Related Manuals for Leuze electronic rotoScan ROD4plus
Summary of Contents for Leuze electronic rotoScan ROD4plus
- Page 1 ROD4plus / ROD4-08plus Area Scanning Distance Sensor T E C H N I C A L D E S C R I P T I O N...
- Page 2 Leuze electronic GmbH + Co. KG P.O. Box 1111, D- 73277 Owen / Teck Tel. +49(0) 7021/ 573-0, Fax +49(0)7021/ 573-199 info@leuze.de • www.leuze.com Sales and Service Germany Sales Region North Sales Region South Sales Region East Phone 07021/573-306 Phone 07021/573-307...
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Page 3: Table Of Contents
Functions of connection Y2....................27 5.3.1 Y2 default settings ........................27 Functions of connection Y3....................28 5.4.1 Y3 default settings ........................28 Functions of connection Y4....................28 5.5.1 Y4 default settings ........................28 Connection ......................... 29 5.6.1 Electrical supply........................... 29 Leuze electronic rotoScan ROD4... - Page 4 Status messages, errors and error rectification ............48 10.1 Ethernet status indicator ....................48 10.2 ROD4…plus status indicator....................49 10.2.1 Status displays ..........................50 10.3 Diagnostic codes and causes .................... 50 Appendix........................... 54 11.1 Terms and abbreviations ROD4…plus ................54 rotoScan ROD4... Leuze electronic...
- Page 5 Figure 9.3: Dimensioned drawingROD4…plus................47 Figure 10.1: Ethernet status indicator..................... 48 Figure 10.2: ROD4…plus status indicator ..................49 Table 10.1: Status displays on the rotoScan ROD4…plus............50 Table 10.2: ROD4…plus - Diagnostic codes and causes ............51 Leuze electronic rotoScan ROD4...
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Page 6: General Information
European standards and directives. 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 rotoScan ROD4... -
Page 7: Safety Notices
Safety notices Safety notices Safety standards The rotoScan ROD4plus / rotoScan ROD4-08plus distance sensor (abbreviated as ROD4…plus in the following) has been developed, produced and tested subject to the appli- cable safety standards. It represents the state of the art. -
Page 8: Application Conditions And Intended Use
• If the start disable/manual restart is provided, a test of all detection fields should be performed prior to release - there must not be any objects in the detection fields. rotoScan ROD4... Leuze electronic... -
Page 9: Restrictions With Regards To Use
• Vapours, smoke, dust and all particles visible in the air could affect the measurement values and cause the semiconductor outputs to switch off. • Avoid large temperature fluctuations. Leuze electronic rotoScan ROD4... -
Page 10: Working Safely
Figure 2.1: Attachment of the stick-on label with warning notices Attention! Access and changes to the device , except where expressly described in this operating man- ual, are not authorised. rotoScan ROD4... Leuze electronic... -
Page 11: Organisational Measures
Mounting, commissioning and maintenance of the device may only be carried out by quali- fied personnel. Electrical work must be carried out by a certified electrician. Repair Repairs must only be carried out by the manufacturer or an authorised representative. Leuze electronic rotoScan ROD4... -
Page 12: Description
Description Description Technical overview Designation Type Part No. rotoScan ROD4plus without heater 501 06481 with integrated heating, rotoScan ROD4-08plus 501 06480 dust-insensitive version Table 3.1: Device types The ROD4…plus is an optical, two-dimensional measuring distance sensor. It could also be referred to as an optical, area radar unit. -
Page 13: Object Measurement
The ROD4…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 rotoScan ROD4... -
Page 14: 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. rotoScan ROD4... Leuze electronic... -
Page 15: Measurement Function
- Area configuration - Measurement data filtering: minimum and maximum values - Online commands • Four freely programmable near detection fields (up to maximum 30m) • Four freely programmable far detection fields (up to maximum 50m) Leuze electronic rotoScan ROD4... -
Page 16: 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 rotoScan ROD4... Leuze electronic... -
Page 17: Object Detection
Description Pallet measurement Dimension measurement in materials handling Figure 3.6: Application example - dimension measurement 3.4.2 Object detection Driverless transportation system ROD4…plus as the "eye" of a service robot Figure 3.7: Application example - service robot Leuze electronic rotoScan ROD4... -
Page 18: Figure 3.8: Application Example - Automatic Parking Garage
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 rotoScan ROD4... Leuze electronic... - Page 19 • 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. Leuze electronic rotoScan ROD4...
