Related Manuals for Leuze electronic rotoScan ROD4 plus Series
Summary of Contents for Leuze electronic rotoScan ROD4 plus Series
- Page 1 rotoScan ROD4… plus Laser scanner O R I G I N A L O P E R A T I N G I N S T R U C T I O N S...
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Page 2: Table Of Contents
Functions of connection Y2....................28 5.3.1 Y2 default settings ........................28 Functions of connection Y3....................29 5.4.1 Y3 default settings ........................29 Functions of connection Y4....................29 5.5.1 Y4 default settings ........................29 Connection ......................... 30 5.6.1 Electrical supply........................... 30 Leuze electronic ROD4… plus... - Page 3 Status messages, errors and error rectification ............50 10.1 Ethernet status indicator ....................50 10.2 ROD4…plus status indicator....................51 10.2.1 Status displays ..........................52 10.3 Diagnostic codes and causes .................... 52 Appendix........................... 56 11.1 Terms and abbreviations ROD4…plus ................56 ROD4… plus Leuze electronic...
- Page 4 Dimensioned drawing ROD4…plus................49 Figure 10.1: Ethernet status indicator..................... 50 Figure 10.2: ROD4…plus status indicator ..................51 Table 10.1: Status displays on the rotoScan ROD4…plus............52 Table 10.2: ROD4…plus - Diagnostic codes and causes ............. 53 ROD4… plus Leuze electronic...
- Page 5 Abbildungs- und Tabellenverzeichnis Leuze electronic ROD4… plus...
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Page 6: General Information
European standards and guidelines. Notice! The corresponding declaration of conformity can be requested from the manufacturer. The manufacturer of the product, Leuze electronic GmbH + Co. KG in D-73277 Owen/Teck, possesses a certified quality assurance system in accordance with ISO 9001. LISTED ROD4…... -
Page 7: Safety
Leuze electronic GmbH + Co. KG is not liable for damages caused by improper use. Read the technical description before commissioning the device. Knowledge of this technical description is an element of proper use. -
Page 8: Foreseeable Misuse
BGV A3 (e.g. electrician foreman). In other countries, there are respective regula- tions that must be observed. Exemption of liability Leuze electronic GmbH + Co. KG is not liable in the following cases: • The device is not being used properly. • Reasonably foreseeable misuse is not taken into account. -
Page 9: Laser Safety Notices
The device must not be tampered with and must not be changed in any way. There are no user-serviceable parts inside the device. Repairs must only be performed by Leuze electronic GmbH + Co. KG. Restrictions with regards to use •... -
Page 10: Description
Detection field contours can be defined within the detection fields drawn in figure 3.1. If an object is located within these detection field contours, this is reported by the ROD4…plus to the configurable switching outputs. For object measurement tasks, the device is configured using the RODplussoft software. ROD4… plus Leuze electronic... -
Page 11: Object Measurement
The ROD4 plus and ROD4-08 plus can detect objects with diameters greater than 20mm at a distance of up to 4.0m, even if the surface of the given object is dark. Larger objects are detected in the far detection field at a distance of up to 50m. Leuze electronic ROD4… plus... -
Page 12: Operating Principle
One scan over the working range returns 529 measurement values (from angle -5.04° to angle +185.04° with 0.36° angular resolution). Thus, each individual measurement value corresponds to an angular segment of 0.36°. The measurement values are sequentially numbered from segment 0 (-5.04°) to segment 528 (+185.04°), see figure 3.2. ROD4… plus Leuze electronic... -
Page 13: Measurement Function
The image of the surroundings generated during the scan process is compared with the specified detection field contours. If an object violates a detection field for a least one scan (40ms), a corresponding, user-specific reaction is triggered. Leuze electronic ROD4… plus... -
Page 14: Special Features Of The Rod4
Measurement data filtering: minimum and maximum values • Online commands • ROD4 plus and ROD4-08 plus: • Four freely programmable near detection fields (up to maximum 30m) • Four freely programmable far detection fields (up to maximum 50m) ROD4… plus Leuze electronic... -
Page 15: Application Examples
The following examples can be considered typical areas of application for the ROD4…plus. 3.4.1 Object measurement: Gripping system Dimension and position measurement for gripping operations Figure 3.4: Application example - gripping system Gantry crane ROD4…plus for positioning a gantry crane Figure 3.5: Application example - gantry crane Leuze electronic ROD4… plus... -
Page 16: Object Detection (Only Rod4 Plus And Rod4-08 Plus)
Dimension measurement in materials handling Figure 3.6: Application example - dimension measurement 3.4.2 Object detection (only ROD4 plus and ROD4-08 plus) Driverless transportation system ROD4…plus as the "eye" of a service robot Figure 3.7: Application example - service robot ROD4… plus Leuze electronic... - Page 17 Overshoot and dimension detection of cars to prevent damage to the car Figure 3.8: Application example - automatic parking garage High-bay warehouse Overshoot detection for collision prevention with high-bay storage devices Figure 3.9: Application example - high-bay warehouse Leuze electronic ROD4… plus...
