SICK LMS4000 2D LiDAR sensors Operating instructions

Brand: SICK

Model: LMS4000 2D LiDAR sensors

Type: Operating instructions

This manual is also suitable for

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

LMS4000

2D LiDAR sensors

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.

Original document

This document is an original document of SICK AG.

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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 Internet protocol (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.................................................................................................. 14

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............................................................................ 18

3.5.5 Remission value....................................................................... 19

3.5.6 Angle channel.......................................................................... 19

3.5.7 Impact of object surfaces on the measurement................... 20

3.5.8 Filters........................................................................................ 21

3.5.9 Motor synchronization for measuring range extension......... 24

4 Transport and storage....................................................................... 26

4.1 Transport................................................................................................... 26

4.2 Unpacking.................................................................................................. 26

4.3 Transport inspection................................................................................. 26

4.4 Storage...................................................................................................... 26

5 Mounting............................................................................................. 28

5.1 Mounting instructions............................................................................... 28

5.2 Example installation of a conveyor system............................................. 28

5.3 Mounting the device................................................................................. 29

6 Electrical installation........................................................................ 30

6.1 Wiring notes.............................................................................................. 30

6.2 Prerequisites for safe operation of the device........................................ 31

CONTENTS

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6.3 Connection diagram................................................................................. 33

6.4 Connecting the device electrically........................................................... 35

7 Operation............................................................................................ 36

7.1 Operation via SOPAS ET........................................................................... 36

7.2 Output of measured values via terminal program.................................. 39

8 Maintenance...................................................................................... 42

8.1 Maintenance plan..................................................................................... 42

8.2 Cleaning..................................................................................................... 42

9 Troubleshooting................................................................................. 44

9.1 General faults, warnings, and errors....................................................... 44

9.2 Repairs...................................................................................................... 46

9.3 Returns...................................................................................................... 46

9.4 Disposal..................................................................................................... 46

10 Technical data.................................................................................... 47

10.1 Features.................................................................................................... 47

10.2 Performance............................................................................................. 48

10.3 Interfaces.................................................................................................. 49

10.4 Mechanics/electronics............................................................................. 49

10.5 Ambient data............................................................................................. 51

11 Accessories........................................................................................ 53

12 Annex.................................................................................................. 54

12.1 Telegram structure.................................................................................... 54

12.2 EU declaration of conformity / Certificates............................................. 58

12.3 Licenses.................................................................................................... 58

CONTENTS

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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 to familiarize yourself with the device and its

functions before commencing any work.

The operating instructions are an integral part of the product. Store the instructions 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.

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. Signal

words introduce the instructions and indicate the extent of the hazard. To avoid acci‐

dents, damage, and personal injury, always comply with the instructions and act care‐

fully.

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.

ABOUT THIS DOCUMENT 1

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1.3 Further information

NOTE

Further documentation for the device can be found on the online product page at:

•

www.sick.com/LMS4000

There, additional information has been provided depending on the product, such as:

•

Model-specific online data sheets for device variants, containing technical data,

dimensional drawing, and specification diagrams

•

EU declarations of conformity for the product family

•

Dimensional drawings and 3D CAD dimension models of the device variants in var‐

ious electronic formats

•

This documentation, available in English and German, and in other languages 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 are output to a computing unit (e.g. industrial PC or SICK

Sensor Integration Machine (SIM)) via the Ethernet interface for further processing:

•

Distance values: Distance from zero point in the corrected angular position

•

Remission values: Object remission as a dimensionless scale value (digits) or a

calibrated grayscale value (%) in the corrected angular position

•

Angle correction values: Deviation from implicit 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

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.

•

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.

WARNING

Danger due to improper use!

Any improper use can result in dangerous situations.

Therefore, observe the following information:

■

Product should be used only in accordance with its intended use.

■

All information in these operating instructions must be strictly observed.

■

Shut down the product immediately in case of damage.

2.3 Internet protocol (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 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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2.4 Limitation of liability

Relevant standards and regulations, the latest technological developments, and our

many years of knowledge and experience have all been taken into account when com‐

piling the data and information contained in these operating instructions. The manufac‐

turer accepts no liability for damage caused by:

■

Non-adherence to the product documentation (e.g., operating instructions)

■

Incorrect use

■

Use of untrained staff

■

Unauthorized conversions or repair

■

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.

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.

2.6

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.

This product documentation refers to the following qualification requirements for the

various activities associated with the device:

■

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

■

Basic practical technical training

■

Knowledge of the current safety regulations in the workplace

Electrical installation,

device replacement

■

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 Windows

operating system in use

■

Basic knowledge of the design and setup of the described con‐

nections 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

this product documentation to reduce the possibility of risks to health and avoid dan‐

gerous situations.

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.

Caution – Use of controls or adjustments or performance of procedures other than

those specified herein may result in hazardous radiation exposure.

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 product must only be connected to a voltage supply 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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WARNING

Risk of injury and damage caused by potential equalization 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

Figure 1: LMS4x1x – Warning signs on the device

Avoid exposure – Laser radiation is emitted from this aperture.

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.

Laser radiation – Do not stare into beam. Class 2 laser product

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

Figure 2: LMS4x2x – Warning signs on the device

Avoid exposure – Laser radiation is emitted from this aperture.

