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The maximum range is set to 70° by default. This produces 841 measurement points.

The range can be restricted by increasing the start angle (default setting = 55°) or
reducing the stop angle (default = 125°). Please note that the angle beam is defined
orthogonally in relation to the front at 90° and the direction of rotation of the device is
set to clockwise.

The minimum difference between start angle and stop angle is 1/12°; this is equiva‐
lent to the output of a single measurement point. It is not possible to output multiple
scan ranges (e.g., 55° ... 70° and 90° ... 110°).

3.5.7.2

Edge filter

The edge filter prevents incorrect/extreme distance values at edges which result from it
not being possible to determine a distance value for the previous or next point (e.g., if
the previous or next measurement point was too dark or lay outside the measuring
range) or because of incorrect detection due to too little light remission at the object
itself,

see "Impact of object surfaces on the measurement", page 18

. The filter evalu‐

ates the difference in distance between adjacent points.

When the edge filter is activated, the device sets a distance value of 0 at each edge
(values in

bold

in the table).

Table 4: Example: Measured values with and without edge filter

Angle (distance values in mm)

Scan

1

2

3

4

5

6

7

…

1, not filtered

0

750

1145

1150

1147

1500

0

…

1, filtered

0

0

1145

1150

1147

0

0

…

The edge filter enables points to be entirely suppressed at the outer edges of the
object. In this case, the width of an object is detected by up to 2× angular resolution too
narrow.

3.5.7.3

Median filter

This filter is suitable for excluding individual outliers from the calculation of an average
value.

The values included in the calculation are defined using a 1 x 3 matrix:
3 measured values, consisting of the distance values of a point and its two adjacent
points in the scan, are sorted by size.

The measured value in the middle of this sequence is output as the distance value,
along with its remission value and the original angle correction value.

The median values are determined and output as moving values (median angular incre‐
ment 2 from value 1, 2, and 3; median angular increment 3 from value 2, 3, and 4,
etc.).

A median cannot be determined as the measured value for the first and last angular
increments in a scan. The distance value 0 (= invalid) is always output.

Table 5: Example: Median in angular position 2, 3, and 4

Angle (distance values in mm)

Scan

1

2

3

4

5

…

Unfiltered measured values

1

850

852

851

849

850

…

2

849

851

850

853

852

…

3

850

849

853

851

850

…

…

…

…

…

…

…

…

PRODUCT DESCRIPTION

3

8023198//2018-06-18 | SICK

O P E R A T I N G I N S T R U C T I O N S | LMS4000

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Subject to change without notice

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Содержание LMS4000

Страница 1: ...O P E R A T I N G I N S T R U C T I O N S LMS4000 2D LiDAR sensors ...

Страница 2: ...ssible within the limits of the legal determination of Copyright Law Any modifica tion abridgment or translation of this document is prohibited without the express writ ten 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 ...

Страница 3: ...ion 14 3 5 1 Measuring principle 14 3 5 2 Ethernet data interface 15 3 5 3 Output of measured values 16 3 5 4 Laser control 17 3 5 5 Remission value 18 3 5 6 Impact of object surfaces on the measurement 18 3 5 7 Filters 20 3 5 8 Motor synchronization for measuring range extension 23 4 Transport and storage 25 4 1 Transport 25 4 2 Unpacking 25 4 3 Transport inspection 25 4 4 Storage 25 5 Mounting 2...

Страница 4: ...rnings and errors 43 9 2 Repairs 44 9 3 Returns 45 9 4 Disposal 45 10 Technical data 46 10 1 Features 46 10 2 Performance 47 10 3 Interfaces 48 10 4 Mechanics electronics 48 10 5 Ambient data 50 11 Accessories 52 12 Annex 53 12 1 Telegram structure 53 12 2 EU declaration of conformity Certificates 57 12 3 Licenses 57 CONTENTS 4 O P E R A T I N G I N S T R U C T I O N S LMS4000 8023198 2018 06 18 S...

Страница 5: ...on operating the machine or system in which the device is integrated For information about this refer to the operat ing instructions of the specific machine 1 2 Explanation of symbols Warnings and important information in this document are labeled with symbols The warnings are introduced by signal words that indicate the extent of the danger These warnings must be observed at all times and care mu...

Страница 6: ...ing and specification diagrams EU declaration of conformity for the product family Dimensional drawings and 3D CAD dimension models in various electronic for mats These operating instructions available in English and German and in other lan guages if necessary 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 ...

Страница 7: ...rements for intended use will be deemed to be incorrect use The device does not constitute a safety component in accordance with the respec tive applicable safety standards for machines The device must not be used in explosion hazardous areas in corrosive environ ments or under extreme environmental conditions Any use of accessories not specifically approved by SICK AG is at your own risk WARNING ...

