LD MRS in the permitted ambient temperature range see Chapter 9 Technical specifications Page 94 The user of the LD MRS has to ensure that the device is only used in compliance with the listed spe...

Страница 12: ...ns safety rules other pertinent safety rules Adhere to the following safety notes in order to prevent dangers for persons and or property The operator must ensure by suitable instructions and inspecti...

Страница 13: ...CAUTION Laser radiation The LD MRS uses infrared light laser The device is specified as laser class 1 eye safe The laser beam is invisible to the human eye Caution use of controls adjustments or perfo...

Страница 14: ...S Switch on the supply voltage or connect the supply cable again with the Power con nection The LD MRS starts operation with the most recently stored permanently parameter set 2 6 Environmental protec...

Страница 15: ...Disposal after final decommissioning Currently the SICK AG does not offer a return service for inoperative or irreparable devices Always dispose of unserviceable or irreparable devices in compliance w...

Страница 16: ...consult the section before starting 3 1 Design of the device The laser measurement sensor LD MRS consists of a laser measurement system and a mir ror construction The components laser measurement sys...

Страница 17: ...09 SICK AG Germany All rights reserved Subject to change without notice 17 3 1 1 Device view Caption 1Ventilation element 2Mounting hole 6 6 mm 4 x 3Window 4 Ethernet connection 5 Power connection 6Da...

Страница 18: ...in the Internet http get adobe com reader Quantity Component Comment 1 Laser measurement sensor LD MRS Type depending on order 1 Notes on Device with information and elec trical circuit diagram for ge...

Страница 19: ...4 planes enclosure rat ing IP 69k 1047145 LD MRS HD LD MRS400102 Scanning range 30 m 98 4 ft at 10 remis sion measurement on 4 planes heavy duty particularly robust in dusty environments and areas wit...

Страница 20: ...ization tool with Windows and Linux And configuration of field monitoring using the SOPAS ET the configuration software with Windows alternatively using commands in messages Operating states wait mod...

Страница 21: ...ngs or rather of the objects located within the radial field of view The object detection is done with laser beams that the LD MRS emits in four stacked planes The device measures the distance and the...

Страница 22: ...resolution and the scanning frequency the preprocessed and filtered data 3 4 2 Time of flight measurement Caption 1Object 2Laser pulse transmitted 3Laser pulse reflected 4LD MRS The laser pulses emitt...

Страница 23: ...of the LD MRS the received intensity is transformed into a voltage In the example shown in Fig 3 3 a reflected echo of a glass pane yields a high voltage over a short period of time The echo of a rai...

Страница 24: ...Object The multi layer technology of the LD MRS allows for a pitch angle compensation by means of four scan planes with different vertical angles e g if the device is mounted to a vehicle Thus the LD...

Страница 25: ...our hues visualize the planes and colour saturation of the echoes Tab 3 5 illustrates the naming convention for the planes and their predefined colors that are used for the visuali sation The colour s...

Страница 26: ...nd relation of angle to range Scanning range Caption 1central working range green 2lateral scanning range light green 3LD MRS The LD MRS has been designed with a central scanning range of 85 for four...

Страница 27: ...range Caption 1Curves of the upper planes scan planes 1 and 2 2Curves of the lower planes scan planes 3 and 4 scanning range in angle in Due to the optical design of the LD MRS the scanning range dep...

Страница 28: ...reduced sensitivity For greater distances the measurements are taken at normal sensitivity In addition the measure ments are evaluated Criteria such as proximity relationships between measurements wit...

Страница 29: ...scanning frequencies 12 5 Hz 25 Hz and 50 Hz which allow four different settings of the angular resolution The operator can configure these parameters Angular resolution Two scan planes each are measu...

Страница 30: ...e with the SICK LaserView Customer Edition This function is not possible for field monitoring The scanning frequencies of 25 Hz and 50 Hz only allow for constant angular resolution Fig 3 11 Example An...

Страница 31: ...resolution 0 25 3Lateral area of the angular resolution 0 5 4LD MRS The focus of the angular resolution is in an area of 1 0 central area around x axis of the sensor A slightly lesser angular resoluti...

