SICK Distance Measuring Device DMD SSI/Profibus DP/Interbus-S Operating instructions

Brand: SICK

Model: Distance Measuring Device DMD SSI/Profibus DP/Interbus-S

Type: Operating instructions

SICK Distance Measuring Device DMD SSI/Profibus DP/Interbus-S is designed to help you with a wide range of distance measuring and positioning tasks. It is a compact, non-contact optical sensor that can measure distances to a reflective target using the principle of time-of-flight measurement. It is commonly used to position rail-guided vehicles such as stacker cranes or cranes. Key features of the device include:

Switchable resolution of 0.1mm or 1mm
Selectable averaging of up to 2048 measurement values
Selectable measurement intervals down to 25ms
Different mounting options including a mounting bracket and a reflective prism

Switchable resolution of 0.1mm or 1mm
Selectable averaging of up to 2048 measurement values
Selectable measurement intervals down to 25ms
Different mounting options including a mounting bracket and a reflective prism

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DMD Page 21

1 Contents

1 Contents.........................................................................................................................................21

2 Introduction ...................................................................................................................................23

2.1 User note.................................................................................................................................23

2.2 Safety instructions.................................................................................................................23

2.3 Equipment display .................................................................................................................23

2.4 Handling instructions ............................................................................................................23

2.4.1 Use in accordance with regulations .............................................................................23

3 Operation Startup..........................................................................................................................24

3.1 DIP Switch Settings ...............................................................................................................24

3.1.1 DIP Switch Settings:.......................................................................................................25

3.2 Replacement EDM ⇒ DMD:...................................................................................................27

3.3 LED display.............................................................................................................................27

3.3.1 Function Display.............................................................................................................27

3.3.2 Diagnosis Display Profibus DP .....................................................................................27

3.3.3 Diagnosis Display Interbus-S........................................................................................28

3.3.4 Diagnosis Display SSI ....................................................................................................28

3.3.5 Front LED.........................................................................................................................28

4 Installation Instructions................................................................................................................29

4.1 Interfaces and connection assignment ...............................................................................29

4.1.1 Connection assignment of the 14-pin and 4-pin screw terminals.............................29

4.1.2 Description of the SSI Interface ....................................................................................30

4.1.3 Description of the Profibus DP Interface .....................................................................31

4.1.4 Description of the Interbus-S Interface ........................................................................31

4.2 Alignment Instructions..........................................................................................................32

4.3 Reflector Arrangement ..........................................................................................................33

4.4 Reflective tapes......................................................................................................................35

4.4.1 Diamond Grade ...............................................................................................................35

4.4.2 PL 240 DG........................................................................................................................35

4.4.3 PL 560 DG........................................................................................................................35

4.4.4 PL 880 DG........................................................................................................................35

5 Troubleshooting............................................................................................................................36

6 Specifications................................................................................................................................37

7 Accessories ...................................................................................................................................38

7.1 Lens reflector PL 140L ..........................................................................................................38

7.2 Mounting bracket for lens reflector BEF-PL 140L ..............................................................38

Page 22 DMD

7.3 Deflecting reflector for DMD USP-DMD ...............................................................................39

7.4 Mounting bracket for DMD BEF-WN-DMD (supplied with equipment).............................39

8 Dimensional drawing ....................................................................................................................40

9 Maintenance...................................................................................................................................40

DMD Page 23

2 Introduction

2.1 User note

The DMD is a compact optical distance sensor. It measures the distance to reflective tape according

to the principle of pulse length measurement (operating time measurement). Reflective tape is always

in the field of vision of the sensor and moves in the optical axis of the light beam. Typical applications

include the positioning of vehicles that run on tracks such as shelf operating equipment or cranes.

2.2 Safety instructions

The radiation emitted by a class 1 laser is harmless. Anyone can operate this type of laser instrument

(e.g., laser beam in CD players).

! No safety component according to EU machine regulations

! Read the operating instructions before operation startup

! Connection, mounting and setting only by skilled technicians

! Protect the equipment against humidity and soiling at operation startup

! Suitable ESD protection measures at installation

2.3 Equipment display

Diagram 1: Equipment view

2.4 Handling instructions

2.4.1 Use in accordance with regulations

The distance measurement equipment DMD is an optoelectronic sensor and is used for optical,

contactless detection of reflective tape or reflectors.

Page 24 DMD

3 Operation Startup

3.1 DIP Switch Settings

The red front LED switches off after approx. 10 seconds if the DMD is aligned to a reflector.

