Triple-IN PS300-90, PS250-90, PS100-90, PS250-90 HT, PS100-90 HT User Manual

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PSxxx-90 Laser Scanner

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User’s Manual

PS300-90

PS250-90

PS100-90 PS250-90 HT PS100-90 HT

Triple-In GmbH | Poppenbütteler Bogen 64, D-22339 Hamburg, Germany

Content

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1 INTRODUCTION ................................................................................................................ 3

1.1

A

BOUT PS LASER SCANNERS

1.2

A

BOUT THIS DOCUMENT

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1.3

W

EBSERVER WITH LATEST DOCUMENTS AND FIRMWARE UPDATES

2 SAFETY INSTRUCTIONS ..................................................................................................... 5

3 ABOUT THE PSXXX-90 LASER SCANNER ............................................................................. 6

3.1

N

AMES AND FUNCTIONS OF COMPONENTS

3.2

S

YSTEM PARTS

3.3

T

RIPLE

3.4

S

ENSOR ORIGIN AND SCAN AREA

3.5

PS100-90-HT

4 TRANSPORT AND INSTALLATION ...................................................................................... 11

4.1

G

ENERAL HANDLING INSTRUCTIONS

4.2

P

ACKAGE AND TRANSPORT

4.3

M

ECHANICAL MOUNTING

5 CONNECTORS .................................................................................................................. 13

5.1

P

HOENIX

5.2

D

ATA AND POE CONNECTOR

5.3

S

ERIAL INTERFACE CONNECTOR

................................................................................................................... 7

-IN’S KEM T

FOR HIGH SURFACE TEMPERATURES

SPEEDCON

................................................................................................. 3

...................................................................................................... 3

............................................... 4

.............................................................................. 6

IME-OF-FLIGHT TECHNOLOGY

........................................................................................... 9

..................................................................................... 11

................................................................................................. 11

.................................................................................................. 12

®

QUICK LOCKING SYSTEM

.............................................................................................. 14

........................................................................................... 16

..................................................................... 7

.................................................................. 9

..................................................................... 13

6 SETTING INTO OPERATION ............................................................................................... 21

6.1

W

INDOWS® SOFTWARE TOOLS

6.2

P

OWER-UP

6.3

S

ERIAL

6.4

E

THERNET CONNECTION

6.5

PS L

6.6

T

AKING SCANS

6.7

F

ILTERS AND MASTER ECHO SELECTION

6.8

S

ETTING UP THE DIGITAL SWITCHING OUTPUTS

6.9

C

ONTROLLING THE HEATER (OPTIONAL

6.10 R

7 MAINTENANCE ................................................................................................................ 48

7.1

7.2

8 TROUBLE SHOOTING ........................................................................................................ 52

8.1

8.2

9 TECHNICAL SPECIFICATIONS............................................................................................. 55

9.1

EADING THE EXTERNAL INCREMENTAL ENCODER (OPTIONAL

C

LEANING

U

PDATING THE FIRMWARE

LED I S

ELF-TEST MESSAGES AND SYSTEM HEALTH STATUS

T

ECHNICAL DATA

..................................................................................................................... 24

RS232

COMMUNICATION

ASER SCANNER CONFIGURATION

................................................................................................................. 36

....................................................................................................................... 48

NDICATORS

.............................................................................................................. 52

............................................................................................................. 55

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........................................................................................ 24

.................................................................................................... 28

................................................................................... 31

................................................................................. 40

...................................................................... 43

) ................................................................................ 46

) ................................................... 46

................................................................................................. 48

................................................................. 53

1

9.2

9.3

9.4

9.5

9.6

9.7

9.8

PS

XXX

.90 HT V

L

ASER SPOT SIZE AND SIGMA DIAGRAMS

L

ASER SPOT PATTERN

3D CAD M PS

XXX

-90 L

S

ERIAL MULTIFUNCTION CABLE LAY OUT

E

THERNET AND POE CABLE LAYOUT

ERSIONS

........................................................................................................ 59

ODEL

.............................................................................................................. 61

ASER SCANNER OUTLINES

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.................................................................................................... 57

............................................................................... 58

.................................................................................. 62

................................................................................ 63

...................................................................................... 64

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10 INDEX .............................................................................................................................. 65

10.1 T

10.2 D

ABLE OF FIGURES

OCUMENT VERSIONS

............................................................................................................ 65

....................................................................................................... 66

All rights reserved, including the right to reproduce this book or portions thereof in any form whatsoever. All trademarks, product names and logos are the property of their respective owners. Text, photographs, and illustration by C. Bruelle-Drews/Triple-IN GmbH

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1 Introduction

1.1 About PS Laser Scanners

Triple-Ins PS Laser Scanners are 2D Laser Scanners for outdoor automation,

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industrial applications, security and surveying.

• long range

• large scan angle

• small spot size

• accurate in range and angle

• fast scan rate

• robust, IP67

• real time Ethernet

PSxxx-90 is the backbone of the whole Triple-IN sensors portfolio, providing rapidly and efficiently accurate and detailed 3D data. PSxxx-90 is suitable for both indoor and outdoor applications, ensuring also goals achievement for existing systems integration.

1.2 About this document

This document describes the PSxxx-90 Laser Scanner family. It is related to the

PS Firmware Version 3.03.16

If you or your colleagues have any comments on this manual, we would be grateful to hear from you. Please write to:

Triple-IN GmbH Poppenbütteler Bogen 64 D-22399 Hamburg Germany Telefon +49(0)40 50091998 Mail

info@triple-in.de

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1.3 Webserver with latest Documents and Firmware Updates

The latest version of this document and the latest firmware updates can be obtained from Triple-IN’s webserver:

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Picture 1 Triple-IN webserver login

Please contact Triple-IN to get access to the reserved area of the webserver:

info@triple-in.de

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2 Safety Instructions

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ATTENTION

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• Before using the PS Laser Sensor, the user manual must be read and all

instructions must carefully be observed.

• The PS Laser Scanner must be installed, configured, and serviced only by

qualified personnel.

• National and international rules and regulations must be applied according

to the field of application and usage.

• PS Laser Sensor cannot be used as a safety device.

ATTENTION

• Measurement Laser is a laser class 1 product. Emits invisible light (905 nm).

Do not look into the laser beam!

• Red laser marker is a laser class 2 product. Emits visible light (660 nm). Do

not look into the laser beam!

ATTENTION

Only authorized personnel are allowed to perform the electrical installation work. To reduce the risk of electric shock, do not remove the cover. Device contains high voltage components! Connect and disconnect electrical linkages only under de-energized conditions.

WARNING

Do not open the PS Laser Scanner. If opened, the mechanical adjustment will be damaged and warranty will get void!

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Front

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3 About the PSxxx-90 Laser Scanner

3.1 Names and Functions of Components

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4 x M4 x 6mm

Protection tube thread holes

Operating LEDs

Picture 2: PS Laser Scanner front view

5 x M6 Mounting thread holes

WARNING

Never remove these two plastic caps!.

Serial interface connector

Data and PoE connector

Picture 3: PS Laser Scanner rear side.

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3.2 System Parts

• Red Laser Marker

is a visible class-2 laser. The red laser beam is aligned with the beam of the measurement laser.

• Measurement Laser

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emits a 905 nm invisible laser beam.

• Receiver

contains a receiver diode and is connected with the KEM-IC.

• Micro Processor Unit (MPU)

contains a microcontroller and a Triple-IN KEM-IC chip to record time-offlight events.

• Angle Encoder

is an encoder with a resolution of 32000 coder counts.

• Motor Unit

drives the mirror cube motor with a constant frequency. The motor frequency is adjusted in the factory and cannot be changed. The motor can be switched off for calibration purposes.

• Communication Board (“Olimex”)

is a separate board with a microcontroller and an Ethernet interface. This board is responsible for the TCP/IP communication.

• Heater (optional)

The heater extends the temperature working range to -30 Celsius.

• Discrete switch outputs SW1and SW2

are configurable 5 Volt DC collector switch outputs. The function of the digital switching output can be programmed.

• External incremental encoder interface

is the 3.3 - 5 Volt input for a 32 bit counter used to provide a horizontal position from an external encoder.

3.3 Triple-IN’s KEM Time-of-Flight Technology

The technological basis for the Triple-IN PS Laser Scanners is “Time-of-Flight” (ToF): the travel time of light emitted by a laser diode to natural surface. Triple-IN’ KEM method (“kontinuierliche Event Messung”) improves this wellknown technology:

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Picture 4 Principle of operation

1. An angle encoder triggers a laser diode in regular angle steps. The laser

diode emits an infrared laser beam. This “start pulse“marks the beginning of the time-of-flight measurement.