Страница 32: ...5 Hz At the scanning frequency 12 5 Hz with constant angular resolution the angular resolution is 0 25 see Fig 3 13 Scanning frequency 25 Hz At the scanning frequency 25 Hz with constant angular reso...

Страница 33: ...09 SICK AG Germany All rights reserved Subject to change without notice 33 Scanning frequency 50 Hz At the scanning frequency 50 Hz with constant angular resolution the angular resolution is 0 5 see F...

Страница 34: ...ct the laser beam better than dark surfaces and can be detected by the LD MRS over larger distances Brilliant white plaster reflects approx 100 of the incident light black foam rubber approx 2 4 On ve...

Страница 35: ...is almost entirely deflected see Fig 3 19 Instead of the surface of the mirror it is possible that the object on which the deflected laser beam is incident may be detected Objects that are smaller th...

Страница 36: ...es refer to Chapter 5 3 Electrical connections and cables Page 66 See Ethernet Data Protocol for further information 3 5 Measuring mode 3 5 1 Scan data Scanning the sensor surroundings within the scan...

Страница 37: ...start the measurement mode Start using the SICK LaserView Customer Edition visualization tool Start using a telegramm see Telegram Listing Ethernet Data Protocol art no 8014492 3 5 3 Data communicatio...

Страница 38: ...rdware or software is required for object track ing The LD MRS outputs the following dynamic object parameters in relation to the data for its own movement Position of the object Speed of the object S...

Страница 39: ...referred to as preprocessing During this process the LD MRS classifies every measured point and divides them up into values based on contamination atmospheric disturbances e g rain and impact on the...

Страница 40: ...e raw data to generate an object contour The scan data is divided to form groups consisting of related scan points This division is dependent on the vehicle s own movement When the Show Bounding Box o...

Страница 41: ...the object Size length and width of the object Direction of movement of the object Age scans time of the object Contour of the object Ego motion data It is possible to transfer information on the pro...

Страница 42: ...onditions This filter reduces the sensitivity of the four low er levels to ensure more accurate measurement 3 6 3 Reduced sensitivity NOTICE If the sensitivity is reduced the NoiseControl sensitivity...

Страница 43: ...at are further away NOTICE If the LD MRS has been mounted upside down make sure that the Upper layers and Lower layers columns are swapped over and that the Upside down active option has been activate...

Страница 44: ...xceeded it can be assumed that the measurement target is solid and fixed If only the lower threshold is exceeded the target is scattered For example dust Within the output of measured values the measu...

Страница 45: ...e g sunlight erroneous measurements may be taken which can be evaluated and filtered by performing a plausibility check on a downstream ex ternal computer The Noise control active function activates a...

Страница 46: ...n mounted upside down it is necessary to activate the Upside down active option The installation position is selected from the Laserview Telegram listing to ensure that the scan data output coordinate...

Страница 47: ...valuated situation For each evaluation instance and the following are selected one of 16 configurable evaluation fields one evaluation strategy per field a logical output and in certain circumstances...

Страница 48: ...uation instances In this case for example two evaluation instances are active simultaneously Evaluation strategy for evaluation field The LD MRS offers three different evaluation strategies Pixel eval...

Страница 49: ...imum object size and the configured expanded response time has passed Evaluation field A field is selected from the configuration evaluation fields for the evaluation instance Is shape must correspond...

Страница 50: ...s can have the following shapes and posi tions Polygon Rectangle Extending up to the LD MRS At a distance from the LD MRS When the range to be monitored changes the LD MRS can be reconfigured using so...

Страница 51: ...wing angle and thus measure differ ent approach angles The rotating mirror that deflects the lasers is mounted at a slight angle to the axis of rota tion This design means that the front and back of t...

Страница 52: ...on instances Page 48 The external outputs of the LD MRS can be reset by using inputs Chapter Resetting a logical output Page 50 3 10 2 External switching outputs digital The LD MRS does not have a dir...

Страница 53: ...description 8012948 ZMQ0 2017 06 09 SICK AG Germany All rights reserved Subject to change without notice 53 Fig 3 36 CAN 8 dio SNAP module The image may differ Compatible with top hat rail TS35 Only o...

Страница 54: ...t No 2050648 8 m 26 2 ft in maximum configuration both CAN modules are connected to the end of the bus via the 9 pin D sub connector The required terminals are created using the internal switches of e...