Allow for a warming up phase of approx. 30 minutes to achieve the given preciseness. Then the DMD

is ready to measure.

The sensor is tested and calibrated before delivery. It can be put into operation immediately

After the housing cover is removed, the measurement mode can be set using the eight DIP switches.

Diagram 2: Fixing screws for removing the housing cover.

Diagram 3: View of the inside with DIP switches

The selection of the modes depends on the application.

Application e.g., distancing of

bridge cranes (2-point

controls)

e.g., fast closed-loop

position control

Measurement time/ms 50 25 13

Measurement number 512 256 128

Switching possible to

higher measurement

number

2048 2048 1024 2048 1024

Mode

345 6 7

DIP switch settings

off

2, 3, 4 2, 3

2, 4

3, 4

2, 4

2, 3 2, 3, 4

Table 1: Modes dependent on application

Profibus address 1

Profibus address 10

DIP switch operating mode

DMD Page 25

Notes:

! Measurement time: Time during which a new measurement value feeds the interface dependent

on the measurement number

! Measurement number: Number of measurement values used for calculating an average value

! A higher measurement value number is switched to internally when there is a slower target change

Mode 0: Position achieved holds the window (PEH) in the control (type 3 mm - 5 mm,

system-dependent)

Mode 2: When the target stops, the last valid measurement value is output.

3.1.1 DIP Switch Settings:

General Information:

DIP switch 1 must always be set to ON

! DIP switch 5 must always be set to ON

DIP switch 6 is only active with an SSI interface; otherwise it has no influence

ON: SSI output gray-coded

OFF: SSI output binary

! DIP switch 7:

The data output can be changed in all measurement modes:

ON: Output with 1 LSB corresponds to 0.1 mm

OFF: Output with 1 LSB corresponds to 1 mm

DIP switch 8 is not assigned

OFF

12345678

Only the DIP switches 2, 3 and 4 determine selection of the corresponding measurement

mode! The mode can be determined from Table 1.

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DMD Page 27

3.2 Replacement EDM ⇒ DMD:

EDM DMD

Mode 0 ⇒ Mode 0

Mode 1 ⇒ Mode 3

Mode 2 ⇒ Mode 1

Mode 3 ⇒ Mode 2

3.3 LED display

Diagram 4: Sensor view with view window with LED

3.3.1 Function Display

! Green LED lights: Target (reflector) detected

! Red LED lights: Target (reflector) not detected

The operating display is contained in all variants.

3.3.2 Diagnosis Display Profibus DP

! Green LED external: No function

! Green LED in the middle lights: Profibus initialized successfully

! Red LED: No function

OFF

1234

OFF

1234

OFF

1234

OFF

1234

OFF

12345678

OFF

12345678

OFF

12345678

OFF

12345678

Page 28 DMD

3.3.3 Diagnosis Display Interbus-S

! Green LED external lights: Interbus initialized successfully

! Green LED in the middle lights: Data transfer to Interbus

Red LED lights: Interbus not available or not initialized

3.3.4 Diagnosis Display SSI

None

3.3.5 Front LED

The front LED lights during initialization of the equipment after switching on the power supply and

switches off after approx. 10 seconds (if aligned to a target). If the target is lost, the front LED also

lights during operation; it is connected with the red LED of the function display. In this case, the

Errorbit is set after 400 ms.

DMD Page 29

4 Installation Instructions

4.1 Interfaces and connection assignment

4.1.1 Connection assignment of the 14-pin and 4-pin screw terminals

14-pin screw terminal (X2, X3)

Pin SSI Profibus DP Interbus-S

3COM2

4DI2

5/DI2

6DO2

7/DO2

8 CLK - P (B) DI1

9CLK + N (A) /DI1

10 DATA - DO1

11 DATA + /DO1

12 P (B)

13 N (A)

14 GND COM1

4-pin screw terminal (X4)

Pin SSI Profibus DP Interbus-S

+24 V DC (pot. free) +24 V DC (pot. free) +24 V DC (pot. free)

GND (24 V) (pot. free) GND (24 V) (pot. free) GND (24 V) (pot. free)

Diagram 5: Plug cover for all interfaces

Page 30 DMD

Overview

! A high-frequency technical (shield braid) connection must be established between the housing

mass of the DMD (screw terminal X5) and the metal structure of the system for every interface type

to suppress electromagnetic interference. The connection should be as short as possible.