2. A mirror cube, which is connected to the angle encoder, reflects the laser

beam in certain directions. Each rotation of the mirror provides four scans.

3. The laser beam is reflected by natural surfaces. Several echoes can be the

result of window panes, rain drops, snowflakes and similar objects which reflect parts of the laser pulse’s energy. This effect is called “multi-echo”.

4. PS Laser sensors can record the results of up to 4 echoes for each laser

beam. One echo signal is used as “Master Echo” to build the final measurement result

5. The echo signal varies by the surface reflectivity and the distance to the

object. The echo signal will be detected as soon as it passes a receiver threshold. The sensor measures the time-of-flight and the pulse width (PW) of the echo signal.

6. The KEM technology applies various corrections to compensate deviations

of the echo signal strength. The result is accurate time-of-flight measurement, independently of the temperature, reflectivity, and target distance. The distance to the target is calculated by

d = ToF * c / 2 - corr

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d distance ToF measured time-of-flight c speed of light in ambient atmosphere corr echo signal corrections

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3.4 Sensor Origin and Scan Area

PSxxx-90 Laser Scanners trigger 1000 laser beams on a 90° scan field:

• The angle encoder zero-direction is to vertical axis of the sensor.

• The scan field starts at angle encoder position 45° and ends after 90° at

encoder position 135°.

The zero point (origin of the measurements) is marked on the casing. The laser source is located with a parallaxes of 17 mm beside the vertical axis.

Picture 5: Scan area and Sensor origin

3.5 PS100-90-HT for high Surface temperatures

Standard PSxxx-90 Laser Scanners measures on natural target surfaces with temperatures up to 500° Celsius.

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PSxxx-90-HT is a special version dedicated to high temperature operating conditions. Technical data are based on standard PSxxx-90 sensors, with essential improvements to stand hard working conditions where temperature is extremely high, such as in steel industry. PS100-90-HT Types extend this temperature range up to 1200° Celsius and allow measurement on hot and glowing surfaces.

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4 Transport and Installation

4.1 General Handling Instructions

• Ensure during the installation that the entire system is disconnected from

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power supply.

• Mount the sensor at a location where the device is protected from damages,

pollution and high humidity.

• Mount the PS laser sensors in a way that it is not exposed to direct sunlight!

• Route cables such that danger is excluded for persons and all cables are

protected from damages.

• Do not remove the label or the two gray plastic caps from the rear side.

• Follow the safety instructions in the chapter 2.

4.2 Package and Transport

Use original Triple-IN packing material to transport the sensor. Two deepings at the top side indicate the upper foam inlet.

Picture 6 Storage packaging

ATTENTION

Your warranty may be voided if returned sensor is received as a result of inadequate packaging.

At the time of delivery, the user should examine the shipment for loss or damage. If there is evidence of loss or damage, note it on the delivery receipt; this will be used as evidence to back up the claim. Do not use or install a defective device.

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4.3 Mechanical Mounting

PSxxx-90 Laser Sensors can be fitted at the rear side with five socket head screws with washers.

• Maximum Screw-in depth is max. 10 mm.

• Minimum screw-in depth is 4 mm.

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• Maximum tightening torque is 12 Nm.

5x M6 thread holes Max. screw-in depth 10 mm

Picture 7: Mounting thread holes

ATTENTION

• Use correct M6 screws only.

• Apply washers. The sensor must be fixed with at least four mounting screws.

• Observe the maximum screw-in depth for the screw holes. The device will be

mechanically destroyed if the maximum screw-in depth is exceeded!

• Do not extend the maximum tightening torque of 12 Nm.

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5 Connectors

5.1 Phoenix SPEEDCON® quick locking System

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ATTENTION

Before attaching the connectors, make sure the sealing rubber rings in the sockets are all in place. Always fit sealing connector caps onto plugs which are not used.

Picture 8: Connector rubber gaskets

PS Laser sensors are equipped with Pheonix SPEEDCON® M12 quick locking connectors.

cap

Picture 9: Using the quick locking connectors

1. Make sure the rubber gaskets in the sockets are in place.

2. Turn the retainer ring until you notice a distinct „click“.

3. Align marks at the retainer ring and the socket.

4. Push the connector into the socket.

5. Turn the retainer ring to secure the connection.

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5.2 Data and PoE Connector

5.2.1 Layout of the Data and PoE Connector

The Data and PoE Connector connects the sensor with the local network and includes Power over Ethernet.

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The Data and PoE Connector connects the sensor with the local network and includes Power over Ethernet.

• M12 connector/ IP67/CAT6 connector

• Type Phoenix Contact

" Flush-type socket - SACC-CI-M12FS-8CON-L180-10G - 1402457"

• Adapter type reference is Phoenix Contact

" Bus system plug connector - VS-08-M12MR-10G-P SCO - 1417443".

• The pin/pair assignments conforms with the T568B standard

Picture 10: M12 Data and PoE scheme (plug side view)

Pin Signal Purpose

1. Tx+ Transmit

2. Tx- Transmit

3. Rx+ Receive

4. DC+ Positive supply voltage

5. DC+ Positive supply voltage

6. Rx- Receive

7. DC- Negative supply voltage

8. DC- Negative supply voltage

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5.2.2 Power over Ethernet (PoE)

PS Laser Sensor uses the Power over Ethernet (PoE) technology. PoE systems pass electrical power along with data on Ethernet cabling. This allows a single cable to provide both data connection and electrical power. The power lines on the serial interface become outputs if PoE is used. These

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input/output lines are designed to provide power to an external turn table.

Picture 11 Scheme of the cross-linked power connectors

DANGER

Power supply

• Without heater: 24 Volt, 0.30 Ampere, 8 Watt

• With optional internal heater: 24 Volt, 1.25 Ampere, 30 Watt

To reduce the risk of electric shock and damages, only suitable PoE devices and Ethernet cables specified for 30 Watt must be used. Note that IEEE

802.3af/Power over Ethernet Standards limit power to 12.95 Watt and PS Laser Scanners will not meet this standard.

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DANGER

Danger of a short circuit: PoE and Serial interface connector are cross-linked. The power lines on the serial interface become outputs if PoE is used.

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The Ethernet interface of the control computer shall be protected by an Ethernet Splitter to prevent short circuits if power is connected to the serial interface connector.

Suitable PoE injectors and power supplies are offered by:

PHIHONG® USA

Model: POE31U-240 for 24 Volt/30 Watt

Available on www.digikey.com

Digikey part number: 993-1083-ND

5.3 Serial Interface Connector

5.3.1 Layout of the Serial Interface Connector

The PS Interface cable connects the control computer with the RS232 interfaces of the Ethernet board and the measurement board. The connector is type M12 connector/IEC 61076-2-101.

Picture 12: M12 Serial interface connector scheme (plug side view)

1 brown DC- Negative supply voltage Input 2 blue 24V DC+ Positive supply voltage Input 3 white GND 5 Volt Ground (RS232)

Color Signal Comment Direction

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4 green 5V_IB 5 Volt DC output Do not connect 5 pink ORX RS 232 RxD Ethernet Board Input 6 yellow OTX RS 232 TxD Ethernet Board Output 7 black SWI4 Reserved for future use Output 8 gray SWI3 Reserved for future use Output 9 red 485A Reserved for future use Do not connect

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10 purpur 485B Reserved for future use Do not connect 11 gray pink CH_A External incremental encoder input A Input 12 red blue CH_B External incremental encoder input B Input 13 white green CH_I Reserved for future use Do not connect 14 brown green SWI2 Digital switching output SW2 Output 15 white yellow SWI1 Digital switching output SW1 Output 16 yellow brown STD_RXD RS 232 RxD Measurement Board Input 17 white gray STD_TXD RS232 TxD Measurement Board Output

The color column refers to the layout of the optional “Serial interface cable”.

If Pin 1 and 2 are used for power supply, the Power-over-Ethernet connection must be disconnected by use of a PoE splitter. Otherwise there can be a short circuit in the Ethernet connector to the gateway.

Color Signal Comment Direction

ATTENTION

In the table, any grey field is there for an expansion to a standard sensor. These signals are required for special scanner versions

5.3.2 Power over the serial interface connector

The Serial interface connector includes 24 Volt power lines cross linked with the PoE adapter. These input lines are designed to supply power over the serial interface connector.

