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Triple-IN PS250-90 User Manual

Lightweight laser range module
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PS250-90 Lightweight
Laser Range Module
Triple- - - - In GmbH
Triple
In GmbH | | | | Poppenbütteler Bogen 64,
Triple
Triple
In GmbH
In GmbH
Poppenbütteler Bogen 64, D D D D - - - - 22339 Hamburg
Poppenbütteler Bogen 64,
Poppenbütteler Bogen 64,
User's Manual
User's Manual
User's Manual
User's Manual
22339 Hamburg
22339 Hamburg
22339 Hamburg

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Summary of Contents for Triple-IN PS250-90

  • Page 1 PS250-90 Lightweight Laser Range Module User’s Manual User’s Manual User’s Manual User’s Manual Triple Triple- - - - In GmbH In GmbH | | | | Poppenbütteler Bogen 64, Poppenbütteler Bogen 64, D D D D - - - - 22339 Hamburg...

  • Page 2: Table Of Contents

    ENERAL ANDLING NSTRUCTIONS (ESD) ..6 REVENTION OF LECTROSTATIC ISCHARGE TO LECTROSTATICALLY ENSITIVE EVICES TRIPLE-IN’S KEM TIME-OF-FLIGHT TECHNOLOGY ............... 7 OPERATING FEATURES ...................... 9 ........................9 YSTEM PARTS PS R ..................11 ANGE ODULE ERO POINT ........................11 CONNECTORS ........................14 RJ45 E .....................
  • Page 3 ATA AND ABLE IAGRAMS 10.5 3D CAD M ......................59 ODEL 10.6 ......................59 ECHNICAL DATA INDEX ..........................61 11.1 ......................61 OMPLETE ONTENT 11.2 ......................62 ABLE OF IGURES © Triple-In GmbH • 27/01/2016 11:07:00 PSxxx-20 Laser Scanner User's Manual...

  • Page 4: About This Document

    • accurate in range and angle • fast scan rate • robust • real time Ethernet This document describes the PS250-90 Lightweight Laser Range Module. It is related to the PS250- - - - 90 Lightweight Range Module PS250 90 Lightweight Range Module Rev.

  • Page 5: Safety Instructions

    To reduce the risk of electric shock, do not remove the cover. Device contains high voltage components! Connect and disconnect electrical linkages only under de-energized conditions. Limited Warranty Triple-IN’s General Condition of Sales grants limited warranty for defects in material or workmanship in the new PS Laser Scanner. Limited Warranty Limited Warranty...

  • Page 6: Warnings

    • Never touch the lenses or the surfaces of the mirrors. • Never clean the mirror with optics paper or with any kind of liquids. Use compressed air only. © Triple-In GmbH • 27/01/2016 11:07:00 5 5 5 5 PSxxx-20 Laser Scanner User's Manual...

  • Page 7: (Esd)

    • Immediately before removing the protective material from the leads of a replacement ES device, touch the protective material to the chassis or circuit assembly into which the device will be installed. © Triple-In GmbH • 27/01/2016 11:07:00 6 6 6 6 PSxxx-20 Laser Scanner User's Manual...

  • Page 8: Triple-In's Kem Time-Of-Flight Technology

    Triple-IN GmbH Triple-IN’s KEM Time-of-Flight Technology The technological basis for the Triple-IN PS Range Modules is “Time-of-Flight” (ToF): the travel time of light emitted by a laser diode to natural surface. Triple-IN’ KEM method (“kontinuierliche Event Messung”) improves this well-...
  • Page 9 The distance to the target is calculated by T = ToF * c / 2 - corr distance ToF measured time-of-flight speed of light in ambient atmosphere corr echo signal corrections © Triple-In GmbH • 27/01/2016 11:07:00 8 8 8 8 PSxxx-20 Laser Scanner User's Manual...

  • Page 10: Operating Features

    Picture 4: PS Range Module left hand side Measurement processing unit MPU Motor controller board Pin header connector Motor Unit (bottom side) Picture 5: PS Range Module right hand side. © Triple-In GmbH • 27/01/2016 11:07:00 9 9 9 9 PSxxx-20 Laser Scanner User's Manual...
  • Page 11 • Receiver contains a receiver diode and is connected with the KEM-IC. • Measurement Processing Unit (MPU) contains a microcontroller and a Triple-IN KEM-IC chip to record time-of- flight events. • Angle Encoder is an encoder with a resolution of 32000 coder counts.

