LD-MRS
3D LiDAR sensors
OPERATING INSTRUCTIONS
Software version
Software version described
Operating Instructions
Laser measurement sensor LD-MRS
Device/Software/Tool
LD-MRS400001
(LD-MRS)
LD-MRS400102
(LD-MRS HD)
LD-MRS420201
(LD-MRS UAV)
LD-MRS800001
(LD-MRS 8-Layer)
SOPAS ET
1)
SICK LaserView Customer Edition
1) Can run on a computer with an operating system starting at Windows 2000
2) For installation and use, see the operating instructions "Visualization tool SICK LaserView Customer Edition“ (Part No.
8013787, English version) on the provided CD, "Manuals & Software LD-MRS" The visualization tool "SICK LaserView Customer Edition" will hencworth be called „LaserView“.
1)2)
Function Version
Firmware (DSP)
Firmware (FPGA)
Firmware (DSP)
Firmware (FPGA)
Firmware (DSP)
Firmware (FPGA)
Firmware (DSP)
Firmware (FPGA)
as of V. 2.0.x
as of V. 9.0.x
as of V. 2.0.x
as of V. 9.0.x
as of V. 2.0.x
as of V. 9.0.x
as of V.3.0.x
as of V.9.6.x
Configuration software for field monitoring as of V. 2.22
Configuration software and visualization tool for mea-
as of V. 1.5.4
suring mode
TM
Copyright
Copyright 2009 - 2017
SICK AG Waldkirch
Auto Ident, Reute plant
Nimburger Strasse 11
79276 Reute
Germany
Trademark
Windows 2000
TM
, XPTM, VistaTM, Windows 7TM Windows 8TM, Windows 10
trademarks or trademarks of the Microsoft Corporation in the USA and other countries.
®
Adobe
Reader® is a registered trademark of Adobe Systems Incorporated.
Download via Internet: http://get.adobe.com/reader/
Version of these operating instructions
The latest version of these operating instructions can be obtained as PDF at www.sick.com.
2 © SICK AG · Germany · All rights reserved · Subject to change without notice
TM
are registered
8012948/ZMQ0/2017-06-09
Operating Instructions
LD-MRS
Content
Content
1 About this document .................................................................................................. 9
1.1 Function.................................................................................................................... 9
1.2 Target group .............................................................................................................9
1.3 Depth of information ...............................................................................................9
1.4 Symbology used .....................................................................................................10
2 For your safety ...........................................................................................................11
2.1 Safety standards....................................................................................................11
2.2 Authorized personnel.............................................................................................11
2.3 Intended use ..........................................................................................................12
2.4 General safety notes and protective means........................................................13
2.5 Quick stop and Quick restart.................................................................................15
2.6 Environmental protection......................................................................................15
3 Product description...................................................................................................17
3.1 Design of the device ..............................................................................................17
3.2 Scope of delivery ...................................................................................................19
3.3 System requirements ............................................................................................21
3.4 Operating principle of the device..........................................................................22
3.5 Measuring mode ....................................................................................................37
3.6 Object Tracking (LD-MRSxxxx.S01 only)...............................................................39
3.7 Mounting upside down (LD-MRS 8-Layer only)....................................................47
3.8 Field monitoring (for LD-MRS400xxx only)..........................................................48
3.9 Function of the 8-layer sensors ............................................................................52
3.11 Status indicators and controls ..............................................................................55
4 Mounting ....................................................................................................................57
4.1 Overview of the 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 Overview of the installation steps.........................................................................65
5.2 Planning the electrical installation .......................................................................66
5.3 Electrical connections and cables ........................................................................67
5.4 Perform electrical installation...............................................................................70
5.5 Pin assignments and wire colors of the assembled cables................................79
6 Commissioning and configuration ......................................................................... 82
6.1 Overview for the startup steps for field monitoring.............................................82
6.2 SOPAS-ET configuration program .........................................................................82
6.6 Synchronization......................................................................................................86
6.7 Switching off the LD-MRS......................................................................................88
7 Maintenance ..............................................................................................................90
7.1 Maintenance during operation .............................................................................90
7.2 Cleaning the device ...............................................................................................90
7.3 Exchanging an LD-MRS .........................................................................................91
8 Troubleshooting.........................................................................................................92
8.1 Warnings and fault messages ..............................................................................92
8.2 Overview of possible errors and faults .................................................................92
8.3 Monitor error and fault indications.......................................................................92
8.4 Troubleshooting ...................................................................................................93
8.5 SICK Support ..........................................................................................................94
9 Technical specifications ........................................................................................... 95
9.1 Data sheets ............................................................................................................95
9.2 Dimensional drawings ...........................................................................................98
9.3 Conditions for integrating the LD-MRS.............................................................. 105
10 Annex ....................................................................................................................... 107