Страница 8: ... WARNING Risk of injury due to insufficient training Improper handling of the device may result in considerable personal injury and material damage All work must only ever be carried out by the stipulated persons The operating instructions state the following qualification requirements for the various areas of work Instructed personnel have been briefed by the operator about the tasks assigned to ...

Страница 9: ...isk when briefly exposed to the radiation for up to 0 25 sec onds Exposure to the laser beam for longer periods of time may cause damage to the retina The laser radiation is harmless to human skin Do not look into the laser beam intentionally Never point the laser beam at people s eyes If it is not possible to avoid looking directly into the laser beam e g during com missioning and maintenance wor...

Страница 10: ...the device LMS4x1x Figure 1 LMS4x1x Warning signs on the device 1 Avoid exposure Laser radiation is emitted from this aperture Laser output aperture corresponds to the front screen at the height of the position shown 2 Caution Laser radiation when opened Do not look into beam 3 Laser radiation Do not stare into beam Class 2 laser product Average radiation output 10 mW Maximum radiation output 20 m...

Страница 11: ... Do not remove Hazardous laser radiation and risk of personal injury if the protective cover is removed Limit values of laser class 2 are exceeded Notes on the warning signs Before commissioning the English warning label LASER RADIATION DO NOT STARE INTO BEAM is to be replaced with a warning label in a language that the operators of the system understand Laser warning labels in German and French a...

Страница 12: ... continuously on The device automatically monitors beam generation and automatically shuts down the laser diode in the event of irregularities If this happens the red Status LED lights up The device stops sending measured values and an entry is added to the error memory 2 SAFETY INFORMATION 12 O P E R A T I N G I N S T R U C T I O N S LMS4000 8023198 2018 06 18 SICK Subject to change without notic...

Страница 13: ...rrors that occur LED Color Status Status Green Device ready Yellow Warning Red Error Ethernet Green LINK path established continuously lit data transmis sion flashing Sync Green Master Sync signals are being sent continuously lit Slave Sync signals are being received flashing sync connection active and device synchronized continuously lit In Out Yellow Specific switching input or switching output ...

Страница 14: ... to its measurement origin The measurement origin is marked by a circular indentation on the top and bottom of the housing It is an active system featuring a light laser in the visible range red It does not require position marks reflectors or object illumination When a laser beam strikes an object the distance and measuring angle are deter mined The distance is determined according to the princip...

Страница 15: ... be evaluated by the connected application The error code can also be read out with the SOPAS ET PC software 3 5 2 Ethernet data interface The device has an Ethernet data interface for configuration and the transmission of measured values The Ethernet interface has a data transmission rate of 100 1 000 Mbit s The inter face is a TCP IP interface supporting full duplex and half duplex The Ethernet ...

Страница 16: ... of measured values With continuous output of measured values once the device has received an sEN LMDscandata 1 telegram hexadecimal 73454E204C4D447363616E646174612001 requesting measured values measured value telegrams are sent until the output of measured values is terminated by the stop telegram sEN LMDscandata 0 hexadeci mal 73454E204C4D447363616E646174612000 When the output of measured values...

Страница 17: ...clockwise phase A precedes phase B conversely during reverse motion CCW counterclockwise edge A rises before edge B Dual channel level connected at encoder A and encoder B the pulses are at encoder A at encoder B the direction is indicated by level 0 or level 1 rarely 3 5 4 Laser control Laser control is used to switch the laser on and off Measurement data is only transmit ted when the laser is sw...

Страница 18: ... of a material to reflect light The remission value correlates with the amount of laser light emitted by the LiDAR sensor which is reflected by an object see Lambert s law Shiny surfaces have different remission values 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 diff...

Страница 19: ...ure 6 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 sur face at an oblique angle energy and range are lost accordingly Figure 7 Angle of reflection Retroreflection If the reflective energy is greater than 10...

Страница 20: ... device to be adapted to meet the specific requirements of the respective application The filters can be combined without restrictions If several filters are active then the filters are applied sequentially to the results of the preceding filter The processing sequence is as follows Scan range filter Edge filter Median filter Average filter The active filter functions affect the output measured va...

Страница 21: ...dge filter Angle distance values in mm Scan 1 2 3 4 5 6 7 1 not filtered 0 750 1145 1150 1147 1500 0 1 filtered 0 0 1145 1150 1147 0 0 The edge filter enables points to be entirely suppressed at the outer edges of the object In this case the width of an object is detected by up to 2 angular resolution too narrow 3 5 7 3 Median filter This filter is suitable for excluding individual outliers from t...