Страница 55: ...Operating Instructions Chapter 3 LD MRS Product description 8012948 ZMQ0 2017 06 09 SICK AG Germany All rights reserved Subject to change without notice 55 Notes...

Страница 56: ...material contact SICK AG The following accessories are required for mounting 4 M6 screws of property class 8 8 to attach the LD MRS at the mounting support The length of the screws depends on the wal...

Страница 57: ...4 3 2 Distance between LD MRS and object surface to be monitored Caption a vertical beam expansion for four layers b vertical beam expansion for two layers one laser pulse c vertical beam expansion fo...

Страница 58: ...y All rights reserved Subject to change without notice 8012948 ZMQ0 2017 06 09 Mounting 4 3 3 Mount the LD MRS on the optional holder Part No 1047429 Fig 4 2 Mount the LD MRS on holder Part No 1047429...

Страница 59: ...7LD MRS 1 Mount bracket 2 to quick release 1 2 Mount quick release 2 on the mounting plate 3 Mount bracket 1 to bracket 2 4 Mount quick release 1 to quick release 2 5 Mount LD MRS to the mounting plat...

Страница 60: ...Fig 4 4 Mount the LD MRS on the weather resistant cover Part No 2058033 and on the holder Part No 1047429 6 7 Components of the weather resistant cover and ways to install the fastening bracket Instal...

Страница 61: ...of version 2 The weather protection cover can be removed for cleaning without having to unscrew the LD MRS from the retention bracket 1 Mount retention brackets 1 and 2 on the body with the frame see...

Страница 62: ...ve the attachment screws of the LD MRS and remove the device 4 5 1 Storage NOTICE Property damage Improper storage can cause damages at the LD MRS Condensing humidity can damage the optical components...

Страница 63: ...Operating Instructions Chapter 4 LD MRS Mounting 8012948 ZMQ0 2017 06 09 SICK AG Germany All rights reserved Subject to change without notice 63 Notes...

Страница 64: ...ay perform the electrical installation Caption 1LD MRS 2Power supply line 3Ethernet data cable 4Power supply 5Desktop laptop temporary configuration or host computer measurement processing Fig 5 1 Mea...

Страница 65: ...o 27 V DC typical 12 24 V DC function extra low voltage in ac cordance with IEC 60364 4 41 The voltage supply must provide at least 36 W power output The device can be con nected to a supply by solar...

Страница 66: ...AN synchronization interface Power supply 5 3 1 Pin assignment of the connections Connection Ethernet Connection Data interfaces Synchronization Pin Signal Function 1 RX Receive 2 TX Transmit 3 TX Tra...

Страница 67: ...spring wire plug 8 m 26 2 ft 2049826 Ethernet data cable crossover shielded 4 pin plug round plug in connection and 8 pin RJ 45 plug 40 to 80 C 40 to 176 C 2 m 6 56 ft Ethernet PC directly or via net...

Страница 68: ...hout notice 8012948 ZMQ0 2017 06 09 Electrical installation Pin wire colour assignment of the cables see Chapter 5 5 Pin assignments and wire colors of the assembled cables Page 78 NOTICE Damage hazar...

Страница 69: ...in accordance with IEC 742 Important The output circuit of the power supply must be safely electrically isolated from the input circuit this feature is normally provided by a safety transformer in acc...

Страница 70: ...mportant For the next steps of the installation the supply voltage of the LD MRS remains switched off 5 4 2 Connect the optional CAN modules external I O ports CAN modules optional accessory NOTICE Po...

Страница 71: ...ts 3DIP switch for the transmission rate 4DIP switch for the address 5Terminal V PWR 6Terminal VPWR 7Terminal for the power supply V 8Terminal for the power supply GND 9Terminal for CAN bus CAN_L blTe...

Страница 72: ...trip of digital switching inputs outputs 1 to 4 blTerminal strip of digital switching inputs outputs 5 to 8 CAN bus Since the fixed transmission rate of the LD MRS is 500 kBit s the maximum bus line l...

Страница 73: ...9 pin D sub connector see Fig 5 6 Caption 1LD MRS 2CAN module If only one CAN module is connected to the LD MRS the CAN terminating resistance D Sub connector Part no 6042511 is integrated in the ter...