10.1 Overview of the annex ........................................................................................ 107
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© SICK AG · Germany · All rights reserved · Subject to change without notice 3
Content
Laser measurement sensor LD-MRS
10.2 Additional documentation...................................................................................107
10.3 Ordering information ...........................................................................................107
10.4 Glossary................................................................................................................108
10.5 EC Declaration of Conformity..............................................................................109
Operating Instructions
4 © SICK AG · Germany · All rights reserved · Subject to change without notice
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Operating Instructions
LD-MRS
Indexes
Abbreviations
CAN Controller Area Network = Standardized field bus system with a message-oriented data ex-
change protocol
EEPROM Electrically Erasable Programmable Read-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 Scanner
RAM Random Access Memory = volatile memory with direct access
ROM Read-only Memory = memory that can only be read (non-volatile)
SOPAS-ET SICK OPEN PORTAL for APPLICATION and SYSTEMS Engineering Tool =
Configuration software for configuring the LD-MRS
UAV Unpiloted Aerial Vehicles
UINT Unsigned Integer
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© SICK AG · Germany · All rights reserved · Subject to change without notice 5
Indexes
Laser measurement sensor LD-MRS
Operating Instructions
Tables
Tab. 1-1: Target group .......................................................................................................9
Tab. 2-1: Required qualification for commissioning the LD-MRS.................................11
Tab. 2-2: Power consumption of the LD-MRS ................................................................15
Tab. 3-1: Delivery of LD-MRS...........................................................................................19
Tab. 3-2: Contents of the CD-ROM "Manuals & Software LD-MRS" .............................19
Tab. 3-3: Device variants of the LD-MRS........................................................................20
Tab. 3-4: Product features and functions (overview) ....................................................21
Tab. 3-5: Naming conventions (colour code see
Tab. 3-6: Angular resolution 0.125° ..............................................................................31
Tab. 3-7: Angular resolution 0.25°.................................................................................31
Tab. 3-8: Angular resolution 0.5°...................................................................................31
Tab. 3-9: Setting the layer sensitivity..............................................................................44
Tab. 3-10: Example of a combination of inputs ...............................................................49
Tab. 5-1: Pin assignment of the 4-pin socket (round plug-in connection) "Ethernet" .67
Tab. 5-2: Pin assignment of the 12-pin plug "data interfaces/synchronization" (round
plug-in connection)...........................................................................................67
Tab. 5-3: Pin assignment of the 4-pin plug "Power" (round plug-in connection) .........68
Tab. 5-4: Assembled cables for connecting the LD-MRS ..............................................68
Tab. 5-5: Power consumption of the LD-MRS ................................................................70
Tab. 5-6: Pin assignment of the Ethernet data cable....................................................79
Tab. 5-7: Pin assignment of the connecting cable "Synchronization" ..........................79
Tab. 5-8: Pin assignment of 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. 8-1: Troubleshooting the LD-MRS...........................................................................93
Tab. 9-1: Technical specifications LD-MRS....................................................................95
Tab. 9-2: Technical specifications for the CAN modules (from the manufacturer's data
sheets and manuals) .......................................................................................97
Tab. 10-1: Additional documentation ............................................................................ 107
Tab. 10-2: Consumables for the care of the LD-MRS................................................... 107
Fig. 3-5) ..............................................26
Figures
Fig. 2-1: Laser output aperture of the LD-MRS................................................................15
Fig. 3-1: Design of the LD-MRS.........................................................................................18
Fig. 3-2: Principle of time-of-flight measurement............................................................23
Fig. 3-3: Multi-echo capability...........................................................................................24
Fig. 3-4: Multi-layer technology.........................................................................................25
Fig. 3-5: Principle of the scan planes, color-coded .........................................................25
Fig. 3-6: Scanning range ...................................................................................................27
Fig. 3-7: Relation of angle to scanning range..................................................................28
Fig. 3-8: Sensing range in relation to remission..............................................................29
Fig. 3-9: Example of three echoes of a laser pulse.........................................................30
Fig. 3-10: Angular resolution...............................................................................................30
Fig. 3-11: Example: Angular resolution of 0.25° at distance d = 25 m (82 ft) ...............31
Fig. 3-12: Different angular resolution by sector...............................................................32
Fig. 3-13: Scanning frequency 12.5 Hz with constant angular resolution of 0.25° .......33
Fig. 3-14: Scanning frequency 25 Hz with constant angular resolution of 0.25° ..........33
Fig. 3-15: Scanning frequency 50 Hz with constant angular resolution of 0.5°.............34
Fig. 3-16: Reflection of the laser beam at the surface of an object.................................35
Fig. 3-17: Reflection angle ..................................................................................................35
Fig. 3-18: Degree of reflection ............................................................................................35
6 © SICK AG · Germany · All rights reserved · Subject to change without notice
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Operating Instructions
LD-MRS
Indexes
Fig. 3-19: Mirror surfaces ................................................................................................... 36
Fig. 3-20: Object smaller than diameter of the laser beam ............................................. 36
Fig. 3-21: Raw data ............................................................................................................. 40
Fig. 3-22: Object contour .................................................................................................... 41