Страница 22: ...80 1180 1430 1430 0 10 0 0 1170 1170 1220 1220 1470 0 0 2nd output value 0 730 1173 1187 1188 1187 1446 1440 0 Individual outliers shown in bold in the table influence the average value Once the measured value telegram has been confirmed the first measured value is not output until after the configured number of scans Therefore there is always a time delay equivalent to the number of scans configu...

Страница 23: ...default set ting for the phase at the slave can usually be left unchanged at 0 For devices that are mounted at a specific angle of rotation in relation to each other direct dazzle can be virtually excluded through motor synchronization Reflection can occur at certain angles depending on the distance between devices and the measuring distance to the object Although these effects can be reduced by a...

Страница 24: ... the phase specifies the angular offset by which the slave motor lags behind the master motor After a few seconds the Sync LED on the slave lights up permanently green The devices are now synchronized 3 PRODUCT DESCRIPTION 24 O P E R A T I N G I N S T R U C T I O N S LMS4000 8023198 2018 06 18 SICK Subject to change without notice ...

Страница 25: ...nspection Immediately upon receipt in Goods in check the delivery for completeness and for any damage that may have occurred in transit In the case of transit damage that is visible externally 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 com pany s delivery note File a complaint NOTE Complaints reg...

Страница 26: ...storage periods of longer than 3 months check the general condition of all components and packaging on a regular basis 4 TRANSPORT AND STORAGE 26 O P E R A T I N G I N S T R U C T I O N S LMS4000 8023198 2018 06 18 SICK Subject to change without notice ...

Страница 27: ...ns In systems subjected to heavy vibrations secure the fixing screws with screw locking devices If necessary affix additional laser warning labels to the device and or replace an English laser warning label with a warning label in another language Conveyor system requirements if used The conveyor system must work with a constant conveyor speed or an incremental encoder must be installed The object...

Страница 28: ... lines start stop areas areas with upward and downward inclines and breaks in the conveyor system If two or more devices are mounted one behind the other offset in parallel and are not synchronized the orthogonal distance of the laser lines must be at least 7 cm 5 3 Mounting the device 1 Mount the device in a suitably prepared bracket using the fixing holes provided and make provision for limiting...

Страница 29: ...onnecting cables have been con nected to the device and control Wire cross sections in the supply cable from the customer s power system should be designed in accordance with the applicable standards Protect the device with an external slow blow fuse of 6 3 A at the beginning of the supply cable viewed from the voltage supply All electric circuits connected to the device must be designed as SELV o...

Страница 30: ...o the peripheral devices voltage supply any local pulse sen sor s system controller via shielded cables The cable shield for the data cable for example rests against the metal housing of the device The device can be grounded through the cable shield or through a blind tapped hole in the housing for example If the peripheral devices have metal housings and if the cable shields also lie on their hou...

Страница 31: ...distributed system installations On widely distributed system installations with correspondingly large potential differ ences 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 isolator...

Страница 32: ...ng ß 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 guar antee the required level of insulation Under certain circumstances a tangible pote...

Страница 33: ...ary when using other connecting cables Ethernet connection 1 7 2 6 5 4 3 8 Figure 17 Female connector M12 8 pin X coded Pin Description 1 1 2 1 3 2 4 2 5 4 6 4 7 3 8 3 Encoder 1 4 3 5 2 Figure 18 Female connector M12 5 pin A coded Pin Description Wire colors connecting cable part no 2097305 1 1 Vout 24 V DC 25 identical to Vs Brown 2 Encoder B White 3 Ground Blue 4 Encoder A Black ELECTRICAL INSTA...

Страница 34: ...other connecting cables 6 4 Connecting the device electrically NOTICE Observe the wiring instructions see Wiring notes page 29 1 Ensure the voltage supply is not connected 2 Connect the device according to the connection diagram see Connection dia gram page 32 6 ELECTRICAL INSTALLATION 34 O P E R A T I N G I N S T R U C T I O N S LMS4000 8023198 2018 06 18 SICK Subject to change without notice ...

Страница 35: ...eady for use NOTE To use SOPAS ET with the device you need a device description file SDD for this device You can install this within SOPAS ET using the device catalog The device description file is saved on the device and can be installed there Alternatively installa tion is possible from the SICK website Internet connection required Use the wizard in SOPAS ET to do this Following installation of ...

Страница 36: ...h the assistance of various tools to the left of the scan view for example Resets scan display to default view Displays measured values as points or lines Freely rotates scan display Default settings Scan display left hand side entry of the basic device parameters right hand side Application Scan display left hand side and entry of more parameters right hand side 7 OPERATION 36 O P E R A T I N G I...

