SICK LMS 200, LMS 211, LMS 220, LMS 221, LMS 291 Technical Description

ECHNICAL

ESCRIPTION

LMS 200 / LMS 211 /

LMS 220 / LMS 221 / LMS 291

Laser Measurement Systems

Technical Description

LMS 2… Laser Measurement System

Contents

1 Range of applications ...................................................................................................................... 3

2 Product features ................................................................................................................................. 4

3 Operating principle ............................................................................................................................ 6

4 Conditions of use/range ................................................................................................................. 7

4.1 Mounting location ....................................................................................................................... 7

4.2 Heater operation ........................................................................................................................ 7

4.3 Reflectivity of various objects ................................................................................................ 7

4.4 Reflectivity in fog ......................................................................................................................... 8

4.5 The „blanking“ curve ................................................................................................................. 9

4.6 The „contour as reference“ curve ........................................................................................ 9

5 Areas of use ...................................................................................................................................... 10

5.1 Object measurement/determining position................................................................... 10

5.2 Area monitoring/Detection .................................................................................................. 11

6 Mounting ............................................................................................................................................ 12

7 LMS 211/LMS 220/LMS 221 electrical installation...................................................... 14

7.1 Data interface ........................................................................................................................... 14

7.2 Power supply ............................................................................................................................ 14

7.3 Motor flap for the LMS 211 ................................................................................................ 15

7.4 LMS 211/LMS 221 electrical connection ..................................................................... 16

7.5 LMS 211/LMS 221 electrical connection with relay output.................................... 17

8 LMS 200/LMS 291 electrical installation ........................................................................... 18

8.1 Electrical connection ............................................................................................................. 18

8.2 Interface plugs (plug modules) ......................................................................................... 18

8.3 LMS 200/LMS 291 electrical connection.................................................................... 19

8.3.1 RS 232/RS 422-conversion ........................................................................... 19

8.3.2 Cable entry in plug module .............................................................................. 20

8.3.3 Functions of the indicator lights ..................................................................... 20

9 Synchronisation of two laser scanners.................................................................................. 21

9.1 Pre-conditions for synchronisation.................................................................................... 21

9.2 Procedure ................................................................................................................................... 21

9.3 Commissioning synchronisation ........................................................................................ 22

10 Heating plate for the LMS 200/LMS 291 ........................................................................... 23

Weather protection for the LMS 220/LMS 221 ................................................................ 25

11 Dimensional drawings .................................................................................................................. 26

12 Overview of LMS variants............................................................................................................ 33

13 Technical data .................................................................................................................................. 34

14 Order numbers ................................................................................................................................. 35

15 Glossary of terms ........................................................................................................................... 37

EC Declaration of Conformity ....................................................................................................38

Technical Description

LMS 2…

Chapter 1

Range of applications

1 Range of applications

• Determining the volumes or contours of bulk materials

• Determining the volumes of objects (measuring packages, pallets, containers)

• Determining the position of objects (pallets, containers, transport vessels)

• Collision prevention for vehicles or cranes

• Controlling docking processes (positioning)

• Classification of objects (vehicle detection, camera trigger)

• Process automation (e.g. calender rollers)

• Checking overhang/area monitoring in automated multi-storey car parks

• Monitoring open spaces for building security (facades, grounds, shafts)

• and many more

LMS 200, LMS 220, LMS 211, LMS 221, LMS 291 Laser Measurement Systems

Fig. 1-1: Collision prevention on container cranes

Fig. 1-2: Measuring bulk materials on conveyor belts or in bunkers

Fig. 1-3: Monitoring open spaces for building security

Fig. 1-4: Collision prevention

Fig. 1-5: Collision prevention at the harbour

Fig. 1-6: Detection of objects

Fig. 1-7: Classification of vehicles

Fig. 1-9: Checking overhang in automated multi-storey car parks

Fig. 1-8: Your application

Technical Description

LMS 2… Laser Measurement System

Chapter 2

8 008 970/06-2003

Product features

2 Product features

LMS 2.. laser scanners are non-contact measurement systems (NCSDs), that scan their surroundings two-dimensionally (laser radio). As scanning systems the devices require neither reflectors nor position marks.

The systems are used for:

• area monitoring

• object measurement and detection

• determining positions

Defined monitored fields can be programmed in the scanner for the area monitoring application. Each monitored field is assigned a 24 V switching output.

