Page 1
LMS4000
2D LiDAR sensors
O P E R A T I N G I N S T R U C T I O N S
Page 2
Described product
LMS4000
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be
reserved for SICK AG. Reproduction of this document or parts of this document is only
permissible within the limits of the legal determination of Copyright Law. Any modifica‐
tion, abridgment or translation of this document is prohibited without the express writ‐
ten permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.
Original document
This document is an original document of SICK AG.
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Contents
CONTENTS
1 About this document........................................................................ 5
1.1 Information on the operating instructions.............................................. 5
1.2 Explanation of symbols............................................................................ 5
1.3 Further information................................................................................... 6
2 Safety information............................................................................ 7
2.1 Intended use............................................................................................. 7
2.2 Improper use............................................................................................. 7
2.3 IP technology............................................................................................. 7
2.4 Limitation of liability................................................................................. 8
2.5 Modifications and conversions................................................................ 8
2.6 Requirements for skilled persons and operating personnel.................. 8
2.7 Operational safety and particular hazards.............................................. 9
2.8 Warning signs on the device.................................................................... 10
3 Product description........................................................................... 13
3.1 Scope of delivery....................................................................................... 13
3.2 Status indicators....................................................................................... 13
3.3 Device variants......................................................................................... 13
3.4 Type label.................................................................................................. 13
3.5 Principle of operation............................................................................... 14
3.5.1 Measuring principle................................................................. 14
3.5.2 Ethernet data interface........................................................... 15
3.5.3 Output of measured values..................................................... 16
3.5.4 Laser control............................................................................ 17
3.5.5 Remission value....................................................................... 18
3.5.6 Impact of object surfaces on the measurement................... 18
3.5.7 Filters........................................................................................ 20
3.5.8 Motor synchronization for measuring range extension......... 23
4 Transport and storage....................................................................... 25
4.1 Transport................................................................................................... 25
4.2 Unpacking.................................................................................................. 25
4.3 Transport inspection................................................................................. 25
4.4 Storage...................................................................................................... 25
5 Mounting............................................................................................. 27
5.1 Mounting instructions............................................................................... 27
5.2 Example installation of a conveyor system............................................. 27
5.3 Mounting the device................................................................................. 28
6 Electrical installation........................................................................ 29
6.1 Wiring notes.............................................................................................. 29
6.2 Prerequisites for the safe operation of the device in a system............. 30
6.3 Connection diagram................................................................................. 32
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CONTENTS
6.4 Connecting the device electrically........................................................... 34
7 Operation............................................................................................ 35
7.1 Operation via SOPAS ET........................................................................... 35
7.2 Output of measured values via terminal program.................................. 38
8 Maintenance...................................................................................... 41
8.1 Maintenance............................................................................................. 41
8.2 Cleaning..................................................................................................... 41
9 Troubleshooting................................................................................. 43
9.1 General faults, warnings, and errors....................................................... 43
9.2 Repairs...................................................................................................... 44
9.3 Returns...................................................................................................... 45
9.4 Disposal..................................................................................................... 45
10 Technical data.................................................................................... 46
10.1 Features.................................................................................................... 46
10.2 Performance............................................................................................. 47
10.3 Interfaces.................................................................................................. 48
10.4 Mechanics/electronics............................................................................. 48
10.5 Ambient data............................................................................................. 50
11 Accessories........................................................................................ 52
12 Annex.................................................................................................. 53
12.1 Telegram structure.................................................................................... 53
12.2 EU declaration of conformity / Certificates............................................. 57
12.3 Licenses.................................................................................................... 57
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1 About this document
1.1 Information on the operating instructions
These operating instructions provide important information on how to use devices from
SICK AG.
Prerequisites for safe work are:
Compliance with all safety notes and handling instructions supplied.
•
Compliance with local work safety regulations and general safety regulations for
•
device applications
The operating instructions are intended to be used by qualified personnel and electrical
specialists.
NOTE
Read these operating instructions carefully before starting any work on the device, in
order to familiarize yourself with the device and its functions.
The instructions constitute an integral part of the product and are to be stored in the
immediate vicinity of the device so they remain accessible to staff at all times. Should
the device be passed on to a third party, these operating instructions should be handed
over with it.
ABOUT THIS DOCUMENT 1
These operating instructions do not provide information on operating the machine or
system in which the device is integrated. For information about this, refer to the operat‐
ing instructions of the specific machine.
1.2 Explanation of symbols
Warnings and important information in this document are labeled with symbols. The
warnings are introduced by signal words that indicate the extent of the danger. These
warnings must be observed at all times and care must be taken to avoid accidents, per‐
sonal injury, and material damage.
DANGER
… indicates a situation of imminent danger, which will lead to a fatality or serious
injuries if not prevented.
WARNING
… indicates a potentially dangerous situation, which may lead to a fatality or serious
injuries if not prevented.
CAUTION
… indicates a potentially dangerous situation, which may lead to minor/slight injuries if
not prevented.
NOTICE
… indicates a potentially harmful situation, which may lead to material damage if not
prevented.
NOTE
… highlights useful tips and recommendations as well as information for efficient and
trouble-free operation.
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1 ABOUT THIS DOCUMENT
1.3 Further information
NOTE
Further documentation for the device can be found on the online product page at:
www.sick.com/LMS4000
•
The following information is available for download there:
Model-specific online data sheets for device variants, containing technical data,
•
dimensional drawing, and specification diagrams
EU declaration of conformity for the product family
•
Dimensional drawings and 3D CAD dimension models in various electronic for‐
•
mats
These operating instructions, available in English and German, and in other lan‐
•
guages if necessary
Other publications related to the devices described here
•
Publications dealing with accessories
•
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2 Safety information
2.1 Intended use
The 2D LiDAR sensor LMS4000 is intended exclusively for use in industrial environ‐
ments. Radio interference may result when used in residential areas.
The device measures objects of any shape during continuous output of measurement
data.
The following contour data is output to the customer’s computer via the Ethernet inter‐
face for further processing.
Angle correction values: Deviation from implicit angular position
•
Distance values: Distance from zero point in the corrected angular position
•
Remission values: Object remission as a dimensionless scale value or a percent‐
•
age calibrated grayscale value in the corrected angular position
SICK AG assumes no liability for losses or damage arising from the use of the product,
either directly or indirectly. This applies in particular to use of the product that does not
conform to its intended purpose and is not described in this documentation.
2.2 Improper use
SAFETY INFORMATION 2
Any use outside of the stated areas, in particular use outside of the technical specifica‐
tions and the requirements for intended use, will be deemed to be incorrect use.
•
•
•
WARNING
Danger due to improper use!
Any improper use can result in dangerous situations.
Therefore, observe the following information:
■
■
2.3 IP technology
NOTE
SICK uses standard IP technology in its products. The emphasis is placed on availability
of products and services.
SICK always assumes the following prerequisites:
•
•
The device does not constitute a safety component in accordance with the respec‐
tive applicable safety standards for machines.
The device must not be used in explosion-hazardous areas, in corrosive environ‐
ments or under extreme environmental conditions.
Any use of accessories not specifically approved by SICK AG is at your own risk.
Device should be used only in accordance with its intended use.
All information in these operating instructions must be strictly observed.
The customer ensures the integrity and confidentiality of the data and rights
affected by its own use of the aforementioned products.
In all cases, the customer implements the appropriate security measures, such as
network separation, firewalls, virus protection, and patch management.
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2 SAFETY INFORMATION
2.4 Limitation of liability
Applicable standards and regulations, the latest state of technological development,
and our many years of knowledge and experience have all been taken into account
when assembling the data and information contained in these operating instructions.
The manufacturer accepts no liability for damage caused by:
■
Failing to observe the operating instructions
■
Incorrect use
■
Use by untrained personnel
■
Unauthorized conversions
■
Technical modifications
■
Use of unauthorized spare parts, consumables, and accessories
With special variants, where optional extras have been ordered, or owing to the latest
technical changes, the actual scope of delivery may vary from the features and illustra‐
tions shown here.
2.5 Modifications and conversions
NOTICE
Modifications and conversions to the device may result in unforeseeable dangers.
2.6
Interrupting or modifying the device or SICK software will invalidate any warranty claims
against SICK AG. This applies in particular to opening the housing, even as part of
mounting and electrical installation.
Requirements for skilled persons and operating personnel
WARNING
Risk of injury due to insufficient training.
Improper handling of the device may result in considerable personal injury and material
damage.
■
All work must only ever be carried out by the stipulated persons.
The operating instructions state the following qualification requirements for the various
areas of work:
■
Instructed personnel have been briefed by the operator about the tasks assigned
to them and about potential dangers arising from improper action.
■
Skilled personnel have the specialist training, skills, and experience, as well as
knowledge of the relevant regulations, to be able to perform tasks delegated to
them and to detect and avoid any potential dangers independently.
■
Electricians have the specialist training, skills, and experience, as well as knowl‐
edge of the relevant standards and provisions to be able to carry out work on elec‐
trical systems and to detect and avoid any potential dangers independently. In Ger‐
many, electricians must meet the specifications of the BGV A3 Work Safety Regu‐
lations (e.g. Master Electrician). Other relevant regulations applicable in other
countries must be observed.
The following qualifications are required for various activities:
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Table 1: Activities and technical requirements
Activities Qualification
Mounting, maintenance
Electrical installation,
device replacement
Basic practical technical training
■
Knowledge of the current safety regulations in the workplace
■
Practical electrical training
■
Knowledge of current electrical safety regulations
■
Knowledge of the operation and control of the devices in
■
their particular application
Commissioning, configura‐
tion
Basic knowledge of the WindowsTM operating system in use
■
Basic knowledge of the design and setup of the described
■
connections and interfaces
Basic knowledge of data transmission
■
Operation of the device for
the particular application
Knowledge of the operation and control of the devices in
■
their particular application
Knowledge of the software and hardware environment for
■
the particular application
2.7 Operational safety and particular hazards
Please observe the safety notes and the warnings listed here and in other chapters of
these operating instructions to reduce the possibility of risks to health and avoid dan‐
gerous situations.