Fig. 3-23: Bounding box ...................................................................................................... 41
Fig. 3-24: Object .................................................................................................................. 42
Fig. 3-25: „Suppressor“ filter.............................................................................................. 43
Fig. 3-26: Setting the near range sensitivity...................................................................... 44
Fig. 3-27: Example for measurement result with „Clutter“ .............................................. 45
Fig. 3-28: „Noise Control“-Filter.......................................................................................... 46
Fig. 3-29: Device parameter: Upside down mounting ...................................................... 47
Fig. 3-30: Principle of field monitoring............................................................................... 48
Fig. 3-31: Manipulation protection against shadow ......................................................... 50
Fig. 3-32: Examples of evaluation field shapes ................................................................ 51
Fig. 3-33: Function of the 8-layer sensors – upper scan field.......................................... 52
Fig. 3-34: Function of the 8-layer sensors – lower scan field .......................................... 52
Fig. 3-35: Function of the 8 layer sensor – overlapping scan fields................................ 53
Fig. 3-36:
Fig. 3-37:
Fig. 4-1: Beam expansion................................................................................................. 58
Fig. 4-2: Mount the LD-MRS on holder Part No. 1047429 ............................................ 59
Fig. 4-3: Adjust the holder ................................................................................................ 60
Fig. 4-4: Mount the LD-MRS on the weather resistant cover Part No. 2058033 and on
Fig. 4-5: Mount the optional CAN module ....................................................................... 62
Fig. 5-1: Measuring mode: Electrical installation 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: Design of the CAN module
Fig. 5-5: Design of the CAN module
Fig. 5-6: Connect two CAN modules to the CAN interface of the LD-MRS .................... 74
Fig. 5-7: Connect one CAN module to the CAN interface of the LD-MRS...................... 74
Fig. 5-8: Input switched against V
Fig. 5-9: A circuit diagram of digital I/O terminal (high side driver)............................... 76
Fig. 5-10: DIP switch for address (example: address 9)................................................... 76
Fig. 5-11: DIP switch for transmission rate (example: 500 kBit/s).................................. 77
Fig. 5-12: Wiring of the RS-232 interface .......................................................................... 78
Fig. 6-1: Principle of data storage.................................................................................... 85
Fig. 6-2: Scheme of the data flow in a system with one LD-MRS and up to two external
Fig. 6-3: Details synchronisation...................................................................................... 87
Fig. 6-4: LD-MRS: Sync IN and Sync Out pulse ............................................................... 88
Fig. 9-1: Dimensions of the LD-MRS................................................................................ 98
Fig. 9-2: Dimensions of the LD-MRS................................................................................ 99
Fig. 9-3: Position of the sensor coordinate origin in the LD-MRS UAV ........................ 100
Fig. 9-4: Dimensions of the holder Part No. 1047429.................................................101
Fig. 9-5: Dimensions of the weather resistant cover Part no. 2058033 ....................102
Fig. 9-6: Dimensions of the two designs of the CAN modules .....................................103
Fig. 9-7: Dimensions of the shock mounting ................................................................104
Fig. 9-8: Boundary conditions for integration................................................................105
Fig. 10-1: Illustration containing the EC Declaration of Conformity, page 1 (size reduced)
μCAN.8.dio-SNAP module .................................................................................. 54
μCAN.8.dio-BOX module..................................................................................... 55
the holder Part No. 1047429............................................................................ 61
μCAN.8.dio-BOX ..................................................... 72
μCAN.8.dio-SNAP ................................................... 73
+PWR ................................................................... .......................................................................... ....75
devices ................................................................................................................ 86
109
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© SICK AG · Germany · All rights reserved · Subject to change without notice 7
Chapter 1 Operating Instructions
About this document
Laser measurement sensor LD-MRS
1 About this document
1.1 Function
This document informs technical personnel how to safely install and operate these versions
of the LD-MRS laser measurement sensor:
• LD-MRS400001 (standard version)
• LD-MRS400102 (heavy duty version)
• LD-MRS420201 (UAV-Version with light housing)
• LD-MRS800001 (standard version with 8 layers)
The document contains information about
• Mounting and electrical installation
• Commissioning and configuration (parametrization)
• Maintenance
• Troubleshooting
• Replacing the laser measurement sensor
Important In the following, the LD-MRS400001, LD-MRS400102, LD-MRS420201 and LD-
MRS800001 laser measurement sensors are termed "LD-MRS" for short, except in cases
where differences need to be explained specifically.
1.2 Target group
The target group of this document are people in the following positions:
Activities Target group
Mounting, electrical installation, maintenance, replacement
Commissioning, configuration Qualified personnel, e.g. technicians, engineers
Tab. 1-1: Target group
Qualified personnel, e.g. service technicians, factory
electricians
1.3 Depth of information
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 configuration of the LD-MRS for user-specific situations in measuring mode as well as
measurement queries for displaying the scan data are done via the provided visualization
tool SICK LaserView Customer Edition or with messages. The LaserView software is also
used to configure the object data. Further Information is available in the corresponding document Article no. 8013787.
To configure field monitoring, use the SOPAS-ET configuration software. SOPAS-ET can also
display scanning data from measuring mode.
Further information about laser measurement technology is available from SICK AG, Division Auto Ident, and on the internet at www.sick.com.
1.4 Symbology used
Some information in this documentation are highlighted to facilitate quick access to these
information:
8 © SICK AG · Germany · All rights reserved · Subject to change without notice
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Operating Instructions Chapter 2
NOTICE
WARNING
LD-MRS
Cross-reference Text in italics indicates a reference to more detailed information.
For your safety
Note!
A note indicates potential hazards that could involve damage or degradation of the functionality of the LD-MRS.
Warning!