WARNING

Power supply

• Without heater: 24 Volt, 0.30 Ampere, 8 Watt

• With optional internal heater: 24 Volt, 1.25 Ampere, 30 Watt

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5.3.3 Wiring the Measurement Board (MPU) RS232 Serial Interface

The Serial Interface Connector includes RS232 to the the Measurement Board (MPU). The RS232 interface to the Measurement board (MPU) is used for system

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configuration, e.g. to setup the network parameter. PS Laser Sensors are classified as Data Terminal Equipment (DTE). According to the standard, PS Laser Sensors shall be equipped with male connectors. A “null modem cable” consisting only of “Transmit Data”, “Receive Data”, and “Ground”, is commonly used since the full facilities of RS-232 are not required. A DSUB9 connector must connect the following leads:

Picture 13 Measurement Board (MPU) DSUB9 male DTE pin layout (socket view)

Pin Color Signal Comment Direction

3 white GND 5 Volt Ground 16 yellow brown STD_RXD RS 232 RxD Measurement Board Input 17 white gray STD_TXD RS232 TxD Measurement Board Output

The color column refers to the layout of the optional “Serial interface cable”.

5.3.4 Wiring the Communication Board RS232 Serial Interface

The Serial Interface Connector includes the RS232 to the the Communication Board (“Olimex”). The Communication board provides the Ethernet interface. The RS232 interface is only used for network status messages and for firmware updates of the Communication board. PS Laser Sensors are classified as Data Terminal Equipment (DTE). According to the standard, PS Laser Sensors shall be equipped with male connectors. A “null modem cable” consisting only of “Transmit Data”, “Receive Data”, and “Ground”, is commonly used since the full facilities of RS-232 are not required.

Picture 14 Communication Board DSUB9 male DTE pin layout (socket view)

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Pin Color Signal Comment

3 white GND 5 Volt Ground

5 pink ORX RS 232 RxD Communication Board Input

6 yellow OTX RS 232 TxD Communication Board Output

The color column refers to the layout of the optional “Serial interface cable”.

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5.3.5 Wiring Digital Switching Outputs

The PS Laser scanner has two 5 Volt digital open-collector outputs, called SW1 and SW2. These outputs can be programmed for different purposes:

• To give a scan synchronization signal

• As switch output, controlled by the connected computer

• As a preset counter, providing a programmable number of output signals.

Direction

1 brown DC- Ground 14 brown green SWI2 Digital switching output SW2 Output 15 white yellow SWI1 Digital switching output SW1 Output

The color column refers to the layout of the optional “Serial interface cable”.

Color Signal Comment

Picture 15 Digital output wiring scheme

Direction

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5.3.6 Wiring an External Incremental Encoder

The PS Laser Scanner provides one 3.3 to 5.0 Volt incremental encoder input. Purpose of the external incremental encoder is to report changes in the horizontal position of the sensor. The incremental encoder must provide two pulses A and B. The PS Sensor

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firmware counts these pulses in both directions by use of a 32 bit register. Input is limited to 128.000 counts/second.

Reset of the counter is done at startup or by software.

Picture 16 Incremental encoder wiring scheme

1 brown DC- Ground

3 white GND 5 Volt Ground (RS232) 11 gray pink CH_A External incremental encoder input A Input 12 red blue CH_B External incremental encoder input B Input

The color column refers to the layout of the optional “Serial interface cable”.

Color Signal Comment

Direction

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6 Setting into Operation

6.1 Windows® Software Tools

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6.1.1 Windows Program TeraTerm for the RS232 Serial Interface

TeraTerm, written by T. Teranishi, is a very suitable program for the so-called Terminal Mode of the PS Laser Scanner. TeraTerm is a free software terminal emulator (serial communication program) for Windows. The program is available on Triple-IN’s webserver. Any other terminal program will be suitable as well.

1. Download TeraTerm from Triple-IN’s webserver.

2. Run the TeraTerm program installer.

3. Connect the EDM via a RS232 connection, using either a generic COM port or

an USB-to-serial adapter.

4. Open TeraTerm and navigate to "Setup > Serial port..."

5. Choose the correct COM port.

6. Set the baud rate to 115200, 8 data bits, no parity, 1 stop bit, no flow control.

7. Close the setup dialog.

8. If you want to store these settings for future use, go to "Setup > Save setup…"

9. Navigate to the TeraTerm installation directory and store the setup in

TERATERM.INI.

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6.1.2 Windows® Program “TCP/IP Manager” to manage Network Configurations

Triple-IN recommends the open-source Freeware “TCP/IP Manager” (author: A. C. Tundrea) to prepare the computer’s network settings for PS Laser Sensors. With the tool, you may simply save and restore network settings for PS Laser Scanners

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and standard Windows applications in different profiles.

1. Download TCP/IP Manager from Triple-IN’s webserver.

2. Run the installer resp. unpack the ZIP file.

3. Start TCP/IP Manager.

4. Select in “TCP/IP Settings > Network connection name” the network

adapter connected with the PS Laser Sensor.

5. Check if “IP address” matches the Gateway IP address as stored in the PS

Laser Sensor. The default Gateway address is 10.0.10.0.

6. Check if “Subnet mask” matches the subnet mask as stored in the PS Laser

Sensor. The default network mask is 255.255.0.0.

7. For later use, consider “Network profile > Create a new profile” to save the

setup.

8. Choose “Apply Settings”.

9. To connect a PS Laser Sensor with the default settings:

Picture 17 Network configuration for PS Laser Sensors with TCP/IP Manager

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After disconnecting the sensor, you may use TCP/IP Manager to restore the Windows standards:

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Picture 18 Restore the Network configuration with TCP/IP Manager

1. Start TCP/IP Manager.

2. Select in “TCP/IP Settings > Network connection name” the network

adapter connected with the PS Laser Sensor.

3. “Obtain an IP address automatically” should be checked.

4. For later use, consider “Network profile > Create a new profile” to save the

setup.

5. Choose “Apply Settings”.

6.1.3 Triple-IN’s PSControlProgram

Triple-IN’s PSControlProgram is a PC application for controlling the functionality of Triple-In Laser sensors via Ethernet connection. It makes the user able to set the user parameters of the sensor, start measurements, record the scans to files or show it on the chart or in the table. The program is available on Triple-IN’s webserver.

To install the application please follow the instructions:

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1. Start Windows installation program “Install_PSControlProgram.exe”.

2. Confirm that you have administrator permissions to install the program.

3. The installer inspects the version information in order to use it during the

installation process.

4. The product information (company, product name and version) is displayed

on the screen if it's found during the analysis process.

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5. Confirm installation.

A full description of the program can be found in the “of PSControlProgram User’s manual”. The manual is part of the program distribution.

6.2 Power-up

To start the system:

• Connect the control computer to the same network of the PS Laser Scanner.

• Connect the power supply to the PS Laser Scanner

• After switching on the supply voltage the scanner runs through a self-test. All

LEDs are flashing. The firmware of the device checks important hardware components and parameters. Commands will respond to the control computer with a "device not ready" error.

• The red LED is switched off after the self-test has passed successfully.

ATTENTION

After disconnecting the sensor from power supply, you have to wait 30 seconds before turning it on. Otherwise capacitors not being discharged could leave the sensor peripheral not fully reset

6.3 Serial RS232 communication

6.3.1 Setting up the serial Communication

PS Laser Scanners have serial RS232 interfaces to connect a control computer with the measurement board. A second RS232 can be connected to the Ethernet board to allow firmware updates. The standard communication settings are:

• RS232 Serial input/output

• Baud rate 115.200 Baud,

• Data 8 data bit,

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• no parity, 1 stop bit,

• no flow control, no handshake

The first serial interface, internally connected with the Measurement board (MPU), is used to program the TCP/IP connection parameters and to update the Measurement board firmware. This interface supports the so-called Terminal Mode (see chapter "Terminal Mode"). After startup displays the terminal the

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sensor's serial number, IP address and self-test results.

Picture 19: TeraTerm with Measurement Board startup message

The second serial interface is connected with the communication board and is used for Ethernet firmware updates only (see chapter "Firmware updates"). It displays the current Ethernet board firmware version and a connection status.

Picture 20: TeraTerm with Communication board startup message

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6.3.2 Entering the Terminal Mode

The PS Laser Scanner provides a Terminal Mode as an additional user interface. This is an ASCII oriented, human-readable menu structure and user interface available on the RS232 serial interface. The Terminal mode is entered after the user sends 4 successive carriage return

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characters from a RS232 terminal console.

Note

The Ethernet interface is not available while the sensor operates in the Terminal Mode.