SAFETY INFORMATION 2
CAUTION
Optical radiation: Laser class 2
The human eye is not at risk when briefly exposed to the radiation for up to 0.25 sec‐
onds. Exposure to the laser beam for longer periods of time may cause damage to the
retina. The laser radiation is harmless to human skin.
■
Do not look into the laser beam intentionally.
■
Never point the laser beam at people's eyes.
■
If it is not possible to avoid looking directly into the laser beam, e.g., during com‐
missioning and maintenance work, suitable eye protection must be worn.
■
Avoid laser beam reflections caused by reflective surfaces. Be particularly careful
during mounting and alignment work.
■
Do not open the housing. Opening the housing may increase the level of risk.
■
Current national regulations regarding laser protection must be observed.
WARNING
Electrical voltage!
Electrical voltage can cause severe injury or death.
■
Work on electrical systems must only be performed by qualified electricians.
■
The power supply must be disconnected when attaching and detaching electrical
connections.
■
The sensor must only be connected to a voltage source as set out in the require‐
ments in the operating instructions.
■
National and regional regulations must be complied with.
■
Safety requirements relating to work on electrical systems must be complied with.
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2 SAFETY INFORMATION
WARNING
Dangerous equipotential bonding currents!
Improper grounding can lead to dangerous equipotential bonding currents, which may
in turn lead to dangerous voltages on metallic surfaces, such as the housing. Electrical
voltage can cause severe injury or death.
■
Work on electrical systems must only be performed by qualified electricians.
■
Follow the notes in the operating instructions.
■
Install the grounding for the product and the system in accordance with national
and regional regulations.
2.8 Warning signs on the device
LMS4x1x
10
Figure 1: LMS4x1x – Warning signs on the device
Avoid exposure – Laser radiation is emitted from this aperture.
1
Laser output aperture corresponds to the front screen at the height of the position shown.
Caution – Laser radiation when opened. Do not look into beam.
2
Laser radiation – Do not stare into beam. Class 2 laser product
3
Average radiation output: 10 mW
Maximum radiation output: 20 mW
Wavelength: 660 nm
IEC 60825-1:2014
Complies with 21 CFR 1040.10 and 1040.11 except for tolerances according to Laser
Notice No. 50 of June 24, 2007.
Warning symbol: Laser radiation
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LMS4x2x
SAFETY INFORMATION 2
Figure 2: LMS4x2x – Warning signs on the device
Avoid exposure – Laser radiation is emitted from this aperture.
1
Laser output aperture corresponds to the front screen at the height of the position shown.
Caution – Laser radiation when opened. Do not stare into beam.
2
Laser radiation – Do not stare into beam. Class 2 laser product
3
Average radiation output: 13.5 mW
Maximum radiation output: 27 mW
Wavelength: 660 nm
IEC 60825-1:2014
Complies with 21 CFR 1040.10 and 1040.11 except for tolerances according to Laser
Notice No. 50 of June 24, 2007.
Warning symbol: Laser radiation
4
Do not remove – Hazardous laser radiation and risk of personal injury if the protective
5
cover is removed. Limit values of laser class 2 are exceeded.
Notes on the warning signs
Before commissioning, the English warning label “LASER RADIATION – DO NOT
•
STARE INTO BEAM” is to be replaced with a warning label in a language that the
operators of the system understand. Laser warning labels in German and French
are included in the scope of delivery.
If the devices are installed in a system/casing so that the warning labels are cov‐
•
ered, other warning labels (not included with delivery) must be attached to the
system/casing next to the laser output aperture.
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2 SAFETY INFORMATION
•
•
When operating with the trigger, the laser diode is switched on by the switch-on
signal and switched off again by the deactivation signal. When free output of mea‐
sured values is set, the laser diode is continuously on.
The device automatically monitors beam generation and automatically shuts down
the laser diode in the event of irregularities. If this happens, the red “Status” LED
lights up. The device stops sending measured values and an entry is added to the
error memory.
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3 Product description
3.1 Scope of delivery
The delivery of the device includes the following components:
Table 2: Scope of delivery
No. of
units
1 Device in the version ordered Depending on version.
1 Set of protective caps for electri‐
1 Set of warning labels in German
1 Printed safety notes, multilin‐
3.2 Status indicators
Component Comment
cal connections
and French.
gual (no. 8021393)
PRODUCT DESCRIPTION 3
Without connecting cables and brackets.
Attached to the connections.
To replace the English version if needed.
Quick guide and safety notes for 2D/3DLiDAR sen‐
sors.
Four LEDs give a visual indication of the operational status and any errors that occur.
LED Color Status
Status Green Device ready
Ethernet Green LINK path established (continuously lit), data transmis‐
Sync Green Master: Sync signals are being sent (continuously lit)
In/Out Yellow Specific switching input or switching output (can be para‐
3.3 Device variants
Type Application Measuring
LMS4111R-13000 Indoor 0.7 m ... 3 m 3.5% ... 300% 3x M12
LMS4121R-13000 Indoor 0.7 m ... 3 m 2% ... 200% 3x M12
3.4 Type label
Yellow Warning
Red Error
sion (flashing)
Slave: Sync signals are being received (flashing), sync
connection active and device synchronized (continuously
lit)
meterized) active
range
Remission
range
Connections
The type label gives information for identification of the sensor.
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25
LMS4521R-13000
www.sick.com/1094132
P/N: 1094132
S/N:
18090002
DC 18 … 30 V
P
typ
16 W, P
max
31 W
MAC: 00:06:77:06:05:5E
Manufactured: Feb 2018
Made in
Germany
SICK AG D-79276 Reute
SW: V1.00
1 2
3 4 5
55 6789
ß
3 PRODUCT DESCRIPTION
Figure 3: LMS4000 type label (example)
1
2
3
4
5
6
7
8
9
ß
Type code
Part number, serial number
Web address of product page
DataMatrix code with product data and link to product page
Conformity mark/certification mark
Voltage supply, typical power consumption/maximum power consumption
MAC address
Production date
Manufacturer/production location
Device software version
3.5 Principle of operation
3.5.1 Measuring principle
The device is an opto-electronic LiDAR sensor that uses non-contact laser beams to
scan its surroundings. The device measures its surroundings in polar coordinates (dis‐
tance, angle) relative to its measurement origin. The measurement origin is marked by
a circular indentation on the top and bottom of the housing.
It is an active system featuring a light laser in the visible range (red). It does not require
position marks, reflectors, or object illumination.
When a laser beam strikes an object, the distance and measuring angle are deter‐
mined.
The distance is determined according to the principle of phase shift (continuous wave).
There is a phase difference between the transmitter and receiver beams resulting from
the run time of the light and the wavelength used. This phase difference is used to cal‐
culate the distance of the object from the zero point. The measuring angle is the angle
at which the laser radiation exits the device.
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The device must have a clear view of the object being measured.
Working range
The working range of the device is illustrated in the drawing below.
Subject to change without notice
Page 15
3 m
0.7 m
70°
0.98 m
1.75 m
2.3 m
3.44 m
PRODUCT DESCRIPTION 3
Figure 4: Working range
Notes on measuring objects
The measuring method used can lead to changes in measured values when measuring
edges, borders, or protruding parts. Measurement results can stray out of tolerance on
smaller surface areas.
Output of measured values
The device outputs measurement data via an Ethernet interface. It sends measured
values to the interface when requested to do so via a telegram.
The following data can be polled individually or in combination:
Angle correction values: Deviation from implicit angular position
•
Distance values: Distance from zero point in the corrected angular position
•
Remission values: Object remission as a dimensionless scale value or a percent‐
•
age calibrated grayscale value in the corrected angular position
In the event of an error, the output of measured values is terminated immediately and
an error code is output which can be evaluated by the connected application. The error
code can also be read out with the SOPAS ET PC software.
3.5.2 Ethernet data interface
The device has an Ethernet data interface for configuration and the transmission of
measured values.
The Ethernet interface has a data transmission rate of 100/1,000 Mbit/s. The inter‐
face is a TCP/IP interface supporting full duplex and half duplex.
The Ethernet interface allows the configuration of the device as well as the output of
measured values.
The factory setting for the Ethernet interface is as follows:
IP address: 192.168.0.1
•
Subnet mask: 255.255.255.0
•
TCP port: 2111 (CoLa binary)
•
TCP port: 2112 (CoLa ASCII)
•
You might need to adjust the TCP/IP configuration of the Ethernet interface so that a
connected PC (client) can communicate with the device via Ethernet.
NOTE
If you change the parameters of the Ethernet interface via the Ethernet interface, you
must first save the data permanently to non-volatile memory and then restart the
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device.
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1
2
3
4
5
3 PRODUCT DESCRIPTION
3.5.3 Output of measured values
A fundamental distinction must be made between continuous and triggered output of
measured values.
NOTICE
A permanent measurement (with or without output of measured values) reduces the
service life of the laser diode and thus the device.
There are 3 possible ways to extend the service life of the laser diode:
1 Disconnect the device from the voltage.
2 Use software trigger options for laser control with the sMN LMCstandby
telegram command (hexadecimal: 734D4E204C4D437374616E646279). Do not
reactivate the laser until immediately before sending the request for measured val‐
ues with the Start Measurement telegram sMN LMCstartmeas (hexadecimal:
734D4E204C4D4373746172746D656173, login on device not necessary).
3 Use hardware trigger options for laser control.
3.5.3.1 Continuous output of measured values
With continuous output of measured values, once the device has received an sEN
LMDscandata 1 telegram (hexadecimal: 73454E204C4D447363616E646174612001)
requesting measured values, measured value telegrams are sent until the output of
measured values is terminated by the stop telegram sEN LMDscandata 0 (hexadeci‐
mal: 73454E204C4D447363616E646174612000). When the output of measured values
stops, the motor continues to turn normally, the laser diode remains switched on, and
measurement data continues to be generated and processed inside the device. Laser
control must be set to “free-running”.
See "Telegram structure", page 53 for a description of the measured value telegrams.
Figure 5: Continuous output of measured values
Start telegram
1
Start transmission of measured values
2
Output measured-value telegrams
3
Stop telegram
4
Stop output of measured values
5
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3.5.3.2 Triggered output of measured values
During triggered measurement, the start and end of the measurement are determined
by a reading gate.
First, the trigger source is selected via the laser control settings, "Laser control",
page 17.