  • Page 12: Module Zero Point

    Point of origin Picture 7 PS Range Module zero point Scan Area The scanner triggers 1000 laser beams on a 90° scan field, starting at 45°: © Triple-In GmbH • 27/01/2016 11:07:00 11 11 11 11 PSxxx-20 Laser Scanner User's Manual...
  • Page 13 • The scanner firmware handles angles as integer value in milli-degree. The laser emits 905 nm infrared light. The laser spot size on the target surface increases with the distance: © Triple-In GmbH • 27/01/2016 11:07:00 12 12 12 12 PSxxx-20 Laser Scanner User's Manual...
  • Page 14 Triple-IN GmbH Picture 9 Laser Spot size over distance © Triple-In GmbH • 27/01/2016 11:07:00 13 13 13 13 PSxxx-20 Laser Scanner User's Manual...

  • Page 15: Connectors

    • serial interface to the Communication Board (Olimex) • digital switching outputs and • power supply. Pin 1 is identified by a square solder mask. © Triple-In GmbH • 27/01/2016 11:07:00 14 14 14 14 PSxxx-20 Laser Scanner User's Manual...
  • Page 16 9 11 13 15 17 19 2 4 6 8 10 12 14 16 18 20 Picture 11: 20 Pin header connector Picture 12: Pin header connector layout © Triple-In GmbH • 27/01/2016 11:07:00 15 15 15 15 PSxxx-20 Laser Scanner User's Manual...

  • Page 17: Cables

    Cables 5.3.1 About the Interface Adapter The interface adapter allows the usage of Triple-IN standard cables that were originally designed for PSxxx-90 Laser Scanners. The adapter connects the 20 pin header socket with serial interfaces, the local network, and includes Power over Ethernet.
  • Page 18 In the table, any grey field is there for an expansion to a standard sensor. Do not connect these signals are required for special scanner versions. © Triple-In GmbH • 27/01/2016 11:07:00 17 17 17 17 PSxxx-20 Laser Scanner User's Manual...
  • Page 19 " Bus system plug connector - VS-08-M12MR-10G-P SCO - 1417443". • The pin/pair assignments conforms with the T568B standard Picture 15: M12 Data and PoE scheme (plug side view) © Triple-In GmbH • 27/01/2016 11:07:00 18 18 18 18 PSxxx-20 Laser Scanner User's Manual...
  • Page 20 The Ethernet interface of the control computer shall be protected by an Ethernet Splitter to prevent short circuits if power is connected to the serial interface connector. Picture 16 PoE wiring scheme © Triple-In GmbH • 27/01/2016 11:07:00 19 19 19 19 PSxxx-20 Laser Scanner User's Manual...
  • Page 21 A suitable PoE injector and power supply is offered by: PHIHONG USA Model: POE31U-240 for 24 Volt/30 Watt Available on www.digikey.com Digikey part number: 993-1083-ND © Triple-In GmbH • 27/01/2016 11:07:00 20 20 20 20 PSxxx-20 Laser Scanner User's Manual...

  • Page 22: Transport And Integration

    Avoid the incidence of component damage caused by electrostatic discharge (ESD). WARNING WARNING WARNING WARNING Always transport the PS Range Module in the transport box. For shipment the transport box in an adequate packaging. © Triple-In GmbH • 27/01/2016 11:07:00 21 21 21 21 PSxxx-20 Laser Scanner User's Manual...

  • Page 23: Avoidance

    The PS Range Module can be fitted with socket head screws with washers on seven M3 thread holes on the rear side, screw-in depth max. 10 mm. Maximum tightening torque is 12 Nm. © Triple-In GmbH • 27/01/2016 11:07:00 22 22 22 22 PSxxx-20 Laser Scanner User's Manual...
  • Page 24 • Observe the maximum screw-in depth for the screw holes. The device will be mechanically destroyed if the maximum screw-in depth is exceeded! • Do not extend the maximum tightening torque of 12 Nm. © Triple-In GmbH • 27/01/2016 11:07:00 23 23 23 23 PSxxx-20 Laser Scanner User's Manual...