4.1.2 Description of the SSI Interface

A 100Ω load resistance (0.5 W) must be connected to the control computer between Data + and Data

- if this resistance is not already integrated in the interface card. The cable shield may only be fit into

the control unit (on the housing of the plug). Shielded twisted wire pairs are recommended for a

reliable data transfer.

Data telegram:

MSB SSI

Error

Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit Bit

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24

SSI Daten

One start bit, 24 data bit gray-coded or binary (low byte first, followed by middle and then high-byte)

and one Errorbit are transmitted. The Errorbit is set (high) as soon as the target is lost (laser beam no

longer on the reflector). In this case, the front LED and the red LED of the function display light.

Binary coding

Bit 24: Error bit: 1 = loss of target or no echo; 0 = OK

Bit 0...23: SSI data binary-coded with 0.1 mm or 1 mm resolution

(dependent on DIP switch 7)

Gray coding

Bit 24: Error bit: 1 = loss of target or no echo; 0 = OK

Bit 0...23: SSI data gray-coded with 0.1 mm or 1 mm resolution

(dependent on DIP switch 7)

tv = Response time for the 1st clock: max. 540 ns; for all others: max. 360 ns

Gn = Highest value bit in gray-coding

T = Length of clock signal

G0 = Lowest value bit in gray-coding

tm = Monoflop time µs

Clock

Serial data

SSI clock rate: 125 kHz – 1 MHz -> T = 1 µs – 8 µs

DMD Page 31

4.1.3 Description of the Profibus DP Interface

The last Profibus participant must be terminated with terminal resistances. The switch S2 must be set

to 1 in the plug cover (resistance combination switched on). If it is a question of a slave, which is not

connected to the bus as the last participant, the S2 switch should be set to 2 (resistance combination

switched off) (Diagram 5).

The Profibus slave address should be set using the two rotary knobs on the housing back wall of the

DMD (Diagram 3). A standard Profibus cable has to be used.

The cable shield must be fit on both sides. The screw terminal X5 should be used in the plug cover

here. The cable shield should be connected as short and possible and not twisted to terminal X5.

Data telegram:

Byte 0Byte 1Byte 2Byte 3

7 0 7 0 7 0 7 0

Distance low Distance middle Distance high Error

↑

4.1.4 Description of the Interbus-S Interface

If an Interbus participant is not the last in the chain, a bridge must

be set between RBST and the

internal +5V voltage. The switch S1 must be set to 2 in the plug cover (RBST internally at + 5V). If the

participant is connected as the last device in the chain, the switch S1 must be set to 1 (RBST

internally via a resistance at GND) (Diagram 5).

The cable shield must be fit on both sides. The screw terminal X5 should be used in the plug cover

here. The cable shield should be connected as short and possible and not twisted to terminal X5. A

standard Interbus cable has to be used.

Data telegram:

Byte 0 Byte 1 Byte 2 Byte 3

7 0 7 0 7 0 7 0

Distance low Distance middle Distance high Error

↑

In the default setting, 4 bytes are transmitted binary. Bytes 0 to 2 contain the distance measurement

value (sequence: Low, Middle, High). Byte 3 contains the Errorbit (refer to SSI for the significance) in

Bit 0 (lowest value bit).

Page 32 DMD

4.2 Alignment Instructions

Note that the laser pointer is placed offset to the side of the measuring optics during alignment. The

alignment applies to both reflector types (tape and lens reflector) and should be made at the

maximum measurement distance.

Align the equipment so that the middle point of the laser pointer spot is 26 mm horizontally and 16 mm

vertically from the middle point of the reflector (Diagram 6). The alignment according to Diagram 6

requires the equipment to be installed as in Diagram 7 above.

After the supply voltage is switched on, the laser point blinks for at least 60 seconds. If the sensor is

aligned accurately, the laser pointer switches off after 60 seconds. If there is a loss of target, the laser

pointer continues to blink. The laser pointer can be switched on either by switching the supply voltage

off and on or by simulating the loss of target (e.g., by interrupting the beam).

Measurement beam

lighted spot (invisible

to the human eye)

Laser pointer

lighted spot

(red)

Reflective tape

Diagram 6: Reflective tape

DMD Page 33

4.3 Reflector Arrangement

DMD side view

DMD view from above

Measurement beam diameter: approx. approx. approx. approx.