A warning indicates an actual or potential hazard for the physical integrity of the user. They
are designed to help to prevent accidents.
The safety symbol beside the warning indicates the nature of the risk of accident, e. g. due
to electricity. The incremental warning category (CAUTION, WARNING, DANGER) indicates
the severity of the hazard.
Always read carefully and follow the warning notices.
Important This important note informs about special issues.
Explanation An explanation provides background knowledge about technical relations.
Recommendation Recommendations are designed to assist in the decision-making process with respect to a
Basic settings Marks a section listing the values of the factory settings.
AUD RATE This typeface indicates a term in the configuration software SOPAS-ET.
B
Instructions for taking action are shown by an arrow. This symbol indicates an inst
2 For your safety
certain function or a technical measure.
This symbol identifies a section that describes the operating steps with the SOPAS-ET configuration software.
This symbol refers to supplementary technical documentation.
ruction
hat only consists of one step, or a warning note with several steps that do not require any
t
particular order.
Multiple step instructions in a required sequence are identified by a sequential numbers.
8012948/ZMQ0/2017-06-09
This chapter deals with your own safety.
Read this chapter carefully before using the LD-MRS.
2.1 Safety standards
The LD-MRS has been designed and manufactured under consideration of a risk analysis
and careful selection of the pertinent harmonized standards as well as other technical specifications. Hence, the LD-MRS matches state-of-the-art technology.
© SICK AG · Germany · All rights reserved · Subject to change without notice 9
Chapter 2 Operating Instructions
For your safety
Laser measurement sensor LD-MRS
In design and production, established technological rules have been applied and observed.
Development and production in SICK AG ensure this quality standard by a certified quality
management system according to EN ISO 9001:2008.
If the user adheres to all safety notes in this operating instructions and uses the device as
intended, he is sufficiently protected.
2.2 Authorized personnel
The LD-MRS must be mounted and operated by qualified personnel to ensure its proper and
safe function.
Important Only trained 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 training
– knowledge of the established safety rules at work
Electrical installation,
device replacement
Commissioning, configuration
Processing the measured
values in EDP systems
Tab. 2-1: Required qualification for commissioning the LD-MRS
– practical electrical training
– knowledge of the established electric safety rules
– basic knowledge of Windows
– basic knowledge of data transmission
– Basic knowledge of how to establish and set up (address) Ethernet
connections when connecting the LD-MRS to the Ethernet
– Basic knowledge of how to establish and set up a CAN network
when using field monitoring
– Programming skills for the application to be created in measuring
mode
TM
in the version used on site
10 © SICK AG · Germany · All rights reserved · Subject to change without notice
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Operating Instructions Chapter 2
LD-MRS
For your safety
2.3 Intended use
The LD-MRS allows two applications with its radial field of view:
• The detection of objects around the location or installation site while continuously out-
putting measurements upon request, or
• Field monitoring of freely definable areas while signaling field violations via external
itch outputs
sw
The device is designed for application in the industrial sector, in particular outside.
Important Every other use as well as modifications to the device, including those within the course of
mounting and electrical installation, will render void any warranty claim towards SICK AG.
Only operate 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 specifications and environment
nditions, see Chapter 9.1 Data sheets, Page 94,
co
• country-specific standards and regulations are adhered to, depending on the kind of
ion,
operat
• the device is only used in proper, functional state,
• safety and warning labels attached to the device are not removed or covered and re-
main readable,
• the operating instructions are available on site in a readable form and that the autho-
rized personnel had read the operating instructions and is thus sufficiently qualified.
Important Loss of warranty!
The housing of the laser measurement sensor LD-MRS is closed with a seal. Breaking the
seal and opening the device causes a loss of warranty claims towards SICK AG. The housing
may only be opened by authorized service personnel of SICK AG.
8012948/ZMQ0/2017-06-09
© SICK AG · Germany · All rights reserved · Subject to change without notice 11
Chapter 2 Operating Instructions
WARNING
WARNING
For your safety
Laser measurement sensor LD-MRS
2.4 General safety notes and protective means
Read the general safety notes carefully and strictly observe them in when working at or
ith the LD-MRS. Also observe the warning notes printed before
w
individual chapters
Safety notes
Observe the following points in order to ensure safe use as intended of the LD-MRS:
• The user must ensure that every person working on or with the LD-MRS has read and
understood these operating instructions.
• Official and legal requirements must be adhered to when operating the LD-MRS.
• For installation and usage of the LD-MRS as well as for commissioning and regular tech-
nical inspection, national/international legal requirements apply, in particular
– the accident prevention regulations/safety rules
– other pertinent safety rules
• Adhere to the following safety notes in order to prevent dangers for persons and/or
property:
– T
he operator must ensure by suitable instructions and inspections that the window
of the LD-MRS is always clean.
– Additionally, the local safety and accident prevention regulations apply for operating
the LD-MRS.
– A defect of the control functions can cause danger for human life or property dam-
age at the LD-MRS.
• Data integrity
In its products, SICK AG uses information technology, such as IO-Link or standard
te
chnology. The focus is on the availability of the products and their features.
nsistent assumption of SICK AG that the user will maintain the integrity and confiden-
co
tiality of data and rights that are affected by the use of the products.
