O P E R A T I N G I N S T R U C T I O N S
LMS4400/LMS4500
2D LiDAR sensors
Described product
LMS4400
LMS4500
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be
reserved for SICK AG. Reproduction of this document or parts of this document is only
permissible within the limits of the legal determination of Copyright Law. Any modifica‐
tion, abridgment or translation of this document is prohibited without the express writ‐
ten permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.
Original document
This document is an original document of SICK AG.
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Contents
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........................................................................... 12
3.1 Scope of delivery....................................................................................... 12
3.2 Status indicators....................................................................................... 12
3.3 Device variants......................................................................................... 12
3.4 Type label.................................................................................................. 13
3.5 Principle of operation............................................................................... 13
3.5.1 Measuring principle................................................................. 13
3.5.2 Ethernet data interface........................................................... 14
3.5.3 Output of measured values..................................................... 15
3.5.4 Laser control............................................................................ 17
3.5.5 Remission value....................................................................... 18
3.5.6 Angle channel.......................................................................... 18
3.5.7 Impact of object surfaces on the measurement................... 19
3.5.8 Filters........................................................................................ 20
3.5.9 Motor synchronization for measuring range extension......... 23
4 Transport and storage....................................................................... 25
4.1 Transport................................................................................................... 25
4.2 Unpacking.................................................................................................. 25
4.3 Transport inspection................................................................................. 25
4.4 Storage...................................................................................................... 25
5 Mounting............................................................................................. 27
5.1 Mounting instructions............................................................................... 27
5.2 Example installation of a conveyor system............................................. 27
5.3 Mounting the device................................................................................. 28
6 Electrical installation........................................................................ 29
6.1 Wiring notes.............................................................................................. 29
6.2 Prerequisites for safe operation of the device........................................ 30
CONTENTS
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6.3 Connection diagram................................................................................. 32
6.4 Connecting the device electrically........................................................... 34
7 Operation............................................................................................ 35
7.1 Operation via SOPAS ET........................................................................... 35
7.2 Output of measured values via terminal program.................................. 38
8 Maintenance...................................................................................... 41
8.1 Maintenance plan..................................................................................... 41
8.2 Cleaning..................................................................................................... 41
9 Troubleshooting................................................................................. 43
9.1 General faults, warnings, and errors....................................................... 43
9.2 Repairs...................................................................................................... 45
9.3 Returns...................................................................................................... 45
9.4 Disposal..................................................................................................... 45
10 Technical data.................................................................................... 46
10.1 Features.................................................................................................... 46
10.2 Performance............................................................................................. 47
10.3 Interfaces.................................................................................................. 47
10.4 Mechanics/electronics............................................................................. 48
10.5 Ambient data............................................................................................. 49
11 Accessories........................................................................................ 51
12 Annex.................................................................................................. 52
12.1 Telegram structure.................................................................................... 52
12.2 EU declaration of conformity / Certificates............................................. 56
12.3 Licenses.................................................................................................... 56
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.
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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
1 ABOUT THIS DOCUMENT
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2 Safety information
2.1 Intended use
The 2D LiDAR sensor LMS4400/LMS4500 is intended exclusively for use in industrial
environments. 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
•
Quality values: Measured value quality in the corrected angular position
SICK AG assumes no liability for losses or damage arising from the use of the product,
either directly or indirectly. This applies in particular to use of the product that does not
conform to its intended purpose and is not described in this documentation.
2.2 Improper use
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:
2 SAFETY INFORMATION
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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
TM
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
LMS4x2x
Figure 1: LMS4x2x – Warning signs on the device
1
Avoid exposure – Laser radiation is emitted from this aperture.
Laser output aperture corresponds to the front screen at the height of the position shown.
2
Caution – Laser radiation when opened. Do not stare into beam.
3
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.
4
Warning symbol: Laser radiation
5
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.
2 SAFETY INFORMATION
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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.
•
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
LMS4421R-16000 Volume measurement
systems (non-LFT)
indoor
0.7 m ... 3 m 2% ... 200% 4x M12 with
CAN
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Type Application Measuring
range
Remission
range
Connections
LMS4521R-16000 Custody transfer vol‐
ume measurement
systems (LFT) indoor
0.7 m ... 3 m 2% ... 200% 4x M12 with
CAN
3.4 Type label
The type label gives information for identification of the sensor.
25
LMS4521R-16000
www.sick.com/1086802
P/N: 1086802
S/N:
18090002
DC 18 … 30 V
P
typ
16 W, P
max
31 W
MAC: 00:06:77:06:05:5E
Manufactured: Feb 2018
Made in
Germany
SICK AG D-79276 Reute
SW: V1.00
1 2
3 4 5
55 6789
ß
Figure 2: LMS4400/LMS4500 type label (example)
1
Type code
2
Part number, serial number
3
Web address of product page
4
DataMatrix code with product data and link to product page
5
Conformity mark/certification mark
6
Voltage supply, typical power consumption/maximum power consumption
7
MAC address
8
Production date
9
Manufacturer/production location
ß
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.
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Working range
The working range of the device is illustrated in the drawing below.
3.0
0.98
1.75
2.3
3.44
0.7
70°
90°
125°
55
°
Figure 3: 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 18.
•
Angle correction values: Deviation from implicit angular position. For details, see
"Angle channel", page 18.
•
Quality values: Measured value quality in the corrected angular position
In the event of an error, the output of measured values is terminated immediately and
an error code is output which can be evaluated by the connected application. The error
code can also be read out with the SOPAS ET PC software.
3.5.2 Ethernet data interface
The device has an Ethernet data interface for configuration and the transmission of
measured values.
The Ethernet interface has a data transmission rate of 100/1,000 Mbit/s. The inter‐
face is a TCP/IP interface supporting full duplex and half duplex.
The Ethernet interface allows the configuration of the device as well as the output of
measured values.
The factory setting for the Ethernet interface is as follows:
•
IP address: 192.168.0.1
•
Subnet mask: 255.255.255.0
•
TCP port: 2111 (CoLa binary)
•
TCP port: 2112 (CoLa ASCII)
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You might need to adjust the TCP/IP configuration of the Ethernet interface so that a
connected PC (client) can communicate with the device via Ethernet.
NOTE
If you change the parameters of the Ethernet interface via the Ethernet interface, you
must first save the data permanently to non-volatile memory and then restart the
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 52 for a description of the measured value telegrams.
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1
2
3
4
5
Figure 4: Continuous output of measured values
1
Start telegram
2
Start transmission of measured values
3
Output measured-value telegrams
4
Stop telegram
5
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 17.
After this, measured values are initially requested with the sEN LMDscandata 1
telegram, "Telegram structure", page 52, 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.
Triggering is activated via a CAN command.
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 52 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.
In CAN trigger mode, laser control is based on CAN commands. This is standard prac‐
tice when using the device as part of a system with other SICK sensors.
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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 52, 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 5: 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 6: Angle of reflection
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Retroreflection
If the reflective energy is greater than 100%, the beam is not reflected diffusely in all
directions; instead it is reflected in a targeted way (retroreflection). Thus a large part of
the emitted energy can be received by the laser distance measurer. Plastic reflectors
(cat’s eyes), reflective tape, and triple prisms have these properties.
Figure 7: Retroreflection
Reflective surfaces
The laser beam is almost completely deflected on reflective surfaces. This means that
an object hit by the deflected beam may be detected instead of the reflective surface.
Figure 8: Specular surfaces
Small objects
Objects that are smaller than the diameter of the laser beam cannot reflect the laser
light’s full energy. The portion of the light beam that does not reach the object is lost. If
all of the light reflected to the sensor is insufficient, the object may not be detected.
The portion of the light that does not reach the front object can be reflected by a larger
object in the background. If all of the light reflected to the sensor is sufficient, this
object is detected. This can lead to a corruption of the measured value.
Figure 9: Object smaller than the laser beam diameter
3.5.8 Filters
The device has digital filters for pre-processing and optimizing the measured distance
values. They enable the device to be adapted to meet the specific requirements of the
respective application.
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