The LMI interface module is available as an optional extension to the system. It can administer several scanners and provides the corresponding 24 V switching outputs.

Standard solutions are available for object measurement, e.g. measuring the volumes of packages and pallets; volume flow measurement for bulk materials; etc.

The scanner’s measurement data can be individually processed in real time with external evaluation software for determining positions and other measurement tasks.

Maintenance and care

The LMS scanner requires no maintenance, though depending on its location the scanner’s front window should cleaned occasionally.

Please note: Never open the laser scanner yourself! The producer warranty will be forfeited if the scanner is opened.

Erroneous functions can be clarified by means of the LMS/LMI User Software error diagnosis. The SICK Service team is available for handling more serious errors. Errors caused by a contaminated front window are indicated via the built-in LEDs (see Table 8-1).

Please note: LMS laser scanners are not devices for protecting persons as defined by current machine safety standards.

Technical Description

LMS 2…

Chapter 2

Product features

Features and advantages

• Non-contact optical measurement, even over longer distances

• Rapid scanning times, thus measurement objects can move at high speeds

• No special target-object reflective properties necessary

• No reflectors and no marking of the measurement objects necessary

• Backgrounds and surroundings do not have any influence on the measurements

• Measurement objects may be in any position

• Measurement data is available in real time and can be used for further processing

or control tasks

• Active system – no illumination of the measurement area required

• Simple mounting and commissioning

• Completely weatherproof variants

Fig. 2-1: LMS 200

Fig. 2-2: LMS 220

Fig. 2-3: LMS 291

Fig. 2-4: LMS 221

Fig. 2-5: LMS 211

See also

12 Overview of LMS variants

Technical Description

LMS 2… Laser Measurement System

Chapter 3

8 008 970/06-2003

Operating principle

3 Operating principle

The LMS system operates by measuring the time of flight of laser light pulses: a pulsed laser beam is emitted and reflected if it meets an object. The reflection is registered by the scanner’s receiver. The time between transmission and reception of the impulse is directly proportional to the distance between the scanner and the object (time of flight).

The pulsed laser beam is deflected by an internal rotating mirror so that a fan-shaped scan is made of the surrounding area (laser radar). The contour of the target object is determined from the sequence of impulses received. The measurement data is available in real time for further evaluation via a serial interface.

Automatic fog correction is active in the scanner for outdoor use. Raindrops and snowflakes are cut out using pixel-oriented evaluation.

Spot spacing/spot diameter/range

In a radial field of vision, a light impulse (spot) is emitted every 0.25°, 0.5° or 1°

(depending on the variant).

As a result of the beam geometry and the diameter of the individual spots, the spots overlap on the target object or up to a certain distance. Fig. 3-2 shows spot spacing in relation to the range and the corresponding spot diameter.

Fig. 3-2: Spot sizes/spot spacing

Fig. 3-1: Operating principle

Spot diameter

LMS 211/221/291

Spot diameter

LMS 200/220

Spot spacing for angular resolution of 1°

Spot spacing for angular resolution of 0.5°

Spot spacing for angular resolution of 0.25°

Range [m]

Spot diameter/

spot spacing [cm]

02468101214

16 18 30

p[]

20 22 24 26 28

Technical Description

LMS 2…

Chapter 4

Conditions of use/range

4 Conditions of use/range

4.1 Mounting location

The scanner may be installed in any position. The mounting instructions in Chapter 6 are to be observed.

100

0,1

600

Fig. 4-1: LMS 200/LMS 220

Range in relation to object reflectivity

4.2 Heater operation (LMS 220 and LMS 211/LMS 221)

In order to be able to use the LMS at temperature ranges below 0° C, a thermostat-

controlled heater has been installed in these scanners and supplementary front window

heating in the LMS 211. The heating comes into operation at ≤ 10° C order to prevent

thawing within the housing.

Before commissioning the LMS (e.g. before starting work) the interior of the scanner

must be heated to at least 0° C and any ice on the front window must be melted. The scanner takes approx. 120 min. to heat up at an outdoor temperature of –30° C.

Material Reflectivity

Cardboard, matt black 10% Cardboard, grey 20% Wood (raw pine, dirty) 40% PVC, grey 50% Paper, matt white 80% Aluminium, anodised, black 110…150% Steel, rust-free shiny 120…150% Steel, very shiny 140…200% Reflectors > 2000%

4.3 Reflectivity of various objects

The range of the scanner depends on the reflectivity of the target object and the transmission strength of the scanner. Some reflectivity values for well-known materials have

been included below as an overview (KODAK standards).

LMS with high range and fog correction:

LMS 211-30206 LMS 211-S07 LMS 221-30206 LMS 221-S07 LMS 291-S05 LMS 211-S12/S13/S14

LMS with standard range without fog correction:

LMS 200-30106 LMS 220-30106 LMS 211-30106

Range [m]

Reflectivity [%]

Technical Description

LMS 2… Laser Measurement System

Chapter 4

8 008 970/06-2003

Conditions of use/range

In exceptional cases, sensitivity can be changed with the user software provided:

• values for standard setting (see diagram): 30 m range/10% reflectivity

• values for less sensitive thresholds: 25 m range/10% reflectivity

• values for more sensitive thresholds: 30 m range/5% reflectivity

Please note:

Note the remission graph in the range 0 to 1,5 m for LMS 211/LMS 221/LMS 291. Higher sensitivity improves detection capabilities for dark objects, but increases ambient light sensitivity.

Lower sensitivity reduces detection capabilities for dark objects, but reduces ambient light sensitivity.

Reflectivity [%]

Range [m]

typ. reflectivity at nominal visibility

50 m

100 m

200 m

500 m

010

205 15 253035404550

100

55 60 65 70 75 80

Fig. 4-3: LMS 211 – relationship between reflectivity and range in fog

Reflectivity [%]

Range [m]

010

205 15 253035404550

100

55 60 65 70 75 80

typ. Neugerät mit Verschmutzung (Warnsignal aktiv)LMS 211

LMS 211 typ. new device with clean front window

LMS 221 LMS 291

typ. new device with clean front window

LMS 221 LMS 291

typ. new device with pollution (warning signal active)

typ. new device with pollution (warning signal active)LMS 211

Fig. 4-2: LMS 211, LMS 221, LMS 291, relationship between reflectivity and range with good visibility

4.4 Reflectivity in fog (LMS 211-30206/LMS 221-30206/LMS 291-S05)

Fig. 4-3 to Fig. 4-6 are valid should there be fog during outdoor operation and are to be observed.

Technical Description

LMS 2…

Chapter 4

Conditions of use/range

4.5 The „blanking“ curve (LMS Outdoor and LMI 400)

The object suppression software setting is dependent on distance. An object can only be suppressed up to a certain distance. Furthermore, the scanner switches independently of object size.

Fig. 4-5: Relationship between the usable range and the defined blanking diameter, e.g. max. 17 m with the blanking diameter of 0.3 m.

Fig. 4-6: Relationship between the usable range and reliably detected object diameter, e.g. the LMS switches if it loses the contour in 17 m with a object diameter of 0.3 m.

Reflectivity [%]

Range [m]

typ. reflectivity at nominal visibility

50 m

100 m

200 m

500 m

010

205 15 253035404550

100

55 60 65 70 75 80

Fig. 4-4: LMS 221/LMS 291 – relationship between reflectivity and range in fog

4.6 The „contour as reference“ curve (LMS Outdoor and LMI 400)

The contour as reference software setting is dependent on distance. The scanner requires a minimum contour as reference depending on the distance. Loss of the contour will not be switched at the switching output if the contour is too small.

0 0.2

0.40.1 0.3 0.5 0.6 0.7 0.8

Measurement distance [m]

0.9 1

LMS/LMI 400: angular resolution 1

Suppressible object diameter [m]

0 0.2

0.40.1 0.3 0.5 0.6 0.7 0.8

0.9 1.0 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2.0

Measurement distance [m]

LMS/LMI 400: angular resolution 1

Reliably detectable object diameters in relation to defined blanking diameter [m]

Technical Description

LMS 2… Laser Measurement System

Chapter 5

8 008 970/06-2003

Areas of use

5 Areas of use

One distinguishes between three areas of use:

• object measurement

• determining position

• area monitoring

5.1 Object measurement/determining position

Laser scanner measurement data is used for object measurement and determining position. These measurement data correspond to the surrounding contour scanned by the device and are given out in binary format via the RS 232/RS 422 interface.

The telegram listing required is supplied with the device.

Our MST Measurement Software Tool provides further support for software connections to the LMS laser scanner (please see separate Technical Description, order no.

8008464).

Processing measurement data

Processing measurement data allows individual adaptation to the system’s particular measurement task.

Possible data preparation within the LMS:

• Average value formation from 2 - 250 scans

• Limiting the sector from which values are transferred (e.g. beams 10 - 30) for data

reduction

Possible external data processing:

• Evaluation of partial sectors of the 100° or 180° field of view

• Averaging of the measurement values transferred (increasing accuracy and smooth-

ness)

• Straight line and curve approximations by interpolation of measurement values

• Determination of position/volume of any objects

• 3rd dimension provided by shaft encoder, etc. (length information/speed of transport)

External evaluation (software) can take place at a PC or SPC.

Fundamentally, the distance value per individual impulse (spot) is evaluated. This means

that a distance value is provided every 0.25°, 0.5° or 1°, depending on the angular reso-

lution of the scanner.

Angular resolution 0.25° 0.25° 0.5° 1° max. scanning angle *) 100°/180° 180° 100°/180° 100°/180°

max. no of measured values 401 721 361 181

4x1°-values,

interlaced

*)symmetrical, from the middle

Angular resolution is set using a software telegram.

Technical Description

LMS 2…

Chapter 5

Areas of use

As the individual values are given out in sequence (beginning with value 1), particular angular positions can be allocated on the basis of the values’ positions in the data string. Note that the LMS turns towards the left (see Figs. 5-1 and 5.2).

In its default state the scanner is set to the “Measured values on request” mode and “Transfer rate 9,600 baud” (changes can be made using the appropriate telegram commands).

It is recommended that the scanner is operated in the “9,600 baud on Power-on” mode (default setting). Conversion to a different baud rate can take place after the complete system has been started up.

Fig. 5-1: Direction of transmission for

LMS 211 scanners

5.2 Area monitoring/Detection

Here, the system is responsible for automatically reporting that an area „is free“. This means that an infringement of a field, e.g. by an object or machine part, leads to a switching signal at an output.

Pixel-oriented evaluation/object blanking

Pixel-oriented evaluation is used for suppressing raindrops and snowflakes or other particles, and thus makes the system less sensitive to environmental factors. This involves saving the sequential messages (measured values) from each individual spot in each scan, and a separate counter being started for each spot. Erroneous measurements can be filtered out by repeatedly examining the reported spot (multiple scanning whose number depends on the setting selected).

Pixel-oriented evaluation should be included in the corresponding evaluation software when external data processing is undertaken.

Object blanking is used for suppressing an object that is not to be detected, e.g. a steel cable, that is located within the monitored field.

Fig.5-2: Direction of transmission for

LMS 200, LMS 220, LMS 221, LMS 291 scanners

last value

first value

last value

first value

scanning angle 100°

scanning angle 180°

Technical Description

LMS 2… Laser Measurement System

Chapter 6

8 008 970/06-2003

Mounting

6 Mounting

Mounting sets (see Fig. 6-1) are available for easy installation. They allow adjustment of devices in both axes, as shown.

The scanner can be installed in any position, though direct sunlight on the front window is to be avoided (to prevent dazzle). Outdoor variants should generally be mounted in such a way that the connection plug is located on the lower right-hand side of the back plate in order not to affect pollution measurement (exit window).

Outdoor installation:

An appropriate sunshade is to be provided to prevent direct sunlight falling on the scanner housing (sheet metal, etc, see Fig. 6-2). Threaded holes are provided on the rear of the scanner for attachment (LMS 211/221/220). A dust prevention shield is recommended for preventing dust and/or condensation on the front window (see LMS 211). Purging air can be used if dust is present in large quantities. The cap of the optional connection socket (motor flap) must be screwed in (to maintain the enclosure rating).

Fig. 6-1: Mounting set for LMS 220/LMS 211/LMS 221

Fig. 6-2: Sunshade (examples)

±7, 5 °

LMS 211 dust shield

+ 28 hidden pages

SICK LMS 200, LMS 211, LMS 220, LMS 221, LMS 291 Technical Description

Specifications and Main Features

Frequently Asked Questions

User Manual