Leuze ROD4-30, ROD4-36, ROD4-38 TECHNICAL DESCRIPTION
rotoScan ROD4-30 / ROD4-36 / ROD4-38
Area Scanning Distance Sensor
en 03-2015/04 50127552
We reserve the right to
make technical changes
TECHNICAL DESCRIPTION
Table of contents
1 General information ........................................................................................................... 4
1.1 Explanation of symbols ........................................................................................................ 4
1.2 Declaration of conformity ..................................................................................................... 4
2 Safety .................................................................................................................................. 5
2.1 Proper use ........................................................................................................................... 5
2.2 Foreseeable misuse.............................................................................................................6
2.3 Competent persons.............................................................................................................. 6
2.4 Disclaimer ............................................................................................................................ 6
2.5 Laser safety notices ............................................................................................................. 7
2.6 Restrictions with regards to use ........................................................................................... 7
3 Description ......................................................................................................................... 8
3.1 Technical overview .............................................................................................................. 8
3.2 Operating principle ............................................................................................................... 9
3.3 Special features of the ROD4-3… ..................................................................................... 10
3.4 Detection fields / detection field pairs ................................................................................ 10
3.4.1 Changing over between detection field pairs...............................................................................11
3.4.2 4-field mode.................................................................................................................................13
3.5 Application examples .........................................................................................................15
3.5.1 Object detection...........................................................................................................................15
3.5.2 Object measurement: ..................................................................................................................17
4 Mounting........................................................................................................................... 18
5 Electrical connection ....................................................................................................... 19
5.1 Connecting the rotoScan ROD4-3…..................................................................................19
5.1.1 Pin assignments X1 and X2.........................................................................................................20
5.1.2 Connector assignments for connection X1 .................................................................................. 21
5.1.3 Connector assignments for connection X2 (RS 232)...................................................................23
5.1.4 Connector assignments for connection X2 (RS 422)...................................................................23
5.2 Functions of connection X1................................................................................................24
5.2.1 Input circuit ..................................................................................................................................24
5.2.2 Output circuit................................................................................................................................26
5.2.3 RESTART / resetting the data transmission rate to 57600 baud.................................................27
5.3 Functions of connection X2................................................................................................28
5.4 Connection......................................................................................................................... 28
5.4.1 Electrical supply...........................................................................................................................28
5.4.2 Fabricating the cable on the sensor side ..................................................................................... 28
5.4.3 Structure of the connector ........................................................................................................... 29
5.4.4 Points to be observed when fabricating and laying the cable...................................................... 30
5.5 Integration in the control system ........................................................................................ 31
5.5.1 Connection example 1: without detection field pair switch ..........................................................31
5.5.2 Connection example 2: with detection field pair switch ...............................................................32
Leuze electronic rotoScan ROD4-3… 1
Table of contents
6 Commissioning ................................................................................................................ 33
6.1 Hardware and software requirements................................................................................ 33
6.2 Device configuration .......................................................................................................... 33
6.3 Device configuration with ext. configuration memory / device exchange........................... 35
6.4 Screwing down and aligning the device............................................................................. 36
6.5 Switching on the device ..................................................................................................... 36
7 Testing and maintenance................................................................................................ 37
7.1 Testing ............................................................................................................................... 37
7.2 Cleaning............................................................................................................................. 37
8 Delivery contents and accessories ................................................................................ 38
8.1 Scope of delivery ............................................................................................................... 38
8.2 Accessories........................................................................................................................ 38
8.2.1 Pin assignment for connection cables KB-ROD4-5000 and KB-ROD4-10000 ............................39
8.2.2 BT ROD4 mounting system..........................................................................................................40
9 Technical data .................................................................................................................. 41
9.1 Detection field data ............................................................................................................ 41
9.2 Electrical data .................................................................................................................... 42
9.3 Software............................................................................................................................. 42