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.

Laser radiation – Do not stare into beam. Class 2 laser product

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

Do not remove – Hazardous laser radiation and risk of personal injury if the laser protec‐

tion hood 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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•

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

Component Comment

1 Device in the version ordered Depending on version.

Without connecting cables and brackets.

1 Set of protective caps for electri‐

cal connections

Attached to the connections.

1 Set of warning labels in German

and French.

To replace the English version if needed.

1 Printed safety notes, multilin‐

gual

Quick guide and general safety notes

3.2 Status indicators

Four LEDs give a visual indication of the operational status and any errors that occur.

LED Color Status

Status Green Device is fully functional and the laser is switched on

(continuously lit), device is in standby mode and the

laser is switched off (flashing)

Yellow Warning

Red Device is not ready to take measurements

Possible reasons: Login via a terminal is active, device is

in error state or restarting

Ethernet Green LINK path is established (continuously lit), data trans‐

mission (flashing)

Sync Green Master: Sync signals are being sent (continuously lit)

Slave: Sync signals are being received (flashing), sync

connection is active and device synchronized (continu‐

ously lit)

In/Out Yellow Specific digital input or digital output (can be parameter‐

ized) is active

3.3 Device variants

Type Application Measuring

range

Remission

range

Connections

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

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3.4 Type label

The type label gives information for identification of the sensor.

LMS4121R-13000

www.sick.com/1091393

P/N: 1091393

S/N:

18090002

DC 18 … 30 V

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

Figure 3: LMS4000 type label (example)

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

Supply voltage, 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.

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.

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3.0

0.98

1.75

2.3

3.44

0.7

70°

90°

125°

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:

•

Distance values: Distance from zero point in the corrected angular position

•

Remission values: Object remission as scale value without unit (digit) or calibrated

greyscale value (%) at the corrected angular position. For details, see "Remission

value", page 19.

•

Angle correction values: Deviation from implicit angular position. For details, see

"Angle channel", page 19.

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.

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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

device.

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 54 for a description of the measured value telegrams.

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Figure 5: Continuous output of measured values

Start telegram

Start transmission of measured values

Output measured-value telegrams

Stop telegram

Stop output of measured values

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 18.

After this, measured values are initially requested with the sEN LMDscandata 1

telegram, "Telegram structure", page 54, 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 the incremental encoder

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 and position data

(encoder ticks). The input frequency of the encoder signal must not exceed 50 kHz.

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The following incremental encoders with a push-pull output stage (HTL) 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

used).

NOTE

Incremental encoder transmits a zero index signal often (encoder Z). This signal is not

processed by the device. So the signal does not need to be connected to the device.

NOTICE

Device damage due to incorrect parameterization!

•

When connecting an encoder, configure IN1/OUT1 of the device as an input.

3.5.4 Laser control

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 54 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.

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.

PRODUCT DESCRIPTION

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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 of an object

correlates with the ratio of the amount of the laser light emitted by the LiDAR sensor

that falls on the object and the amount that is reflected by the object (see Lambert-

Beer law).

Shiny surfaces have different remission values at different angles of incidence. In the

case of shiny surfaces, maximum remission is achieved when the beam makes vertical

incidence. A multiple of the typcial remission value of a material is reached at such

places and may cause invalid measurement values. On such occasions distance values

will be flagged with "1" and remission values with "FF FF" in the measurement data out‐

put, see "Telegram structure", page 54, LMDscandata - reserved values.

Matt and dull surfaces have a diffuse remission and therefore have similar relative

remission values independent of the angle of incidence.

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 Angle channel

The motor of the device rotates with 100 Hz and enables the device to reach a scan‐

ning frequency of 600 Hz by way of deflecting the laser beam on a six-sided mirror

wheel.

Assuming that the motor turns at a constant speed, the sensor creates every 1.16 µs a

new measurement value in order to reach an angular resolution of 1/12°. However,

due to hardware limitations there are minor fluctuations in the motor speed. Due to

external influences (e.g. high acceleration or deceleration of the device), these ripples

can reach a deviation of several tenths of a degree, which may lead in measurement

error of some centimeters for object measurement.

The angle channel allows an adjustment of the measurement values to their true angle

position. When activated, an additional correction value is provided in the measure‐

ment telegram for each measurement point.

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Every value states the deviation to the implied angle position within a range of

± 3.2768° with an accuracy of approx. ± 0.01°. Since the channel is only able to put

out positive numbers, the value 32768 (8000h) signifies a deviation of exactly 0°.

Higher values, from 32768 to 65535 (8001h … FFFFh), indicate an acceleration of the

motor (objects appear to be more narrow), lower values, from 0 to 32767

(0h … 7999h), indicate an deceleration of the motor (objects appear to be wider).

3.5.7 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 (specular surfaces, reflectors) have remissions of over

100%.

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, a large proportion of the energy is lost due to absorption.

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

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SICK LMS4000 2D LiDAR sensors Operating instructions

Brand: SICK

Model: LMS4000 2D LiDAR sensors

Type: Operating instructions

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SICK LMS4000 2D LiDAR sensors Operating instructions

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