The user must observe appropriate safety measures such as network separation, firewalls, viral protection and patch management according to the situation.
of this document.
the instructions in the
IP
It is the
2.4.1 Range of application
Not permitted for personal protection!
The LD-MRS is NOT a device for ensuring personal protection as defined by applicable safety standards for machines!
12 © SICK AG · Germany · All rights reserved · Subject to change without notice
8012948/ZMQ0/2017-06-09
Operating Instructions Chapter 2
NOTICE
CAUTION
LD-MRS
For your safety
2.4.2 Electrical installation tasks
• Only trained personnel may perform the electrical installation.
• Electrical connection may only be established or disconnected when not under voltage.
• Specify and implement the wire diameter and the correct fusing according to valid stan-
dards.
2.4.3 Malfunctions
CAN modules for external switching inputs and outputs (accessories)
Potential radio interference when using the optional CAN modules in residential areas.
Only use the laser measurement sensor LD-MRS together with the CAN modules in an
industrial setting.
2.4.4 Laser protection
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 performance of procedures other than those
specified herein may result in hazardous radiation exposure.
Do not open the housing of the LD-MRS (opening the housing does not interrupt laser
operation).
Observe the valid laser protection regulations in their newest version.
Laser power
The laser operates at a wave length λ = approx. 905 nm (invisible infrared light).
The product is classified as laser
CFR 1040.11. Identical laser class for issue EN/IEC 60825-1:2007. The radiation emitted
in normal operation is not harm-ful to the eyes and human skin.
Important In order to ensure laser class 1, no maintenance is necessary.
Laser output aperture
The laser output aperture is the window of the LD-MRS.
class 1 EN/IEC 60825-1:2014, 21 CFR 1040.10 and 21
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© SICK AG · Germany · All rights reserved · Subject to change without notice 13
Chapter 2 Operating Instructions
For your safety
Laser measurement sensor LD-MRS
1
Fig. 2-1: Laser output aperture of the LD-MRS
Caption:
1Window
2.5 Quick stop and Quick restart
The device has no separate switch for the supply voltage.
2.5.1 Switching off the LD-MRS
Switch off the supply voltage by disconnecting from the supply system, or
remo
ve the supply cable at the "Power" connection.
loosen and
2.5.2 Switching on the LD-MRS
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 para
se
t.
meter
2.6 Environmental protection
The LD-MRS has been designed to minimize environmental impact.
2.6.1 Energy consumption
At 9 to 27 V DC, the LD-MRS draws the following:
Process Power consumption
Switch-on typically 36 W (1.5 A at 24 V DC)
permanent operation typically 8 W (0.34 A at 24 V DC)
permanent operation max. 10 W (0.4 A at 24 V DC)
Tab. 2-2: Power consumption of the LD-MRS
The optional CAN module consumes approximately 1.5 W at 8 to 50 V DC without a load.
14 © SICK AG · Germany · All rights reserved · Subject to change without notice
8012948/ZMQ0/2017-06-09
Operating Instructions Chapter 2
LD-MRS
For your safety
2.6.2 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 with local/nation-
al rules and regulations on waste disposal.
The design of the LD-MRS allows for recovery of secondary raw material and hazardous
waste (e-scrap).
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© SICK AG · Germany · All rights reserved · Subject to change without notice 15
Chapter 3 Operating Instructions
Product description
Laser measurement sensor LD-MRS
3 Product description
This chapter provides information on design, special features and properties of the LD-MRS.
For information on assembly, electrical installation and startup of the LD-MRS, consul
the
section before starting.
3.1 Design of the device
The laser measurement sensor LD-MRS consists of a laser measurement system and a mirror construction. The components - laser measurement system and mirror construction - are
mounted in a rugged housing.
When looking from the front at the LD-MRS, the right side of the device contains three connections ("Ethernet", "Data interfaces/synchronization" and "Power"), the left side contains
a ventilation unit.
At the rear side of the device, four protruding lugs have a hole each to attach the device at
the point of installation.
t
16 © SICK AG · Germany · All rights reserved · Subject to change without notice
8012948/ZMQ0/2017-06-09
Operating Instructions Chapter 3
LD-MRS
Product description
3.1.1 Device view
Fig. 3-1: Design of the LD-MRS
1
2
Caption:
1Ventilation element
2Mounting hole ∅ 6.6 mm (4 x)
3Window
4"Ethernet" connection
5"Power" connection
6Data interfaces/synchronization connection
3 4
5
6
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© SICK AG · Germany · All rights reserved · Subject to change without notice 17
Chapter 3 Operating Instructions
Product description
Laser measurement sensor LD-MRS
3.2 Scope of delivery
The LD-MRS delivery includes the following components:
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 getting started
1 CD-ROM "Manuals & Software LD-MRS"
Tab. 3-1: Delivery of LD-MRS
The product information for the LD-MRS laser measurement sensor (Part No. 8012945)
contains all of the ordering information for the product and accessories.
Chapter 10.3 Ordering information, Page 105 provides an overview of consumables for
care and maintenance of the LD-MRS.