Страница 74: ...required termination is provided by a CAN module via the internal termination switch see Fig 5 4 page 71 and Fig 5 5 page 72 Termination is active when the termination switch is in the ON position Dig...

Страница 75: ...iguring the CAN module Setting the CAN address For addressing in the CAN bus the address range 1 to 127 is available By default the ad dress of theLD MRS is 1 Each address assigned to a device may onl...

Страница 76: ...tallation Setting the transmission rate Set a transmission rate of 500 kBit s for the CAN modules 5 4 4 Connect the CAN to the supply voltage Use the supply cable to connect the supply voltage 8 to 50...

Страница 77: ...ICK LaserView Customer Edition measuring mode or the configuration software program SOPAS ET field monitoring use a crossover cable such as Part No 2049826 to connect the LD MRS to the ethernet port o...

Страница 78: ...Signal Pin 1 RX 2 2 TX 3 3 TX 6 4 RX 1 4 to 8 not assigned Twisted wire pair RX 1 with RX 4 TX 3 with TX 2 Tab 5 6 Pin assignment of the Ethernet data cable 12 pin plug round plug in connection 9 pin...

Страница 79: ...in 9 4 Data GND 5 5 Data GND 8 6 Data GND 5 7 RxD 3 8 Data GND 5 9 CAN_L1 2 10 CAN_H1 7 11 CAN_L2 4 12 CAN_H2 8 Twisted wire pair Sync in 3 with Data GND 4 Sync out 2 with Data GND 5 TxD 1 with Data G...

Страница 80: ...signed 9 CAN_L1 2 10 CAN_H1 7 11 CAN_L2 4 12 CAN_H2 8 Twisted wire pair CAN_L1 9 with CAN_H1 10 CAN_L2 11 with CAN_H2 12 Tab 5 9 Pin assignment of the CAN connecting cable 4 pin socket round plug in c...

Страница 81: ...nd does not require any operator interven tion 6 1 Overview for the startup steps for field monitoring Install the SOPAS ET configuration program on the computer Connect PC to LD MRS Take the LD MRS i...

Страница 82: ...exe on the CD 3 To complete the installation follow the operation instructions 6 2 3 Default setting of SOPAS ET 6 3 Establish communication with the LD MRS Important To communicate via TCP IP the TCP...

Страница 83: ...r that access the ethernet or TCP IP 1 In the SCAN ASSISTANT dialogue go to INTERNET PROTOCOL IP COMMUNICATION and check the box ACTIVATE IP COMMUNICATION and USE AUTOIP 2 Confirm the settings in the...

Страница 84: ...e password to ensure protection Use the structure of the project tree in SOPAS ET to configure the required parameters for your application Do not turn off the power during configuration If the power...

Страница 85: ...ERMANENTLY 6 6 Synchronization Caption 1LD MRS 2 Data interfaces synchronization connecting line 3External device e g camera optional 4External synchronization pulse signal generator optional In a fus...

Страница 86: ...quency of 25 Hz and 50 Hz the precision is 500 s equivalent to an angular precision of 4 5 or 9 respectively The external synchronization frequency fsync can be selected in a range of 8 5 Hz fsync 50...

Страница 87: ...he external unit can also be a different LD MRS Each LD MRS starts as a master unit sending trigger points to the next unit The LD MRS always sets the output signal to tPulse_out 20 s see the red outp...

Страница 88: ...Chapter 6 Operating Instructions Laser measurement sensor LD MRS 88 SICK AG Germany All rights reserved Subject to change without notice 8012948 ZMQ0 2017 06 09 Commissioning and configuration Notes...

Страница 89: ...ce is specified as laser class 1 eye safe Do not open the device opening the housing does not interrupt the laser operation Observe the valid laser protection regulations in their newest version 7 2 1...

Страница 90: ...e water can permeate the seals or damage parts of the LD MRS housing 7 3 Exchanging an LD MRS Important Only trained and authorized service personnel of SICK AG may repair the LD MRS A faulty or damag...

Страница 91: ...maximum of twice 16 Bit each for warnings and faults 8 2 Overview of possible errors and faults 8 2 1 Mounting error LD MRS not mounted conveniently e g limited field of vision LD MRS adjusted incorr...