________________________________________________________________________ Terminal Mode ________________________________________________________________________ 1 - Show user parameter 2 - Show system health status 3 - Network configuration... 4 - Restore to factory settings 5 - Show reference tables...

E - Edit parameter S - Take a scan L - Switch laser marker

0 - Exit to Run Mode

>

Show user parameter Lists the parameters set by the user. With the function "Edit parameter" these values can be edited.

Show system health status List the results of the self-test.

Network configuration Change the IP settings to standard configurations.

Restore to factory settings This function is used to set parameters to their default values.

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IMPORTANT

All changed user parameters will get lost.

Show reference tables Display the firmware versions and parameter code reference tables.

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Edit parameters This function is used to change any parameter. The parameter codes are needed for this. After entering the parameter code the firmware shows the current value, the measurement unit and the valid range of values. The program then asks whether the changed parameters should be stored in the flash.

> E > Enter parameter ID: 3_

> Enter parameter "Scan mode: 0=off, 1=normal, 2=fast, 3=fine": 2_

Take a scan Starts the motor and carries out a single scan. The result is presented as CVS table. This function shall be used to check the basic functionality of the sensor.

Switch laser marker Switch the red laser marker on and off.

6.3.3 Binary Command/Control Interface

Control computer programs, such as PSControlProgram, communicate with PS Laser Scanners over Ethernet or serial RS232 by use of binary commands. A full reference of the binary command/control interface can be found in the “PS Laser Scanner Programmer’s Manual”.

IMPORTANT

Avoid communicating with the PS Laser Sensor via Ethernet and RS232 at the same time. The commands can influence each other and may lead to unpredictable system states.

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6.4 Ethernet Connection

6.4.1 PS Laser Scanner Network Settings

PS Laser scanners use the Internet Socket Interface for communications over Ethernet.

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The sensor socket address is the combination of an IP address (the location of the sensor) and a port (which is mapped to the application program process) into a single identity. The transport protocol UDP assumes that error checking and correction is performed in the application by checking the CRC that comes with the sensor command structure. This avoids the overhead of such processing at the network interface level. As a time-sensitive application use the firmware UDP because dropping packets is preferable to waiting for delayed packets.

• Type: 100 MBit/s Local area network

• Network layer Ethernet IPv4

• Transport Protocol UDP

• Application Protocol Binary Command Interface

• Sensor IP address 10.0.xx.xx

where x is formed by the sensor serial number

• Server socket port 1024 (factory pre-setting)

• Gateway IP address 10.0.10.0 (factory pre-setting)

• Gateway socket port 1025 (factory pre-setting)

IMPORTANT

The sensor replies to any computer in the same IP address space. The Gateway IP address is used as default.

The MAC address of the scanner is locally administered by setting the secondleast-significant bit of the most significant byte (the so-called U/L bit, short for Universal/Local). That address bit is 1, the address is locally administered and the sensor might be used in local networks only.

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6.4.2 Changing the Sensor’s Network Settings using the RS232 Terminal Mode

The sensor IP address and the Gateway IP address can be set in the RS232 Terminal Mode with the parameters “Sensor IP address”, “Gateway IP address”, and “IP Subnet Mask”.

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The Terminal Mode includes a function “3 - Network configuration ...” for a simple IP setup. The following configurations are available and can be changed individually:

______________________________________________________________________________ Network configuration menu

Sensor IP address is 10.0.8.01 Gateway IP address is 10.0.10.0 ______________________________________________________________________________ 1 - Set default sensor IP address 2 - Set static sensor IP address 3 - Set private sensor address (APIPA) 4 - Edit sensor IP address 5 - Edit Gateway IP address 6 - Edit network mask

0 - Exit

• Default sensor IP address which is created in address space 10.0.x.x

according to the sensor serial number.

• A static sensor IP address which is 192.168.0.10 by default.

• Private sensor IP address (APIPA) which is 169.254.0.10 by default.

APIPA addresses are by standalone Windows computers.

These IP settings can be changed individually after the default has been set:

> Enter Parameter “Sensor IP Address AAA.xxx.xxx.xxx”:

192

> Enter parameter “Gateway IP Address xxx.BBB.xxx.xxx”:

168

[…]

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IMPORTANT

• The sensor need to be restarted after IP addresses has been changed.

• The Ethernet interface is disabled while the Terminal mode is active.

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6.4.3 Changing the Sensor’s Network Settings using PSControlProgram

PSControlProgram is useful to change the sensors’s default network settings over Ethernet:

1. Start PSControlProgram.

2. Choose button “Connect” to connect the application with a sensor. The IP

and port dialog appears on the beginning of the connection progress.

3. Enter the sensor’s standard IP address and the computer’s IP address. Note

that both addresses must be part of the same network.

Picture 21 PSControlProgram network connection dialog

4. Once the connection has been made, all parameters including the network

settings can be changed on the “Parameters” view.

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Picture 22 PSControlProgram Parameter view

5. Switch-off and restart the sensor to apply the changed network settings.

6.5 PS Laser Scanner Configuration

6.5.1 Ways of Configuration

You can configure the PS Laser Scanner in two ways:

• Using the commands “GPRM get parameter” and “SPRM set parameter” of

the binary command/control interface. This way is most suitable for computer programs, such as PSControlProgram

• interactively using the RS232 Terminal Mode

6.5.2 About User Parameters

The entire sensor configuration is stored in a table of user parameters. Every parameter has a number as unique parameter identification code. The user can

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edit the parameter either by use of the Terminal Mode, or over RS232 and Ethernet by use of binary commands.

ATTENTION

Parameter identifiers always refer to a certain firmware version. Therefore an

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individual parameter reference table exists for every firmware version. You find the description of the binary commands for the processing of the user parameters in the “PS Laser Scanner Programmer’s Manual”.

There are different types of parameter:

• Usual parameters can be set by the user for sensor configuration. Those

parameters are stored in the non-volatile memory of the sensor.

•

Constant parameters

user.

•

Temporary parameters

a device status has been changed. Note that temporary parameters are

typically updated by a self-test during the startup phase. It is

recommended to set temporary parameters only after the self-test has

been finished.

(e.g. the serial number) cannot be changed by the

(e.g. the system temperature) will be overwritten if

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6.5.3 Table of User Parameters

ID Default

Name Description

A version number of the parameter set

The terminal mode can be protected by a password

This parameter defines

the operating scan mode:

If this parameter is 1, the scanner provides a continuous

If this parameter

was set to 1, the scanner enters the

If this parameter was set to 1, the startup messages like

If this parameter was set to 1, the red laser marker is

Temporary parameter

indicating the current status of the

A constant that defines the angle unit.

Defines the size of the scan angle and the scan area.

Defines the start direction of the scans.

Defines the angle between two measurements in a scan.

Each of four subsequent scans is shifted by

this angle. Only

Contains the local IP address of the sensor

IP Socket number of the sensor

Contains the Gateway IP

address of the control computer

Contains the Gateway IP address of the control computer

Contains the socket number at the control computer

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1 20160112 Const: User

2 0 User parameter

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3 0 Scan mode:

4 0 Auto-start without

5 0 Start mode,

6 1 Startup message on

7 1 Red Laser Marker at

8 1 Temp: Red Laser

9 360000 Const: Angle units

10 90000 Scan angle size

11 45000 Profile scan start

12 90 Const: Scan a ngle

13 0 Const: Sc an angle

14 10 Sensor IP Add ress

15 0 Sensor IP Address

16 1 Sensor IP Address

17 23 Sensor IP Add ress

18 1024 Sensor socket port

19 10 Gateway IP Ad dress

20 0 Gateway I P Address

21 10 Gateway IP Ad dress

22 0 Gateway I P Address

23 1025 Gateway socket port

settings

password, 0=disabled

off=0, normal=1, fast=2, fine=3

SCAN/GSCN command, enabled=1, disabled=0

0=Standard, 1=Terminal Mode

serial interface, enabled=1

startup: off=0, on=1, auto=2

Marker status: off=0, on=1

on a full circle

[0.001 deg]

direction [0.001 deg]

step [0.001 deg]

shift [0.001 deg]

AAA.xxx.xxx.xxx

xxx.BBB.xxx.xxx

xxx.xxx.CCC.xxx

xxx.xxx.xxx.DDD

AAA.xxx.xxx.xxx

xxx.BBB.xxx.xxx

xxx.xxx.CCC.xxx

xxx.xxx.xxx.DDD

number. Enter "0" to disable the password

fine/normal/fast.

output stream of profiles

Terminal mode after startup.

the firmware version are not displayed on the serial interface.

switched after startup. Set to 0 if you wish the red laser marker to be off after startup.

red laser marker.

used by the “Fine Mode”.