3.2.1 Contents of the CD, "Manuals & Software LD-MRS" (Part No. 2050264)
Component Comment
SoftwareSICK LaserView Customer Edition Visualization tool for measurements; can run on
standard computers (Windows
Software SOPAS-ET Configuration software for field monitoring
including online help (Java), can run on standard
computers (Windows
Operating instructions for the "laser measurement sensor LD-MRS"
Operating instructions for the
"SICK LaserView Customer Edition visualization tool"
Ethernet Data Protocol PDF in German and English
CAN Data Protocol PDF in German and English
Tab. 3-2: Contents of the CD-ROM "Manuals & Software LD-MRS"
PDF version in German and English
PDF version in German and English
Included in the LD-MRS packaging
TM
and Linux)
TM
)
Important The publications and programs on the CD-ROM are also available for download at
www.sick.com.
Download address for PDF visualization software in the Internet:
http://get.adobe.com/reader/
18 © SICK AG · Germany · All rights reserved · Subject to change without notice
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Operating Instructions Chapter 3
LD-MRS
Product description
3.2.2 Device variants
The LD-MRS is available in the following variants:
Part No. Designation Type Description
1045046 LD-MRS LD-MRS400001 Scanning range 50 m (164 ft) at 10 % remis-
sion, measurement on 4 planes, enclosure rating 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 with spraying liquids, enclosure rating IP
69k
1085081
1069408 LD-MRS 8-Layer LD-MRS800001 Scanning range 50 m at 10 % remission, mea-
Tab. 3-3: Device variants of the LD-MRS
LD-MRS UAV LD-MRS420201 Scanning range 50 m (164 ft) at 10 % remis-
sion, measurement on 4 planes, particularly
suited and light housing, enclosure rating IP
69k
surement on up to 8 layers, IP 69k
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© SICK AG · Germany · All rights reserved · Subject to change without notice 19
Chapter 3 Operating Instructions
Product description
Laser measurement sensor LD-MRS
3.3 System requirements
For general system requirements refer to the data sheet for the LD-MRS (see Chapter 9
Technical specifications, Page 94).
The requirements for Mounting, Electrical installation and Commissioning and configura-
tion are summarized in the respective chapters.
3.3.1 Product features and functions (overview)
Performance feature Characteristic
General advantages • reliable detection of objects in the field of view of the LD-MRS
• high scanning range and compact housing
• simultaneous measurement on 8 planes
• LD-MRS HD: expanded penetration through dust by special receiver unit and extended
dust filter software
Safety and comfort for the user • Rugged, compact aluminum housing also available as lightweight housing
• laser class 1, laser switches off in case of faults
• enclosure rating IP 69K in mounted condition
• upgradable by firmware update via data interface Ethernet
•low power consumption
• wide range of supply voltage
Simple operation / parametrization • Configuration of measuring mode using the SICK LaserView Customer Edition visual-
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 mode: Configuration of the LD-MRS
• Operating mode measurement: Scanning the field of view
• Operating mode "Object tracking". Scanning the field of view and tracking of up to 64
objects in field of view.
• Field monitoring mode: scanning the field of view and monitoring specific fields for
changes (field intrusion)
Output of results • Measurements: via the Ethernet data interface
• Object tracking: pre-processed object data allows for object tracking of up to 64 objects simultaneously, as well as the output of their dynamic properties (e.g.. speed, direction, size, etc.)
• Field violations: via a maximum of 10 externals switch outputs with the help of two optional CAN modules (accessory) with eight configurable I/O ports each, optional arming of specific, freely-definable evaluation instances through 2 external switching
inputs
Electric interfaces • power supply (9 to 27 V DC)
• Ethernet data interface
• Data interface CAN
• synchronization interface
• auxiliary data interface: RS-232
Connection technology (type) • connection "Ethernet": 4-pin socket (round plug-in connection)
• connection "Data interfaces/synchronization": 12-pin socket (round plug-in connection)
• connection "Power": 4-pin plug (round plug-in connection)
Tab. 3-4: Product features and functions (overview)
20 © SICK AG · Germany · All rights reserved · Subject to change without notice
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Operating Instructions Chapter 3
LD-MRS
Product description
3.3.2 Application
The LD-MRS detects objects.
Its applications are wide-ranging. In particular, the following can be stated:
• Container loading / handling
• Traffic / Transport
• Robots / UAV
• Collision protection
• Autonomous industrial vehicles
• Security monitoring
• Topography and urban surveying
In measuring mode, the measurements can be processed externally to identify and analyse
objects.
In field monitoring, external switch outputs signal changes in the monitored areas (fields).
Evaluation instances can be defined with an application-specific evaluation strategy per
evaluation field and assigned to switch outputs and combined. Combining two switch outputs activates a specific evaluation instance only when needed.
The object tracking provides pre-processed object data. Up to 64 objects can be processed
at the same time. Dynamic parameters such as direction, speed and even acceleration are
available for every object. This data is available when vehicle data (ego motion data) is provided.
3.4 Operating principle of the device
The LD-MRS serves for contact-free and directional detection of the sensor surroundings, 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 direction (the angle to the LD-MRS) of
the object. From the measured data, the LD-MRS calculates the position of the object in the
sensor co-ordinate system.
The resulting profiles of the different planes are called scan, see Chapter 3.5 Measuring
mode, Page 36.
