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NOTE

Leading zeros are not displayed in ASCII.

Table 17: Telegram structure: Data stream from sRA LMDscandata

Telegram part

Description

Variable

Length Values CoLa A (ASCII)

Values CoLa B (binary)

Command type

Read

String

sRA

73 52 41

Command

Data telegram

String

LMDscandata

4C 4D 44 73 63 61 6E
64 61 74 61

Version number

For detecting format
changes by the ver‐
sion. Version is
always 1 up to now.

Uint_16

00 01

Device

Device
number

Defined with SOPAS

Uint_16

…

FFFFh

00 00

…

FF FF

Serial
number

Defined in factory

Uint_32

…

FFFFFFFFh

00 00 00 00

…

FF FF

Device sta‐
tus

(See values column) Uint_8

2 × 1

Ok:

0 0

Error:

0 1

Ok:

00 00

Error:

00 01

Status
info

Telegram
counter

Number of measure‐
ment telegrams fin‐
ished in the scanner
and given to the
interface.

Uint_16

…

FFFFh

00 00

…

FF FF

Scan
counter

Number of scans
which were created
in the device; counts
how many scans
were really done.

Uint_16

…

FFFFh

00 00

…

FF FF

Time since
start up in
µs

Counting the time
since power up the
device; starting with
0. In the output
telegram this is the
time at the zero
index before the
measurement itself
starts.

Uint_32

…

FFFFFFFFh

00 00 00 00

…

FF FF

Time of
transmis‐
sion in µs

Time in µs when the
complete scan is
transmitted to the
buffer for data out‐
put; starting with 0
at scanner bootup.

Uint_32

…

FFFFFFFFh

00 00 00 00

…

FF FF

Status of
digital
inputs

Low byte represents
input 1

Uint_8

2 × 1

Always:

0 0

Always:

00 00

Status of
digital out‐
puts

Low byte represents
output 1

Uint_8

2 × 1

Always:

0 0

Always:

00 00

Layer
angle

–

Uint_16

00 00

ANNEX

8023202/16S6/2020-01-24 | SICK

O P E R A T I N G I N S T R U C T I O N S | LMS4400/LMS4500

Subject to change without notice

Содержание LMS4400

Страница 1: ...O P E R A T I N G I N S T R U C T I O N S LMS4400 LMS4500 2D LiDAR sensors...

Страница 2: ...ble 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 trad...

Страница 3: ...e of operation 13 3 5 1 Measuring principle 13 3 5 2 Ethernet data interface 14 3 5 3 Output of measured values 15 3 5 4 Laser control 17 3 5 5 Remission value 18 3 5 6 Angle channel 18 3 5 7 Impact o...

Страница 4: ...aults warnings and errors 43 9 2 Repairs 45 9 3 Returns 45 9 4 Disposal 45 10 Technical data 46 10 1 Features 46 10 2 Performance 47 10 3 Interfaces 47 10 4 Mechanics electronics 48 10 5 Ambient data...

Страница 5: ...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 impor...

Страница 6: ...and specification diagrams EU declarations of conformity for the product family Dimensional drawings and 3D CAD dimension models of the device variants in var ious electronic formats This documentati...

Страница 7: ...tions and the requirements 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 mach...

Страница 8: ...sk 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 person...

Страница 9: ...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...

Страница 10: ...xposure 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 stare into...

Страница 11: ...casing next to the laser output aperture When operating with the trigger the laser diode is switched on by the switch on signal and switched off again by the deactivation signal When free output of m...

Страница 12: ...ntinuously lit device is in standby mode and the laser is switched off flashing Yellow Warning Red Device is not ready to take measurements Possible reasons Login via a terminal is active device is in...

Страница 13: ...nic LiDAR sensor that uses non contact laser beams to scan its surroundings The device measures its surroundings in polar coordinates dis tance angle relative to its measurement origin The measurement...

Страница 14: ...eviation from implicit angular position For details see Angle channel page 18 Quality values Measured value quality in the corrected angular position In the event of an error the output of measured va...

Страница 15: ...tely before sending the request for measured val ues with the Start Measurement telegram sMN LMCstartmeas hexadecimal 734D4E204C4D4373746172746D656173 login on device not necessary 3 Use hardware trig...

Страница 16: ...reading gate If the reading gate is closed the laser will switch off thereby terminating the measure ment process and the output of measured values Triggering is activated via a CAN command 3 5 3 3 Co...

Страница 17: ...tely after the laser has been switched on Laser control reduces the data load at the Ethernet interface Switching the laser on and off specifically when required also increases the service life of the...

Страница 18: ...e of incidence Table 3 Typical remission values of frequently used materials Material Typ relative remission value Rubber tires vulcanized black 2 Foam rubber black 2 4 Photographic board black matte...

Страница 19: ...s The struc ture smooth or rough shape flat or curved and color light or dark of the surface determine how well the laser beam is reflected On very rough surfaces a large proportion of the energy is l...

Страница 20: ...cannot reflect the laser light s full energy The portion of the light beam that does not reach the object is lost If all of the light reflected to the sensor is insufficient the object may not be det...

Страница 21: ...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 8 2 Edge filter The edge filter eliminates...

Страница 22: ...red values are output with a time delay of one scan 3 5 8 4 Mean filter The mean filter smooths the distance values It does this by calculating the arithmetic mean from several scans at the same angul...