Страница 37: ...erfaces Scan display left hand side and configuration of interfaces right hand side OPERATION 7 8023198 2018 06 18 SICK O P E R A T I N G I N S T R U C T I O N S LMS4000 37 Subject to change without notice ...

Страница 38: ...led structure of the output telegram as well as the flow of requests and out puts is described in the Measurement output telegram chapter in the Telegram listing publication English no 8014631 Request for output of measured values Table 7 Telegram structure sRN LMDscandata Telegram part Description Variable type Length Byte Value range Command type Request SOPAS read by name string 3 sRN Command R...

Страница 39: ...ata telegram hexadecimal 73524E204C4D447363616E64617461 the last mea sured scan is transmitted Continuous request of measurement data with the sEN LMDscandata 1 telegram hexadecimal 73454E204C4D447363616E646174612001 measure ment data is transmitted until the output of measured values is stopped with the sEN LMDscandata 0 telegram hexadecimal 73454E204C4D447363616E646174612000 Activating the outpu...

Страница 40: ... data output format for each scan comprises Configuration information Measured values radial distance DIST Remission RSSI REFL Angle correction ANGL Device and status information Time stamp In the default settings the distance is output as a measured value in mm To output more measured values or information in the telegram 1 Open the device window Device Open 2 Check the corresponding box under Ou...

Страница 41: ...to improper cleaning Improper cleaning may result in equipment damage Only use recommended cleaning agents Never use sharp objects for cleaning Cleaning the front screen The front screen must be kept clean and dry during operation NOTICE Damage to the front screen Reduced analysis performance due to scratches or streaks on the screen Always use a damp cloth to clean the screen Use a mild cleaning ...

Страница 42: ...g the housing may increase the level of risk Current national regulations regarding laser protection must be observed b Switch off the device for the duration of the cleaning operation If this is not possi ble use suitable laser protection goggles These must absorb radiation of the device s wavelength effectively b Remove dust from the front screen using a soft clean brush If necessary also clean ...

Страница 43: ...ith connected sensors lengths of cables voltage cur rent limiting and power loss Supply voltage 24 V DC Unable to find device in SOPAS ET Ethernet cable not con nected IP address range for net work adapter configured incorrectly Check the Ethernet connection if you know the IP address check with a ping CMD Set the network adapter TCP IPv4 to the IP address range and subnet mask of the sensor senso...

Страница 44: ...The pri mary function of the device cannot be fulfilled at the current time Read the description of the problem under System status in SOPAS ET If the error persists disconnect the device from the voltage supply for 10 seconds and then restart Motor synchronization fails synchronization LED on slave does not light up green perma nently No device configured as master No device configured as slave L...

Страница 45: ...used must be disposed of in an environmentally friendly manner in accordance with the applicable country specific waste disposal regu lations Do not dispose of the product along with household waste NOTICE Danger to the environment due to improper disposal of the device Disposing of devices improperly may cause damage to the environment Therefore observe the following information Always observe th...

Страница 46: ...4x11 max output power 20 mW aver age power 10 mW LMS4x21 max output power 27 mW average power 13 5 mW Laser class 2 IEC 60825 1 2014 2007 Spot size laser spread 4 x 3 mm typical front screen 2 5 x 2 mm 3 m distance Aperture angle 70 Scan frequency 600 Hz Angular resolution 1 12 0 0833 Operating range 0 7 m 3 m Scanning range 3 m 2 remission 3 m 10 remission Number of devices for motor synchronizat...

Страница 47: ...typ 1 LMS4x11 1 5 mm LMS4x21 1 mm Statistical error 1 σ 1 LMS4x11 1 25 mm 90 0 7 m 3 m 2 5 mm 40 0 7 m 3 m 6 5 mm 6 5 1 m 2 5 m 5 mm 6 5 1 m 2 5 m 14 mm 3 5 1 m 2 5 m 10 mm 3 5 1 m 2 5 m LMS4x21 0 75 mm 90 0 7 m 3 m 1 5 mm 40 0 7 m 3 m 4 5 mm 6 5 1 m 2 5 m 3 5 mm 6 5 1 m 2 5 m 12 mm 2 1 m 2 5 m 9 mm 2 1 m 2 5 m Temperature drift system atic 0 03 mm K Angle error 0 05 Integrated application Data ou...