The LD-MRS issues the measured data in reference to its sensor co-ordinates. The data contain information about the measuring plane, distance, echo number, echo pulse width and
class. It also contains angle information (horizontal and vertical).
Due to the detailed presentation and thus the extensive amount of data, the LD-MRS issues
the measured data via the Ethernet interface only.
The factory defaults of the LD-MRS are designed to facilitate immediate commissioning of
the LD-MRS. The user can modify some parameters to optimize the LD-MRS in regard to the
application at hand.
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3.4.1 Measuring process and measuring properties
The LD-MRS is a measurement instrument basing on the Time-of-Flight (ToF) technology, i.
e.
the LD-MRS uses laser beams to detect distance and angle of objects.
It radially scans the surroundings with laser beams deflected by a rotating mirror, receives
the echos with a photo diode receiver and outputs the data processed based on a runtime
calculation via the Ethernet interface.
© SICK AG · Germany · All rights reserved · Subject to change without notice 21
Chapter 3 Operating Instructions
1
2
3 4
Product description
Laser measurement sensor LD-MRS
By the permanent rotation of the mirror in connection with the laser beam, it is possible to
build a complete profile of the surroundings within the field of view of the LD-MRS. The scan
data of the LD-MRS consist of values for distance, angle, and echo pulse width.
The measurement properties base on
• time-of-flight measurement,
• multi-echo capability,
• multi-layer technology,
• the scanning range and the relation of angle to range,
• the angular resolution and the scanning frequency
• the preprocessed and filtered data.
3.4.2 Time-of-flight measurement
Fig. 3-2: Principle of time-of-flight measurement
Caption:
1Object
2Laser pulse, transmitted
3Laser pulse, reflected
4LD-MRS
The laser pulses emitted from the LD-MRS are reflected by the objects in the surroundings.
The LD-MRS collects the laser pulse reflections, processes the information and issues the
data via the Ethernet interface.
The distance is calculated from the time-of-flight of the laser pulse and the speed of light.
The rotating mirror deflects the laser pulses. The angular position of the mirror during deflection yields the direction of the detected object.
The combination of these values builds the basis for a complete profile of the surroundings
in the radial scanning range of the LD-MRS.
22 © SICK AG · Germany · All rights reserved · Subject to change without notice
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Operating Instructions Chapter 3
t
U(t)
0
t
B
t
C
w
C
d
0 d
B
d
C
U
th
w
B
w
A
t
A
d
A
1
2
3
4
LD-MRS
Product description
3.4.3 Multi-echo capability
Fig. 3-3: Multi-echo capability
Caption:
1Example: echo of a window pane
2Example: echo of a raindrop
3Threshold voltage
4Example: echo of an object
V(t) input voltage
ttime
ddistance
wecho pulse width
A glass panel
Brain drop
Cobject
threshold voltage
V
th
The LD-MRS has multi-echo capability.
Thus, it can gather and evaluate up to three echoes per transmitted laser pulse.
Once the echo reaches the photo diode receiver 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 rain drop, however, yields a very low voltage over a short period of time.
The echo of an object yields a high voltage over a longer period.
All three echoes are generated by reflections of a single transmitted pulse.
The threshold voltage V
separates the system noise from the relevant echoes. By compar-
th
ing, this threshold prevents system noise to be evaluated as measured value.
The LD-MRS uses the amplitudes above the threshold voltage
widths w
in that range.
A/B/C
V
to evaluate the echo pulse
th
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© SICK AG · Germany · All rights reserved · Subject to change without notice 23
Chapter 3 Operating Instructions
213
1
2
3
Product description
Laser measurement sensor LD-MRS
3.4.4 Multi-layer technology
Fig. 3-4: Multi-layer technology
Caption:
1LD-MRS
2Scan plane
3Object
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-MRS detects the object reliably even when accelerating or braking the vehicle.
Fig. 3-5: Principle of the scan planes, color-coded
Caption:
1vertical aperture angle
2one of the four scan planes
3LD-MRS
24 © SICK AG · Germany · All rights reserved · Subject to change without notice
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Operating Instructions Chapter 3
LD-MRS
Product description
The photo diode receiver of the LD-MRS consists of four independent receivers arranged in
a line.
These four receivers enable the implementation of the multi-layer technology.
One receiver is assigned to each plane, thus dividing the vertical aperture angle into four
scan planes.
These four scan planes are scanned interlaced. This means that the combination of two
planes is always scanned simultaneously (first e. g. the yellow and the green plane, then the
blue and the red plane), see Chapter 3.4.8 Angular resolution and scanning frequency,
Page 29.
Plane Echo 1 Echo 2 Echo 3
yellow scan plane 4 scan plane 4 scan plane 4
green scan plane 3 scan plane 3 scan plane 3
blue scan plane 2 scan plane 2 scan plane 2
red scan plane 1 scan plane 1 scan plane 1
Tab. 3-5: Naming conventions (colour code see Fig. 3-5)
Colour 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 visualisation. The colour saturation in the visualization decreases from echo to echo.
Example for a case with three echoes, see Fig. 3-3
If a laser beam hits a glass pane, for example, a part of the light is reflected and triggers a
measurement (echo 1).
Most of the light passes the window pane and might hit a rain drop which then again reflects
a part of the light (echo 2).