  • Page 25: Window

    Picture 22 Window position The window must be installed perfectly parallel to the mirror cube axis, with a deviation < 0.5° to avoid laser reflections: © Triple-In GmbH • 27/01/2016 11:07:00 24 24 24 24 PSxxx-20 Laser Scanner User's Manual...
  • Page 26 Triple-IN GmbH Picture 23 Window tilt angle © Triple-In GmbH • 27/01/2016 11:07:00 25 25 25 25 PSxxx-20 Laser Scanner User's Manual...

  • Page 27: Setting Into Operation

    TeraTerm is a very suitable program for the so-called Terminal Mode of the PS Laser Scanner. TeraTerm is a free software terminal emulator (serial communication program) for MS-Windows. The program is available on Triple-IN’s webserver. Any other terminal program will be suitable as well. 1. Download TeraTerm from Triple-IN’s FTP-Server.
  • Page 28 7.1.2 Windows Program “TCP/IP Manager” to manage Network Configurations Triple-IN recommends the open-source Freeware “TCP/IP Manager” to prepare the computer’s network settings for PS Laser Sensors. With the tool, you may simply save and restore network settings for PS Laser Scanners and standard Windows applications in different profiles.
  • Page 29 7.1.3 Triple-IN’s PSControlProgram Triple-IN’s PSControlProgram is a PC application for controlling the functionality of Triple-In Laser sensors via Ethernet connection. It makes the user able to set the user parameters of the sensor, start measurements, record the scans to files or show it on the chart or in the table.

  • Page 30: Procedure

    The standard communication settings are: Type: Serial input/output on RS232 Baud rate: 115.200 Baud, 8 data bit, no parity, 1 stop bit, no handshake © Triple-In GmbH • 27/01/2016 11:07:00 29 29 29 29 PSxxx-20 Laser Scanner User's Manual...
  • Page 31 The second serial interface is connected with the communication board and is used for Ethernet firmware updates only (see chapter "Firmware updates"). It displays the current Ethernet board firmware version and a connection status. © Triple-In GmbH • 27/01/2016 11:07:00 30 30 30 30 PSxxx-20 Laser Scanner User's Manual...
  • Page 32 The Ethernet interface is not available while the sensor operates in the Terminal Mode. ¶ ¶ ¶ ¶ ________________________________________________________________________ Terminal Mode ________________________________________________________________________ 1 - Show user parameter 2 - Show system health status © Triple-In GmbH • 27/01/2016 11:07:00 31 31 31 31 PSxxx-20 Laser Scanner User's Manual...
  • Page 33 Starts the motor and carries out a single scan. The result is presented as CVS table. This function shall be used to check the basic functionality of the sensor. © Triple-In GmbH • 27/01/2016 11:07:00 32 32 32 32 PSxxx-20 Laser Scanner User's Manual...

  • Page 34: Connection

    The sensor IP address and the Gateway IP address can be set in the RS232 Terminal Mode with the parameters Parameter “Sensor IP Address AAA.xxx.xxx.xxx”: © Triple-In GmbH • 27/01/2016 11:07:00 33 33 33 33 PSxxx-20 Laser Scanner User's Manual...
  • Page 35 Picture 28 PSControlProgram network connection dialog 4. Once the connection has been made, all parameters including the network settings can be changed on the “Parameters” view. © Triple-In GmbH • 27/01/2016 11:07:00 34 34 34 34 PSxxx-20 Laser Scanner User's Manual...

  • Page 36: Module Configuration

    The user can edit the parameter either by use of the Terminal Mode, or over RS232 and Ethernet by use of binary commands. © Triple-In GmbH • 27/01/2016 11:07:00 35 35 35 35 PSxxx-20 Laser Scanner User's Manual...
  • Page 37 Set to 0 if you wish the red laser marker to be off after startup. Temp: Red Laser Temporary parameter indicating the current status of Marker status: © Triple-In GmbH • 27/01/2016 11:07:00 36 36 36 36 PSxxx-20 Laser Scanner User's Manual...
  • Page 38 Scan data content: Defines the data transmitted with the GSCN command. 4=distances, The parameter is equal with the number of bytes 7=distance+Echo+PW transferred for each echo: 8=distances+PW © Triple-In GmbH • 27/01/2016 11:07:00 37 37 37 37 PSxxx-20 Laser Scanner User's Manual...
  • Page 39 51 21000 Const: Near field Gives information about the actual near field suppression range dimension. [0.1 mm] © Triple-In GmbH • 27/01/2016 11:07:00 38 38 38 38 PSxxx-20 Laser Scanner User's Manual...
  • Page 40 65 0 User parameter ID Parameter without function. used for testing 66 0 Temp: Memory write User parameters are stored the volatile memory. protection, 1=locked © Triple-In GmbH • 27/01/2016 11:07:00 39 39 39 39 PSxxx-20 Laser Scanner User's Manual...

