Pepperl+Fuchs R2000 User Manual
MANUAL
2-D LiDAR Sensor
R2000 Measuring Sensors
FACTORY AUTOMATION
2-D LiDAR Sensor
With regard to the supply of products, the current issue of the following document is applicable: The
General Terms of Delivery for Products and Services of the Electrical Industry, published by the
Central Association of the Electrical Industry (Zentralverband Elektrotechnik und Elektroindustrie
(ZVEI) e.V.) in its most recent version as well as the supplementary clause: "Expanded reservation
of proprietorship"
2-D LiDAR Sensor
Contents
1 Introduction......................................................................... 5
1.1 Content of this Document .............................................................................5
1.2 Symbols Used...............................................................................................5
2 Safety................................................................................... 7
2.1 Safety Information.........................................................................................7
2.2 Laser Class 1................................................................................................8
3 Product Description ........................................................... 9
3.1 Validity ..........................................................................................................9
3.2 R2000 2-D LiDAR Sensor .............................................................................9
3.3 Functional Principle.....................................................................................10
3.4 Technical Data ............................................................................................11
3.5 Indicators and Operating Elements.............................................................11
3.6 Interfaces and Connections........................................................................12
3.7 Scope of Delivery........................................................................................13
3.8 Accessories ................................................................................................14
4 Installation ........................................................................ 15
4.1 Storage and Transport.................................................................................15
4.2 Unpacking...................................................................................................15
4.3 Mounting.....................................................................................................15
4.4 Device Connection......................................................................................17
5 Commissioning................................................................. 18
5.1 Ethernet Configuration................................................................................18
6 Operation........................................................................... 22
6.1 Menu Structure ...........................................................................................22
6.2 Operation....................................................................................................24
6.3 Description of Menu Items ..........................................................................27
6.3.1 "Ethernet Info" Menu Item.......................................................................27
6.3.2 "Ethernet Setup" Menu Item ...................................................................27
6.3.3 "Sensor Setup" Menu Item .....................................................................28
6.3.4 "Demos" Menu Item ...............................................................................29
6.3.5 "Tools" Menu Item ..................................................................................29
6.3.6 "End" Menu Item ....................................................................................29
7 Maintenance and Repair.................................................. 30
7.1 Maintenance...............................................................................................30
7.2 Repairs .......................................................................................................30
8 Troubleshooting................................................................ 31
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Contents
8.1 Potential Causes of Faults.......................................................................... 31
9 Appendix........................................................................... 32
9.1 Data Filter................................................................................................... 32
9.2 Amplitude Characteristics .......................................................................... 33
9.3 Pulse Ranging Technology (PRT) Glossary................................................ 34
9.4 Using Open Source Programs.................................................................... 36
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Introduction
1 Introduction
1.1 Content of this Document
This document contains information required to use the product in the relevant
phases of the product life cycle. This may include information on the following:
■ Product identification
■ Delivery, transport, and storage
■ Mounting and installation
■ Commissioning and operation
■ Maintenance and repair
■ Troubleshooting
■ Dismounting
■ Disposal
Note
For full information on the product, refer to the further documentation on the
Internet at www.pepperl-fuchs.com.
The documentation comprises the following parts:
■ This document
■ Datasheet
In addition, the documentation may comprise the following parts, if applicable:
■ EU-type examination certificate
■ EU declaration of conformity
■ Attestation of conformity
■ Certificates
■ Control drawings
■ Instruction manual
■ Other documents
1.2 Symbols Used
This document contains symbols for the identification of warning messages and of
informative messages.
Warning Messages
You will find warning messages, whenever dangers may arise from your actions. It
is mandatory that you observe these warning messages for your personal safety
and in order to avoid property damage.
Depending on the risk level, the warning messages are displayed in descending
order as follows:
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Introduction
Danger!
This symbol indicates an imminent danger.
Non-observance will result in personal injury or death.
Warning!
This symbol indicates a possible fault or danger.
Non-observance may cause personal injury or serious property damage.
Caution!
This symbol indicates a possible fault.
Non-observance could interrupt the device and any connected systems and
plants, or result in their complete failure.
Informative Symbols
Note
This symbol brings important information to your attention.
Action
This symbol indicates a paragraph with instructions. You are prompted to perform
an action or a sequence of actions.
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Safety
2 Safety
2.1 Safety Information
Read the following information carefully and follow this information when working
with the device. Failure to observe the safety notices and warning messages in
this documentation can lead to malfunctions and hazardous operating scenarios
during operation.
This can result in serious personal injury or death.
Target Group, Personnel
The personnel must be appropriately trained and qualified in order to carry out
mounting, installation, commissioning, operation, maintenance, and dismounting
of the device. The trained and qualified personnel must have read and
understood the instruction manual.
Prior to using the product make yourself familiar with it. Read the instruction
manual carefully.
Reference to Further Documentation
Observe laws, standards, and directives applicable to the intended use and the
operating location.