- Page 18 • Buffing protection (e.g. for telpher lines) • Overshoot detection (e.g. in fully automatic parking systems) • Detection / counting of persons • Room security / façade monitoring • Access control • Contour measurement • Packet measurement / volume measurement • etc. ROD4… plus Leuze electronic...
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Page 19: Mounting
(a in figure 9.3). Mounting system BT ROD4…plus, see chapter 8.2.6. Notice! Under certain circumstances, a larger measurement inaccuracy may occur with strongly re- flective backgrounds (e.g. retro-reflectors). Leuze electronic ROD4… plus... -
Page 20: Electrical Connection
Connecting the rotoScan ROD4…plus Attention! Should you not need one of the interfaces, close the respective connector with a blank plug. If a connector remains open, the ROD4…plus no longer has degree of protection IP 65. ROD4… plus Leuze electronic... -
Page 21: Connection Functions Y1 To Y4
RS 232/RS 422 interface • Factory setting: Measurement data trans- M12 plug fer at 115kbit/s 8-pin • Configuration, measurement data trans- fer, diagnostics with RODplussoft Table 5.1: Connections of the ROD4…plus – Y1 to Y4 Leuze electronic ROD4… plus... -
Page 22: Connector Assignments For Connection Y1
For an Ethernet connection, you must connect TX+ to TX+, TX- to TX-, RX+ to RX+ and RX- to RX-. The contact assignments on the Y2 M12-socket correspond to the PROFINET stan- dard. The following tables apply for cable fabrication. Alternatively it is possible to use a crossover cable in most applications. ROD4… plus Leuze electronic... -
Page 23: Connector Assignments For Connection Y3 (Service)
Connection M12 to RJ45 (1:1) 5.1.4 Connector assignments for connection Y3 (service) Signal Description Do not use! Data communication, transmission Data communication, ground Data communication, reception Do not use! Table 5.6: Pin assignments for connection Y3 Leuze electronic ROD4… plus... -
Page 24: Connector Assignments For Connection Y4 (Rs 232/Rs 422)
GND/shield cabinet side with PE) Selection RS 232/RS 422, RS 422 RS 232: leave PIN 6 open RS 422: bridge to PIN 5! Do not use! Do not use! Table 5.7: Pin assignments for connection Y4 ROD4… plus Leuze electronic... -
Page 25: Functions Of Connection Y1
• Both detection field pairs are active in this state! • Detection field pair 1 (Y1-E) is switched off if the voltage at pin Y1-E is removed. • Detection field pair 2 (Y1-G) is active in this state. Leuze electronic ROD4… plus... - Page 26 ROD4…plus switches over within the response time. Attention! If more than two detection field pairs are selected, the ROD4…plus reports a fault at output ALARM1 (Y1-R) and via the corresponding LED in the display field. ROD4… plus Leuze electronic...