9.4 Optical data........................................................................................................................ 43
9.5 Environmental data ............................................................................................................45
9.6 Dimensioned drawing ROD4-3…....................................................................................... 46
10 Status messages, errors and error rectification ........................................................... 47
10.1 LED indicators.................................................................................................................... 47
10.2 Status displays................................................................................................................... 49
10.3 Diagnostic codes and causes ............................................................................................ 50
11 Appendix........................................................................................................................... 55
11.1 Terms and abbreviations used with ROD4-3… and the RODsoft software ....................... 55
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Figures and tables
Tabelle 3.1: Device types.................................................................................................................8
Bild 3.1: Measurement ranges and detection fields ................................................................... 8
Bild 3.2: Working range and angular resolution ......................................................................... 9
Bild 3.3: Operating principle .......................................................................................................9
Bild 3.4: Configuring detection field pairs 1 through 4 only ......................................................11
Tabelle 3.2: Changeover of the detection field pairs via the control inputs.................................... 12
Bild 3.5: Also configuring detection field pairs 5 through 8....................................................... 12
Tabelle 3.3: Changeover of the detection field pairs via the control inputs.................................... 13
Tabelle 3.4: Assignment of detection field to switching output in 4-field mode .............................. 13
Bild 3.6: Application example - height/position detection .........................................................15
Bild 3.7: Application example - Protusion detection in high-bay warehouses ..........................15
Bild 3.8: Application example - automatic parking system .......................................................16
Bild 3.9: Application example - 4-field mode ............................................................................16
Bild 3.10: Application example - measurement of pallets........................................................... 17
Bild 3.11: Application example - gripping system....................................................................... 17
Bild 5.1: Connecting the rotoScan ROD4-3… .......................................................................... 19
Tabelle 5.1: Connections of the ROD4-3… – X1 and X2...............................................................20
Tabelle 5.2: SUB-D 15-pin – pin assignments for connection X1 ..................................................21
Tabelle 5.3: SUB-D 9-pin – pin assignments for connection X2 as RS 232 port ...........................23
Tabelle 5.4: SUB-D 9-pin – pin assignments for connection X2 as RS 422 port ...........................23
Bild 5.2: Inputs of interface X1 .................................................................................................24
Bild 5.3: Example: Detection field pair switch for a DTS application ........................................ 25
Bild 5.4: Outputs of interface X1............................................................................................... 26
Bild 5.5: Plug wiring.................................................................................................................. 29
Bild 5.6: Connection example without detection field pair switch ............................................. 31
Bild 5.7: Connection example with detection field pair switch .................................................. 32
Bild 6.1: User interface of the configuration software ............................................................... 34
Bild 6.2: Switch in the config. connector................................................................................... 35
Bild 6.3: LEDs........................................................................................................................... 36
Bild 8.1: Dimensioned drawing BT ROD4…............................................................................. 40
Tabelle 9.1: Technical data - detection fields................................................................................. 41
Tabelle 9.2: Technical data - electrical data...................................................................................42
Tabelle 9.3: Technical data - software ...........................................................................................42
Tabelle 9.4: Technical data - optical data ...................................................................................... 43
Bild 9.1: Object size/diffuse reflection as a function of distance for the ROD4-30/ROD4-36 ... 43
Bild 9.2: Typical beam dimensions for the ROD4-3….............................................................. 44
Tabelle 9.5: Technical data - environmental data ..........................................................................45
Bild 9.3: Dimensioned drawing ROD4-3… ............................................................................... 46
Bild 10.1: ROD4-3… LED indicators .......................................................................................... 47
Tabelle 10.1: Status displays on the rotoScan ROD4-3................................................................... 49
Tabelle 10.2: ROD4-3… – diagnostic codes, causes and measures............................................... 50
Bild 11.1: Components of the object speed................................................................................ 58
Leuze electronic rotoScan ROD4-3… 3
General information
1 General information
1.1 Explanation of symbols
The symbols used in this technical description are explained below.
Attention!
This symbol appears before text passages which must absolutely be observed. Failure to
heed this information may lead to injuries to personnel or damage to the equipment.
Attention Laser!
This symbol warns of possible danger through hazardous laser radiation.
The laser used in the rotoScan ROD4-3… is an infrared laser device of laser 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 ROD4-30, rotoScan ROD4-36 and rotoScan ROD4-38 distance sensors have
been developed and produced in accordance with the applicable European standards and
directives.
The rotoScan ROD4-3… distance sensors also fulfil the UL requirements (Underwriters
Laboratory Inc.) for the USA and Canada.
Notice!
The corresponding declaration of conformity can be requested from the manufacturer.
The manufacturer of the product, Leuze electronic GmbH + Co. KG in D-73277 Owen/Teck,
possesses a certified quality assurance system in accordance with ISO 9001.
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2Safety
This sensor was developed, manufactured and tested in line with the applicable safety standards. It corresponds to the state of the art.
2.1 Proper use
The ROD4-3… is an optical, two-dimensional measuring distance sensor.
Areas of application
The ROD4… series sensors are especially designed for the following areas of application:
• Height/position detection
• Overshoot detection (e.g. in fully automatic parking systems)
• Buffing protection (e.g. for telpher lines)
• Contour measurement
• Packet measurement / volume measurement
CAUTION
Observe intended use!
Only operate the device in accordance with its intended use. The protection of per-
sonnel and the device cannot be guaranteed if the device is operated in a manner not
complying with its intended use.
Leuze electronic GmbH + Co. KG is not liable for damages caused by improper use.
Read the technical description before commissioning the device. Knowledge of this
technical description is an element of proper use.
Safety
NOTE
Comply with conditions and regulations!
Observe the locally applicable legal regulations and the rules of the employer's liability
insurance association.
OPERATION NOTICE IN ACCORDANCE WITH UL CERTIFICATION:
CAUTION – Use of controls or adjustments or performance of procedures other than
those specified herein may result in hazardous light exposure.
ATTENTION ! Si d'autres dispositifs d'alignement que ceux préconisés ici sont utilisés ou s'il est procédé autrement qu'indiqué, cela peut entraîner une exposition à
des rayonnements et un danger pour les personnes.
Attention
For UL applications, use is only permitted in class 2 circuits in accordance with the NEC (National Electric Code).
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Safety
2.2 Foreseeable misuse
Any use other than that defined under the "Approved purpose" or which goes beyond that
use is considered improper use.
In particular, use of the device is not permitted in the following cases:
• Rooms with explosive atmospheres
• in circuits which are relevant to safety
• Operation for medical purposes
NOTE
Do not modify or otherwise interfere with the device.
Do not carry out modifications or otherwise interfere with the device.
The device must not be tampered with and must not be changed in any way.
The device must not be opened. There are no user-serviceable parts inside.
Repairs must only be performed by Leuze electronic GmbH + Co. KG.
2.3 Competent persons
Connection, mounting, commissioning and adjustment of the device must only be carried
out by competent persons.
Prerequisites for competent persons:
• They have a suitable technical education.
• They are familiar with the rules and regulations for occupational safety and safety at
work.
• They are familiar with the technical description of the device.
• They have been instructed by the responsible person on the mounting and operation
of the device.
Certified electricians
Electrical work must be carried out by a certified electrician.
Due to their technical training, knowledge and experience as well as their familiarity with
relevant standards and regulations, certified electricians are able to perform work on electrical systems and independently detect possible hazards.
In Germany, certified electricians must fulfill the requirements of accident-prevention regulations BGV A3 (e.g. electrician foreman). In other countries, there are respective regulations that must be observed.
2.4 Disclaimer
Leuze electronic GmbH + Co. KG is not liable in the following cases:
• The device is not being used properly.
• Reasonably foreseeable misuse is not taken into account.
• Mounting and electrical connection are not properly performed.
• Changes (e.g., constructional) are made to the device.
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2.5 Laser safety notices
ATTENTION, INVISIBLE LASER RADIATION – LASER CLASS 1
The device fulfills the IEC 60825-1:2007 (EN 60825-1:2007) safety regulations for a
product in laser class 1 as well as the U.S. 21 CFR 1040.10 regulations with deviations
corresponding to "Laser Notice No. 50" from June 24th, 2007.
Adhere to the applicable legal and local regulations regarding protection from laser
beams.
The device must not be tampered with and must not be changed in any way.
There are no user-serviceable parts inside the device.
Repairs must only be performed by Leuze electronic GmbH + Co. KG.
2.6 Restrictions with regards to use
• Glass, highly reflective materials such as mirrors (luminosity coefficient > 10,000%)
as well as objects which do not reflect any light back to the sensor could falsify the
measurement value. Additional notices can be found in chapter 9.4.
• Do not expose the ROD4-3… 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 temperature fluctuations.
• If a protective housing is provided for the sensor, the detection must not occur through
additional window material (plastic, glass, etc.).
• Physical contact with the front cover of the sensor and the six diffused-light windows
is to be avoided.
Safety
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Description
Measurement range ROD4-38: max. 25m
Measurement range ROD4-30/ROD4-36: max. 65m
Radius of near detection field: max. 30m
Radius of far detection field: max. 50m
3 Description
3.1 Technical overview
Designation Type Part No.
rotoScan ROD4-30 without heater 501 10238
rotoScan ROD4-36 with integrated heater 501 10666
rotoScan ROD4-38
Tabelle 3.1: Device types
The ROD4-3… is an optical, two-dimensional measuring distance sensor. It could also be
referred to as an optical, area radar unit. The device periodically transmits light pulses within
an angular range of 190° via a rotating deflector unit.
If the pulses are incident upon objects or obstacles, the light is reflected and then received
and analysed by the ROD4-3…. From the propagation time of the radiated light and the
current angle of the deflector unit, the ROD4-3… unit calculates the exact coordinates of the
object. If the object or obstacle is located within defined detection fields, a stop function is
executed. In this case, the semiconductor switch outputs are switched off within the system
reaction time. The stop function is automatically reset once the detection field is clear or
upon acknowledgement, depending on the operating mode (software configuration: manual/
automatic).
The ROD4-3… can detect objects with diameters greater than 20mm at a distance of up to
4.0m, even if the surface of the given object is dark. Larger objects are detected in the far
detection field at a distance of up to 50m.
Eight reversible detection field pairs (7 configurable + 1 permanently defined) enable optimal
adaptation to the applications.
with integrated heating,
dust-insensitive version
501 10667
Bild 3.1: Measurement ranges and detection fields
The ROD4-3… can be used both on vehicles (mobile object detection for vehicles) as well
as in stationary applications on systems and machines (object detection/measurement). The
long-range and contact-less measurement principle makes the ROD4-3… unit a universally
applicable monitoring device.
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3.2 Operating principle
0.36°
Working range
The working range of the ROD4-3… (190°) is divided into 0.36° angular segments (corresponds to 529 measurement values).
Bild 3.2: Working range and angular resolution
Bundled light pulses are generated by a laser diode with coupled transmission optics. These
light pulses are reflected by a rotating mirror in such a way that a light pulse is emitted every
40ms in all angular segments (scanning rate: 25scans/s). If the light pulse is incident upon
an object, it is reflected and subsequently detected and analysed by the ROD4-3….
Description
Bild 3.3: Operating principle
The ROD4-3… works on the principle of pulse propagation time measurement. The light
pulse propagation time is a direct measurement of the distance to the object.
Reference measurement
A reference measurement cyclically controls the measurement function. The following functions 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.
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Description
Window monitoring
A total of six light axes monitor the degree of soiling of the window. During this procedure,
the results are compared with two reference sensors. Moreover, these reference sensors
are used for temperature compensation and ageing monitoring.
Combination of hardware and software
You can configure the ROD4-3… yourself using the supplied RODsoft software. In addition
to the device configuration, the software can also be used to adapt the field pairs to the given
application and to save them in the ROD4-3…
The image of the surroundings generated during the scan process is compared with the
specified detection field contours. If an object violates a detection field for a least one scan
(40ms), a corresponding, user-specific reaction is triggered.
3.3 Special features of the ROD4-3…
• Seven freely configurable near detection fields (up to maximum 30m)
• Seven freely configurable far detection fields (up to maximum 50m)
• Monitoring range up to 190°
• Small construction size (W x D x H: 140mm x 135mm x 155 mm)
•Low weight (2kg)
• Low current consumption (ROD4-30 without heating)
• Two interface types on the X2 SUB-D socket (RS 232 and RS 422)
• Easy-to-use RODsoft configuration software
• Measurement value transmission from distances of up to 65m
• Device plug with configuration memory facilitates simple exchange of devices
3.4 Detection fields / detection field pairs
Eight reversible detection field pairs (7 configurable + 1 permanently defined) enable optimal
adaptation to the applications. A detection field pair is considered to be the combination of
both a near and far detection field. The following designations are used in the RODsoft
configuration software:
Detection field pair x consists of detection_field_near x and detection_field_far x.
The near and far detection fields are represented by different colours in the RODsoft configuration software: near = red, far = green.
Detection field pairs 1 … 7 can be freely defined by the user. Detection field pair 8 is permanently defined: both detection_field_near 8 as well as detection_field_far 8 are set to zero
here. This means that no area monitoring takes place upon activation of detection field
pair 8.
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3.4.1 Changing over between detection field pairs
Attention!
1 or 2 detection field pairs may be simultaneously active and simultaneously monitored!
Only detection field pairs 1 through 4 are configured
If only detection field pairs 1 through 4 are configured in the RODsoft configuration software,
i.e. it is only possible to start with a field pair between 1 and 4 and it is only possible to changeover between a field pair between 1 and 4, then a maximum of 2 detection field pairs may
be simultaneously active and monitored.
Description
Bild 3.4: Configuring detection field pairs 1 through 4 only
The four control inputs FPS1 … FPS4 can be used to change over between the detection
field pairs. The following table shows the admissible control options.
Control input
FPS1 FPS2 FPS3 FPS4
0000 Detection field pair 1 is active
1000 Detection field pair 1 is active
0
1 100 Detection field pairs 1 and 2 are active
00
1010 Detection field pairs 1 and 3 are active
0
1 1 1 0 Not permitted
000
1001 Detection field pairs 1 and 4 are active
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100 Detection field pair 2 is active
10 Detection field pair 3 is active
1 10 Detection field pairs 2 and 3 are active
1 Detection field pair 4 is active
Meaning
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Description
Control input
FPS1 FPS2 FPS3 FPS4
0
1 101 Not permitted
00
101 1 Not permitted
0
1 1 1 1 Not permitted
Tabelle 3.2: Changeover of the detection field pairs via the control inputs
If an inadmissible state exists at the control inputs for more than 80 ms, the sensor switches
to the error state.
101 Detection field pairs 2 and 4 are active
1 1 Detection field pairs 3 and 4 are active
1 1 1 Not permitted
Meaning
One of detection field pairs 5 through 8 is also configured
If, in addition detection field pairs 1 through 4, at least one of detection field pairs 5 through
8 is also configured in the RODsoft configuration software, i.e. it is possible to start with a
field pair between 1 and 7 and it is possible to changeover between a field pair between
1 and 8, then only 1 detection field pair may be simultaneously active and monitored.
Bild 3.5: Also configuring detection field pairs 5 through 8
In this case, the four control inputs can be used to change over between the detection field
pairs as follows.
Control input
FPS1 FPS2 FPS3 FPS4
0000 Detection field pair 1 is active
1000 Detection field pair 1 is active
0
00
000
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100 Detection field pair 2 is active
10 Detection field pair 3 is active
1 Detection field pair 4 is active
Meaning
Description
Control input
FPS1 FPS2 FPS3 FPS4
1 1 10 Detection field pair 5 is active
1 101 Detection field pair 6 is active
101 1 Detection field pair 7 is active
0
1100 Not permitted
1010 Not permitted
0110 Not permitted
1001 Not permitted
0101 Not permitted
0011 Not permitted
1111 Not permitted
Tabelle 3.3: Changeover of the detection field pairs via the control inputs
While changing over between 2 detection field pairs, inadmissible states at the control inputs
are tolerated for a duration of 40ms; after this period the sensor switches to the error state.
The changeover between 2 detection field pairs occurs within a system reaction time of
80ms.
1 1 1 Detection field pair 8 is active
3.4.2 4-field mode
In 4-field mode (configuration via RODsoft), all 4 detection fields of detection field
pairs 1 and 2 are simultaneously activated and evaluated. In this case, a separate output is
assigned to each detection field pair.
Detection field
Detection_field_near 1
Detection_field_near 2
Detection_field_far 1
Detection_field_far 2
Tabelle 3.4: Assignment of detection field to switching output in 4-field mode
Inputs FPS1 … FPS4 are not evaluated in 4-field mode. Detection field changeover is not
possible in 4-field mode.
Meaning
Switching output
Fn1 Fn2 ALARM1 ALARM2
X
X
(X)
X
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Attention!
Depending on the configuration, output ALARM1, in some cases, also signals device warnings. This means that a violation of detection_field_far 1 is not uniquely signalled under certain circumstances.
All outputs are switched off during start-up. Outputs ALARM1 and ALARM2 are activated
during configuration.
Notice!
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Description
Operation with 3 detection fields
If only three detection fields are to act on three outputs, only use detection_field_near 1,
detection_field_near 2 and detection_field_far 2 and set the alarm signal type for ALARM1
to "Device warning". The output will then only signal device warnings and is, as a result,
unique.
Operation with 2 detection fields
If only two or fewer independent outputs are needed, 4-field mode is not required and should
be deactivated with the appropriate RODsoft parameter.
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3.5 Application examples
The following examples can be considered typical areas of application for the ROD4-3….
3.5.1 Object detection
Height/position detection
Height and position detection of objects for collision prevention.
Bild 3.6: Application example - height/position detection
Description
Protusion detection in high-bay warehouses
Overshoot detection for collision prevention with high-bay storage devices.
Bild 3.7: Application example - Protusion detection in high-bay warehouses
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Description
Automatic parking system
Protrusion detection in parking systems under changing environmental conditions.
Bild 3.8: Application example - automatic parking system
4-field mode
Presence detection on the transport system with 4 independent detection fields.
Bild 3.9: Application example - 4-field mode
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3.5.2 Object measurement:
Measurement of pallets
Contour measurement, determination of X, Y coordinates.
Bild 3.10:Application example - measurement of pallets
Manipulator positioning
Compact construction and low weight enable use on gripping head.
Description
Bild 3.11:Application example - gripping system
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.
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