5 cm 10 cm 30 cm 70 cm

lective tape

500x500

ect

ve tape

1000x1000

Lens reflector

Reflective tape

Lens reflector

Diagram 7: Reflector arrangement 1

Page 34 DMD

Minimum arrangement at distances

> 120 m to 240 m (2 x lens reflector PL 140L)

Fresnel lens

Fresnel lens Fresnel lens

Fresnel lens

Recommended arrangement with horizontal

deflection of the measurement beam due to

uneven movement

Recommended arrangement with horizontal and

vertical deflection of the measurement beam due

to uneven surfaces and movement

approx. 20 cm

approx. 20 cm approx. 20 cm

approx. 20 cm

Diagram 8: Reflector arrangement 2

DMD Page 35

4.4 Reflective tapes

The reflector size should be selected so that the light spot does not move from the reflector due to

vibrations. For example, if the DMD is rotated by 1 degree, the light spot moves by approx. 2 m at a

distance of 130 m.

4.4.1 Diamond Grade

Can be made to order, max. 749 mm x 914 mm, Order no.: 4 019 634

4.4.2 PL 240 DG

280 mm x 280 mm, Order no.: 1 017 910

4.4.3 PL 560 DG

605 mm x 605 mm, Order no.: 1 016 806

4.4.4 PL 880 DG

914 mm x 914 mm, Order no.: 1 018 975

Page 36 DMD

5 Troubleshooting

Problem Possible cause Solution

! Red LED in front window

lights longer than 10 sec.

! Measurement target not

detected

! Reflector or equipment pane

soiled

! Measurement area exceeded

! Check alignment

! Red operation LED lights ! Measurement target not

detected

! Reflector or equipment pane

soiled

! Check alignment

! Red & green operation

LEDs light

! Not ready to measure;

equipment is possibly defect

! Replace equipment

! Measurement error at

slight distances

! Reflector is not inclined ! Inclination angle

Increase of the

measurement error at

increasing distances

Laser does not hit reflector

Check alignment

! No LED lights: ! No operating voltage

Reverse polarity of operating

voltage

! Check secure attachment

of housing cover

! Check wiring

Sporadic measurement

value jumps

Electrostatic influences

! Ground loop

Connect shielding

according to installation

instructions

! Connect housing with

system ground

! Measurement error at

specific positions

! Loss of target; laser does not hit

reflector

! Check path of objects to

be detected for

substantially uneven

spots; increase the size of

the reflector if necessary

! System vibrations ! Switching off noise has an

unfavorable effect on the control

behavior

! Change the measurement

mode

! Noise at achieved position ! Measurement value noises not

compatible with the control

! Change the measurement

mode

! Substantial measurement

error

! Measurement of false target

(galvanized or bright objects

close by are detected as target)

! Paint reflecting objects or

remove them

! Double amount of the

measurement value

! Sporadic setting of the

error bit

! Bit displacement at reading ! Check software

! Lay data and power

supply cables separately

(for Tyristor control)

! Check the connection of

the clock cables (Caution!

Switch off the cables of

the motor voltage if you

make a replacement.)

! Position error in the Y axis

with heavy loads

! Postoscillation of the lifting table ! Reduce brake delay

DMD Page 37

6 Specifications

Specifications

DMD

50-

1111

50-

2111

50-

3111

120-

1111

120-

2111

120-

3111

240-

1111

240-

2111

240-

3111

Interfaces

SSI GRAY/BINARY

Profibus-DP, 4 byte incl. Errorbit

Interbus-S, 4 byte incl. Errorbit

Measurement range

0.5 m ... 50 m

0.5 m ... 120 m

0.5 m ... 240 m

Accuracy

3) 4)

0.5 m ... 3.2 m ± 6 mm

> 3.2 m ± 5 mm

Reproduceability

0.2 mm at 50 ms measurement

value time

2 mm at 13 ms measurement value

time

(Statistical error 1

)

Light spot diameter 10 cm at 30 m distance

30 cm at 100 m distance

70 cm at 240 m distance

Resolution 0.1 mm/1 mm (switchable)

Light source

, light type

Laser diode, infrared

Laser protection class

1 (EN 60825)

Supply voltage U

DC 18 ... 30 V

Power consumption

≤

8 VA

Connection type

Terminal connection 4 x PG 9

VDE protection class

III

Protection circuits

A, C

Enclosure rating

IP 65

Ambient temperature

Operation – 0 °C ... + 40 °C

Storage – 25 °C ... + 75 °C

Weight

3 kg

Profibus-DP

max. 1.5 MBaud

Air pressure influence

0,3 ppm/hPa

Temperature influence

0.3 mm/K

Measurement value output

SSI: 1 ms, clock 125 kHz ... 1 MHz

Profibus: 1 ms

Interbus: 1 ms

Initialization time

Approx. 10 s

Max. speed of objects to be

detected

10 m/s

Settable 25 bit incl. Errobit

With respect to equipment zero

point

23° air temperature, 977 hPa,

min. operating time 30 min.