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ID Default

Name Description

Defines the IP sub

-

net mask of the local sensor network.

Defines the IP sub

-

net mask of the local sensor network.

Defines the IP sub

-

net mask of the local sensor network.

Defines the IP sub

-

net mask of th

e local sensor network.

The number of different echoes the sensor is able to

Defines the

master echo.

Defines how many scans shall be buffered. This parameter

Defines the data transmitted with the GSCN command.

Number of scans to be

stored in the internal buffer

This offset is added to all distances.

This parts

-

per-million correction is applied to all distances.

The heater is switched on if the internal temperature is

The heater is switched off i f the internal temperature is

Temporary parameter containing the curre

nt status of the

If set to “0”, the motor is stopped after the sensor has

Temporary

parameter containing the current status of the

The optional incremental encoder input is enabled if this

This param

eter contains the offset of the external

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24 255 IP Sub-net mask

25 255 IP Sub-net mask

26 0 IP Sub-ne t mask

27 0 IP Sub-ne t mask

28 1 Const: Nu mber of

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29 1 Master ec ho:

30 4 Temp: Num ber of

31 8 Scan data content:

32 14 Scan buffer size;

33 0 User defi ned

34 0 Const: Us er defined

35 150 Air condition

36 200 Air condition

37 0 Temp: Air condition

38 1 Vertical motor at

39 1 Temp: Ver tical

40 0 External

42 0 External

AAA.xxx.xxx.xxx

xxx.BBB.xxx.xxx

xxx.xxx.CCC.xxx

xxx.xxx.xxx.DDD

multi-echos

1=first, 0=last

profiles to be measured with SCAN

4=distances, 7=distance+Echo+PW 8=distances+PW

distance offset [0.1 mm]

ppm correction [mm/km]

heater ON threshold [0.1 celsius]

heater OFF threshold [0.1 celsius]

heater status, off=0, on=1

startup, off=0, on=1

motor status, 1=running

incremental encoder: enabled=1, disabled=0

incremental encoder: offset

output. Constantly 1, because either the first echo or alternately the last echo is provided.

If the parameter is set to “1” the closest target is measured. If the parameter is set to “0”, the fu rthest target is measured.

is set by the SCAN command.

The parameter is equal with the number of bytes transferred for each echo: 4: only distances are transmitted (4 bytes) 7: distance (4 bytes), echo number (1 byte), and pulse widths are transmitted. 8: distances (4 bytes) and pulse widths (4 bytes) are transmitted Other values may lead to unexpected results.

below this threshold. Note that the internal temperature is about 15° Celsius above ambient temperature.

above this threshold. The heater is always switched on if the temperature is below the operating range.

heater.

passed the self-test. The motor is restarted by the first SCAN command.

vertical motor.

parameter was set to 1.

incremental encoder.

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ID Default

Name Description

This parameter contains the current reading from the

Bit map that reflects the system health. Invalid if bit 0 is

Reserved for future use.

If this parameter was set on 0, the front LEDs flash only at

Current reading of the temperature sensor in 0.1 Celsius

Constant parameter, containing the pulse width in

Sensor model number to identify the type of sensor

Sensor seria

l number

Gives information about the actual near field dimension.

Defines the near field suppression zone. Each zone extends

Programs the function of the digital switching output 1:

Current logical status of the discrete output switch 1

Number of signals to be output if digital output switch 1

"Holds" digital switching output 1 for the given

Requires a sensing event to last for at least the given

Defines the physical logic of digital switching output 1:

Programs the function of the digital switching output 2:

Current logical status of digital switching output 2

Number of signals to be output if digital switching output 2

"Holds" digital switching output 2 for the given

Requires a sensing event to last for at least the given

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42 0 Temp: Ext ernal

43 0 System he alth

44 0 (reserved )

45 1 Front sid e LEDs

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46 368 Const: Temperature

47 12000 Const: Pulse width

48 4096 Const: Pulse width

49 2025 Const: Sensor

50 1234 Const: Sensor

51 21000 Const: Near field

52 0 Near fiel d

53 1 SW1 funct ion:

54 0 Temp: SW1 status:

55 0 Temp: SW1 preset

56 20 SW1 hold time [ms]

57 20 SW1 delay [ms ]

58 0 SW1 logic :

59 0 SW2 funct ion:

60 0 Temp: SW2 status:

61 0 Temp: SW2 preset

62 20 SW2 hold time [ms]

63 20 SW2 delay [ms ]

incremental encoder: counts

status

enabled=1, disabled=0

sensor reading [0.1 celsius]

at 100% signal [ps]

at 3% signal [ps]

model;

serial number

suppression range [0.1 mm]

suppression zone: 0=min

0=off, 1=scan sync, 2=switch, 3=counter

0=open 1=closed

counter: setup

0=normal, 1=low active

0=off, 1=scan sync, 2=switch, 3=counter

0=open 1=closed

counter: setup

external incremental encoder.

set.

the start and be turned off then.

picoseconds related to a signal of 100%.

picoseconds related to a signal of 3%.

the near field for about 0.8 m.

1=SW is closed while a scan is active 2=SW is closed if parameter "SW status" is set to 1 3=SW is used as a preset counter

was configured as preset counter.

milliseconds after the input signal is removed. Allows the control device to igno re intermittent signal losses.

milliseconds before digital switching output 1 is switched. Allows the control device to igno re short sensing events.

0=SW is high active, 1=SW is low active.

1=SW is closed while a scan is active 2=SW is closed if parameter "SW status" is set to 1 3=SW is used as a preset counter

was configured as preset counter.

milliseconds after the input signal is removed. Allows the control device to igno re intermittent signal losses.

milliseconds before digital switching output 2 is switched. Allows the control device to igno re short sensing events.

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ID Default

Name Description

Defines the physical logic of digital switching output 2:

If the laser spot is only partly reflected by object edges,

If the laser spot is

reflected by several surfaces, incorrect

Parameter without function.

User parameters

are stored the volatile memory.

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64 0 SW2 logic :

65 0 Low echo filter:

66 1 High echo filter:

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67 0 User para meter ID

68 0 Temp: Mem ory write

0=normal, 1=low active

0=disabled, 1=enabled

used for testing

protection, 1=locked

0=SW is high active, 1=SW is low active.

incorrect measuring arises. This filter removes measurements with very low echo signals.

measurements arise. This filter removes measurements with very strong echo signals.

Setting this parameter to “0” prevents the firmware to write parameters to the flash.

6.6 Taking Scans

6.6.1 Setting up the Scan mode

PS Laser Scanners can operate in “normal scan mode”, “fast scan mode”, or “fine scan mode”. Scan modes are set by binary commands or by use of the Terminal mode. The scan mod can be set with the user parameter:

Scan mode: 0=off, 1=normal, 2=fast, 3=fine

With each of the scan modes, the following measurement parameters are set:

• Scan rate: Number of scans per second.

• Scan start direction: direction of the first measurement point of a scan.

• Scan angle: size of the scan area in degree.

• Scan angle step: small angle between two subsequent measurement points.

Defined by the scan angle size and the number of measurement points.

• Scan Angle Shift: small angle between the start directions of subsequent scans.

Normal scan mode The „Normal Scan Mode” is defined by the following parameters:

• Scan rate: 20 scans per second.

• Scan start direction: min. 45°

• Scan angle: max. 90° with 1000 points.

• Scan angle step: 90°/1000 points = 0.090°

• Scan Angle Shift: Normal-Mode scans are not shifted.

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Fast scan mode For increasing the scan rate the point density has to be reduced. In „Fast Scan Mode” the point density is halved, the scan rate is doubled and the “profile rate” reduced accordingly.

• Scan rate: 40 scans per second.

• Scan start direction: min. 45°

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• Scan angle: max. 90° with 500 points.

• Scan angle step: 90°/500 points = 0.180°

• Scan Angle Shift: Fast-Mode scans are not shifted.

Fine scan mode If the scan rate is not important but the lateral resolution is the important parameter, the shift of the scans may be reduced. This leads to more “scans/profile” and consequently to a better lateral resolution with overlapping spots and a reduced profile rate. This measurement mode is called “Fine Scan Mode”.

• Scan rate: 20 scans per second

• Profile rate: 5 profiles per second

• Scan start direction: min. 45°

• Scan angle: max. 90° with 1000 points.

• Profile angle: max. 90° with 3000 points interlaced.

