LRFS-0040-1/2
User Manual
Dear User
You are advised to read this User Manual carefully before you start using the LRFS-0040-1/2 laser distance measurement module.
This is necessary to ensure that you will be able to utilize all the capabilities which your new acquisition provides.
This technology is subject to continuously ongoing development.
Editorial deadline: May 2009
Documentation number: 012840-002-98-02-0704-en
ACETECH Engineering In Germany Any question,Please contact your distributor.
NOTE
No part of this User Manual may be reproduced in any way (by print, photocopying, microfilm or any other technique) without prior written approval by ACETECH ENGINEERING, nor may it be processed, duplicated or disseminated with the help of electronic systems.
Appropriate care was used in compiling this document. No liability will be accepted in the event of damage resulting from a non-compliance of the information that is contained herein.
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Table of Contents
1. GENERAL
2.
SAFETY INSTRUCTIONS
2.1 Basic Notes
2.2 Intended & Conforming Use 2.3 Nonconforming Use 2.4 Laser Classification 2.5 Electric Supply
2.6
Important Operating Advice
3.
TECHNICAL DATA
3.1 Laser
3.2 Measuring Performance 3.3 Interface
3.4 Environment & Ambient Conditions 103.5 Mechanical Mounting Conditions 103.6 Electrical Mounting Conditions 113.7
Interface Cable
4.
COMMUNICATION PROTOCOL 144.1
Online Help
4.2 4.2.1 Commands and Their Functions DT Distancetracking 16 164.2.2 DW Distancetracking with cooperative target (10Hz) 164.2.3 DX Distancetracking with cooperative target (50Hz) 174.2.4 DF Distance measurement with external trigger 174.2.5 DM Distance measurement 174.2.6 TP Internal temperature [C] 174.2.7 SA Display/set average value [120] 174.2.8 SD Display/set display format [d/h] 184.2.9 ST Display/set measure time [025] 184.2.10 SF Display/set scale factor 194.2.11 SE Display/set error mode [0/1/2] 194.2.12 AC Display/set ALARM center 204.2.13 AH Display/set ALARM hysterese 204.2.14 RB Display/set distance of Iout=4mA 20LRFS-0040-1-06 Page 3 of 29
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4.2.15 4.2.16 4.2.17 4.2.18 4.2.19 4.2.20 4.2.21 4.2.22 4.2.23 4.2.24 RE Display/set distance of Iout=20mA 20 RM Remove measurement 21 TD Display/set trigger delay [09999ms] trigger level [0/1] 22 BR Display/set baud rate [240038400] 22 AS Display/set autostart command [DT/DW/DX7/DF/DM/TP/LO] 22 OF Display/set distance offset 22 SO Set current distance to offset (offset = - distance) 23 LO Laser on 23 LF Laser off 23 Esc Stop Measuring 23 4.2.25 234.2.26
PA Display settingsPR Reset settings 5.
OPERATING MODES 245.1 RS232 5.2 RS422
5.3 Digital Switching Output 255.4 Analog Output 5.5
Trigger Input
6. ERROR MESSAGES 287. SERVICE, MAINTENANCE, WARRANTY 29
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1. General
The LRFS-0040-1/2 is a laser range finder to measure distances from 0.1 m to more than 100 m with pinpoint accuracy.
A given target can be clearly identified with the help of a red laser sighting point. In terms of operating reach, the LRFS-0040-1/2 performs depending on the reflectance, morphology and qualities of the target to be measured.
The range finder works based on comparative phase measurement. It emits modulated high-frequency light which is diffusely reflected back from the target with a certain shift in phase to be compared with a reference signal. From the amount of phase shift, a required distance can then be determined with millimeter accuracy.
A distance measuring cycle can be triggered in three different ways:
- By sending a command from the PC or another equivalent control unit
- By making appropriate prior parameter settings for the autostart command and applying supply voltage
- By external triggering (in remote-trigger mode).
For a more detailed description of these three trigger options, you should consult section
Special performance features are:
- Provides high accuracy and great reach under extreme outdoor temperatures.
- Works in a wide range of operating voltages from 10 V= to 30 V= from an on-board vehicle supply point, an industrial direct voltage supply net or a DC power pack.
- Features consistently low power consumption of <1.5 W (without IAlarm).
- Up to 30 m reach for distance measurement, with potential for more than 100 m reach if additional reflectors are mounted onto the target (depending on reflectance and environmental conditions).
- Visible laser beam for easier sighting.
- RS232 interface port for input of measuring functions and commands from, and output of measured values to, a PC or a laptop.