Страница 48: ... indicators 4 LEDs Configuration software SOPAS ET Telegram language CoLa ASCII CoLa binary 10 4 Mechanics electronics Electrical connection 1 x M12 5 pin male connector power I O sync 1 x M12 8 pin female connector Ethernet 1 x M12 5 pin female connector encoder I O Supply voltage 24 V DC 25 Power consumption 16 W typical at 24 V DC 29 W start up current 26 W max continuous all outputs loaded Out...

Страница 49: ...20 0 79 4 192 7 56 98 3 86 93 9 3 70 52 8 2 08 1 0 0 04 5 9 0 23 70 5 6 2 3 Figure 20 Dimensional drawing LMS4x1xx dimensions in mm 1 Interfaces types and number can vary 2 Transmission range 3 Receiving range 4 Aperture angle 5 Reference boreholes 6 Zero point of the distance measurement TECHNICAL DATA 10 8023198 2018 06 18 SICK O P E R A T I N G I N S T R U C T I O N S LMS4000 49 Subject to chan...

Страница 50: ...and number can vary 2 Transmission range 3 Receiving range 4 Aperture angle 5 Optics cover 6 Reference boreholes 7 Zero point of the distance measurement 10 5 Ambient data Object remission LMS4x1x 3 5 300 LMS4x2x 2 200 Electromagnetic compati bility EMC EN 61000 6 3 2007 A1 2011 IEC 61000 6 3 2006 AMD 1 2010 Vibration resistance Vibration sinusoidal EN 60068 2 6 2007 10 Hz 100 Hz 0 35 mm 5 g 20 cy...

Страница 51: ... phase 0 C 50 C Storage temperature 20 C 70 C Permissible relative humidity Max 90 non condensing Ambient light immunity 2 000 lx TECHNICAL DATA 10 8023198 2018 06 18 SICK O P E R A T I N G I N S T R U C T I O N S LMS4000 51 Subject to change without notice ...

Страница 52: ...Accessories and where applicable mounting information can be found online at www sick com LMS4000 11 ACCESSORIES 52 O P E R A T I N G I N S T R U C T I O N S LMS4000 8023198 2018 06 18 SICK Subject to change without notice ...

Страница 53: ... 11 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 01 33 Table 14 Telegram structure sEA LMDscandata Telegram part Description Variable Length Values CoLa A ASCII Values CoLa B binary Command type Answer String 3 sEA 73 45 41 Command Data telegram String 11 LMDscandata 4C 4D 44 73 63 61 6E 64 61 74 61 Measure ment Start stop Enum_8 1 Stop 0 Start 1 Stop 00 Start 01 Table 15 Example Confirmation o...

Страница 54: ...00h FFFFFFFFh 00 00 00 00 FF FF FF FF Time of transmission in µs Time in µs when the complete scan is trans mitted to the buffer for data output starting with 0 at scanner bootup Uint_32 4 00000000h FFFFFFFFh 00 00 00 00 FF FF FF FF Status of digi tal inputs Low byte represents input 1 Uint_8 2 1 00 00 00 00 Status of digi tal outputs Low byte represents output 1 Uint_8 2 1 00 00 00 00 Layer angle...

Страница 55: ...h RSSI1 00000000h REFL1 00000000h ANGL C7000000h 32768 00 00 00 00 00 00 00 00 00 00 00 00 C7 00 00 00 Start angle 1 10000 Uint_32 4 550000d 1250000d 86470h 1312D0h 00 08 64 70 00 13 12 D0 Size of single angular step Output format in degree 1 10000 Uint_16 2 0 0833 833 341h 0 0833 03 41 Amount of data Defines the number of items on measured out put Uint_16 2 0000h FFFFh 00 00 FF FF Data_1 Data_n D...

Страница 56: ... comment 0 Comment 1 No comment 00 00 Comment 00 01 Comment informa tion Length Length of comment Uint_8 1 0h Fh 00 0F Comment Transmits a comment in characters String 16 20h 7Ah 20 7A Time Transmits a time stamp Uint_16 2 Time 1 Time 00 01 Time info Year Uint_16 2 0000h 270Fh 00 00 27 0F Month 1 to 12 Uint_8 1 00h 0Ch 00 0C Day Day of month 1 to 31 Uint_8 1 00h 1Fh 00 1F Hour 0 to 23 Uint_8 1 00h...

Страница 57: ...rom the Internet at www sick com LMS4000 12 3 Licenses SICK uses open source software This software is licensed by the rights holders using the following licenses among others the free licenses GNU General Public License GPL Version2 GPL Version3 and GNU Lesser General Public License LGPL the MIT license zLib license and the licenses derived from the BSD license This program is provided for genera...

Страница 58: ...Mexico Phone 52 472 748 9451 E Mail mario garcia 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 E Mail info sick ru Singapore ...

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