• Scan angle step: 90°/1000 points = 0.090°

• Profile angle step: 90°/3000 points interlaced = 0.0225°

Scan Angle Shift: Each scan is shifted by 0.0225°. Subsequent scans are interlaced to a single profile.

Reserved scan mode Option for customized scanners. Do not use this scan mode with standard PSxxx90 Laser scanners.

6.6.2 Taking Scans with the Terminal Mode

The Terminal Mode function “Take a scan” creates a table with the latest profile scan. The ASCII format is "comma separated" and can easily use Excel or Open Office.

1. Enter the Terminal Mode

2. Open in TeraTerm "File > Log...". Check "Plain text" and disable "Append"

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3. Choose a log file name and close the dialog. Teraterm will now record all

sensor outputs.

4. Choose "S – Take a Scan"

5. Close TeraTerm

6. The log file can be opened directly with a common spread sheet program

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like Excel or OpenOffice Calc.

Scan; ______________________________________________________________________________

375.877; Time Stamp [s] ; 0; Incremental encoder position [counts];

45.000; Profile start direction [deg];

90.000; Scan angle [deg];

0.090; Angle step [deg]; 1000; Points in profile ; 0; Master echo (0=last echo); 1; Number of echoes;

31.7; Temperature [Celsius]; ______________________________________________________________________________ Point ; Echo ; Direction ; Distance ; Pulse width ; ; ; [deg] ; [m] ; [ps] ; ______________________________________________________________________________ 1 ; 1 ; 45.000 ; 2.4388 ; 9907 ; 2 ; 1 ; 45.090 ; 2.4305 ; 9895 ; 3 ; 1 ; 45.180 ; 2.4340 ; 9871 ; 4 ; 1 ; 45.270 ; 2.4437 ; 9772 ; […] 1000 ; 1 ; 314.910 ; 1.6629 ; 6465 ;

The header of the table contains

• Time stamp [s]: is the time in seconds since the sensor was started

• Incremental encoder position [count]: is the count of the external

incremental encoder.

• Profile start direction: is the start direction of the profile, where 0 is

upwards to the zenith.

• Scan angle: is the scanned area in degrees.

• Angle steps: give the scan resolution in degrees.

• Points in profile: give the length of the following table.

• Master echo: 1 for the first echo or 0 for the last echo.

• Number of echoes: the number of echoes processed.

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• Temperature: is the reading from the internal temperature sensor in

Celsius.

The measurement table contains

• Point: the number of the current point in the scan

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• Echo: the number of the evaluated echo. This value is always 1 if the

Master Echo parameter has been set to “1=first echo”. The echo number

varies from 1 to 4 if the Master Echo has been set to “0=last echo”.

• Direction: direction to the target in degree.

• Distance: distance in meters to the target surface.

• Pulse width : echo signal pulse width in pico-seconds

6.6.3 Taking Scans with Triple-IN’s PSControlProgram

Triple-IN’s PSControlProgram is a Windows application with user menu, toolbar, status line, workspace explorer bar and the data output widgets ordered in the tabs. User menu and main toolbar are providing the basic functionality for the system actions like connecting the program with a sensor, performing the scans, recording, loading or, exporting the data to “*.csv” files.

1. Connect to the PS Laser Sensor

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2.

Once online the record button allows the user to write the scans to the binary files for later evaluation.

3. If the recording starts successfully the application starts to write the binary

data to files. Every minute the new file for recorded files is created.

4. To find the easily files easily press “Open output directory” button on the

toolbar and windows

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6.7 Filters and Master Echo selection

6.7.1 Near-field suppression

The near-field suppression is used to suppress measurements to targets close to the sensor. This prevents the sensor to detect contamination of the optics. PS Laser Scanners have optional, adjustable near-field suppression. This is divided up in zones, each with a width of 760 millimeter. Zone 0 defines the closest distance. The closest distance depends on the PS Senor type. The near field suppression zone can be configured with the user parameter:

Near-field suppression zone, min=0

The current near field range can be obtained by the parameter

Const: Near field suppression range [0.1 mm]

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Picture 23 Near-field configuration, example with zone 3

Example:

1) Echoes of targets in Zone 0 are always ignored and not detected by the

laser receiver.

2) In this example was zone 3 has set as near field zone. The target in this

range is ignored. The near-field range is calculated as

Near_field_range = zone0 + zone1 + zone2 + zone3

Any echo in this range will be ignored.

3) Echoes of targets beyond the near-field range give valid echoes.

6.7.2 Low echo filter

If the laser spot is only partly reflected by object edges, incorrect measurements may arise. A “low echo filter” removes measurements with echo signals less than

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3%. To use the full range of sensitivity, the low echo filter can be disabled. The user parameter must be set to 0:

Low echo filter; 0=disabled, 1=enabled

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6.7.3 High echo filter

If the laser spot is reflected by several surfaces, incorrect measurements may arise due to deformations of the echo signal. The “high echo filter” removes measurements which appear with very wide echo signal amplitudes. The high echo filter can be disabled to allow measurements on reflectors and reflecting foil. The user parameter must be set to 0:

High echo filter: 0=disabled, 1=enabled

6.7.4 Master Echo selection

At measuring through rain, through protection windows, or in dusty surroundings several objects may reflect the laser beam. The echo of the actual measuring target is called “Master Echo”.

Picture 24 Multi-Echo with Master Echo selection

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PS Laser scanners can handle the first or the last one of up to 4 echoes as "Master Echo". For configuration the user parameter “Master echo” is used:

Master echo: 1=first, 0=last

• Scans contain the first echo (closest object) if the parameter has been set to

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“1”.

• If the parameter is set to “0”, the furthest measuring is evaluated.

6.7.5 Alternating Master Echo

Some applications require measurements to the first and the last echo. The master echo configuration can be set to alternate with each scan. With every new Scan the master echo changes between "first echo" and "last echo" to support this requirement. For alternating master echo configuration the following user parameters are used:

Number of registered echoes: 2 Master echo: 0=last

• The “Number of registered echoes” defines the echoes to be captured.

Always the same echo (first or last) is taken if the parameter was set to 1. If set to 2 allows to capture alternating echoes.

• The parameter “Master echo” must always be set to “0=last echo” for

alternating master echoes.

6.8 Setting up the Digital Switching Outputs

PSxxx-90 Laser Scanners have two digital outputs. These outputs can be programmed for different purposes:

• To give a scan synchronization signal

• As switch output, controlled by the connected computer

• As a preset counter, providing a programmable number of output signals.

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6.8.1 Using a digital output for scan synchronization signals

One digital output can be configured to provide a scan synchronization signal. The signal is set high while the measuring laser is active during a scan. The signal is cleared during the idle period between two scans. Only one of the digital outputs can be used for the synchronization signal.

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Changing the synchronization output port will leave the previous synchronization output port inactive. The feature is set active by setting the parameter “SW function” to “1=scan sync”:

SWn function: 1=scan

6.8.2 Setting the status of a digital switching output

The state of the digital switching outputs can be set by software. This allows a control computer to signal application depending status information to another system. The feature is set active by setting the parameter “SW function” to “2=switch”. The open/closed status of the output is set by the user parameter:

SWn function: 2=switch SWn status: 0=open, 1=closed

6.8.3 Using a digital switching output as preset counter

User applications can set a counter value in advance to produce output signals of a specific count. This function permits a control computer to transmit a counting stand or volume information as digital signals to another system. All digital switching outputs can be used independently. The preset counter feature is set active by setting user parameter “SW function” to “3=counter”. The counter value must be written to the parameter

SWn function: 3=counter SWn preset counter: setup

The sensor firmware copies this value, sets the parameter register back to 0, and starts the countdown. After this, new counts can be added to current output by writing another counter value. Make sure that the parameter “SW preset counter setup” has reached 0 before adding new counts. The hold time can be defined by the user parameter

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SWn hold time [ms]

The delay between counter signals can be defined by the user parameter

SWn delay [ms]

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The resolution of both timing parameters is about 10 ms.