- Switching output and analog output are separately programmed.
- Switching output with adjustable limit to indicate positive and negative excession of
preselectable distance range window by sighting distance.
- Measured values can be displayed in meters, decimeters, centimeters, feet, inches
due to.
- Option for remote triggering of a measurement from an external trigger device.
The LRFS-0040-1/2 measuring module is shipped in a rugged cardboard box with adequate padding for safe transportation.
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2. Safety Instructions
2.1 Basic Notes
These safety and operating instructions should be carefully read and followed during practical work with the LRFS-0040-1/2.
There is danger of laser radiation or electrical shock. For necessary repair work, the LRFS-0040-1/2 may not be opened by anyone other than Manufacturer personnel. Unauthorized intervention into the inner product space will void any warranty claims.
Compliance with all specified operating conditions is necessary.
Failure to observe advisory notes or information contained in this Manual or nonconforming product usage may cause physical injury to the user or material damage to the LRFS-0040-1/2.
Cable connectors must not be plugged or unplugged, as long as voltage is supplied. Remember to turn voltage supply off before you begin working on cable connections. 2.2 - - - - -
Intended & Conforming Use Measurement of distances Special measuring functions
Compliance with prescribed temperatures for operation and storage Operation at correct voltage level
Application of specified signal levels to the appropriate data lines.
2.3 Nonconforming Use
- Do not operate the LRFS-0040-1/2 in any other way than described under
“Intended & Conforming Use“ above and only in a proper working condition. - Safety devices must not be defeated or otherwise rendered ineffective. - Information and warning signs must not be removed.
- Repair work on the LRFS-0040-1/2 must not be carried out by anyone other than ACETECH personnel.
- Refrain from using the LRFS-0040-1/2 in an explosive environment.
- Measurement with the LRFS-0040-1/2 pointed at the sun or other strong lightsources may produce faulty results.
- Measurement of targets with poor surface reflectance in a strongly reflecting environment may also result in faulty measurement values.
- Measurement of strongly reflecting surfaces may deliver faulty results.
- Measurement performed through transparent optical media, for example, glass, optical filters, plexiglass, etc. may equally produce incorrect results.
- Rapidly changing measuring conditions are likely to falsify the result of measurement.
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2.4 Laser Classification
The LRFS-0040-1/2 is a class 2 laser product as stipulated in IEC825-1/DIN EN 60825-1:2001-11 and a class II product under FDA21 CFR. In the event of accidental, short-time laser exposure, the human eye is sufficiently protected by its own optico-facial winking reflex. This natural reflex may be impaired by medication, alcohol and drugs.
Although the product can be operated without taking special safety precautions, one should refrain from directly looking into the laser beam. Do not direct the laser beam onto persons.
Caution:
There is class 2 laser radiation. Do not look into the beam!
2.5 Electric Supply
Use only 10 V to 30 V direct voltage for LRFS-0040-1/2 operation. Use only the specially designated connector terminal for voltage supply.
Specified signal levels must not be exceeded, in order to guarantee correct data communication.
2.6 Important Operating Advice
To make full use of the system’s inherent performance capabilities and achieve a long service life, you should always follow these operating rules:
- Do not turn the module on if there is fogging or soiling on its optical parts! - Do not touch any of the module’s optical parts with bare hands!
- Proceed with care when removing dust or contamination from optical surfaces! - Prevent exposure to shock impacts during transportation of the LRFS-0040-1/2! - Prevent overheating of the LRFS-0040-1/2!
- Prevent major temperature variances during LRFS-0040-1/2 operation.
- In accordance with IP65 internal protection standards, the LRFS-0040-1/2 is designed to be splashproof and dustproof.
Read these safety and operating instructions with due care and follow them in practical use.
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3. Technical Data
3.1 Laser Laser:
Laser class: Output power: Laser divergence: Beam diameter: 650 nm laser diode; red light
650 nm, visible, laser class 2, conforming to standard IEC825-1/EN60825, class II (FDA21 CFR) < 1mW 0.6 mrad
< 6 mm at 10 m distance < 30 mm at 50 m distance < 60 mm at 100 m distance
3.2 Measuring Performance Measuring range1: Measuring accuracy: Measured value resolution:
Time to measure: 0.2 m to 50 m with natural surfaces (for DT, DF or DM and ST =0), more than 100 m if target reflectance high enough
± 3 mm (15 °C.35 °C), ± 2 mm for distance range from 0.1 m to 30 m under defined measuring conditions
Max.: ± 5 mm (across full temp. range and for any type of surfaces)Depends on scale factor (1 mm with SF = 1) Typ.: 160 ms. 6s in standard mode measuring any type of surface 100 ms in “DW“ measuring mode
20 ms in “DX“ measuring mode (only LRFS-0040-2) 5 m/s in “DX“ measuring mode (only LRFS-0040-2) 2.5 m/s² in “DX“ measuring mode (only LRFS-0040-2) Max. target motion speed: Max. acceleration:
1
conditional on target reflectance, ambient light influences and atmospheric conditions
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3.3 Interface
Type of connection:Supply voltage (UV):
Max. power con-sumption
(in no-load state): Data interface: (Please specify on ordering sheet!)