The remaining light is then reflected by an object, which then results in the third measured
value (echo 3).
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© SICK AG · Germany · All rights reserved · Subject to change without notice 25
Chapter 3 Operating Instructions
Product description
Laser measurement sensor LD-MRS
3.4.5 Scanning range and relation of angle to range
Scanning range
1
Fig. 3-6: Scanning range
2
3
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 scan planes.
The scanning range can be extended between +35° and +50° or –50° and –60° to a total
range of 110°. The lateral scanning ranges only provide two instead of four scan planes.
26 © SICK AG · Germany · All rights reserved · Subject to change without notice
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Operating Instructions Chapter 3
LD-MRS
Product description
Relation of angle to scanning range
1
2
Fig. 3-7: Relation of angle to scanning 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 %
α angle in °
Due to the optical design of the LD-MRS, the scanning range depends on the angle, see
Fig. 3-7.
The LD-MRS HD and the LD-MRS differ marginally in regard to the way the scanning range
depends on the angle.
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© SICK AG · Germany · All rights reserved · Subject to change without notice 27
Chapter 3 Operating Instructions
Product description
Laser measurement sensor LD-MRS
3.4.6 Sensing range in relation to remission
The following table Fig. 3-7 of the LD-MRS and LD-MRS HAD shows the sensing range in relation to the remission.
Fig. 3-8: Sensing range in relation to remission
3.4.7 Filter
Noise filter
The noise filter reduces the effects of atmospheric interference such as rain, spray or dust
with a clutter filter.This filter classifies the scanning data and distinguishes normal measurements from noise.
The filter affects the field evaluation and the output measurements.
The LD-MRS has for scan planes (layers).Every second measurement within a layer takes
place at close range up to approximately 15 m (49.2 ft) with reduced sensitivity. For greater
distances, the measurements are taken at normal sensitivity. In addition, the measurements are evaluated. Criteria such as proximity relationships between measurements with
normal sensitivity as well as the measuring characteristic of the sensor are taken into account.
When the filter is set, measurements classified as clutter are not transmitted to the SOPASET interface and are therefore not included in the field evaluation.
Important The close range sensitivity is reduced by the clutter filter. Consequently, targets with a lower
remission are more difficult for the LD-MRS to identify.
Only the last echo
This filter causes only the last echo of a laser pulse to be measured. If for example part of
the energy is reflected as a first or second echo by a pane of glass or raindrop, only the last
echo of the actual object is measured. The filter affects the field evaluation and the output
measurements.
28 © SICK AG · Germany · All rights reserved · Subject to change without notice
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Operating Instructions Chapter 3
LD-MRS
Product description
Fig. 3-9: Example of three echoes of a laser pulse
Caption:
1. Echo of a pane of glass
2. Echo of a raindrop
3. Threshold voltage 1
4. Threshold voltage 2
5. Echo of an object
3.4.8 Angular resolution and scanning frequency
The LD-MRS can be operated with three different 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
Fig. 3-10: Angular resolution
Two scan planes each are measured and analysed simultaneously. If an angular resolution
of 0.125° is specified for a certain range, then 0.125° is the angular step between two
scan planes (e. g. red-blue) and their partners (e. g. yellow-green). The angle for the next
measurement on the same plane is twice as high, in this example 0.25°.
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© SICK AG · Germany · All rights reserved · Subject to change without notice 29
Chapter 3 Operating Instructions
Y_G2 Y_SY_G1
X_Layer
Product description
Laser measurement sensor LD-MRS
Fig. 3-11: Example: Angular resolution of 0.25° at distance d = 25 m (82 ft)
Caption:
Y_G1 distance between measured points in one measurement plane (here: Y_G1 = 0.1833 m)
Y_G2 distance between measured points between two laser pulses (here: Y_G2 = 0.0742 m)
Y_S width of measured point (here: Y_S = 0.0349 m)
X_Layer height of individual measured point (here: X_Layer = 0.3491 m)
The following tables illustrate some values as examples:
Distance d [m] Y_S [m] Y_G1 [m] Y_G2 [m] X_Layer [m]
10 0.0140 0.0297 0.0079 0.1396
25 0.0349 0.0742 0.0196 0.3491
50 0.0698 0.1484 0.0393 0.6981
100 0.1396 0.2967 0.0785 1.3963
Tab. 3-6: Angular resolution 0.125°
Distance d [m] Y_S [m] Y_G1 [m] Y_G2 [m] X_Layer [m]
10 0.0140 0.0733 0.0297 0.1396
25 0.0349 0.1833 0.0742 0.3491
50 0.0698 0.3665 0.1484 0.6981
100 0.1396 0.7330 0.2967 1.3963
Tab. 3-7: Angular resolution 0.25°
Distance d [m] Y_S [m] Y_G1 [m] Y_G2 [m] X_Layer [m]
10 0.0140 0.1606 0.0733 0.1396
25 0.0349 0.4014 0,01833 0.3491
50 0.0698 0.8029 0,3665 0.6981
100 0.1396 1.6057 0,7330 1.3963
Tab. 3-8: Angular resolution 0.5°
In measuring mode for a scanning frequency of 12.5 Hz, you can choose between an angle
resolution that is constant or changes according to sector (settable 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.
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