Intended Use
The R2000 2-D LiDAR sensor is a 360° measuring instrument with an all-round
display. It is used on automated transport systems or other movable machinery in
intralogistics. It is also used on stationary equipment in the area of factory and
building automation.
The device is only approved for appropriate and intended use. Ignoring these
instructions will void any warranty and absolve the manufacturer from any liability.
Operation, Maintenance, Repair
Do not remove the nameplate.
Do not remove the warning markings.
Do not repair, modify, or manipulate the device.
If there is a defect, always replace the device with an original device.
Only use accessories specified by the manufacturer.
When using the device with rack feeders and moving carriages, observe the
applicable safety guidelines for these applications.
Supply the device with a power supply that meets the requirements for safety
extra-low voltage (SELV) or protective extra-low voltage (PELV).
Do not point the device directly at the sun. Do not use the device to conduct
measurements into the sun.
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Safety
Delivery, Transport, Disposal
Keep the original packaging. Always store and transport the device in the original
packaging.
The device, built-in components, packaging, and any batteries contained within
must be disposed in compliance with the applicable laws and guidelines of the
respective country.
2.2 Laser Class 1
Class 1 Laser Product
This sensor is certified according to laser protection class 1.
Warning!
Class 1 laser light
The laser light can be an irritant, especially in a dark environment. Do not point
lasers at people!
Maintenance and repairs should only be carried out by authorized service
personnel!
Install the device so that the warning is clearly visible and readable.
Caution: Use of controls, adjustments, or performance of procedures other than
those specified herein may result in harmful laser beam exposure.
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Product Description
3 Product Description
3.1 Validity
This manual applies to all R2000-series measuring devices from firmware version
1.50 and hardware version 1.50 onward. The versions can be found in the device
menu; see chapter 6.3.3.
For devices using older versions, documentation is available on request.
3.2 R2000 2-D LiDAR Sensor
The 2-D LiDAR sensor is a compact 360° sensor with an integrated all-round
display.
The sensor offers a high measurement frequency, a small angular resolution, a
precise light spot, and, depending on the version, a visible measurement beam
(OMD10M-R2000-B23), all of which make it suitable for numerous factory
automation applications. In addition to completing familiar industrial tasks such as
logistics, transportation, and material handling, the sensor can be used for
innovative applications relating to building automation, automatic navigation of
autonomous vehicles, or monitoring rooms.
Design
The device comprises a static body on which a continuously turning
measurement module with an emitter laser and a receiver element is located. The
LiDAR sensor uses Pulse Ranging Technology (PRT). This functional principle
permits continuous scanning of the surrounding area through a full 360°.
User-Friendly All-Round Display
The LiDAR sensor has a row of LEDs on the back of the measurement module
that acts as an all-round display. When the sensor is rotated, this row of LEDs
produces a cylindrical projection surface for displaying text and images. This
enables commissioning and operation without a PC or laptop. Operating and
diagnosis information can therefore be directly displayed during operation.
Safety Certification to Laser Class 1
The R2000 2-D LiDAR sensor fulfills the safety requirements of laser class 1 in
measurement mode. The low amount of laser light emitted ensures that operating
personnel are not injured or harmed.
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Product Description
3.3 Functional Principle
The LiDAR sensor uses the principle of Pulse Ranging Technology (PRT). This
means the device measures the time between the emission of a light pulse and
the receipt of the pulse reflected by an object. Due to the constancy of the speed
of light, this time is a measurement of distance.
Compared with other distance measurement processes, runtime measurement is
affected very little by disturbances in the measuring environment. As a result, this
measurement process ensures a high level of accuracy even under tough
everyday industrial conditions. The light emitter and light receiver are located in
the rotating sensor head.
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Product Description
Note
Influence of ambient conditions
The speed of light depends on the air temperature and barometric pressure.
The influence of the air temperature is 1 ppm/K.
The influence of the barometric pressure is -0.3 ppm/hPa.
The user must take these faults into consideration when measuring long
distances.
In the operating range of -10 °C ... +50 °C, this fault amounts to 0.6 mm at a
distance of 10 m.
3.4 Technical Data
The technical data for this product can be found in the datasheet at www.pepperlfuchs.com.
3.5 Indicators and Operating Elements
Figure 3.1 Indicators and Controls
No. Description Color
1 Operating indicator Green
2 Fault indicator Red
3 "Next" menu button
4 "Return" menu button
5 "Q2" signal indicator Yellow
6 "Q1" signal indicator Yellow
7 Laser beam outlet
8 Ethernet link indicator Green
9 Ethernet activity indicator Yellow
Table 3.1 Indicators and operating elements
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2
1
4
6
7
8
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Product Description
3.6 Interfaces and Connections
The following connections are found on all devices:
Power Supply
There is a 4-pin M12 plug on the rear of the housing for connecting the power
supply. The following diagram shows the pinout:
Figure 3.2 Power supply connection layout
1 24 V power supply
2 Q2
3 Ground (GND)
4 Q1
12
MultiPort
There is an 8-pin M12 plug on the rear of the housing for service purposes.
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