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Page 20: 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). rotoScan ROD4... Leuze electronic... -
Page 21: Electrical Connection
Figure 5.1: 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 protection class IP 65. Leuze electronic rotoScan ROD4... -
Page 22: 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 rotoScan ROD4... Leuze electronic... -
Page 23: Connector Assignments For Connection Y1
Pin assignments for connection Y2 For an Ethernet connection, you should 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 Leuze electronic rotoScan ROD4... -
Page 24: 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 rotoScan ROD4... Leuze electronic... -
Page 25: 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 Leuze electronic rotoScan ROD4... -
Page 26: 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. rotoScan ROD4... Leuze electronic... -
Page 27: Figure 5.3: Example: Detection Field Pair Switch For A Dts Application
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. Leuze electronic rotoScan ROD4... -
Page 28: 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. rotoScan ROD4... Leuze electronic... -
Page 29: 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. Leuze electronic rotoScan ROD4... -
Page 30: 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. rotoScan ROD4... Leuze electronic... -
Page 31: 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. Leuze electronic rotoScan ROD4... -
Page 32: Integration In The Control System
(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. rotoScan ROD4... Leuze electronic... -
Page 33: 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). Leuze electronic rotoScan ROD4... -
Page 34: Commissioning
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. rotoScan ROD4... Leuze electronic... -
Page 35: Configuring Measurement Applications With Rodplussoft
ROD4…plus is performed during normal operation. Upon detection of an obstacle, a new measurement segment can be defined around the obstacle. Measurement is then performed with the maximum possible accuracy within this area. Leuze electronic rotoScan ROD4... -
Page 36: Defining Detection Fields With Rodsoft
Before commissioning the device, you must adjust the device parameters and the detection fields for your application. To do this, configure the ROD4…plus using the RODsoft software user manual so that the detection fields are optimised for the monitoring task. rotoScan ROD4... Leuze electronic... -
Page 37: 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. Leuze electronic rotoScan ROD4... -
Page 38: Testing And Maintenance
Do not use solvents or cleaning agents containing acetone. Use of improper cleaning agents can damage the optical window. If window monitoring continues to report a soiled cover even after cleaning, it must be replaced with a new front cover. rotoScan ROD4... Leuze electronic... -
Page 39: Delivery Contents And Accessories
Connection cable M12 RS 232/RS 422, axial M12 socket/open 501 06882 K-D M12A-8P-10m-PUR cable end, 8-pin, cable length 10m 50108991 D-ET1 RJ45 connector for Industrial Ethernet, freely configurable 500 38066 BT ROD4 Mounting system for ROD4 Leuze electronic rotoScan ROD4... -
Page 40: Pin Assignments Kb-014S
8.2.2 Pin assignments KB-ROD4plus… Signal Core colour PIN on Sub-D socket connector brown white blue black grey 8.2.3 Pin assignments KB ET-…-SA-RJ45 (cross-over cable) M12-Stecker Signal Core colour RJ45 yellow orange white blue rotoScan ROD4... Leuze electronic... -
Page 41: Pin Assignments Kb Et
Pin assignments KB ET-…-SA Signal Core colour connector yellow orange white blue 8.2.5 Pin assignments K-D M12A-8P-… M12 socket Signal Core colour Tx+/TxD white brown green Rx+ / RxD yellow GND/shield grey RS 422 pink blue Leuze electronic rotoScan ROD4... -
Page 42: 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…plus rotoScan ROD4... Leuze electronic... -
Page 43: Technical Data
4 (selectable via switching inputs) Output one PNP transistor output, max. 100mA Particularly in the far range, the ROD4-08plus only detects large objects and objects with high diffuse reflection Table 9.2: Technical data - detection fields Leuze electronic rotoScan ROD4... -
Page 44: 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. rotoScan ROD4... Leuze electronic... -
Page 45: Software
25scans/s or 40ms/scan class 1 (eye safe), DIN EN 60825-1 wavelength = 905nm Laser safety class beam divergence = 2mrad time base= 100s Laser beam approx. 15mm diameter, distance dependent Table 9.5: Technical data - optical data Leuze electronic rotoScan ROD4... -
Page 46: Figure 9.1: Object Size/Diffuse Reflection As A Function Of Distance For The Rod4Plus
Distance [m] Diffuse reflection in % for the ROD4-08plus 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 ROD4plus rotoScan ROD4... Leuze electronic... -
Page 47: Figure 9.2: Typical Beam Dimensions With The Rod4
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 rotoScan ROD4... -
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 rotoScan ROD4... Leuze electronic... -
Page 49: Dimensioned Drawingrod4
Technical data Dimensioned drawingROD4…plus Zero point for measuring Scanning plane All dimensions in mm Figure 9.3: Dimensioned drawingROD4…plus Leuze electronic rotoScan ROD4... -
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 LED Colour Function / Meaning Ethernet system ready Ethernet connection present Ethernet data transmission active rotoScan ROD4... 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 rotoScan ROD4... -
Page 52: 10.2.1 Status Displays
You can only call up this list with the RODsoft software. On the toolbar, click or select System data 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. rotoScan ROD4... Leuze electronic... -
Page 53: Figure 10.2: Rod4
Switching output Fn1/Fn2 does not switch 1110 Test of the switching outputs Short-circuit test of the switching out- A switching output Fn1/Fn2 is short 1111 puts circuited with ground Table 10.2: ROD4…plus - Diagnostic codes and causes Leuze electronic rotoScan ROD4... - 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 rotoScan ROD4... Leuze electronic...
- Page 55 No detection field activated during start-up 2802 detection field switching 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 rotoScan ROD4...
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Page 56: Appendix
Working range The working range of the ROD4…plus (190° - from -5.04° to 185.04°) is divided into 0.36° angular segments (corresponds to 529 measurement values). See "Working range and angular resolution" on page 12. rotoScan ROD4... Leuze electronic...
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