Страница 23: ...Based on the technical and geometrical properties of the device objects up to 1 m in height can be measured continuously on a width of approx 2 6 m At a height of up to 2 m a continuous width of appr...

Страница 24: ...sion cables must not exceed 20 m Setting up motor synchronization 1 Connect the motor sync I Os and the sensors to be synchronized using shielded cables in a star configuration 2 Viewed from the front...

Страница 25: ...spection 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...

Страница 26: ...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 LMS4400 LMS4500 8023...

Страница 27: ...eavy 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...

Страница 28: ...eyor 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 There must be no foreig...

Страница 29: ...e supply All electric circuits connected to the device must be designed as SELV or PELV cir cuits SELV Safety Extra Low Voltage PELV Protective Extra Low Voltage The specified enclosure rating of the...

Страница 30: ...any local trigger 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 c...

Страница 31: ...ely 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...

Страница 32: ...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 me...

Страница 33: ...n vary when using other connecting cables CAN OUT connection 1 4 3 5 2 Figure 16 Female connector M12 5 pin A coded Pin Description 1 Shield 2 Vout 24 V DC 25 identical to Vs 3 GND 4 CAN high 5 CAN lo...

Страница 34: ...d connecting cable s Signal assignment and wire colors can vary when using other connecting cables 6 4 Connecting the device electrically NOTICE Observe the wiring instructions see Wiring notes page 2...

Страница 35: ...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 i...

Страница 36: ...ssistance 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 di...

Страница 37: ...Scan display left hand side and configuration of interfaces right hand side OPERATION 7 8023202 16S6 2020 01 24 SICK O P E R A T I N G I N S T R U C T I O N S LMS4400 LMS4500 37 Subject to change wit...

Страница 38: ...cture 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 out...

Страница 39: ...egram hexadecimal 73524E204C4D447363616E64617461 the last mea sured scan is transmitted Continuous request of measurement data with the sEN LMDscandata 1 telegram hexadecimal 73454E204C4D447363616E646...

Страница 40: ...ormat for each scan comprises Configuration information Measured values radial distance DIST Remission RSSI REFL Angle correction ANGL Quality QLTY Device and status information Time stamp In the defa...

Страница 41: ...Cleaning NOTICE Equipment damage due to improper cleaning Improper cleaning may result in equipment damage Only use recommended cleaning agents and tools Never use sharp objects for cleaning Cleaning...

Страница 42: ...ousing 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 b...

Страница 43: ...network adapter configured incor rectly Unsuitable search settings selected in the device search Non compatible SOPAS ET version used Check the Ethernet connection if you know the IP address check wi...

Страница 44: ...lights up green but problem persists Device is unable to detect errors Device is ready to take measure ments check other sources of the problem Status LED lights up yellow device contin ues to be able...

Страница 45: ...o determine the cause quickly please include the following when making a return Details of the contact person Description of the application Description of the fault that occurred 9 4 Disposal If a de...

Страница 46: ...ngth 660 nm LMS4x11 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 s...

Страница 47: ...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 output Filters Edge filter median filter mean filter 1 Typical value in the following ambient...

Страница 48: ...in female connector CAN OUT 1 x M12 5 pin female connector encoder sync Supply voltage Vs 24 V DC 25 Permissible residual ripple 5 Voltage output Vout 24 V DC 25 identical to Vs Max output current 1 5...

Страница 49: ...ction hood dimensions in mm inch decimal separator period 1 Interfaces types and number can vary 2 Transmission range 3 Receiving range 4 Aperture angle 5 Laser protection hood 6 Alignment hole for th...

Страница 50: ...ting temper ature 10 C 50 C initialization phase 0 C 50 C Storage temperature 20 C 70 C Permissible relative humidity Max 90 non condensing Ambient light immunity 2000 lx 1 1 Illuminance from measurem...

Страница 51: ...ies and where applicable mounting information can be found online at www sick com LMS4000 ACCESSORIES 11 8023202 16S6 2020 01 24 SICK O P E R A T I N G I N S T R U C T I O N S LMS4400 LMS4500 51 Subje...

Страница 52: ...1 Stop 0 Start 1 Stop 00 Start 01 Table 14 Example sEN LMDscandata Telegram type Command CoLa A ASCII STX sEN SPC LMDscandata SPC 1 ETX Hex 02 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 31 03 Co...

Страница 53: ...ven to the interface 1 Uint_16 2 0h FFFFh 00 00 FF FF Scan counter Number of scans which were created in the device counts how many scans were really done Uint_16 2 0h FFFFh 00 00 FF FF Time since sta...

Страница 54: ...1 CAN system increment 2 00 00 External encoder 00 01 CAN system increment 00 02 External encoder values or CAN sys tem encoder values depend ing on the selected value of telegram section Amount of en...

Страница 55: ...Start angle Output format 1 10000 Uint_32 4 55 0000 125 0000 86470h 1312D0h 55 0000 125 0000 00 08 64 70 00 13 12 D0 Size of sin gle angular step Output format 1 10000 Uint_16 2 0 0833 341h 0 0833 03...

Страница 56: ...surement value device was dazzled or blinded e g by measuring on reflector 4d 15d 0h Reserved currently not in use 16d 0h Valid measurement values 12 2 EU declaration of conformity Certificates The EU...

Страница 57: ...ANNEX 12 8023202 16S6 2020 01 24 SICK O P E R A T I N G I N S T R U C T I O N S LMS4400 LMS4500 57 Subject to change without notice...

Страница 58: ...080 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...

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