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Page 27: Output Circuit
"low". This means that alarm output "ALARM1" is also on "low" independent of its configu- ration. "ALARM2" (Y1-P) The "low" output state always signals warning and malfunction states, independent of how output "ALARM1" (Y1-R) is configured. Leuze electronic ROD4… plus... -
Page 28: Restart
5.3.1 Y2 default settings The Ethernet interface is configured ex works as follows: • IP address: 192.168.60.3 • Subnet mask: 255.255.255.0 Notice! You can use RODplussoft to change the configuration of interface Y2. ROD4… plus Leuze electronic... -
Page 29: Functions Of Connection Y3
Y4 default settings The PC interface is configured ex works as follows: • Baud rate: 115.2kBd • Data bits: • Stop bits: • Parity: none Notice! Only the transmission rate of the interface can be changed using RODplussoft. Leuze electronic ROD4… plus... -
Page 30: Connection
If the LED does not illuminate, there are still objects located within the near detection field. In this case, change the location of the button and perform the test again. ROD4… plus Leuze electronic... -
Page 31: Integration In The Control System (Only Rod4 Plus And Rod4-08 Plus)
(make before break) and are operated directly at the two semiconductor outputs Fn1 (Y1-N) and Fn2 (Y1-O). The two semiconductor outputs possess an internal electronic current limit and are protected in the event of errors by fuse SI 2. Leuze electronic ROD4… plus... -
Page 32: Connection Example 2: With Detection Field Pair Switch
"WA". The relays K1 and K2 used here have overlapping contacts (make before break) and are operated directly at the two secure semiconductor outputs Fn1 (Y1-N) and Fn2 (Y1-O). ROD4… plus Leuze electronic... -
Page 33: Start-Up
RODplussoft and RODsoft. RODsoft is called up via RODplussoft. The use of interface Y3 for device configuration is a prerequisite for using RODsoft. Notice! The programs are described in the manuals, which can likewise be found on the supplied CD as PDF files. Leuze electronic ROD4… plus... -
Page 34: Configuring Measurement Applications With Rodplussoft
As a result, the control can e.g. be programmed for a driverless transportation system in such a way that a rough scan of the entire area in front of the ROD4…plus is performed during normal operation. Upon detection of an obstacle, a new measurement segment can ROD4… plus Leuze electronic... -
Page 35: Defining Detection Fields With Rodsoft
RODsoft configuration software. Current measurement values (yellow line) Far detection field (green line) Near detection field (red line) Figure 6.1: User interface of the RODsoft configuration software Leuze electronic ROD4… plus... -
Page 36: Screwing Down And Aligning The Device
Once the device is installed, the required device parameters set and the detection fields defined, the ROD4…plus can be put into operation. After you have switched on the voltage supply of the ROD4…plus, illumination of the red LED on the interface box indicates the operational readiness of the ROD4…plus. ROD4… plus Leuze electronic... -
Page 37: Testing And Maintenance
Do not use solvents or cleaning agents containing acetone. Use of improper cleaning agents can damage the housing window. If window monitoring continues to report a soiled cover even after cleaning, it must be replaced with a new front cover. Leuze electronic ROD4… plus... -
Page 38: Delivery Contents And Accessories
8-pin, cable length 5m Connection cable M12 RS 232/RS 422, axial M12 socket/ 50106882 K-D M12A-8P-10m-PUR open cable end, 8-pin, cable length 10m 50108991 D-ET1 RJ45 connector for Industrial Ethernet, freely configurable 50038066 BT ROD4 Mounting system for ROD4 ROD4… plus Leuze electronic... -
Page 39: Pin Assignments Kb-014S
Gray-pink 8.2.2 KB-ROD4plus… pin assignments M12 plug Signal Core color PIN on Sub-D socket Brown White Blue Black Gray 8.2.3 Pin assignment KB ET-…-SA-RJ45 (crossover cable) M12 plug Signal Core color RJ45 Yellow Orange White Blue Leuze electronic ROD4… plus... -
Page 40: Pin Assignments Kb Et
Pin assignments KB ET-…-SA M12 plug Signal Core color Yellow Orange White Blue 8.2.5 Pin assignments K-D M12A-8P-… M12 socket Signal Core color Tx+/TxD White Brown Green Rx+ / RxD Yellow GND/shield Gray RS 422 Pink Blue ROD4… plus Leuze electronic... -
Page 41: Bt Rod4 Mounting System
With the aid of the BT-ROD4 mounting system, pitches of maximum 8° downward or upward are possible. In addition, the mounting kit allows lateral inclinations of up to ±4°. Lateral view Scanner mounting surface Part overview All dimensions in mm Figure 8.1: Dimensioned drawing BT ROD4 Leuze electronic ROD4… plus... -
Page 42: Technical Data
4 (selectable via switching inputs) Output one PNP transistor output, max. 100mA Particularly in the far range, the ROD4-08 plus only detects large objects and objects with high diffuse reflection Table 9.2: Technical data - detection fields ROD4… plus Leuze electronic... -
Page 43: Electrical Data
1 stop bit With RODplussoft, all three interfaces can be used for configuration. Measurement data can be transferred either via Y2 or Y4. RODsoft can only communicate with the ROD4…plus via interface Y3. Leuze electronic ROD4… plus... -
Page 44: Software
0.36° ROD4 plus: 25scans/s or 40ms/scan ROD4-08 plus: Scanning rate ROD4-50 plus: ROD4-56 plus: 50scans/s or 20ms/scan ROD4-58 plus Laser class 1 acc. to IEC 60825-1:2007 Wavelength 905nm (infrared light) Impulse duration Max. output power (peak) ROD4… plus Leuze electronic... - Page 45 Technical data Optical properties Beam divergence 2mrad Time basis 100s Beam dimensions see diagram (figure 9.2) Table 9.5: Technical data - optical data Leuze electronic ROD4… plus...
- Page 46 Diffuse reflection in % for the ROD4-08 plus 10000 Reflector 1000 White plaster, writing paper Grey cardboard (18%) Black cord Distance [m] Figure 9.1: Object size/diffuse reflection as a function of distance for the ROD4… plus ROD4… plus Leuze electronic...
- Page 47 Technical data Beam dimensions in mm Light spot height Y Light spot width X Distance [m] Figure 9.2: Typical beam dimensions with the ROD4…plus Leuze electronic ROD4… plus...
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Page 48: Environmental Data
Interference rejection test impulse 1, 2, 3a, 3b and 5 (no application for vehi- cles with combustion motors) Rotating mirror drive brushless DC motor Rotating mirror bearings maintenance-free ball bearing Table 9.6: Technical data - environmental data ROD4… plus Leuze electronic... -
Page 49: Dimensioned Drawing Rod4
Technical data Dimensioned drawing ROD4…plus Zero point for measuring Scanning plane All dimensions in mm Figure 9.3: Dimensioned drawing ROD4…plus Leuze electronic ROD4… plus... -
Page 50: Status Messages, Errors And Error Rectification
IP 65. When in a voltage-free state, the LEDs are hidden from view by this cover. Figure 10.1: Ethernet status indicator Color Function / Meaning Ethernet system ready Ethernet connection present Ethernet data transmission active ROD4… plus Leuze electronic... -
Page 51: Rod4
Near detection field is occupied, Fn outputs are switched off Green Near detection field is free, Fn outputs are active • Slowly flashing (SF) at approx. 1Hz:warning message Yellow • Flashing fast (FF) at approx. 4Hz:error message • Continuous light (CL):restart-disable locked Leuze electronic ROD4… plus... -
Page 52: 10.2.1 Status Displays
RODsoft software. On the toolbar, click Load diagnostic data from scanner on the menu bar. The error messages from the last 8 events are documented. This first memory slot always contains the most recent error message. ROD4… plus Leuze electronic... -
Page 53: Table 10.2: Rod4...Plus - Diagnostic Codes And Causes
1110 Test of the switching outputs Switching output Fn1/Fn2 does not switch 1110 Test of the switching outputs A switching output Fn1/Fn2 is short 1111 Short-circuit test of the switching outputs circuited with ground Table 10.2:ROD4…plus - Diagnostic codes and causes Leuze electronic ROD4… plus... - Page 54 2201 Field monitoring the motor or switching off of the watchdog; internal fuse defective Error occurred during ROD4…plus start- 2302 Control of software execution up, secondary error Table 10.2:ROD4…plus - Diagnostic codes and causes ROD4… plus Leuze electronic...
- Page 55 No detection field activated during start-up 2802 detection field changeover of the ROD4…plus Monitoring of the access authorisation Confirmed single password has been 3016 with one-time password entered incorrectly Table 10.2:ROD4…plus - Diagnostic codes and causes Leuze electronic ROD4… plus...
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Page 56: Appendix
ROD4…plus, each with 2 detection fields (near and far). Field pair changeover. FPS1 Field pair switch to field pair 1. Measurement segment Area defined by start angle and stop angle whose measurement values are transmit- ted by the ROD4…plus. ROD4… plus Leuze electronic... - Page 57 Appendix Angular segment The working range of the ROD4…plus is divided into 529 angular segments. An angular segment corresponds to 0.36°. One measurement value is transmitted per angular segment. Leuze electronic ROD4… plus...
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