Example The parameter setup

53; 3; SW1 function: 0=off, 1=scan sync, 2=switch, 3=counter; 56; 10; SW1 hold time [ms]; 57; 20; SW1 delay [ms]; 58; 0; SW1 logic: 0=normal, 1=low active; 59; 3; SW2 function: 0=off, 1=scan sync, 2=switch, 3=counter; 62; 30; SW2 hold time [ms]; 63; 40; SW2 delay [ms]; 64; 1; SW2 logic: 0=normal, 1=low active;

In conjunction with the counter parameters

55; 4; Temp: SW1 preset counter: setup; 61; 2; Temp: SW2 preset counter: setup;

Results in the following signal pattern:

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Picture 25 Digital switching output example signal pattern

6.9 Controlling the Heater (optional)

PS Laser Scanners for outdoor applications can optionally be equipped with an

th

internal heater. Temperature parameters are handled in 10

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“312” are 3.12°C. The switching points of the heater can be configured by the user parameters

Air condition heater ON threshold [0.1 celsius] Air condition heater OFF threshold [0.1 celsius]

The heater is switched on if the internal temperature is below the ON threshold and is switched off if the internal temperature is above the OFF threshold. Note that the internal temperature during operation is about 15° Celsius above ambient temperature. Allow a hysteresis difference between the on and the off temperature of >5° Celsius. The current heater status and the actual system temperature can be read from the user parameters

Celsius. Example:

Temp: Air condition heater status, off=0, on=1 Const: Temperature sensor reading [0.1 celsius]

6.10 Reading the external Incremental Encoder

(optional)

The PS Range Module provides one 3.3 to 5.0 Volt incremental encoder input. Purpose of the external incremental encoder is to report changes in the horizontal position of the sensor. The incremental encoder must provide two pulses A and B. The PS Sensor firmware counts these pulses in both directions by use of a 32 bit register. Input is limited to 128.000 counts/second.

The external incremental encoder must be enabled by setting the parameter

External incremental encoder: 0=disabled, 1=enabled=1;

An offset can be added to every encoder value:

External incremental encoder: offset;

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The current reading plus offset can be read from parameter:

Temp: External incremental encoder: counts;

Reset of the counter is done at startup or with software by disabling and reenabling the external incremental encoder.

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7 Maintenance

7.1 Cleaning

PS Laser Scanners are mainly free of maintenance. The front window must be

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checked regularly and must be cleaned from dust and dirt.

• Use a clean and moistened cloth to clean the body.

• Use a microfiber cloth to clean the front window. Don’t put pressure on the

cloth while cleaning the front window.

WARNING

Don't use abrasives, household cleaners, or other aggressive liquids.

7.2 Updating the Firmware

The PS Laser Scanner contains two different computer boards:

• The MPU board is responsible for the measurement process

• The Communication Board (“Olimex”) is used for the Ethernet communication.

Both boards can be updated over the serial RS232 interfaces by use of the XMODEM protocol. The sensor supports XMODEM-CRC and XMODEM-1K variants to improve performance and transfer safety.

ATTENTION

Carefully read the entire instructions before you start updating your sensor. Do not power off the sensor until the firmware is updated!

Do not try to downgrade to previous versions! Contact Triple-IN if there is a reason to do so.

7.2.1 Updating the Measurement Board (MPU)

1. Download the new firmware image from the internet.

2. Make sure that the "MPU RS232" lines of the serial interface connector are

connected with the serial interface of your computer.

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3. Start Teraterm.

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4. Switch the sensor

- Running self-test ...

- Selftest OK!

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Type 4 x ENTER to switch to Terminal Mode

Check the serial connection if that message does not appear.

5. Switch the sensor off.

6. Choose Teratrem File > Transfer > XModem > Send...

Locate and single click on the required firmware binary file.

7.

Select

8.

from the options at the foot of the dialogue and click "Open

1K

. Make sure the following message appears:

on

":

Picture 26 Teraterm Firmware file selection

9. When the XMODEM Send dialogue is displayed in TeraTerm, power the sensor

on

10. Data will start transferring to the sensor. TeraTerm Pro will display progress:

Picture 27 Teraterm XMODEM upload

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11.

Once the firmware has been transferred, the sensor will update the firmware

in the flash memory. This process needs about 30 seconds.

- new firmware; size: 328704

- unlock and erase 20 blocks from 1 to 20

- Programming from RAM 0x04001000 to ROM 0x00008000 = 164352 words

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12. The sensor will now reboot the new firmware.

PS Laser Scanner [PS Firmware; 03.xx.xx; 2016-01-20; (c) Triple-IN GmbH 2016]

SN: 1234 Local IP: 10.0.12.34:1024 Gateway IP: 10.0.10.0:1025

13. The parameters stored in the non-volatile memory of the sensor might be

incompatible with the new firmware version and must be updated. In this case

the sensor will request a parameter update. The firmware asks to reset all

parameters and to store the parameters in the flash. Confirm both questions

with “yes”:

- Warning: Firmware update detected; System need factory reset.

> Set all parameters to defaults (y/n)? > Y

- Restoring control values...

- Restoring user settings...

- Restoring factory settings...

- Restoring factory user settings... > Write changed parameters to flash (y/n)? > Y

- Writing parameter setup file...

- Saving user settings...

- System needs to be restarted. >

For a clean restart, finally switch the sensor off and on again with a delay of 30s.

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7.2.2 Updating the Communication Board (“Olimex”)

The Ethernet support is implemented on a separate board inside of the laser scanner. The communication board firmware can be updated in the same way like the MPU firmware.

1. Make sure that the Communication board RS232 of the serial interface

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connector is connected with the serial interface of your computer.

2. Proceed like described for the MPU board update.

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System Status

Description

Power off

Startup

all LEDs are on

Self-test All LEDs are blinking

After self

-

test System error has occurred, check system

Measurement laser off

Yellow is off

Starting the motor,

Green is blinking

scan in

process

Green is steady on

Terminal mode,

Green is blinking

Terminal mode,

Green is steady on

System error

Red is steady on.

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8 Trouble Shooting

8.1 LED Indicators

The PS Laser Scanner supports 3 LEDs:

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Indicator

• Green LED: Power indicator; blinks if the scanner is in Terminal mode.

• Yellow LED: Measurement laser indicator.

• Red LED: Error indicator.

LEDs can be turned off permanently with the user parameter: "Front side LEDs enabled=1, disabled=0."

health status.

Waiting for SCAN command

waiting for user input

Scan in process

Yellow is blinking

Yellow is steady on

Check system health status.

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8.2 Self-test messages and System Health status

PS Laser Scanners perform a self-test at startup and check various hardware components. All LED are blinking during the self-test. The result of the self-test is reported on the RS232 of the MPU board.

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PS Laser Scanner [PS Firmware; 03.xx.xx; 2016-01-20; (c) Triple-IN GmbH 2015]

SN: 1234 Local IP: 10.0.1.234 1024 Gateway IP: 10.0.10.0:1025

- Running self-test ...

- Warning [see below]

- Error [see below]

The Terminal mode provides the function “Show system health status”.

System health & Self-test bits; ______________________________________________________________________________ Bit ; Result ; Error ; ______________________________________________________________________________ 0 ; OK ; - Warning: Self-test not completed. 1 ; OK ; - Scan buffer is empty. 2 ; disabled ; 3 ; disabled ; - Error: Switching output failure! 4 ; disabled ; - Error: Digital input failure! 5 ; disabled ; - Error: External incremental encoder failure! 6 ; OK ; - Error: Check motor! 7 ; OK ; - Error: Check angle encoder and mirror parameter! 8 ; disabled ; - Error: Front screen not clear! 9 ; OK ; - Error: Temperature out of operating range! 10 ; OK ; - Warning: Check Ethernet! 11 ; OK ; - Error: Check CPLD version. 12 ; OK ; - Warning: Check serial number and model number 13 ; OK ; - Warning: No basic system offset. 14 ; OK ; - Warning: No basic system ppm. 15 ; OK ; - Warning: No close range compensation. 16 ; OK ; - Warning: No pulse width compensation. 17 ; OK ; - Warning: No temperature drift compensation. 18 ; OK ; - Warning: Check KEM-IC delay unit! 19 ; OK ; - Error: Measurement clock error 20 ; OK ; - Warning: Synthetic echoes are enabled! 21 ; OK ; - Error: Cannot read Factory Parameter File! 22 ; OK ; - Error: Cannot read compensation file! 23 ; OK ; - Error: Cannot read User Parameter File! 28 ; OK ; - Warning: Firmware update needs factory reset. 29 ; OK ; - Error: Check communication board firmware!

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30 ; OK ; - Warning: System needs to restart.

The following warnings can be fixed by the user:

Warning: User Parameter File was restored! The user parameter setup got lost, probably due to a power-off while parameters

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were written to the internal non-volatile memory. Enter the terminal mode and check the user parameter setup.

Error: Temperature out of operating range! The sensor is too hot or too cold. Disconnect immediately from power supply and check the environmental conditions. Let the sensor operate only in it’s specified temperature range.

Warning: Check Ethernet! Check the Ethernet connections. Restart the sensor to apply changed IP settings.