12-pole M18 flange-mount connector (Binder series 723) DC 10 V.30 V < 1,5 W RS232 or RS422 9,6 kBaud (2,4/4,8/19,2/ 38,4 kBaud selectable)
Data bits: 8
Parity: none Stop bit: 1
Handshake: none Protocol: ASCII HIGH = UV – 2 V, LOW < 2 V, rated for loads up to 0.5 A, switching threshold and hysteresis selectable, can be inverted
4 mA-20 mA, distance range limits can be set, behavior on error report can be preselected Load resistance: ≤ 500 W against GND Accuracy: ± 0.15 % Max. temperature 50 ppm/K drift:
Trigger voltage 3 V . 24 V Trigger threshold + 1.5 V, Trigger flank to start of measurement preset at 5 ms +
delay time
Trigger pulse length ≥ 1 ms Delay time (trigger selectable from 0 ms to 9999 ms delay)
Trigger flank selectable
UV = 30 V (protected against polarity reversal) RxD = ± 25 V
RX+, RX- = ± 14 V TRIG = - 25 V TxD ≥ 5 V TX+/- 2 V, 2 x 50 W load differential ALARM UV – 2 Baud rate: Digital switching output: Analog output: Trigger input: Max. input voltages:
Output voltages: LRFS-0040-1-06 Page 9 of 29 21.03.2005 09:18:00
3.4 Environment & Ambient Conditions Operating temperature: Storage
temperature: Protection type: - 10 °C bis + 50 °C - 20 °C bis + 70 °C IP65 3.5 Mechanical Mounting Conditions Casing: Extruded aluminum profile with powder-coat paint finish, front-side & rear-side cover and tube anodized 182 mm x 96 mm x 50 mm Dimensions (L x W x H):
Weight: 850 g
The casing consists of a rugged, corrosion-resistant extruded aluminum profile with front-side and rear-side covers also in corrosion-resistant design. Four mounting holes are provided in the baseplate for mechanical attachment of the LRFS-0040-1/2 ( Figure 1 Dimensional drawing).
Figure 1 Dimensional drawing
1 Equalizer tube at front cover 2 Casing
3 Protective cap for flange-mount connector 4 Receiver optics 5 Sender optics
6 Mechanical mounting holes (four)
7 12-pole M18 flange-mount connector (Binder series 723)
To protect the range finder’s optical surfaces from dust, physical contact, mechanical impacts, etc., the casing has a special equalizer tube attached to it. This tube can be extended or removed as necessary to meet the customer’s operating needs . Please note that measurement cannot be guaranteed to function correctly if the equalizer tube is removed by unqualified action!
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Figure 2 Offset against zero-edge
The LRFS-0040-1/2’s zero-point is located 7 mm behind the outer surface of the front cover or 137 mm before the back cover outside face respectively. This zero-point has been introduced for constructional design reasons. It can be compensated with the help of parameter “OF“ (see section 4.2.19 „OF.display/set distance offset“).
3.6 Electrical Mounting Conditions
Located on the back cover is a connector terminal. A 12-pole round-type (flange-mount) series 723 connector from Binder has been selected for this purpose. It is sealed against the casing to comply with IP 65 requirements. This connector type guarantees optimized screening and a high IP degree. The required counterpart is a cable jack (series 423 from Binder) with grading ring.
A cable set with open ends is optionally available.
.
Figure 3 View of LRFS-0040-1/2 pole assignments
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Pin Interface-cable A White B Brown C Green D Yellow E Grey F Orange G Blue H Red LRFS-0040-1/2-RS232 TxD RxD TRIG IOUT n.c. n.c. UV ALARM RS232-send data RS232-receive data External trigger input Analog output Supply voltage Digital switching output
Signal ground Supply ground LRFS-0040-1/2-RS422 RX+ RX- TRIG IOUT TX- TX+ UV ALARM GND n.c. GND n.c. RS422- receive data + RS422- receive data - External trigger input Analog output RS422-send data - RS422-send data +Supply voltage Digital switching output
Signal ground Supply ground J Black GND K Violet n.c. L White-Brown GND M White-Black n.c. Table 2 - Pinout assignments
GND wires are connected to an internal collective ground point. They provide the reference potential for all voltage values quoted below.
If input signals are applied to an output port, this may damage the LRFS-0040-1/2!
For data communication via RS232, you are recommended to use cable 4 (gray, GND) for signal ground and cable 7 (blue, GND) for supply ground!
The limiting values of voltages, load rates and logic levels are in accordance with RS232 and RS422 standard requirements.
All outputs are protected against steady short-circuit currents.
3.7 Interface Cable
Caution:
Both cable ends are exposed! The user is responsible to take precautions that will prevent any kind of shorts!
For interface cable wire assignments, refer to Table 2.
The interface cable can be provided in 2 m and 5 m length version. Customized cable lengths are optionally available by previous agreement with ACETECH Engineering.
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Figure 4 Interface Cable
Interface cable extension is possible. One should, however, observe some important rules, depending on the particular application scenario:
LRFS-0040-1: RxD and TxD data lines should be kept as short as possible in all cases, because they tend to have an interference emitting and interference receiving effect, notably, when in open state. Especially in environments with strong spurious radiation there may be faults that may in some cases require a reset (turning the LRFS-0040-1 off and on again). In cases where no RS232 interface communication is required after parameterization, you should provide for a termination wiring as shown in Figure 5.
Figure 5 Recommended termination wiring for work with open RS232
LRFS-0040-2: Extension and termination according to standard requirements.
For correct screening, three essential rules must be followed:
1. Use screened cable, e.g. “10XAWG224CULSW“, remember to extend also the cable screen!
2. Connect screen to reference potential of UV on cable end. 3. For integration with vehicles:
where attachment point and reference potential (GND or “-“) have equal
potentials, it may be necessary to electrically isolate the LRFS-0040-1/2 casing, in order to prevent ground loops.
Figure 6 Correct screening of LRFS-0040-1/2
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4. Communication Protocol
The easiest way to trigger and parameterize the LRFS-0040-1/2 is by using a PC with RS232 communication port (see 5.1 RS232) and a terminal program. The communications protocol is available in ASCII format.
Before an operating session begins, desired parameter settings can be made in a smart selection procedure until the measuring module is optimally adapted to the particular measuring site conditions and the measuring job
All valid settings will be preserved on turning the LRFS-0040-1/2 off! They can only be replaced with new value entries or changed back to their standard values by running an initialization routine.
The following is a short overview of the communications protocol
Command Description DT Starts distance tracking DW Starts distance tracking on white target at 10 Hz DX Starts distance tracking on white target at 50 Hz (only LRFS-0040-2)DF Starts remote-triggered single distance measurement (single shot) DM Starts single distance measurement (single shot) TP Queries inner temperature SA Queries / sets floating average value (1.20) SD Queries / sets output format (dec/hex) ST Queries / sets time to measure (0.25) SF Queries / sets scale factor SE Queries / sets error mode (0, 1, 2) AC Queries / sets alarm center AH Queries / sets alarm hysteresis RB Queries / sets beginning of range (4 mA) RE Queries / sets end of range (20 mA) TD Queries / sets trigger delay BR Queries / sets baud rate AS Queries / sets autostart OF Queries / sets offset SO Sets current distance as offset LO Turns laser on LF Turns laser off ESC Stop Measuring and Turns Laser off PA Displays all parameter values PR Resets all parameters to standard values
Table 3 Short overview of communications protocol LRFS-0040-1-06 Page 14 of 29 21.03.2005 09:18:00
4.1 Online Help
Once communication has been established with a PC (as described above), an online help tool can be called up by triggering an ID [Enter] or id [Enter] command at the keypad. Its purpose is to support work with distance measurement and parameterization commands. [Enter] corresponds to hexadecimal 0Dh (carriage return)
DT[Enter] distancetracking DW[Enter] distancetracking with cooperative target (10Hz) DX[Enter] distancetracking with cooperative target (50Hz)5 DF[Enter] distance measurement with external trigger DM[Enter] distance measurement TP[Enter] internal temperature [C] SA[Enter] / SAxx[Enter] display/set average value [120] SD[Enter] / SDxx[Enter] display/set display format [d/h] ST[Enter] / STxx[Enter] display/set measure time [025] SF[Enter] / SFx.x[Enter] display/set scale factor SE[Enter] / SEx[Enter] display/set error mode [0/1/2] 0Iout=const., ALARM=const. 1Iout: 4mA @RE>RB, 20mA @RE Figure 7 Start protocol of connection establishment LRFS-0040-1-06 Page 15 of 29 21.03.2005 09:18:00 4.2 Commands and Their Functions - Command entries are not case-sensitive. This means that small and capital lettering can be used for commands. - Any command which is to be sent to the sensor must be terminated by a hexa-decimal 0Dh (carriage return) character. - Where decimal digits are to be entered, they must be separated by period (2Eh). - For command paramater entries, one must distinguish between parameter settings and parameter queries. - Querying is achieved with a command in simple format. e.g. (for alarm center parameters): AC[Enter] - For parameter setting, a new value must be added after the command with no delimitation sign in between, for example: AC20.8[Enter] In the given example, the alarm center will be set to 20.8. 4.2.1 DT Distancetracking Input parameter SA, SD, SE, SF, ST, OF Output RS232/RS422, digital switching output, analog output DT mode can be chosen for distance measurement of different kinds of surfaces (varying reflectance). In this type of distance tracking mode, the LRFS-0040-1/2 uses internal algorithms to continuously evaluate the quality of the laser radiation signal that is coming back. This may cause longer measuring times in the case of poor reflectance or sudden jumps in distance. The minimum time to measure is 160 ms, the maximum time is 6 s. If the measuring signal fails to reach a specified quality within six seconds, an error message is output. The time to measure may also be limited by setting the ST parameter to a desired value. 4.2.2 DW Distancetracking with cooperative target (10Hz) Input parameter SA, SD, SE, SF, OF Output RS232/RS422, digital switching output, analog output DW mode performs at a steady measuring rate of 10 Hz (LRFS-0040-1 only). The selected object must have a white target board for measured values to be stable. LRFS-0040-1-06 Page 16 of 29 21.03.2005 09:18:00 4.2.3 DX Input parameter SA, SD, SE, SF, OF Output RS232/RS422, digital switching output, analog output =Distancetracking with cooperative target (50Hz) DX mode performs at a steady measuring rate of 50 Hz (LRFS-0040-2 only). The selected object must have a white target board for measured values to be stable. 4.2.4 DF Distance measurement with external trigger Input parameter SD, SE, SF, ST, OF, TD Output RS232/RS422, digital switching output, analog output DF mode allows a measurement that is triggered by an external trigger pulse. Initially, after selecting this mode, the operator does not receive any response. As soon as the trigger pulse has been detected, the LRFS-0040-1/2 will send data and switches to digital and/or analog output. Settings for trigger delay (delay) and trigger flank can be defined via parameter TD. (see 4.2.16 TDdisplay/set trigger delay [09999ms] trigger level [0/1]) 4.2.5 DM Distance measurement Input parameter SD, SE, SF, ST, OF Output RS232/RS422, digital switching output, analog output DM mode triggers a single measurement (single shot). 4.2.6 TP Internal temperature [C] TP queries the value of the inner LRFS-0040-1/2 temperature. Note: In tracking mode, the inner temperature may exceed the surrounding temperature level by as much as 10 K. 4.2.7 SA Display/set average value [120] Standard setting: 1 SA allows you to calculate a floating average value from 1 to 20 measured values. Calculation is based on this formula: x1 + x2 + x3 + ... + xn (20) Average value x n LRFS-0040-1-06 Page 17 of 29 21.03.2005 09:18:00 4.2.8 SD Display/set display format [d/h] Standard setting: d SD switches between decimal (d) and hexadecimal (h) output format of measured value data. SD affects all commands that output a distance value. A hexadecimal output value is calculated from a given measured distance value (in mm), multiplied by the scale factor SF. Negative distance values are output in two’s complement notation. Example: Distance = 4.996 m, SF1 dec: 4.996 hex: 001384 (= 4996 mm × SF1) Distance = 4.996 m, SF10 dec: 49.960 hex: 00C328 (= 49960 = 4996 mm × SF10) 4.2.9 ST Display/set measure time [025] Standard setting: 0 Measuring time is directly conditional on the selected measuring mode. As a general rule, one may say: the poorer the reflectance of the surface of a particular target, the more time the LRFS-0040-1/2 will require to determine the distance with specified accuracy. For example, if error message E15 is output because of poor reflectance and insufficient time to measure, this latter setting must be increased. The available value range for measuring time is 0 to 25. Basically, the greater the time setting is the more time will be available for measurement and the lower the resulting measuring rate. An exception therefrom is zero-value. In this case, the LRFS-0040-1/2 automatically picks the smallest possible time value for measurement! The LRFS-0040-1/2 comes factory-set with ST = 0. ST is effective in the DT, DF and DM mode of operation. The measuring time setting option can also be used to modify the measuring rate, for example, in order to restrict the data volume or for synchronization purposes. The following sample time setting can only be regarded as providing an approximate value: Measuring time ≈ ST×240 ms (except ST=0) Example: The target distance is 25 m, but the target’s reflectance is not ideal. With a measuring time setting of ST 2, E15 will be output following measurement. The user must increase the time to measure in this case! LRFS-0040-1-06 Page 18 of 29 21.03.2005 09:18:00 4.2.10 SF Display/set scale factor Standard setting: 1 SF multiplies a calculated distance value with a user-selectable factor for changes in resolution or outputs in a different unit of measure. The scale factor may also be negative. Scale factor Resolution Output Unit of measure SF1 1 mm 12.345 m SF10 0,1 mm 123.45 dm SF1.0936 0,01 yard 13.500 yard SF3.28084 0,01 feet 40.501 feet SF0.3937 1 inch 4.860 100 inch SF-1 1 mm -12.345 m Table 4 Examples of scale factor 4.2.11 SE Note: Following a change in the scale factor, the settings for digital and/or analog output and offset must be matched accordingly! Display/set error mode [0/1/2] Standard setting: 1 SE allows you to configure how the digital switching output (alarm) and/or the analog output is to behave on occurrence of an error message (E15, E16, E17, E18). Depending on the particular LRFS-0040-1/2 application, different reactions to an error message are possible. Available selection options are 0, 1 and 2 with the following effects in the event of an error message: SE Digital switching output (alarm) Analog output (4 - 20 mA) 0 Preserves the state of a latest valid Outputs the current of a latest valid measurement measurement 1 Positive alarm hysteresis = LOWNegative RE > RB: current = 4 mA alarm hysteresis = HIGH RE < RB: current = 20 mA 2 Positive alarm hysteresis = HIGHNegative RE > RB: current = 20 mA alarm hysteresis = LOW RE < RB: current = 4 mA Table 5 Digital switching output and analog output for SE = 0, 1 and 2 LRFS-0040-1-06 Page 19 of 29 21.03.2005 09:18:00 4.2.12 AC Display/set ALARM center 4.2.13 AH Standard setting: 1000 AC corresponds to the distance, on identification of which the switching output switches. AC must be defined taking into consideration the currently valid scale factor (SF) value. As soon as the predefined distance threshold is negatively or positively exceeded, the alarm output will switch from HIGH to LOW or vice versa with a certain delay as set under alarm hysteresis (AH). (see 5.3 Digital Switching Output) Display/set ALARM hysterese Standard setting: 0.1 AH sets the switching hysteresis of the switching output. AH must be selected so it is properly matched to the currently valid scale factor (SF). As soon as the predefined distance threshold is negatively or positively exceeded, the alarm output will switch from HIGH to LOW or vice versa with a certain delay as set under alarm hysteresis (AH). (see 5.3 Digital Switching Output) 4.2.14 RB Display/set distance of Iout=4mA 4.2.15 RE Standard setting: 1000 RB (Range Begin) defines the point of a distance range at which the analog output will begin to deliver varying distance readings. At a distance of RB, the output current will be 4 mA. RB must be selected so it is properly matched to the currently valid scale factor (SF) setting. RB can be smaller or greater than RE! (see 5.4 Analog output) Display/set distance of Iout=20mA Standard setting: 2000 RE (Range End) defines the point of a distance range at which the analog output will cease to deliver varying distance readings. At a distance of RE, a current of 20 mA will be output. RE must be selected so it is properly matched to the currently valid scale factor (SF) value. RE can be greater or smaller than RB! (see 5.4 Analog output) LRFS-0040-1-06 Page 20 of 29 21.03.2005 09:18:00 4.2.16 RM Remove measurement RMx9y.y9z...Remove Measurement x: Number of the above measuring values which should be default=0 0 ≤ x ≤ 10 considered in case of a differing measuring. y: max. permissible value range, two following measuring default=0 0 ≤ y.y ≤ max values can jump in between. If this value will fall below or beyond, a measuring value correction will be done automatically. z: max. permissible number of divergent values in default=0 0 ≤ x ≤ 100 succession, in case of different following divergent values, the previous corrected divergent value will enter into the correction of the next divergent value. - Only effective in mode DT - Space letter (0x020) between the parameters - Invalid input of minimum one parameter will put all parameters to 0 - Attention: If parameters are used unqualified, an endangering of the security might happen! LRFS-0040-1-06 Page 21 of 29 21.03.2005 09:18:00 4.2.17 TD Display/set trigger delay [09999ms] trigger level [0/1] Standard setting: 0 0 TD is solely intended for behavioral configuration of the remote trigger input (DF mode) (see 4.2.4). TD consists of two subparameters, of the actual delay value, i.e. the delay time, and the trigger level. “trigger delay“ corresponds to the time from arrival of the trigger signal to the starting point of a measurement. It may be set to any value between 0 and 9999 ms. With the help of the trigger level one may define if measurement is to begin on a rising or a falling pulse edge. Trigger delay and trigger level must be separated by space (20h) in the entry line. Example: TD1000_0[Enter] In the given example, the delay has been set to 1000 ms and the trigger flank to “rising“ (LOW-to-HIGH transition). 4.2.18 BR Display/set baud rate [240038400] Standard setting: 9600 Available baud rate settings are: 2400, 4800, 9600, 19200, 38400. Faulty entries will be rounded to the nearest baud rate. A fixed data format of eight data bits, with no partiy and one stop bit is used. 4.2.19 AS Display/set autostart command [DT/DW/DX7/DF/DM/TP/LO] Standard setting: ID AS (autostart) defines which function will be carried out when power becomes available to the LRFS-0040-1/2. Possible entries are those delivering a measured value on the output side, an ID command or the command for turning the laser on (LO). For example, if ASDT has been parameterized, the LRFS-0040-1/2 will begin with distance tracking on turning on power. 4.2.20 OF Display/set distance offset Standard setting: 0 With the help of OF (offset) the user may define a zero-point for his/her application. For details on the position of the module’s zero-point, refer to section 3.5 Mechanical. OF must be selected so it is properly matched to the currently valid scale factor setting (SF). OF may also take on negative values LRFS-0040-1-06 Page 22 of 29 21.03.2005 09:18:00 4.2.21 SO Set current distance to offset (offset = - distance) SO performs a distance measurement and saves the measured reading as an offset value with inverted mathematical sign (OF). 4.2.22 LO Laser on LO turns the laser on. This function can be used for orientation or functional testing of the LRFS-0040-1/2. 4.2.23 LF Laser off LF turns the laser off. 4.2.24 Esc Stop Measuring and Turns Laser off Stop Measuring 4.2.25 PA Display settings PA lists all parameters in a table. 4.2.26 PR Reset settings PR resets all parameters (except for baud rate) to their standard settings. average value[SA] 1 display format[SD] d measure time[ST] 0 scale factor[SF] 1 error mode[SE] 1 ALARM center[AC] 1000 ALARM hysterese[AH] 0.1 distance of Iout=4mA [RB] 1000 distance of Iout=20mA [RE] 2000 trigger delay, trigger level[TD] 0 0 baud rate[BR] 9600 autostart command[AS] ID distance offset[OF] 0 Figure 8 Standard settings LRFS-0040-1-06 Page 23 of 29 21.03.2005 09:18:00 5. Operating Modes Make sure that all cable ends are protected against short circuit effects before you turn power supply on! Connect cable terminals as required for the particular operating mode. To prevent short circuits, you should seal unused cable ends! For starting up, a PC with RS232 or RS422 data interface and a terminal program such as the setup-tool software or hyperterminal are required. As part of preparative actions, the LRFS-0040-1/2 must be properly installed in the designated working site, oriented onto the target and kept in a stable position. The target to be measured should preferentially have a homogeneous, white surface. Caution: Do not use any retroreflectors! Alignment is facilitated by the visible8 laser beam of the LRFS-0040-1/2. It can easily be turned on at the PC. 5.1 RS232 Initially, RS232 communication interfaces purely functioned as PC communication ports. They have become the established standard tool for serial data transmission over short cable lengths. With greater transmission lengths, the interface is highly susceptible to interferences, notably, in the vicinity of strong electromagnetic noise emitters. Therefore, it should only be used for LRFS-0040-1/2 configuration. Figure 14 Diagram of RS232 wiring at 9-position D-Sub cable jack Figure 15 Diagram of RS232 wiring at 25-pole D-Sub cable jack 8 depending on ambient light and target to be measured LRFS-0040-1-06 Page 24 of 29 21.03.2005 09:18:00 5.2 RS422 For configuration purposes and permanent data transmissions over a greater length, the RS422 can be used. This type of interface is insusceptible to interference and noise influences and qualifies for industrial use. Where twisted cable pairs are involved, transmissions lengths up to 1200 m can be handled. Figure 16 RS422 wiring diagram Since a standard PC typically includes no RS422 communication port, you require an RS422 interface card or an RS422-to-RS232 converter for communication. 5.3 Digital Switching Output With the help of a user-selectable distance threshold, the switching output can be set to monitor objects or conditions for positive or negative excession. Configuration settings to this end can be made in “Alarm Center“ (AC) and “Alarm Hysteresis“ (AH) (see 4.2.12 and 4.2.13). Of decisive significance for the switching output’s logic state is the mathematical sign of the hysteresis condition. It can be used as a quasi-inverter of the switching output. In the case of positive hysteresis, the output changes from LOW to HIGH condition with increasing distance if AC + AH/2 was positively exceeded, and from HIGH to LOW with decreasing distances if AC - AH/2 was negatively exceeded. In the case of negative hysteresis, the output changes from HIGH to LOW with increasing distance if AC + |AH/2| was positively exceeded, and from LOW to HIGH with decreasing distance if AC - |AH/2| was negatively exceeded. Figure 17 Wiring diagram of digital switching output Figure 18 Digital switching output behavior with positive and negative hysteresis LRFS-0040-1-06 Page 25 of 29 21.03.2005 09:18:00 Example: For the given sample situation, it is assumed that a moving object needs to be monitored. The output is to switch at a distance of 10 m (AC10) with 20 cm hysteresis (AH0.2 and AH-0.2 respectively): Increasing distance -> Decreasing distance -> AH 9,8 m 9,9 m 10,0 m 10,1 m10,2 m10,1 m10,0 m9,9 m 9,8 m (+)AH L L L H H H H H L -AH H H H L L L L L H L = LOW, H = HIGH How the switching output is to behave on occurrence of an error message (E15, E16, E17, E18) can be defined by making suitable settings under “SE“ (see 4.2.11). 5.4 Analog Output Figure 19 Wiring diagram of analog output The analog output is designed to allow normalized analog distance data transmission over greater length via a two-wire cable. The current which is injected into the cable is proportional to the measured target distance. This applies within a distance interval that is marked by the two limiting parameters “Range Begin“ (RB) and “Range End“ (RE) (see 4.2.14 und 4.2.15), where RE may be greater or smaller than RB. The output current value is calculated according to this equation: If RB is negatively exceeded (in RE > RB direction) or positively exceeded (in RE < RB direction) by the actual distance value, the analog output current will be 4 mA. If RE is positively exceeded (in RE > RB direction) or negatively exceeded (in RE < RB direction) by the actual distance value, the analog output current will be 20 mA. LRFS-0040-1-06 Page 26 of 29 21.03.2005 09:18:00 Figure 20 Output current diagram for RE > RB and RE < RB To match analog output behavior in the event of an error message (E15, E16, E17, E18), appropriate settings can be made under “SE“ (ì 4.2.11). 5.5 Trigger Input Figure 21 Wiring diagram of trigger input The trigger input is intended for triggering a distance measurement with an external signal that is applied as a voltage pulse between 3 V and 24 V. It is for the user to specify a desired delay time and a pulse flank to be selected for synchronization (see 4.2.16). Having done this, he/she must switch the LRFS-0040-1/2 to trigger mode (DF). LRFS-0040-1-06 Page 27 of 29 21.03.2005 09:18:00 6. Error Messages Code Description E15 Reflexes are too weak, use target board, or distance from sensor (front edge) to target is less than 0.1 m E16 Reflexes are too strong, use target board E17 Too much steady light (e.g. sun) E18 DX mode (only LRFS-0040-2): reflexes too weak, use target board, or distance from sensor (front edge) to target is less than 0.1 m E23 Temperature below – 10°C E24 Temperature above + 60°C E31 EEPROM checksum E51 Failed to set avalanche voltage E52 Excessively high laser current/laser defect E53 Division by 0 E54 PLL range E55 Unknown error E61 Faulty command E62 Illegal parameter, invalid command E63 SIO parity error E64 SIO framing error LRFS-0040-1-06 Page 28 of 29 21.03.2005 09:18:00 7. Service, Maintenance, Warranty The warranty period is one year. To ensure that all functions are regularly checked and your LRFS-0040-1/2 operates faultlessly over a long period of time, you are advised to have the LRFS-0040-1/2 laser distance measurement module inspected at our location at annual intervals. If a repair becomes necessary, you should carefully pack and send the LRFS-0040-1/2 to your local dealer. ACETECH Engineering Germany Any question, Please contact your distributor. LRFS-0040-1-06 Page 29 of 29 21.03.2005 09:18:00 因篇幅问题不能全部显示，请点此查看更多更全内容