After this, measured values are initially requested with the sEN LMDscandata 1
telegram, "Telegram structure", page 53, in the same way as for the continuous out‐
put of measured values.
Measured values are only output if the laser is switched on (to open the reading gate). If
the reading gate is closed, the laser will switch off, thereby terminating the measure‐
ment process and the output of measured values.
A software trigger or the digital inputs input 1 or 2 can be used for triggering purposes.
3.5.3.3 Connecting encoders
If the device is mounted for mobile use or if the objects to be measured are in motion,
the application will usually also need position data to further process the measured val‐
ues.
Encoders can be connected for this purpose. The encoder data is then available with
the other measured values in a single scan and at the same interface. A volume,
for example, can be calculated by evaluating the measurement data. The input fre‐
quency of the encoder signal must not exceed 50 kHz.
PRODUCT DESCRIPTION 3
3.5.4 Laser control
The following encoders with push-pull output stage can be used:
Single-channel, only connected at encoder A, no direction detection.
•
Dual-channel (phase), connected at encoder A and encoder B; the pulses have a
•
phase shift of 90°, making direction detection possible. By definition, during for‐
ward motion (CW = clockwise) phase A precedes phase B; conversely, during
reverse motion (CCW = counterclockwise) edge A rises before edge B.
Dual-channel (level), connected at encoder A and encoder B; the pulses are at
•
encoder A; at encoder B, the direction is indicated by level 0 or level 1 (rarely).
Laser control is used to switch the laser on and off. Measurement data is only transmit‐
ted when the laser is switched on. To initiate the transmission of measurement data,
the telegram command sEN LMDscandata 1 (hexadecimal:
73454E204C4D447363616E646174612001) , "Telegram structure", page 53 must be
sent once after switching on the device.
Since the motor turns constantly at the scan speed as long as the device is ready for
operation, the device is ready to start taking measurements immediately after the laser
has been switched on.
Laser control reduces the data load at the Ethernet interface. Switching the laser on
and off specifically when required also increases the service life of the laser diode.
The “switch-on delay” and “switch-off delay” parameters can be set to switch the laser
on subject to a time delay and/or to leave it switched on longer for a defined period
after the trigger signal has dropped out.
Following login (minimum Authorized customer), it is possible to select between various
modes on the Basic settings tab in SOPAS ET or using a corresponding terminal program.
In free-running mode, the laser is permanently switched on and the device detects
measurement data permanently (default setting). This mode is intended specifically for
test purposes or for aligning a device with the laser line.
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3 PRODUCT DESCRIPTION
The laser is switched off initially in software trigger mode. The laser is activated with the
Start measuring SOPAS command or the sMN LMCstartmeas telegram (hexadecimal:
734D4E204C4D4373746172746D656173). It is deactivated with the Standby command
or the sMN LMCstandby telegram (hexadecimal: 734D4E204C4D437374616E646279).
This mode is designed for the use of telegrams for triggering measurement data output
and for setting up the device with the SOPAS ET parameterization software.
A third option for a digital trigger is to use input 1 and input 2 both individually and in
an OR link. These three trigger modes are intended for when the device is used with
one or more photoelectric sensors. Due to possible restrictions affecting the installation
position, the use of switch-on and switch-off delays is advisable in many cases.
NOTE
The laser is also switched off when logging in on the device via a terminal with the sMN
SetAccessMode telegram command (see the Listing Ranging sensors telegram,
no. 8014631).
Changes to the device are only taken into account with the sMN Run log-off command;
this also switches the laser back on.
3.5.5 Remission value
Remission is the ability of a material to reflect light. The remission value correlates with
the amount of laser light emitted by the LiDAR sensor which is reflected by an object
(see Lambert’s law).
Shiny surfaces have different remission values at the same distance with different
angles of impact. In the case of shiny surfaces, maximum remission is achieved when
the beam makes vertical impact.
Matt and dull surfaces have diffuse remission. Therefore, they exhibit similar relative
remission values with the same angle of impact regardless of the distance from the
zero point.
Table 3: Typical remission values of frequently used materials
Material Typ. relative remission value
Rubber tires (vulcanized, black) 2%
Foam rubber (black) 2.4%
Photographic board (black, matte) 10%
Cardboard (gray) 20%
Wood (untreated fir, soiled) 40%
PVC (gray) 50%
Paper (white, matte) 80%
Plaster (white) 100%
Aluminum (black anodized) 110 … 150%
Steel (stainless, shiny) 120 … 150%
Steel (high gloss) 140 … 200%
3.5.6 Impact of object surfaces on the measurement
The received signal from a perfectly diffuse reflection from a white surface (diffuse
Lambertian reflector) corresponds to a remission of 100%. By this definition, surfaces
that reflect the light in bundles (reflecting surfaces, reflectors) have remissions of over
100%.
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PRODUCT DESCRIPTION 3
Reflection
Most surfaces produce a diffuse reflection of the laser beam in all directions. The struc‐
ture (smooth or rough), shape (flat or curved), and color (light or dark) of the surface
determine how well the laser beam is reflected.
On very rough surfaces, part of the energy is lost due to shadowing. Curved surfaces
produce a higher diffusion. Dark surfaces reflect the laser beam worse than light ones
(brilliant white plaster reflects approx. 100% of the light, while black foam rubber
reflects approx. 2.4%). The aforementioned surface characteristics can reduce the
scanning range of the device, in particular for surfaces with low remission values.
Figure 6: Reflection of light on the surface of the object
Angle of reflection
The angle of reflection corresponds to the angle of incidence. If the laser beam hits a
surface at right angles, the energy is optimally reflected. If the laser beam hits a sur‐
face at an oblique angle, energy and range are lost accordingly.
Figure 7: Angle of reflection
Retroreflection
If the reflective energy is greater than 100%, the beam is not reflected diffusely in all
directions; instead it is reflected in a targeted way (retroreflection). Thus a large part of
the emitted energy can be received by the laser distance measurer. Plastic reflectors
(cat’s eyes), reflective tape, and triple prisms have these properties.
Figure 8: Retroreflection
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3 PRODUCT DESCRIPTION
Reflective surfaces
The laser beam is almost completely deflected on reflective surfaces. This means that
an object hit by the deflected beam may be detected instead of the reflective surface.
Figure 9: Reflective surfaces
Small objects
Objects that are smaller than the diameter of the laser beam cannot reflect the laser
light’s full energy. The portion of the light beam that does not reach the object is lost. If
all of the light reflected to the sensor is insufficient, the object may not be detected.
The portion of the light that does not reach the front object can be reflected by a larger
object in the background. If all of the light reflected to the sensor is sufficient, this
object is detected.
Figure 10: Object smaller than the laser beam diameter
3.5.7 Filters
The device has digital filters for pre-processing and optimizing the measured distance
values. They enable the device to be adapted to meet the specific requirements of the
respective application.
The filters can be combined without restrictions. If several filters are active, then the
filters are applied sequentially to the results of the preceding filter. The processing
sequence is as follows:
•
•
•
•
The active filter functions affect the output measured values. It is not possible to recal‐
culate the original measured values from the filtered output values. For this reason, cer‐
tain combinations of filters might not be advisable.
A particularly effective way to reduce the data in a scan is to restrict the scan range
(reducing the measurement points). A good way of reducing data in multiple scans is to
use the average filter (reducing the event rate) or, alternatively, to select a higher output
interval.
3.5.7.1 Scan range filter
Scan range filter
Edge filter
Median filter
Average filter
20
The scan range filter is used to restrict the angular range output per scan.
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3.5.7.2 Edge filter
PRODUCT DESCRIPTION 3
The maximum range is set to 70° by default. This produces 841 measurement points.
The range can be restricted by increasing the start angle (default setting = 55°) or
reducing the stop angle (default = 125°). Please note that the angle beam is defined
orthogonally in relation to the front at 90° and the direction of rotation of the device is
set to clockwise.
The minimum difference between start angle and stop angle is 1/12°; this is equiva‐
lent to the output of a single measurement point. It is not possible to output multiple
scan ranges (e.g., 55° ... 70° and 90° ... 110°).
The edge filter prevents incorrect/extreme distance values at edges which result from it
not being possible to determine a distance value for the previous or next point (e.g., if
the previous or next measurement point was too dark or lay outside the measuring
range) or because of incorrect detection due to too little light remission at the object
itself, see "Impact of object surfaces on the measurement", page 18. The filter evalu‐
ates the difference in distance between adjacent points.
When the edge filter is activated, the device sets a distance value of 0 at each edge
(values in bold in the table).
Table 4: Example: Measured values with and without edge filter
Angle (distance values in mm)
Scan 1 2 3 4 5 6 7 …
1, not filtered 0 750 1145 1150 1147 1500 0 …
1, filtered 0 0 1145 1150 1147 0 0 …
3.5.7.3 Median filter
The edge filter enables points to be entirely suppressed at the outer edges of the
object. In this case, the width of an object is detected by up to 2× angular resolution too
narrow.
This filter is suitable for excluding individual outliers from the calculation of an average
value.
The values included in the calculation are defined using a 1 x 3 matrix:
3 measured values, consisting of the distance values of a point and its two adjacent
points in the scan, are sorted by size.
The measured value in the middle of this sequence is output as the distance value,
along with its remission value and the original angle correction value.
The median values are determined and output as moving values (median angular incre‐
ment 2 from value 1, 2, and 3; median angular increment 3 from value 2, 3, and 4,
etc.).
A median cannot be determined as the measured value for the first and last angular
increments in a scan. The distance value 0 (= invalid) is always output.
Table 5: Example: Median in angular position 2, 3, and 4
Angle (distance values in mm)
Scan 1 2 3 4 5 …
Unfiltered measured values
1 850 852 851 849 850 …
2 849 851 850 853 852 …
3 850 849 853 851 850 …
… … … … … … …
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PRODUCT DESCRIPTION
3
3.5.7.4 Average filter
Angle (distance values in mm)
Scan 1 2 3 4 5 …
Filtered measured values
1 0 851 851 850 … …
2 0 850 851 852 … …
3 0 850 851 851 … …
… … … … … … …
If median filters and average filters are used together, an additional time offset does
not need to be included for the median filter here either. This is because averaging
takes longer than median determination and the latter can be completed during averag‐
ing.
The average filter smooths the distance value. It does this by calculating the arithmetic
mean from several scans of the same point. The number of scans can be configured.
Table 6: Example: Average filter over 5 scans
Angle (distance values in mm)
Scan 1 2 3 4 5 6 7 8 9 …
1 0 0 1100 1100 1150 1150 1380 1380 0 …
2 0 0 1200 1200 1190 950 1500 1500 0 …
3 0 0 1150 1450 1200 1200 1450 1450 0 …
4 0 0 1280 1280 1180 1180 1430 1430 0 …
5 0 0 1170 1170 1220 1220 1470 1150 0 …
1st output value 0 0 1180 1240 1188 1140 1446 1382 0 …
6 0 0 0 1100 1150 1150 1380 1380 0 …
7 0 0 1200 1200 1190 0 1500 1500 0 …
8 0 730 1150 0 1200 1200 1450 1450 0 …
9 0 0 0 1280 1180 1180 1430 1430 0 …
10 0 0 1170 1170 1220 1220 1470 0 0 …
2nd output value 0 730 1173 1187 1188 1187 1446 1440 0 …
… … … … … … … … … … …
22
Individual outliers (shown in bold in the table) influence the average value.
Once the measured value telegram has been confirmed, the first measured value is not
output until after the configured number of scans. Therefore, there is always a time
delay equivalent to the number of scans configured for averaging. The digit of the first
scan included in the averaging calculation is always output in the scan counter. Invalid
distance values (= 0) are not included in the averaging calculation, so that in these
places a smaller number of scans is used in the division calculation. The measured val‐
ues from other channels (remission, angle correction) are not averaged; instead, the
value of the first scan from each channel is output.
Based on the scanning frequency of 600 Hz, a measured value is generated every
1.67 ms. The time delay affecting data output results from this base value multiplied by
the number of averaging operations (e.g., 2 averaging operations = 3.34 ms,
10 averaging operations = 16.67 ms).
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3.5.8 Motor synchronization for measuring range extension
Based on the technical and geometrical properties of the LMS4000, objects up to 1 m
in height can be measured continuously on a width of approx. 2.6 m. At a height of up
to 2 m, a continuous width of approx. 1.4 m is achievable.
To increase the width of the field for the intended application or to avoid shadowing
effects caused by geometrical properties, multiple LMS4000 sensors can be assem‐
bled side by side to extend the measuring range. To avoid mutual optical interference of
adjacent sensors (beam dazzle or reflection), the motors can be synchronized.
PRODUCT DESCRIPTION
3
Figure 11: Mounting 2 LMS4000 LiDAR sensors side by side (example)
If you are using motor synchronization, please note:
The slave devices do not send feedback to the master. The Sync LED on the mas‐
•
ter lights up as soon as the sync signal is sent. The Sync LED on the slave starts
flashing as soon as a sync signal is received and lights up permanently once the
motors have been synchronized.
If devices are mounted exactly in parallel (angle of rotation = 0°), the default set‐
•
ting for the phase at the slave can usually be left unchanged at 0°.
For devices that are mounted at a specific angle of rotation in relation to each
•
other, direct dazzle can be virtually excluded through motor synchronization.
Reflection can occur at certain angles depending on the distance between devices
and the measuring distance to the object. Although these effects can be reduced
by adjusting the phase, if the objects being scanned are of different heights they
cannot be ruled out completely.
The maximum phase angle is 80°; this is approximately equivalent to the angle at
•
which the laser exits the device. Inside the device, the covered angle is 120°.
There is no fixed upper limit on the number of devices that can be synchronized
•
via the master signal. However, the total length of the transmission cables must
not exceed 20 m.
Setting up motor synchronization:
1. Connect the motor-sync I/Os and the sensors to be synchronized using shielded
cables.
2. Viewed from the front, define the device located furthest to the left as the master
(set the corresponding parameter value in the Interfaces view in the SOPAS ET soft‐
ware).
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3 PRODUCT DESCRIPTION
3. Configure all other connected devices as slaves and set the angle of rotation of
✓
each device relative to the master as the phase (the phase specifies the angular
offset by which the slave motor lags behind the master motor).
After a few seconds, the Sync LED on the slave lights up permanently green. The
devices are now synchronized.
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4 Transport and storage
4.1 Transport
For your own safety, please read and observe the following notes:
NOTICE
Damage to the product due to improper transport.
■
The device must be packaged for transport with protection against shock and
damp.
■
Recommendation: Use the original packaging as it provides the best protection.
■
Transport should be performed by trained specialist staff only.
■
The utmost care and attention is required at all times during unloading and trans‐
portation on company premises.
■
Note the symbols on the packaging.
■
Do not remove packaging until immediately before you start mounting.
TRANSPORT AND STORAGE 4
4.2
Unpacking
■
Before unpacking, it may be necessary to equalize the temperature to protect the
device from condensation.
■
Handle the device with care and protect it from mechanical damage.
■
Remove the protective caps on the electrical connections immediately before con‐
necting the connecting cable to prevent dirt and water from entering.
4.3 Transport inspection
Immediately upon receipt in Goods-in, check the delivery for completeness and for any
damage that may have occurred in transit. In the case of transit damage that is visible
externally, proceed as follows:
■
Do not accept the delivery or only do so conditionally.
■
Note the scope of damage on the transport documents or on the transport com‐
pany's delivery note.
■
File a complaint.
NOTE
Complaints regarding defects should be filed as soon as these are detected. Damage
claims are only valid before the applicable complaint deadlines.
4.4 Storage
Store the device under the following conditions:
■
Recommendation: Use the original packaging.
■
Electrical connections are provided with protective caps and plugs (as they are on
delivery).
■
Do not store outdoors.
■
Store in a dry area that is protected from dust.
■
So that any residual damp can evaporate, do not package in airtight containers.
■
Do not expose to any aggressive substances.
■
Protect from sunlight.
■
Avoid mechanical shocks.
■
Storage temperature: see "Technical data", page 46.
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4 TRANSPORT AND STORAGE
■
Relative humidity: see "Technical data", page 46.
■
For storage periods of longer than 3 months, check the general condition of all
components and packaging on a regular basis.
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5 Mounting
2
1
3
4
5.1 Mounting instructions
Observe the technical data.
•
Protect the sensor from direct sunlight.
•
To prevent condensation, avoid exposing the sensor to rapid changes in tempera‐
•
ture.
The mounting site has to be designed for the weight of the device.
•
The device can be mounted in any position.
•
It should be mounted so that it is exposed to as little shock and vibration as possi‐
•
ble. Optional mounting accessories are available, see "Accessories", page 52.
Avoid having shiny or reflective surfaces in the scanning range, e.g., stainless
•
steel, aluminum, glass, reflectors, or surfaces with these types of coatings.
Protect the device from moisture, contamination, and damage.
•
Make sure that the status indicator is clearly visible.
•
Do not subject the device to excessive shock or vibrations. In systems subjected to
•
heavy vibrations, secure the fixing screws with screw-locking devices.
If necessary, affix additional laser warning labels to the device and/or replace an
•
English laser warning label with a warning label in another language.
MOUNTING 5
Conveyor system requirements (if used)
The conveyor system must work with a constant conveyor speed, or an incremental
•
encoder must be installed.
The objects can be moved on a conveyor system with a flat conveyor surface. If the
•
objects rotate, vibrate, roll, or slip on the conveyor system or on uneven conveying
surfaces, the accuracy of the measurements may be reduced thereby negatively
impacting the analysis.
5.2 Example installation of a conveyor system
Figure 12: Example installation of a conveyor system
Mounting kit (accessory)
1
LMS4000
2
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Beam separation for limiting detection
3
Conveyor system
4
27
Page 28
5 MOUNTING
To achieve the best possible measurement result, please note:
Typical space requirement for the device installation: approximately 700 mm
•
above the tallest object (measured from measured value origin).
The device must have a clear view of the conveyor system.
•
The laser beams of the device should not reach beyond the application space, so
•
that people or goods, which are being transported on an adjacent conveyor sys‐
tem, are not detected (limiting detection by beam separation).
The maximum detection must be limited to a working range of three meters, as
•
measurement inaccuracies may otherwise result.
Ensure sufficient distance between the device and curves, induction lines, start/
•
stop areas, areas with upward and downward inclines, and breaks in the conveyor
system.
If two or more devices are mounted one behind the other offset in parallel and are
•
not synchronized, the orthogonal distance of the laser lines must be at least 7 cm.
5.3 Mounting the device
1. Mount the device in a suitably prepared bracket using the fixing holes provided
and make provision for limiting detection by beam separation.
2. Tighten the mounting screws to 6 Nm. If you are using coated screws, select a pre‐
tension of 5 Nm after screw contact.
3. Make the electrical connection. Attach and tighten a voltage-free cable.
4. Switch on the supply voltage.
✓
The status LED lights up after successful initialization. The device is ready for use.
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6 Electrical installation
6.1 Wiring notes
NOTE
Preassembled cables can be found online at:
www.sick.com/LMS4000
•
NOTICE
Faults due to incorrect wiring.
Incorrect wiring may result in operational faults.
■
Follow the wiring notes precisely.
All electrical connections of the device are configured as M12 round connectors.
The protection class stated in the technical data is achieved only with screwed plug con‐
nectors or cover caps.
Observe the following notes to ensure safe and trouble-free operation:
ELECTRICAL INSTALLATION 6
When using shielded cables, place the cable shield in the control cabinet.
•
Connect the connecting cables in a de-energized state. Do not switch on the sup‐
•
ply voltage until installation is complete and all connecting cables have been con‐
nected to the device and control.
Wire cross-sections in the supply cable from the customer’s power system should
•
be designed in accordance with the applicable standards. Protect the device with
an external slow-blow fuse of 6.3 A at the beginning of the supply cable, viewed
from the voltage supply.
All electric circuits connected to the device must be designed as SELV or PELV cir‐
•
cuits (SELV = Safety Extra Low Voltage, PELV = Protective Extra Low Voltage).
The specified enclosure rating of the device when mounted is reached only if suit‐
•
able mating connectors or protective caps are used.
Do not open the screwed housing of the device and do not remove the laser pro‐
•
tective cover (if one has been fitted) as this will invalidate the warranty.
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SICK
Device
7 46
Power Supply
U
= 8
= 9
1 2 3
I
5
System
Controller
6 ELECTRICAL INSTALLATION
6.2 Prerequisites for the safe operation of the device in a system
WARNING
Risk of injury and damage caused by electrical current!
As a result of equipotential bonding currents between the device and other grounded
devices in the system, faulty grounding of the device can give rise to the following dan‐
gers and faults:
■
Metal housings are vulnerable to dangerous currents
■
Devices will behave incorrectly or be destroyed
■
Cable shielding will be damaged by overheating and cause cable fires
Remedial measures
Only skilled electricians should be permitted to carry out work on the electrical sys‐
b
tem.
Ensure that the ground potential is the same at all grounding points.
b
If the cable insulation is damaged, disconnect the voltage supply immediately and
b
have the damage repaired.
Where local conditions are unfavorable and therefore do not meet conditions for a
b
safe grounding method (same ground potential at all grounding points), take mea‐
sures in accordance with the following formats.
The device is connected to the peripheral devices (voltage supply, any local pulse sen‐
sor(s), system controller) via shielded cables. The cable shield – for the data cable,
for example – rests against the metal housing of the device. The device can be
grounded through the cable shield or through a blind tapped hole in the housing,
for example.
If the peripheral devices have metal housings and if the cable shields also lie on their
housings, it is assumed that all devices involved in the installation have the same
ground potential.
This is achieved by complying with the following conditions:
■
Mounting the devices on conductive metal surfaces
■
Correctly grounding the devices and metal surfaces in the system
■
If necessary: low-impedance and current-carrying equipotential bonding between
areas with different ground potentials
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Figure 13: Example: Occurrence of equipotential bonding currents in the system configuration
System controller
1
Device
2
Voltage supply
3
Grounding point 2
4
Closed current loop with equalizing currents via cable shield
5
Subject to change without notice
Page 31
Electro-
optical
signal
isolator
Electro-
optical
signal
isolator
Power
Supply
SICK
Device
1 2 2 43
6 5
System
Controller
= 7
= 8
= 9
ELECTRICAL INSTALLATION
Ground potential difference
6
Grounding point 1
7
Metal housing
8
Shielded electrical cable
9
If these conditions are not fulfilled, equipotential bonding currents can flow along the
cable shielding between the devices due to differing ground potentials and cause the
hazards specified. This is, for example, possible in cases where there are devices within
a widely distributed system covering several buildings.
Remedial measures
The most common solution to prevent equipotential bonding currents on cable shields
is to ensure low-impedance and current-carrying equipotential bonding. If this is not
possible, the following solution approaches serve as a suggestion.
NOTICE
We expressly advise against opening up the cable shields. This would mean that the
EMC limit values can no longer be complied with and that the safe operation of the
device data interfaces can no longer be guaranteed.
Measures for widely distributed system installations
6
On widely distributed system installations with correspondingly large potential differ‐
ences, the setting up of local islands and connecting them using commercially available
electro-optical signal isolators is recommended. This measure achieves a high degree
of resistance to electromagnetic interference.
Figure 14: Example: Prevention of equipotential bonding currents in the system configuration by
the use of electro-optical signal isolators
System controller
1
Electro-optical signal isolator
2
Device
3
Voltage supply
4
Grounding point 2
5
Grounding point 1
6
Metal housing
7
Shielded electrical cable
8
Optical fiber
9
The use of electro-optical signal isolators between the islands isolates the ground loop.
Within the islands, a stable equipotential bonding prevents equalizing currents on the
cable shields.
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Page 32
U
System
Controller
Power Supply
SICK
Device
8 6
5
21 3
4
7
= 9
= ß
6 ELECTRICAL INSTALLATION
Measures for small system installations
For smaller installations with only slight potential differences, insulated mounting of the
device and of peripheral devices may be a sufficient solution.
Figure 15: Example: Prevention of equipotential bonding currents in the system configuration by
the insulated mounting of the device
System controller
1
Device
2
Voltage supply
3
Grounding point 3
4
Insulated mounting
5
Grounding point 2
6
Grounding potential difference
7
Grounding point 1
8
Metal housing
9
Shielded electrical cable
ß
Even in the event of large differences in the ground potential, ground loops are effec‐
tively prevented. As a result, equalizing currents can no longer flow via the cable shields
and metal housing.
NOTICE
The voltage supply for the device and the connected peripheral devices must also guar‐
antee the required level of insulation.
Under certain circumstances, a tangible potential can develop between the insulated
metal housings and the local ground potential.
6.3 Connection diagram
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NOTE
The recommended connecting cables and their associated technical data can be found
online at:
www.sick.com/LMS4000
Subject to change without notice
Page 33
Power connection
1
4 3
5
2
1
7
2
6
54
3
8
1
43
5
2
Figure 16: Male connector M12, 5-pin, A-coded
ELECTRICAL INSTALLATION 6
Pin Description Wire colors connecting cable part no.
6049453
1
1 Vs 24 V DC ± 25% Brown
2 Motor Sync White
3 Ground Blue
4 IN2/OUT2 Black
5 OUT4 Gray
1
Example values when using the specified connecting cable(s). Signal assignment and wire colors can
vary when using other connecting cables.
Ethernet connection
Figure 17: Female connector M12, 8-pin, X-coded
Pin Description
1 1+
2 1-
3 2+
4 2-
5 4+
6 4-
7 3-
8 3+
Encoder
Figure 18: Female connector M12, 5-pin, A-coded
Pin Description Wire colors connecting cable part no.
2097305
1 V
24 V DC ± 25% (identical to Vs) Brown
out
2 Encoder B White
3 Ground Blue
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4 Encoder A Black
1
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6 ELECTRICAL INSTALLATION
Pin Description Wire colors connecting cable part no.
5 IN1/OUT1 Gray
1
Example values when using the specified connecting cable(s). Signal assignment and wire colors can
vary when using other connecting cables.
6.4 Connecting the device electrically
NOTICE
Observe the wiring instructions, see "Wiring notes", page 29.
1. Ensure the voltage supply is not connected.
2. Connect the device according to the connection diagram, see "Connection dia‐
gram", page 32.
2097305
1
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7 Operation
7.1 Operation via SOPAS ET
Version 2018.2 and higher of the SOPAS Engineering Tool (SOPAS ET) software can be
used to parameterize the device and for service and diagnostic purposes.
To configure the device, you will require a PC with SOPAS ET installed and a free Ether‐
net connection. Alternatively, for a test setup, the connection can be established via a
USB connection using an Ethernet USB adapter.
NOTE
The most up-to-date version of the SOPAS ET software can be downloaded from
www.sick.com/SOPAS_ET. The respective system requirements for installing SOPAS ET
are also specified there.
1. Connect the communication interface (Ethernet, 8-pin M12 female connector) of
the device to the PC.
2. Switch on and start the PC.
3. Supply voltage to the device (5-pin M12 male connector, supply voltage 24 V DC).
✓
The status LED and the Ethernet LED light up green after successful initialization.
The device is ready for use.
OPERATION
7
NOTE
To use SOPAS ET with the device, you need a device description file (SDD) for this
device. You can install this within SOPAS ET using the device catalog. The device
description file is saved on the device and can be installed there. Alternatively, installa‐
tion is possible from the SICK website (Internet connection required). Use the wizard in
SOPAS ET to do this.
Following installation of the device description file, the device can be selected from the
device catalog and added to a project.
A connection to the device is established via the communication interface. The connec‐
tion must be activated for data transmission (online).
Certain functions (e.g., Edit parameters) require you to be logged in to the device:
> Device > Log In > Select user level and enter password:
User level Password
Maintenance personnel main
Authorized client client
Service servicelevel
Information about the device is displayed in the device window ( > Device > Open) and
the device can also be configured here.
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OPERATION
7
Description of the device window
The device window features various views supporting a selection of functions:
•
(Start): Start device configuration with display of information about the device
(left-hand side) and display of the current scan (right-hand side).
The scan view can be customized with the assistance of various tools (to the left of
the scan view), for example:
: Resets scan display to default view.
/ : Displays measured values as points or lines.
: Freely rotates scan display.
Default settings: Scan display (left-hand side), entry of the basic device parameters
•
(right-hand side):
36
Application: Scan display (left-hand side) and entry of more parameters (right-hand
•
side):
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OPERATION 7
Interfaces: Scan display (left-hand side) and configuration of interfaces (right-hand
•
side):
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OPERATION
7
Complete: Scan display (left-hand side) and buttons for finalizing device configura‐
•
tion.
NOTE
Changes to parameters that are made in SOPAS ET are not saved automatically in
the device. After you have completed the configuration, you must save it in the
device permanently by pressing the Save permanently button.
7.2 Output of measured values via terminal program
Example commands for output of measured values
If the LMS4000 sensor receives one of the two example commands by telegram via the
Ethernet interface, it will start the output of measured values via this data interface.
The device must be switched on and in measuring mode.
The detailed structure of the output telegram as well as the flow of requests and out‐
puts is described in the “Measurement output telegram” chapter in the Telegram listing
publication (English, no. 8014631).
Request for output of measured values:
Table 7: Telegram structure: sRN LMDscandata
Telegram part Description Variable type Length (Byte) Value range
Command type Request (SOPAS
read by name)
Command Request data string 11 LMDscandata
Table 8: Example: sRN LMDscandata
Telegram type Command
CoLa A ASCII
HEX
CoLa B Binary
<STX>sRN{SPC}LMDscandata<ETX>
02 73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 03
02 02 02 02 00 00 00 0F 73 52 4E 20 4C 4D 44 73 63 61
6E 64 61 74 61 05
string 3 sRN
38
Request for continuous output of measured values:
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OPERATION 7
Table 9: Telegram structure: sEN LMDscandata measurement start/stop
Telegram part Description Variable type Length (Byte) Value range
Command type Request (SOPAS
event by name)
Command Request data string 11 LMDscandata
StartStop measure‐
ment
Table 10: Example: sEN LMDscandata
Telegram type Command
ASCII
HEX
Binary
<STX>sEN{SPC}LMDscandata{SPC}1<ETX>
02 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20
31 03
02 02 02 02 00 00 00 11 73 45 4E 20 4C 4D 44 73 63
61 6E 64 61 74 61 20 01 33
For the content of the response telegram for the measured value request, see the
telegram listing (no. 8014631) under Send Data Permanently in Chapter 4. The
telegram consists of one part with information on the configuration of the device and
the time stamp, one part with measured data, and a status part with information on the
device status and the statuses of the inputs/outputs.
string 3 sEN
Enum8 1 0: Stop output of
measured values
1: Start output of
measured values
After starting the measurement mode, the device needs some time to reach status 1
(“ready”). You should, therefore, query the status of the device using the sRN SCde-
vicestate telegram.
Then request measured data via telegram at the data interface from which you want to
receive measured data. This can be achieved in two ways:
The request of exactly one measured value telegram with the sRN LMDscandata
•
telegram (hexadecimal: 73524E204C4D447363616E64617461) – the last mea‐
sured scan is transmitted.
Continuous request of measurement data with the sEN LMDscandata 1
•
telegram (hexadecimal: 73454E204C4D447363616E646174612001) – measure‐
ment data is transmitted until the output of measured values is stopped with the
sEN LMDscandata 0 telegram (hexadecimal:
73454E204C4D447363616E646174612000) .
Activating the output of the measured values in SOPAS on a test basis:
1. Start the terminal emulator: > Tools > Terminal.
2. In the dialog window in the Connections menu, select the Create new connection func‐
tion.
3. In the connection wizard, select the communication interface (Ethernet) and con‐
nection settings (default IP address: 192.168.0.1) and establish the connection
(Finish button).
4. Make the following settings in the connection wizard: communication interface
(Ethernet), communication protocol (CoLa A/B), and connection settings (default IP
address: 192.168.0.1; TCP port: 2112 (for CoLa ASCII) or 2111 (for CoLa binary);
SOPAS hub address: 0; CoLa dialect: ASCII or binary; CoLa addressing mode: by name;
Duplex mode: full-duplex; Byte order: big-endian; Connection timeout: 1,500 ms; Addi‐
tional timeout: 0 ms). Then establish the connection (Finish button).
5. Enter in the input line one of the two example telegrams from the annex as they
appear (automatically framed by STX and ETX when sending in the default setting).
Pay attention to blank characters in the string.
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7 OPERATION
6. Use the button to send the telegram to the LMS4000.
✓
The LiDAR sensor responds by providing the data as a one-off or continuously in
the display area of the terminal emulator.
NOTE
We recommend using CoLa binary for the output of measurement data in the applica‐
tion. CoLa ASCII is suitable in particular for device parameterization. However, depend‐
ing on the parameter settings, there is a risk that errors will occur when using this com‐
mand language for data output.
Data output format of the measured values
The data output format for each scan comprises:
Configuration information
•
Measured values (radial distance (DIST))
•
Remission (RSSI/REFL)
•
Angle correction (ANGL)
•
Device and status information
•
Time stamp
•
In the default settings, the distance is output as a measured value (in mm).
To output more measured values or information in the telegram:
1. Open the device window:
2. Check the corresponding box under Output format.
The telegram output interval can also be changed here, so that only every second or
third telegram is sent via the data interface during the output of measured values, for
example.
> Device > Open.
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8 Maintenance
8.1 Maintenance
Depending on the assignment location, the following preventive maintenance tasks
may be required for the device at regular intervals:
Table 11: Maintenance schedule
Maintenance work Interval To be carried out
Clean housing and front screen Cleaning interval depends on ambi‐
Check screw connections and plug
connectors
8.2 Cleaning
NOTICE
Equipment damage due to improper cleaning.
Improper cleaning may result in equipment damage.
■
■
ent conditions and climate.
Interval depends on the place of use,
ambient conditions, or operational
regulations. Recommended: At least
every 6 months.
Only use recommended cleaning agents.
Never use sharp objects for cleaning.
MAINTENANCE 8
by
Specialist
Specialist
Cleaning the front screen
The front screen must be kept clean and dry during operation.
NOTICE
Damage to the front screen
Reduced analysis performance due to scratches or streaks on the screen.
■
Always use a damp cloth to clean the screen.
■
Use a mild cleaning agent that does not contain powder additives. Do not use
aggressive cleaning agents, such as acetone, etc.
■
Avoid any movements that could cause scratches or abrasions on the screen.
■
Only use cleaning agents suitable for the screen material.
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8 MAINTENANCE
Cleaning procedure
CAUTION
Optical radiation: Laser class 2
The human eye is not at risk when briefly exposed to the radiation for up to 0.25 sec‐
onds. Exposure to the laser beam for longer periods of time may cause damage to the
retina. The laser radiation is harmless to human skin.
■
Do not look into the laser beam intentionally.
■
Never point the laser beam at people's eyes.
■
If it is not possible to avoid looking directly into the laser beam, e.g., during com‐
missioning and maintenance work, suitable eye protection must be worn.
■
Avoid laser beam reflections caused by reflective surfaces. Be particularly careful
during mounting and alignment work.
■
Do not open the housing. Opening the housing may increase the level of risk.
■
Current national regulations regarding laser protection must be observed.
Switch off the device for the duration of the cleaning operation. If this is not possi‐
b
ble, use suitable laser protection goggles. These must absorb radiation of the
device’s wavelength effectively.
Remove dust from the front screen using a soft, clean brush. If necessary, also
b
clean the screen with a clean, damp, lint-free cloth, and a mild anti-static lens
cleaning fluid.
NOTICE
If the front screen is scratched or damaged (cracked or broken), it must be replaced.
Contact SICK Support to arrange this.
■
If the front screen is cracked or broken, take the device out of operation immedi‐
ately for safety reasons and have it repaired by SICK.
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9 Troubleshooting
9.1 General faults, warnings, and errors
Possible errors and corrective actions are described in the table below. In the case of
errors that cannot be rectified using the information below, please contact the SICK
Service department. To find your agency, see the final page of this document.
NOTE
Before calling, make a note of all type label data such as type designation, serial num‐
ber, etc., to ensure faster telephone processing.
Question/Problem Possible causes Troubleshooting
Unable to switch on
device, LEDs not
responding
Device starts initially
(LEDs are on, motor
starts to turn) but then
stops and restarts
after a few seconds
Unable to find device
in SOPAS ET
Unable to establish
connection to device
in SOPAS ET
Connection LED in
SOPAS ET is red
Unable to make any
settings in the device
window in SOPAS ET
Pins have been wired
•
incorrectly
Voltage supply not
•
switched on
Voltage supply out of
•
range
Power supply unit not pow‐
•
erful enough
Applied voltage is almost
•
out of range
Current limiting set to less
•
than 1.7 A
Voltage drop on cable
•
when using longer lengths
of cable
Ethernet cable not con‐
•
nected
IP address range for net‐
•
work adapter configured
incorrectly
Missing device drivers
•
Device is offline in SOPAS
•
ET
Insufficient user level
•
Device is offline in SOPAS
•
ET
TROUBLESHOOTING 9
Check pin assignment and volt‐
•
age supply
Supply voltage 24 V DC
•
Check dimensioning of system
•
with connected sensors,
lengths of cables, voltage, cur‐
rent limiting, and power loss
Supply voltage 24 V DC
•
Check the Ethernet connection
•
(if you know the IP address,
check with a ping CMD)
Set the network adapter (TCP/
•
IPv4) to the IP address range
and subnet mask of the sensor
(sensor default: 192.168.0.1;
255.255.255.0)
Click on the warning symbol in
•
the device tile. Follow the
instructions in the wizard and
load the drivers from the device
Click on the “Offline” field in
•
the device tile. If the project is
new, load the parameters from
the device. To transfer existing
settings, write the parameters
to the device
Log in as “Authorized client”
•
Click on the “Offline” field in
•
the device tile in the main win‐
dow
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9 TROUBLESHOOTING
Question/Problem Possible causes Troubleshooting
No measurement
points are displayed in
the scan view in
SOPAS ET
No transmission of
measurement data via
the Ethernet interface
Status LED lights up
green but problem
persists
Status LED lights up
yellow, device contin‐
ues to be able to take
measurements
Status LED lights up
red, device is no
longer able to take
measurements
Motor synchronization
fails, synchronization
LED on slave does not
light up green perma‐
nently
Encoder ticks not
being output in data
telegram or are not
incrementing
Data transmission
rate is less than 600
Hz
The laser is switched off
•
No objects in the measur‐
•
ing range
Obstacles in the field of
•
view
Measurement data not
•
subscribed
The laser is switched off
•
All channels deactivated in
•
the output data format
Device is unable to detect
•
errors
Warning, e.g., due to prob‐
•
lem with device synchro‐
nization or I/O configura‐
tion
Error, e.g., due to internal
•
or external factors. The pri‐
mary function of the
device cannot be fulfilled
at the current time.
No device configured as
•
master
No device configured as
•
slave
Link the sync I/Os
•
Sync signal corrupted
•
Encoder not connected or
•
signal corrupted
Unsuitable encoder in use
•
(e.g., no push-pull output
stage or supply voltage
does not match LMS4000)
No encoder configured
•
Encoder ticks deactivated
•
in output data format
Output interval is greater
•
than 1
Average filter activated
•
Check the laser control settings
•
Check the settings for the
•
angular and distance ranges
Check that objects are posi‐
•
tioned correctly in relation to
the sensor and that the field of
view is not being blocked by
other objects
Check that the LMDscandata
•
command has been sent and
confirmed by the device
Check the laser control settings
•
Check the output data format
•
settings (in the application)
Device is ready to take mea‐
•
surements; check other
sources of the problem
Read the description of the
•
problem under System status
in SOPAS ET and take action if
appropriate
Read the description of the
•
problem under System status
in SOPAS ET
If the error persists, disconnect
•
the device from the voltage
supply for 10 seconds and then
restart
Check the master and slave
•
settings
Check connections and cables
•
Check the encoder connection,
•
data sheet, and pin assignment
Check the settings for the
•
encoder (interfaces) in SOPAS
ET
Check the output data format
•
settings (in the application)
Check the output data format
•
settings (in the application)
Check the filter settings
•
9.2 Repairs
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Repair work on the device may only be performed by qualified and authorized person‐
nel from SICK AG. Interruptions or modifications to the device by the customer will inval‐
idate any warranty claims against SICK AG.
Subject to change without notice
Page 45
9.3 Returns
9.4 Disposal
TROUBLESHOOTING 9
Do not dispatch devices to the SICK Service department without consultation.
b
The device must be sent in the original packaging or an equivalent padded pack‐
b
aging.
NOTE
To enable efficient processing and allow us to determine the cause quickly, please
include the following when making a return:
■
Details of the contact person
■
Description of the application
■
Description of the fault that occurred
Any device which can no longer be used must be disposed of in an environmentally
friendly manner in accordance with the applicable country-specific waste disposal regu‐
lations. Do not dispose of the product along with household waste.
NOTICE
Danger to the environment due to improper disposal of the device.
Disposing of devices improperly may cause damage to the environment.
Therefore, observe the following information:
■
Always observe the valid regulations on environmental protection.
■
Separate the recyclable materials by type and place them in recycling containers.
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10 TECHNICAL DATA
10 Technical data
NOTE
The relevant online data sheet for your product, including technical data, dimensional
drawing, and connection diagrams can be downloaded, saved, and printed from the
Internet:
www.sick.com/LMS4000
•
10.1 Features
Version Short range
Application Indoor
Reading window/laser out‐
put aperture
Light source/laser diode Visible light
Laser class 2 (IEC 60825-1:2014&2007)
Spot size/laser spread 4 x 3 mm, typical (front screen)
Aperture angle 70°
Scan frequency 600 Hz
Angular resolution 1/12° (0.0833°)
Operating range 0,7 m ... 3 m
Scanning range 3 m (2% remission)
Number of devices for
motor synchronization
On the front
(wavelength 660 nm; LMS4x11: max. output power 20 mW, aver‐
age power 10 mW; LMS4x21: max. output power 27 mW, average
power 13.5 mW)
2.5 x 2 mm (3 m distance)
3 m (10% remission)
Virtually unlimited, length of sync cable max. 20 m
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Working range diagram
0
Scanning range in m (ft)
-2
(-6.56)
-1
(-3.28)
1
(3.28)
2
(6.56)
Scanning range in m (ft)
1
(3.28)
2
(6.56)
3
(9.84)
4
(13.12)
0
Working range 0.7 m to 3 m
70°
TECHNICAL DATA 10
10.2
Figure 19: Working range diagram
Performance
Scan/frame rate 504,600 measurement points/second
Response time ≥ 4.8 ms
Detectable object shape Almost any
Systematic error (typ.)
1
LMS4x11: ± 1.5 mm
LMS4x21: ± 1 mm
Statistical error (1 σ)
1
LMS4x11:
1.25 mm (@ ≥ 90% 0.7 m … 3 m)
2.5 mm (@ 40% 0.7 m … 3 m)
6.5 mm (@ 6.5% < 1 m & > 2.5 m)
5 mm (@ 6.5% 1 m … 2.5 m)
14 mm (@ 3.5% < 1 m & > 2.5 m)
10 mm (@ 3.5% 1 m … 2.5 m)
LMS4x21:
0.75 mm (@ ≥ 90% 0.7 m … 3 m)
1.5 mm (@ 40% 0.7 m … 3 m)
4.5 mm (@ 6.5% < 1 m & > 2.5 m)
3.5 mm (@ 6.5% 1 m … 2.5 m)
12 mm (@ 2% < 1 m & > 2.5 m)
9 mm (@ 2% 1 m … 2.5 m)
Temperature drift (system‐
0.03 mm/K
atic)
Angle error 0.05°
Integrated application Data output
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10 TECHNICAL DATA
10.3 Interfaces
Filters Edge filter, median filter, average filter
1
Typical value in the following ambient conditions: measuring range and remission as quoted (otherwise
full range), scan range 60° … 120°, ambient temperature 18 °C … 28 °C, ambient light ≤ 2,000 lux. The
actual measured values might deviate from the quoted value depending on the application setup.
Ethernet – function TCP/IP
UDP/IP
Measurement data output (distance, angle, RSSI)
Ethernet – data transmis‐
100/1,000 Mbit/s, full duplex, half duplex
sion rate
Switching inputs 2 (2 x I/O)
Voltage 24 V DC, max. 50 kHz
Encoder inputs 2 (phase A, phase B), max. 50 kHz
Switching outputs 3 (1 x OUT, 2 x I/O)
max. 100 mA per output
Synchronization input/
1 (master/slave)
output
Optical indicators 4 LEDs
Configuration software SOPAS ET
Telegram language CoLa ASCII
CoLa binary
10.4 Mechanics/electronics
Electrical connection 1 x M12, 5-pin male connector (power + I/O + sync)
Supply voltage 24 V DC ± 25%
Power consumption ≤ 16 W (typical, at 24 V DC)
Output current ≤ 100 mA per output
Housing Aluminum die cast
Front screen material Float glass
Housing color Light blue (RAL 5012)
Enclosure rating IP65 (IEC 60529:1989+AMD1:1999+AMD2:2013)
Protection class III (IEC 61140:2016-01)
Electrical safety IEC 61010-1:2011
Weight LMS4x1x: 2.4 kg
Dimensions (L x W x H) LMS4x1x: 192 mm x 130 mm x 107 mm
1 x M12, 8-pin female connector (Ethernet)
1 x M12, 5-pin female connector (encoder + I/O)
≤ 29 W (start-up current)
26 W (max. continuous, all outputs loaded)
LMS4x2x: 3.7 kg
LMS4x2x: 397 mm x 370 mm x 107 mm
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Dimensional drawing
111 (4.37)
CAUTION
LASER RADIATION IS
AVOID EXPOSURE –
EMITTED FROM THIS APERTURE
106.6
(4.20)
35.7
(1.41)
91.2
(3.59)
0
77.8
(3.06)
26.6
(1.05)
103.4
(4.07)
52.2
(2.06)
1
0
105 (4.13)
57.4 (2.26)
129.9 (5.11)
12.8
(0.50)
20
(0.79)
4
192 (7.56)
98 (3.86)
93.9 (3.70)
52.8
(2.08)
1.0
(0.04)
5.9
(0.23)
70°
5
6
2 3
TECHNICAL DATA 10
Figure 20: Dimensional drawing LMS4x1xx, dimensions in mm
Interfaces, types, and number can vary
1
Transmission range
2
Receiving range
3
Aperture angle
4
Reference boreholes
5
Zero point of the distance measurement
6
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Page 50
77.8
(3.06)
26.6
(1.05)
103.4
(4.07)
52.2
(2.06)
1
0
45.7
(1.80)
70°
105 (4.13)
57.4 (2.26)
370 (14.57)
192 (7.56)
98 (3.86)
5.9 (0.23)
20
(0.79)
5
93.9 (3.70)
52.8
(2.08)
1.0
(0.04)
6
7
129.9 (5.11)
12.8
(0.50)
111 (4.37)
CAUTION
LASER RADIATION IS
AVOID EXPOSURE –
EMITTED FROM THIS APERTURE
106.6 (4.20)
4.2
(0.17)
120.9 (4.76) 79.1 (3.11)
396.1 (15.59)
388.8 (15.31)
0
91.2 (3.59)
28 (1.10)
35.7 (1.41)
2 3
4
10 TECHNICAL DATA
Figure 21: Dimensional drawing LMS4x2xx with optics cover, dimensions in mm
1
2
3
4
5
6
7
10.5 Ambient data
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Object remission LMS4x1x: 3.5% … 300%
Electromagnetic compati‐
bility (EMC)
Vibration resistance Vibration, sinusoidal (EN 60068-2-6:2007):
Shock resistance Non-repetitive shock (EN 60068-2-27:2008):
Interfaces, types, and number can vary
Transmission range
Receiving range
Aperture angle
Optics cover
Reference boreholes
Zero point of the distance measurement
LMS4x2x: 2% … 200%
EN 61000-6-3:2007+A1:2011 /
IEC 61000-6-3:2006+AMD 1:2010
10 Hz … 100 Hz, 0.35 mm, 5 g, 20 cycles
15 g, 11 ms, 6 shocks per axis
10 g, 16 ms, 1,000 shocks per axis
Subject to change without notice
Page 51
TECHNICAL DATA 10
Ambient operating temper‐
-10 °C ... +50 °C (initialization phase: 0 °C ... 50 °C)
ature
Storage temperature -20 °C ... +70 °C
Permissible relative
Max. 90% (non-condensing)
humidity
Ambient light immunity 2,000 lx
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Page 52
11 ACCESSORIES
11 Accessories
NOTE
Accessories and where applicable mounting information can be found online at:
•
www.sick.com/LMS4000
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ANNEX 12
12 Annex
12.1 Telegram structure
Example: Send data permanently
NOTICE
When the device is starting up and during a restart, no data telegrams or responses are sent by the device for a
period of up to 30 seconds. The blank spaces (hexadecimal: 20) must be added to the calculation of the telegram
length when both sending and receiving telegrams. With CoLa Binary, framing has a length of 9 bytes (4 bytes STX,
4 bytes; telegram length without framing, 1 byte XOR checksum).
Table 12: Telegram structure: sEN LMDscandata
Telegram
part
Command
type
Command Data telegram String 11 LMDscandata 4C 4D 44 73 63 61 6E 64 61 74 61
Measure‐
ment
Description Variable Length Values CoLa A (ASCII) Values CoLa B (binary)
Event String 3 sEN 73 45 4E
Start/stop Enum_8 1 Stop: 0
Start: 1
Stop: 00
Start: 01
Table 13: Example: sEN LMDscandata
CoLa A ASCII <STX>sEN{SPC}LMDscandata{SPC}1<ETX>
Hex 02 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 31 03
CoLa B Binary 02 02 02 02 00 00 00 11 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 01 33
Table 14: Telegram structure: sEA LMDscandata
Telegram
part
Command
type
Command Data telegram String 11 LMDscandata 4C 4D 44 73 63 61 6E 64 61 74 61
Measure‐
ment
Table 15: Example: Confirmation of sEA LMDscandata
CoLa A ASCII <STX>sEA{SPC}LMDscandata{SPC}1<ETX>
CoLa B Binary 02 02 02 02 00 00 00 11 73 45 41 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 01 33
Description Variable Length Values CoLa A (ASCII) Values CoLa B (binary)
Answer String 3 sEA 73 45 41
Start/stop Enum_8 1 Stop: 0
Start: 1
Hex 02 73 45 41 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 31 03
Stop: 00
Start: 01
Telegram data flow
The response to the telegram is followed by the scan data.
NOTE
Leading zeros are not displayed in ASCII.
Table 16: Telegram structure: Data flow from sRA LMDscandata/sSN LMDscandata
Telegram part
Command type Read String 3 sRA
Command Data telegram String 11 LMDscandata 4C 4D 44 73 63 61 6E
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Description Variable Length Values CoLa A (ASCII) Values CoLa B (binary)
73 52 41
sSN
73 53 4E
64 61 74 61
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12 ANNEX
Telegram part Description Variable Length Values CoLa A (ASCII) Values CoLa B (binary)
Version number For detecting format
changes by the version.
Version is always 1 up
to now.
Device Device num‐
Defined with SOPAS Uint_16 2 0000h … FFFFh 00 00 … FF FF
ber
Serial num‐
Defined in factory Uint_32 4 00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF
ber
Device status (See values column) Uint_8 2 × 1 Ok: 00 00
Status
info
Telegram
counter
Number of measure‐
ment telegrams fin‐
ished in the scanner
and given to the inter‐
1
face.
Scan counter Number of scans which
were created in the
device; counts how
many scans were really
done.
Time since
start up in µs
Counting the time since
power up the device;
starting with 0. In the
output telegram this is
the time at the zero
index before the mea‐
surement itself starts.
Time of
transmission
in µs
Time in µs when the
complete scan is trans‐
mitted to the buffer for
data output; starting
with 0 at scanner
bootup.
Status of digi‐
tal inputs
Status of digi‐
tal outputs
Low byte represents
input 1.
Low byte represents
output 1.
Layer angle – Uint_16 2 0 0
Frequen‐
cies
Scan fre‐
quency
Measure‐
ment fre‐
quency
[1/100 Hz] Uint_32 4 600 Hz: +60000d
Inverse of the time
between two measure‐
ment shots (in
1/100 Hz): LMS4000 =
864000 Hz
Amount of encoder If 0, then next two val‐
ues are missing.
Values Encoder posi‐
Info in ticks Uint_32 4 00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF
tion
Encoder
Ticks/mm Uint_16 2 Always: 0 Always: 00 00
speed
Amount of 16 bit chan‐
nels
Number of 16 bit chan‐
nels that provide mea‐
sured data
Uint_16 2 0000h … FFFFh 00 00 … FF FF
FF
00 00
Error: 00 01
00 01
Uint_16 2 0000h … FFFFh 00 00 … FF FF
Uint_16 2 0000h … FFFFh 00 00 … FF FF
Uint_32 4 00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF
FF
Uint_32 4 00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF
FF
Uint_8 2 × 1 00 00 00 00
Uint_8 2 × 1 00 00 00 00
600 Hz: EA 60
(EA60h)
Uint_32 4 5265C00h 05 26 5C 00
Enum_162 0
1: External encoder
00 00
01
FF
Uint_16 2 Output channels: 1…3 Output channels: 01…03
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ANNEX 12
Telegram part Description Variable Length Values CoLa A (ASCII) Values CoLa B (binary)
Output
channel
(16 bit)
Amount of 8 bit chan‐
nels
Position Output of position data Enum_162 No position data: 0
Content Defines the content of
the output channel
Unit of radial distance
values (DIST) is mm
String 5 DIST1: Distance values
RSSI1: Energy values in
digit
REFL1: Calibrated energy
values in %
ANGL: Angle Offset values
Scale factor Scale factor or factor of
the measurement val‐
ues
Real
as float
accord‐
ing to
IEEE75
4
4 Factor x 0.1: 3DCCCCDh
(DIST1)
Factor × 1: 3F800000h
(RSSI1)
Factor × 1: 3F800000h
(REFL1)
Factor × 1: 3F800000h
(ANGL)
Scale factor
offset
Sets starting point of
measurement
Real
as float
accord‐
ing to
IEEE75
4 DIST1: 00000000h
RSSI1: 00000000h
REFL1: 00000000h
ANGL: C7000000h
(-32768)
4
Start angle [1/10000°] Uint_32 4 +550000d… +1250000d
(86470h … 1312D0h)
Size of single
angular step
Amount of
data
Output format in
degree: 1/10000°
Defines the number of
items on measured out‐
Uint_16 2 0.0833°: +833 (341h) 0.0833°: 03 41
Uint_16 2 0000h … FFFFh 00 00 … FF FF
put
Data_1
Data_n
Data stream starting
Data_1 to Data_n
Uint_16 2 0000h…C4Eh (DIST1)
0000h…FFFFh (RSSI1)
0000h…FFFFh (REFL1)
0000h…FFFFh (ANGL)
Amount of 8 bit chan‐
Enum_162 Output channels: 0 Output channels: 00
nels, giving out the
measured data
Position data: 1
44 49 53 54 31
52 53 53 49 31
52 45 46 4C 31
41 4E 47 4C
3D CC CC CD
3F 80 00 00
3F 80 00 00
3F 80 00 00
00 00 00 00
00 00 00 00
00 00 00 00
C7 00 00 00
00 08 64 70 …
00 13 12 D0
00 00 … 0C 4E
00 00 … FF FF
00 00 … FF FF
00 00 … FF FF
No position data: 00 00
Position data: 00 01
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12 ANNEX
Telegram part Description Variable Length Values CoLa A (ASCII) Values CoLa B (binary)
Position
informa‐
tion
Name Device name Uint_16 2 No name: 0
Name
informa‐
tion
Comment Comment Uint_16 2 No comment: 0
Comment
informa‐
tion
Time Transmits a time stamp Uint_16 2 Time: 1 Time: 00 01
Time info Year Uint_16 2 0000h … 270Fh 00 00 … 27 0F
Event info Display event info Uint_16 2 No info: 0
Event
Informa‐
tion
1
Does not count how many telegrams were really given out; is relevant if not all scans are delivered from the scan core.
X position X-coordinate as float
acco. to IEEE754
Y position Y-coordinate as float
acco. to IEEE754
Z position Z-coordinate as float
acco. to IEEE754
X rotation X rotation in the coordi‐
nate system
Y rotation Y rotation in the coordi‐
nate system
Z rotation Z rotation in the coordi‐
nate system
Rotations
Kind of rotation Enum_8 1 No rotation: 0
type
Transmits the
Device name Uint_8 1 No name: 0
name of
Real 4 0h … FFFFFFFFh 00 00 00 00 … FF FF FF
FF
Real 4 0h … FFFFFFFFh 00 00 00 00 … FF FF FF
FF
Real 4 0h … FFFFFFFFh 00 00 00 00 … FF FF FF
FF
Real 4 0h … FFFFFFFFh 00 00 00 00 … FF FF FF
FF
Real 4 0h … FFFFFFFFh 00 00 00 00 … FF FF FF
FF
Real 4 0h … FFFFFFFFh 00 00 00 00 … FF FF FF
FF
No rotation: 00
Pitch: 1
Roll: 2
Free: 3
Pitch: 01
Roll: 02
Free: 03
No name: 00
Name: 1
Name: 01
device
No name: 00 00
Name: 1
Name: 00 01
Length Length of name Uint_8 1 0h … Fh 00 … 0F
Name Device name in charac‐
String 16 20h … 7Ah 20 … 7A
ters
No comment: 00 00
Comment: 1
Comment: 00 01
Length Length of comment Uint_8 1 0h … Fh 00 … 0F
Comment Transmits a comment
String 16 20h … 7Ah 20 … 7A
in characters
Month 1 to 12 Uint_8 1 00h … 0Ch 00 … 0C
Day Day of month 1 to 31 Uint_8 1 00h … 1Fh 00 … 1F
Hour 0 to 23 Uint_8 1 00h … 17h 00 … 17
Minute 0 to 59 Uint_8 1 00h … 3Bh 00 … 3B
Second 0 to 59 Uint_8 1 00h … 3Bh 00 … 3B
Microsecond 0 to 999999 Uint_32 4 00000000h …
000F423Fh
00 00 00 00 … 00 0F 42
3F
No info: 00 00
Transmit info: 1
Transmit info: 00 01
Type Fast digital input String 4 FDIN FDIN
Encoder posi‐
tion
Time of event Time (µs) of encoder
Angle of
event
Position of encoder
when event happened
when event happened
Angle of encoder when
event happened
Uint_32 4 00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF
FF
Uint_32 4 00000000h … FFFFFFFFh 00 00 00 00 … FF FF FF
FF
Int_32 4 0 … 3600000 00 00 00 00 …
00 36 EE 80
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ANNEX 12
LMDscandata - Reservierte Werte
Gültige Distanzmesswerte sind Werte ab 16d und höher. Werte darunter haben folgende Bedeutung:
DIST RSSI Description
0d 0h 4dno meas value detected; means that in the angle, there was no valid measurement value.
Probably the object to measure was out of the range of the or the object was reflecting too less
light back (black objects)
1d FFFFh (16Bit
output)
FFh
(8Bit output)
4d – 15d 0h reserved, at the moment not given out, if there occurs a value in that range anyway à perform a
≥ 16d >0h valid measurement values
dazzled, blinded
Softwareupdate
12.2 EU declaration of conformity / Certificates
The EU declaration of conformity and other certificates can be downloaded from the
Internet at:
12.3 Licenses
www.sick.com/LMS4000
•
SICK uses open-source software. This software is licensed by the rights holders using
the following licenses among others: the free licenses GNU General Public License (GPL
Version2, GPL Version3) and GNU Lesser General Public License (LGPL), the MIT
license, zLib license, and the licenses derived from the BSD license.
This program is provided for general use, but WITHOUT ANY WARRANTY OF ANY KIND.
This warranty disclaimer also extends to the implicit assurance of marketability or suit‐
ability of the program for a particular purpose.
More details can be found in the GNU General Public License. View the complete
license texts here: www.sick.com/licensetexts. Printed copies of the license texts are
also available on request.
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57
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