Warning: Firmware update needs factory reset. The firmware has been updated, but the parameter setup does not match for the new version. Restart the sensor. The sensor will ask for a parameter update. Follow the instructions from chapter “7.2.1 Updating the Measurement Board (MPU)”

Error: Check I/O Board version! The MPU firmware has been updated and requires a newer version of the communication board firmware. Please follow the instructions from chapter “7.2.2 Updating the Communication Board“.

Warning: System needs to restart. Restart the system by power-off and power-on.

WARNING

Any other warning or error message reports a serious system defect. In this case, contact Triple-IN for a service and repair request.

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9 Technical Specifications

9.1 Technical Data

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Sensor

PS300-90

PS250-90

PS100-90

preliminary

Order No. 1300 1200 1000

WOR KING RANGE

Maximum Range @ R = 100%, lambertian Reflector (m) Maximum Range @ R = 10%, lambertian Reflector (m) Minimum Range (m) 2.1 1.8 0.6

ACC URACY D ATA

Resolution (mm) 1 1 1 Repeatability 1 σ @ stro ng signal (mm) 10 5 5 Repeatability 1 σ @ weak signal (mm) 30 20 20 Accuracy ( systematic error) (mm) ≤ 4 ≤ 4 ≤ 4

SPOT PROPERTIES

Divergence in scan direction (°) Divergence in scan direction (mrad) Divergence perpendicular to scan direction (°) Divergence perpendicular to scan direction (mrad) Spo t close to the sensor window (mm) 12 x 16 Focusing distance (m) 45

SCAN AND P ROFILE PROPERT IES

Maximum Sc an and Profile Angle 90° Scan Mirror Type 4 Mirror Polygon Maximum Scanning Duty Cycle 50%

OPERATIONAL MODES Normal M ode

Beam Scan Angle Step (°) 0.09 Measurements in 90° Scan 1000 Scan Rate (Hz) 20 Scan Time @ 90° Scan (ms) 25 Gap between Spots in Scan (°) Overlap 0.005 0.014

Fine Mode

Beam Scan Angle Steps in Profile (°) 0.023 Measurements in 90° Scan 1000 Scan Rate (Hz) 20 Scan Time @ 90° Scan (ms) 25 Scans/Prof ile 4 Profile Rate (Hz) 5

300 250 150

95 80 45

0.095 0.076 0.04

1.67 1.33 0.7

0.020 0.020 0.020

0.3 0.3 0.3

0.050

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Profile T ime @ 90° Scan (ms) 200

Measurements in Profile 4000 Overlap of Spots in Scan (°) 0.072 0.053

Fast Mode

Beam Scan Angle Step (°) 0.18 Measurements in 90° Scan 500 Scan Rate (Hz) 40 Scan Time @ 90° Scan (ms) 12.5 Gap between Spots in Scan (°) 0.085 0.104 0.140

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0.017

Sensor PS300-90 PS250-90

MULTI-ECHO EVALUATION

Echoes evaluated 4 Selectable echo es First or last

TAR GET SURFACE TEMPERATURE

Temperature Range T < 500°C

LASER DATA Measurement Laser

Mea surement Laser Type Pulse Laser Diode Wave Length (nm) 905

Saf ety Cla ss; EN 60825-1; 94,96,01 1M Mea surement or Pulse Rate (kHz) 40

Red Laser Marker

Red Laser Marker (indicate the spot) DC Laser Diode Wav e Length (nm) 635-678 Safety Class; EN 60825-1; 94,96,01 2

INTERFACES

Ethernet UDP 100 Mb/s RS232 for Sensor Programming 115 kBaud, 8n1 Discrete Switching Outputs 2; programmable

External E ncoder Inputs Incremental Encoder; A, B

POWER SUPPLY

Power Vo ltage 24 VDC ± 5 VDC Direct Power Supply yes POE Supply yes Power Consumption (W) 7 (witho ut optional heater) Sta rt-up T ime (s) < 30

SENSOR PROTECTION

Ingress Protectio n IP67 Operating Temperature Range -30°C to +50°C Temperature Range for Storage -30°C to + 80°C Enclosure Aluminum, Die Cast; Seawa ter resistant Enclosure Finish Powder coated Fro nt Screen AR-coated glass Function in strong Sunshine Ambient light control

DIMENSIONS & WEIGHT

Height x Width x Length (mm) 247 x 121 x 109

1M 1

PS100-90

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Weight (kg) 2.6

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9.2 PSxxx.90 HT Versions

PS250-90 HT PS100-90 HT

Order No. 2700 2600

TAR GET SURFACE TEMPERATURE

Target Temperature Range T ≤ 1200°C T ≤ 1200°C

WOR KING RANGE

Maximum Range @ R = 100%, lambertian Reflector (m) Maximum Range @ R = 10%, lambertian Reflector (m) Minimum Range (m); Sensor has to be protected!

100 50

30 20

2.5 1.8

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9.3 Laser Spot size and Sigma Diagrams

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PS100-90

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PS250-90

PS300-90

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0,5

mrad

0,09

°

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9.4 Laser Spot pattern

PS300-90 PS250-90 PS100-90

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0,029°

0,5 mrad

0,115°

Normal Scan Mode

0,09°

0,076°

Normal Scan Mode

0,09°

0,5 mrad

0,031°

Normal Scan Mode

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PS300-90 PS250-90 PS100-90

Fast Scan Mode

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Fast Scan Mode

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one on top of the other

GmbH

PS300-90 PS250-90 PS100-90

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Scan

1

one on top of the

other

9.5 3D CAD Model

A 3D CAD model (STEP format) of the PS Laser Scanner outlines is available on demand.

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9.6 PSxxx-90 Laser Scanner Outlines

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Picture 28 PSxxx-90 Laser scanner outlines (no scale)

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9.7 Serial Multifunction cable layout

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Picture 29 Serial multifunction cable

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9.8 Ethernet and PoE cable layout

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Picture 30Data and PoE cable

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10 Index

10.1 Table of Figures

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Picture 1 Triple-IN webserver login ............................................................................ 4

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Picture 2: PS Laser Scanner front view ....................................................................... 6

Picture 3: PS Laser Scanner rear side. ......................................................................... 6

Picture 4 Principle of operation .................................................................................. 8

Picture 5: Scan area and Sensor origin ....................................................................... 9

Picture 6 Storage packaging ...................................................................................... 11

Picture 7: Mounting thread holes ............................................................................. 12

Picture 8: Connector rubber gaskets ........................................................................ 13

Picture 9: Using the quick locking connectors .......................................................... 13

Picture 10: M12 Data and PoE scheme (plug side view) ......................................... 14

Picture 11 Scheme of the cross-linked power connectors....................................... 15

Picture 12: M12 Serial interface connector scheme (plug side view) ..................... 16

Picture 13 Measurement Board (MPU) DSUB9 male DTE pin layout (socket view) 18

Picture 14 Communication Board DSUB9 male DTE pin layout (socket view) ........ 18

Picture 15 Digital output wiring scheme .................................................................. 19

Picture 16 Incremental encoder wiring scheme ....................................................... 20

Picture 17 Network configuration for PS Laser Sensors with TCP/IP Manager ....... 22

Picture 18 Restore the Network configuration with TCP/IP Manager ..................... 23

Picture 19: TeraTerm with Measurement Board startup message ......................... 25

Picture 20: TeraTerm with Communication board startup message ....................... 25

Picture 21 PSControlProgram network connection dialog ...................................... 30

Picture 22 PSControlProgram Parameter view ......................................................... 31

Picture 23 Near-field configuration, example with zone 3 ...................................... 41

Picture 24 Multi-Echo with Master Echo selection .................................................. 42

Picture 25 Digital switching output example signal pattern .................................... 46

Picture 26 Teraterm Firmware file selection ............................................................ 49

Picture 27 Teraterm XMODEM upload ..................................................................... 49

Picture 28 PSxxx-90 Laser scanner outlines (no scale) ............................................. 62

Picture 29 Serial multifunction cable ........................................................................ 63

Picture 30Data and PoE cable ................................................................................... 64

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10.2 Document versions

Date Changes 2016-10-06 Chapter “Document updates and firmware updates”

Correct accuracy in tech. data

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2016-10-13 Remove PS150-90 type. Not in production any more.

Change closes distance of PS100-90 to 0.6 m.

2017-01-10 Update technical data according to production year 2017

Updated outline drawings

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Triple-IN PS300-90, PS250-90, PS100-90, PS250-90 HT, PS100-90 HT User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual