SICK LMS4000 Operating Instructions Manual
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SICK LMS4000 Operating Instructions Manual

2d lidar sensors
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O P E R A T I N G I N S T R U C T I O N S
LMS4000
2D LiDAR sensors

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  • Page 1 O P E R A T I N G I N S T R U C T I O N S LMS4000 2D LiDAR sensors...
  • Page 2 Original document This document is an original document of SICK AG. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...

  • Page 3: Table Of Contents

    Prerequisites for the safe operation of the device in a system..... Connection diagram................. 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 4 12.2 EU declaration of conformity / Certificates..........12.3 Licenses....................O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...

  • Page 5: About This Document

    … highlights useful tips and recommendations as well as information for efficient and trouble-free operation. 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 6: Further Information

    Other publications related to the devices described here • Publications dealing with accessories O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...

  • Page 7: Safety Information

    In all cases, the customer implements the appropriate security measures, such as network separation, firewalls, virus protection, and patch management. 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 8: Limitation Of Liability

    The following qualifications are required for various activities: O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...

  • Page 9: Operational Safety And Particular Hazards

    Safety requirements relating to work on electrical systems must be complied with. ■ 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 10: Warning Signs On The Device

    Notice No. 50 of June 24, 2007. Warning symbol: Laser radiation O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...
  • Page 11 (not included with delivery) must be attached to the system/casing next to the laser output aperture. 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 12 The device stops sending measured values and an entry is added to the error memory. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK...

  • Page 13: Product Description

    The type label gives information for identification of the sensor. 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 14: Principle Of Operation

    Working range The working range of the device is illustrated in the drawing below. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK...

  • Page 15: Ethernet Data Interface

    8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 16: Output Of Measured Values

    Output measured-value telegrams Stop telegram Stop output of measured values O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...

  • Page 17: Laser Control

    8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 18: Remission Value

    (reflecting surfaces, reflectors) have remissions of over 100%. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK...
  • Page 19 (cat’s eyes), reflective tape, and triple prisms have these properties. Figure 8: Retroreflection 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 20: Filters

    The scan range filter is used to restrict the angular range output per scan. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK...
  • Page 21 … … … … … … … … … 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 22 (e.g., 2 averaging operations = 3.34 ms, 10 averaging operations = 16.67 ms). O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK...

  • Page 23: Motor Synchronization For Measuring Range Extension

    (set the corresponding parameter value in the Interfaces view in the SOPAS ET soft‐ ware). 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 24 After a few seconds, the Sync LED on the slave lights up permanently green. The devices are now synchronized. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK...

  • Page 25: Transport And Storage

    Avoid mechanical shocks. ■ Storage temperature: see "Technical data", page ■ 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 26 For storage periods of longer than 3 months, check the general condition of all ■ components and packaging on a regular basis. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...

  • Page 27: Mounting

    Mounting kit (accessory) LMS4000 Beam separation for limiting detection Conveyor system 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 28: Mounting The Device

    The status LED lights up after successful initialization. The device is ready for use. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK...

  • Page 29: Electrical Installation

    (if one has been fitted) as this will invalidate the warranty. 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 30: Prerequisites For The Safe Operation Of The Device In A System

    Grounding point 2 Closed current loop with equalizing currents via cable shield O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...
  • Page 31 Within the islands, a stable equipotential bonding prevents equalizing currents on the cable shields. 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 32: Connection Diagram

    The recommended connecting cables and their associated technical data can be found online at: www.sick.com/LMS4000 O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...
  • Page 33 Brown Encoder B White Ground Blue Encoder A Black 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 34: Connecting The Device Electrically

    Connect the device according to the connection diagram, see "Connection dia‐ gram", page O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...

  • Page 35: Operation

    Information about the device is displayed in the device window ( > Device > Open) and the device can also be configured here. 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 36 Application: Scan display (left-hand side) and entry of more parameters (right-hand side): O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...
  • Page 37 Interfaces: Scan display (left-hand side) and configuration of interfaces (right-hand side): 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 38: Output Of Measured Values Via Terminal Program

    6E 64 61 74 61 05 Request for continuous output of measured values: O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...
  • Page 39 (automatically framed by STX and ETX when sending in the default setting). Pay attention to blank characters in the string. 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 40 O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK...

  • Page 41: Maintenance

    Only use cleaning agents suitable for the screen material. ■ 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 42 ■ ately for safety reasons and have it repaired by SICK. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...

  • Page 43: Troubleshooting

    SOPAS ET the device tile in the main win‐ 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 44: Repairs

    SICK AG. Interruptions or modifications to the device by the customer will inval‐ idate any warranty claims against SICK AG. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK...

  • Page 45: Returns

    Separate the recyclable materials by type and place them in recycling containers. ■ 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 46: Technical Data

    Virtually unlimited, length of sync cable max. 20 m motor synchronization O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...

  • Page 47: Performance

    0.03 mm/K atic) Angle error 0.05° Integrated application Data output 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 48: Interfaces

    LMS4x1x: 192 mm x 130 mm x 107 mm LMS4x2x: 397 mm x 370 mm x 107 mm O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK...
  • Page 49 Aperture angle Reference boreholes Zero point of the distance measurement 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 50: Ambient Data

    15 g, 11 ms, 6 shocks per axis 10 g, 16 ms, 1,000 shocks per axis O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK...
  • Page 51 Max. 90% (non-condensing) humidity Ambient light immunity 2,000 lx 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 52: Accessories

    Accessories and where applicable mounting information can be found online at: • www.sick.com/LMS4000 O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...

  • Page 53: Annex

    4C 4D 44 73 63 61 6E 64 61 74 61 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 54 Output channels: 01…03 nels nels that provide mea‐ sured data O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198//2018-06-18 | SICK Subject to change without notice...
  • Page 55 No position data: 00 00 Position data: 1 Position data: 00 01 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 56 Does not count how many telegrams were really given out; is relevant if not all scans are delivered from the scan core. O P E R A T I N G I N S T R U C T I O N S | LMS4000...

  • Page 57: Eu Declaration Of Conformity / Certificates

    Printed copies of the license texts are also available on request. 8023198//2018-06-18 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 58 Phone +36 1 371 2680 Phone +386 591 78849 E-Mail ertekesites@sick.hu E-Mail office@sick.si India South Africa Phone +91-22-6119 8900 Phone +27 (0)11 472 3733 Further locations at www.sick.com E-Mail info@sick-india.com E-Mail info@sickautomation.co.za SICK AG | Waldkirch | Germany | www.sick.com...

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