  • Page 41: Cans

    • Scan angle: max. 90° with 500 points. • Scan angle step: 90°/500 points = 0.180° • Scan Angle Shift: Fast-Mode scans are not shifted. © Triple-In GmbH • 27/01/2016 11:07:00 40 40 40 40 PSxxx-20 Laser Scanner User's Manual...
  • Page 42 45.000; Profile start direction [deg]; 90.000; Scan angle [deg]; 0.090; Angle step [deg]; 1000; Points in profile ; 0; Master echo (0=last echo); 1; Number of echoes; © Triple-In GmbH • 27/01/2016 11:07:00 41 41 41 41 PSxxx-20 Laser Scanner User's Manual...
  • Page 43 • Direction: direction to the target in degree. • Distance: distance in meters to the target surface. • Pulse width : echo signal pulse width in pico-seconds © Triple-In GmbH • 27/01/2016 11:07:00 42 42 42 42 PSxxx-20 Laser Scanner User's Manual...

  • Page 44: Master Echo Selection

    GmbH 7.6.3 Taking Scans with Triple-IN’s PSControlProgram Triple-IN’s PSControlProgram is a Windows application with user menu, toolbar, status line, workspace explorer bar and the data output widgets ordered in the tabs. User menu and main toolbar are providing the basic functionality for the system actions like connecting the program with a sensor, performing the scans, recording, loading or, exporting the data to “*.csv”...
  • Page 45 A “low echo filter” removes measurements with echo signals less than 3%. To use the full range of sensitivity, the low echo filter can be disabled. The user parameter must be set to 0: © Triple-In GmbH • 27/01/2016 11:07:00 44 44 44 44 PSxxx-20 Laser Scanner User's Manual...

  • Page 46: Digital Switching Outputs

    • To give a scan synchronization signal • As switch output, controlled by the connected computer • As a preset counter, providing a programmable number of output signals. © Triple-In GmbH • 27/01/2016 11:07:00 45 45 45 45 PSxxx-20 Laser Scanner User's Manual...
  • Page 47 Make sure that the parameter “SW preset counter setup” has reached 0 before adding new counts. The hold time can be defined by the user parameter © Triple-In GmbH • 27/01/2016 11:07:00 46 46 46 46 PSxxx-20 Laser Scanner User's Manual...
  • Page 48 4; Temp: SW1 preset counter: setup; 2; Temp: SW2 preset counter: setup; Results in the following signal pattern: Picture 31 Digital switching output example signal pattern © Triple-In GmbH • 27/01/2016 11:07:00 47 47 47 47 PSxxx-20 Laser Scanner User's Manual...

  • Page 49: Updating The Firmware

    7. 7. 7. 7. Locate and single click on the required firmware binary file. 8. 8. 8. 8. Select 1K 1K 1K 1K from the options at the foot of the dialogue and click "Open" " " " : : : : © Triple-In GmbH • 27/01/2016 11:07:00 48 48 48 48...
  • Page 50 ROM 0x00008000 = 164352 words 12. The sensor will now reboot the new firmware. PS Range Module [PS Firmware; 03.xx.xx; 2016-01-20; (c) Triple-IN GmbH 2016] 1234 © Triple-In GmbH • 27/01/2016 11:07:00 49 49 49 49 PSxxx-20 Laser Scanner User's Manual...

  • Page 51: Communication Board

    14. Make sure that the Communication board RS232 of the serial interface connector are connected with the serial interface of your computer. 15. Proceed like described for the MPU board update. © Triple-In GmbH • 27/01/2016 11:07:00 50 50 50 50 PSxxx-20 Laser Scanner User's Manual...

  • Page 52: Trouble Shooting

    Terminal mode, Green is steady on Scan in process Yellow is steady on System error Red is steady on. Check system health status. © Triple-In GmbH • 27/01/2016 11:07:00 51 51 51 51 PSxxx-20 Laser Scanner User's Manual...
  • Page 53 PS Range Modules perform a self-test at startup and checks various hardware components. All LED are blinking during the self-test. The result of the self-test is reported on the RS232 of the MPU board. PS Range Module [PS Firmware; 03.xx.xx; 2016-01-20; (c) Triple-IN GmbH 2015] 1234 Local IP: 10.0.1.234 1024 Gateway IP: 10.0.10.0:1025...
  • Page 54 Error: Check I/O Board version! • The MPU firmware has been updated and requires a newer version of the communication board firmware. Please follow the instructions from chapter © Triple-In GmbH • 27/01/2016 11:07:00 53 53 53 53 PSxxx-20 Laser Scanner User's Manual...
  • Page 55 WARNING WARNING WARNING Any other warning or error message reports a serious system defect. In this case, contact Triple-IN for a service and repair request. © Triple-In GmbH • 27/01/2016 11:07:00 54 54 54 54 PSxxx-20 Laser Scanner User's Manual...

  • Page 56: Technical Specifications

    Triple-IN GmbH Technical Specifications 10.1 Dimensional drawings and outlines Picture 34 PS Range Module Outlines © Triple-In GmbH • 27/01/2016 11:07:00 55 55 55 55 PSxxx-20 Laser Scanner User's Manual...

  • Page 57: Housing Window Specification

    Triple-IN GmbH 10.2 Housing Window Specification No scale! Picture 35 Housing Window specification © Triple-In GmbH • 27/01/2016 11:07:00 56 56 56 56 PSxxx-20 Laser Scanner User's Manual...

  • Page 58: Serial Interface Cable Diagrams

    Triple-IN GmbH 10.3 Serial interface cable diagrams Picture 36 Serial interface connecting cable © Triple-In GmbH • 27/01/2016 11:07:00 57 57 57 57 PSxxx-20 Laser Scanner User's Manual...

  • Page 59: Data And Poe Cable Diagrams

    Triple-IN GmbH 10.4 Data and PoE Cable Diagrams Picture 37 Data and PoE cable © Triple-In GmbH • 27/01/2016 11:07:00 58 58 58 58 PSxxx-20 Laser Scanner User's Manual...

  • Page 60: Cad Model

    Digital switching output 5 Volt Programmable function: Synchronization signal, preset counter Operating temperature range 10 to 50 °Celsius Storage temperature range 0 to 80 ° Celsius © Triple-In GmbH • 27/01/2016 11:07:00 59 59 59 59 PSxxx-20 Laser Scanner User's Manual...
  • Page 61 Triple-IN GmbH IP Protection class No solid particle protection No liquid ingress protection Weight 1000 g © Triple-In GmbH • 27/01/2016 11:07:00 60 60 60 60 PSxxx-20 Laser Scanner User's Manual...

  • Page 62: Index

    ENERAL ANDLING NSTRUCTIONS (ESD) ..6 REVENTION OF LECTROSTATIC ISCHARGE TO LECTROSTATICALLY ENSITIVE EVICES TRIPLE-IN’S KEM TIME-OF-FLIGHT TECHNOLOGY ............... 7 OPERATING FEATURES ...................... 9 ........................9 YSTEM PARTS PS R ..................11 ANGE ODULE ERO POINT ........................11 CONNECTORS ........................14 RJ45 E .....................
  • Page 63 AKING CANS 7.6.1 Setting up the Scan mode ..................40 7.6.2 Taking Scans with the Terminal Mode ..............41 7.6.3 Taking Scans with Triple-IN’s PSControlProgram ............ 43 ................. 43 ILTERS AND ASTER CHO SELECTION 7.7.1 Near-field suppression .................... 43 7.7.2 Low echo filter ......................
  • Page 64 Picture 34 PS Range Module Outlines ..............55 Picture 35 Housing Window specification ..............56 Picture 36 Serial interface connecting cable ............57 Picture 37 Data and PoE cable .................. 58 © Triple-In GmbH • 27/01/2016 11:07:00 63 63 63 63 PSxxx-20 Laser Scanner User's Manual...

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