Recalibration after 25.000 h

recommended

Ambient conditions constant,

minimum operating time 30 min.

Average service life 100,000 h

at T

= + 25 °C

Limit values

Withstand voltage 50 V

A = U

connections reverse-polarity

protected

C = Interference pulse suppression

Page 38 DMD

7 Accessories

7.1 Lens reflector PL 140L

Order number: 5 308 918

7.2 Mounting bracket for lens reflector BEF-PL 140L

Order number: 5 308 917

DMD Page 39

7.3 Deflecting reflector for DMD USP-DMD

Order number: 5 308 919

7.4 Mounting bracket for DMD BEF-WN-DMD (supplied with equipment)

Order number: 5 308 915

Page 40 DMD

8 Dimensional drawing

Diagram 9: Equipment dimensions

9 Maintenance

SICK sensors require no maintenance. We recommend that you (at regular intervals):

! Clean the optical interfaces

! Check the screw and plug connections

Contact:

Australia

Phone +61 3 94 97 41 00

0 08 33 48 02 – toll free

Fax +61 3 94 97 11 87

Austria

Phone +43 2 23 66 22 88-0

Fax +43 2 23 66 22 88-5

Belgium/Luxembourg

Phone +32 24 66 55 66

Fax +32 24 63 35 07

Brazil

Phone +55 11 55 61 26 83

Fax +55 11 5 35 41 53

China/Hong Kong

Phone +8 52 27 63 69 66

Fax +8 52 27 63 63 11

Czech Republic

Phone +42 02 57 81 05 61

Fax +42 02 57 81 05 59

Denmark

Phone +45 45 82 64 00

Fax +45 45 82 64 01

Finland

Phone +3 58 9-7 28 85 00

Fax +3 58 9-72 88 50 55

France

Phone +33 1-64 62 35 00

Fax +33 1-64 62 35 77

Germany

Phone +49 76 81 2 02-0

Fax +49 76 81 2 02-36 09

Great Britain

Phone +44 17 27-83 11 21

Fax +44 17 27-85 67 67

Italy

Phone +39 02-92 14 20 62

Fax +39 02-92 14 20 67

Japan

Phone +813 33 58-13 41

Fax +813 33 58-05 86

Netherlands

Phone +31 3 02 29 25 44

Fax +31 3 02 29 39 94

Norway

Phone +47 67 56 75 00

Fax +47 67 56 66 10

Poland

Phone +48 2 26 44-83 45

Fax +48 2 26 44-83 42

Singapore

Phone +65 7 44 37 32

Fax +65 8 41 77 47

Spain

Phone +34 9 34 80 31 00

Fax +34 9 34 73 44 69

Sweden

Phone +46 8-6 80 64 50

Fax +46 8-7 10 18 75

Switzerland

Phone +41 4 16 19 29 39

Fax +41 4 16 19 29 21

Taiwan

Phone +88 62 23 65 62 92

Fax +88 62 23 68 73 97

USA

Phone +1 (952) 9 41-67 80

Fax +1 (952) 9 41-92 87

Representatives and agencies

in all major industrial nations.

SICK AG • Automatisierungstechnik • Sebastian-Kneipp-Straße 1 • D-79183 Waldkirch

Phone +49 76 81 2 02-0 • Fax +49 76 81 2 02-36 09 • www.sick.de

8 009 299/19-12-01• HJS/RF • Printed in Germany (01.01) • We reserve the right to make changes

SICK Distance Measuring Device DMD SSI/Profibus DP/Interbus-S Operating instructions

Brand: SICK

Model: Distance Measuring Device DMD SSI/Profibus DP/Interbus-S

Type: Operating instructions

Switchable resolution of 0.1mm or 1mm
Selectable averaging of up to 2048 measurement values
Selectable measurement intervals down to 25ms
Different mounting options including a mounting bracket and a reflective prism

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