Страница 92: ...ing between the LD MRS and the CAN module 4 Field monitoring The CAN modules are not working correctly optional accessory The supply voltage V is not connected to the CAN electronics the poles are swi...

Страница 93: ...ult However the LD MRS can be rapidly replaced by the user See Chapter 7 3 Exchanging an LD MRS Page 90 If an error occurs which cannot be eliminated please contact SICK Service International Competen...

Страница 94: ...0 25 25 Hz 0 25 50 Hz 0 5 Tracking 12 5 Hz 0 25 focussed 0 125 0 5 Flexible resolution 0 125 0 5 Measurement resolution 40 mm 1 58 in Statistical error 1 sigma 100 mm 3 94 in Beam divergence Horizont...

Страница 95: ...93 2 mm including fastening tabs Weight Approximately 1 kg 2 2 lb UAV Approximately 0 77 kg 1 69 lb Electrical safety As per EN 50178 1997 10 Enclosure rating IP 69k plug IP 68 2 m 24 h as per EN 605...

Страница 96: ...lation between outputs Electrical connection 16 screw terminals 36 cage clamps Supply voltage UV 8 to 50 V DC protected against polarity reversal Power consumption 1 5 W 60 mA at DC 24 V without load...

Страница 97: ...hnical specifications 8012948 ZMQ0 2017 06 09 SICK AG Germany All rights reserved Subject to change without notice 97 9 2 Dimensional drawings 9 2 1 LD MRS laser measurement sensor Dimensions Fig 9 1...

Страница 98: ...specifications 9 2 2 LD MRS laser measurement sensor Dimensions Fig 9 2 Dimensions of the LD MRS UAV All lengths in mm 5 91 3 3 59 24 0 94 3 1 5 0 06 45 1 77 13 9 0 55 5 115 4 53 6 61 2 40 4 x 6 6 0 2...

Страница 99: ...ions 8012948 ZMQ0 2017 06 09 SICK AG Germany All rights reserved Subject to change without notice 99 9 2 3 Laser measurement sensor LD MRS UAV sensor coordinate origin Fig 9 3 Position of the sensor c...

Страница 100: ...urement sensor LD MRS 100 SICK AG Germany All rights reserved Subject to change without notice 8012948 ZMQ0 2017 06 09 Technical specifications 9 2 4 Holder optional accessory Fig 9 4 Dimensions of th...

Страница 101: ...al specifications 8012948 ZMQ0 2017 06 09 SICK AG Germany All rights reserved Subject to change without notice 101 9 2 5 Weather resistant cover optional accessory Fig 9 5 Dimensions of the weather re...

Страница 102: ...ed Subject to change without notice 8012948 ZMQ0 2017 06 09 Technical specifications 9 2 6 CAN modules optional accessory Fig 9 6 Dimensions of the two designs of the CAN modules All lengths in mm Par...

Страница 103: ...s Chapter 9 LD MRS Technical specifications 8012948 ZMQ0 2017 06 09 SICK AG Germany All rights reserved Subject to change without notice 103 9 2 7 Shock mounting Fig 9 7 Dimensions of the shock mounti...

Страница 104: ...at least the marked areas clear Additionally only use materials with a low remission as materials bordering to the field of view Avoid edges close to the window of the LD MRS For optimum design integr...

Страница 105: ...tion tool English Installation and use of the SICK LaserView Customer Edition software 8013906 Manual CAN 8 dio SNAP module English Detailed technical description of the module 8013908 Manual CAN 8 di...

Страница 106: ...example parameters were changed SOPAS ET configuration software For configuring adapting to requirements and the situation of use and starting the LD MRS for field monitoring Parameter set Data set w...

Страница 107: ...shows page 1 of the EC Declaration of Conformity size reduced for the LD MRS If needed you can download the complete EC statement of conformity with a list of the device versions and satisfied standa...

Страница 108: ...rt sick jp Malaysia Phone 6 03 8080 7425 E Mail enquiry my sick com Mexico Phone 52 472 748 9451 E Mail mario garcia sick com Netherlands Phone 31 30 2044 000 E Mail info sick nl New Zealand Phone 64...

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