Pepperl+Fuchs 2-D LiDAR R2000 Series Manual
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Pepperl+Fuchs 2-D LiDAR R2000 Series Manual

Measuring sensors
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FACTORY AUTOMATION
MANUAL
2-D LiDAR Sensor
R2000 Measuring Sensors

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Summary of Contents for Pepperl+Fuchs 2-D LiDAR R2000 Series

  • Page 1 FACTORY AUTOMATION MANUAL 2-D LiDAR Sensor R2000 Measuring Sensors...
  • Page 2 2-D LiDAR Sensor With regard to the supply of products, the current issue of the following document is applicable: The General Terms of Delivery for Products and Services of the Electrical Industry, published by the Central Association of the Electrical Industry (Zentralverband Elektrotechnik und Elektroindustrie (ZVEI) e.V.) in its most recent version as well as the supplementary clause: "Expanded reservation of proprietorship"...

  • Page 3: Table Of Contents

    2-D LiDAR Sensor Contents 1 Introduction................. 5 Content of this Document ................5 Symbols Used....................5 2 Safety................... 7 Safety Information ..................7 Laser Class 1 ....................8 3 Product Description ............9 Validity ......................9 R2000 2-D LiDAR Sensor ................9 Functional Principle..................10 Technical Data ....................11 Indicators and Operating Elements.............11 Interfaces and Connections ................12 Scope of Delivery..................13...
  • Page 4 2-D LiDAR Sensor Contents Potential Causes of Faults ................31 9 Appendix ................32 Data Filter....................32 Amplitude Characteristics ................33 Pulse Ranging Technology (PRT) Glossary..........34 Using Open Source Programs..............36...

  • Page 5: Introduction

    2-D LiDAR Sensor Introduction Introduction Content of this Document This document contains information required to use the product in the relevant phases of the product life cycle. This may include information on the following: ■ Product identification ■ Delivery, transport, and storage ■...
  • Page 6 2-D LiDAR Sensor Introduction Danger! This symbol indicates an imminent danger. Non-observance will result in personal injury or death. Warning! This symbol indicates a possible fault or danger. Non-observance may cause personal injury or serious property damage. Caution! This symbol indicates a possible fault. Non-observance could interrupt the device and any connected systems and plants, or result in their complete failure.

  • Page 7: Safety

    2-D LiDAR Sensor Safety Safety Safety Information Read the following information carefully and follow this information when working with the device. Failure to observe the safety notices and warning messages in this documentation can lead to malfunctions and hazardous operating scenarios during operation.

  • Page 8: Laser Class 1

    2-D LiDAR Sensor Safety Delivery, Transport, Disposal Keep the original packaging. Always store and transport the device in the original packaging. The device, built-in components, packaging, and any batteries contained within must be disposed in compliance with the applicable laws and guidelines of the respective country.

  • Page 9: Product Description

    2-D LiDAR Sensor Product Description Product Description Validity This manual applies to all R2000-series measuring devices from firmware version 1.50 and hardware version 1.50 onward. The versions can be found in the device menu; see chapter 6.3.3. For devices using older versions, documentation is available on request. R2000 2-D LiDAR Sensor The 2-D LiDAR sensor is a compact 360°...

  • Page 10: Functional Principle

    2-D LiDAR Sensor Product Description Functional Principle The LiDAR sensor uses the principle of Pulse Ranging Technology (PRT). This means the device measures the time between the emission of a light pulse and the receipt of the pulse reflected by an object. Due to the constancy of the speed of light, this time is a measurement of distance.

  • Page 11: Technical Data

    2-D LiDAR Sensor Product Description Note Influence of ambient conditions The speed of light depends on the air temperature and barometric pressure. The influence of the air temperature is 1 ppm/K. The influence of the barometric pressure is -0.3 ppm/hPa. The user must take these faults into consideration when measuring long distances.

  • Page 12: Interfaces And Connections

    2-D LiDAR Sensor Product Description Interfaces and Connections The following connections are found on all devices: Power Supply There is a 4-pin M12 plug on the rear of the housing for connecting the power supply. The following diagram shows the pinout: Figure 3.2 Power supply connection layout 24 V power supply...

  • Page 13: Scope Of Delivery

    2-D LiDAR Sensor Product Description Interface: There is a 4-pin M12 socket on the rear of the housing for connecting the Ethernet interface. The following diagram shows the pinout: Figure 3.3 Ethernet connection layout The connector housing is located on the shield. Scope of Delivery The scope of delivery includes: ■...

  • Page 14: Accessories

    2-D LiDAR Sensor Product Description Accessories The following products are available as accessories. Name Description V1SD-G-2M-PUR- Patch cable, M12 to RJ45, length 2 m ABG-V45-G V1SD-G-5M-PUR- Patch cable, M12 to RJ45, length 5 m ABG-V45-G V1SD-G-ABG-PG9 Single-ended male cordset, M12 D-coded, 4-pin for bus cable V1-G-2M-PUR Single-ended female cordset, straight, M12, 4-pin, PUR cable V1-W-2M-PUR...

  • Page 15: Installation

    Retain the original packaging in case the device must be stored or shipped again at a later date. Should you have any questions, please contact Pepperl+Fuchs. Mounting Caution!
  • Page 16 2-D LiDAR Sensor Installation Mounting the 2-D LiDAR Sensor Only mount the sensor in locations that fulfill the following safety-relevant requirements: no aggressive environments, no direct sunlight, no excessive fluctuations in temperature and humidity. 1. In addition, note the following when selecting a mounting location: ■...

  • Page 17: Device Connection

    2-D LiDAR Sensor Installation Device Connection Electrical connection in accordance with IP65 Put protective covers on unused M12 connectors. The IP65 degree of protection is achieved. The protective covers can be ordered as accessories; see chapter 3.8. Danger! Danger to life from electric shock Absent or insufficient insulation can result in electric shock.

  • Page 18: Commissioning

    The initialization phase lasts approx. 15 seconds. This phase is shown by circles moving down the all-round display. 2. After the initialization phase, the Pepperl+Fuchs logo will appear on the all- round display. The device is now ready for operation.
  • Page 19 2-D LiDAR Sensor Commissioning Configuring a Connection via Auto IP The sensor is set to Auto IP by default. The Auto IP setting is the best way to connect directly to a PC. 1. If the network configuration of the sensor no longer matches the factory set- ting: 1.
  • Page 20 2-D LiDAR Sensor Commissioning After approx. 30 seconds, Microsoft® Windows® assigns an auto IP for the PC. DHCP Connecting via DHCP requires the availability of a DHCP server, such as a router, on the local network; see Auto IP, PC network card settings. If this requirement is fulfilled, you can set the sensor to DHCP.
  • Page 21 2-D LiDAR Sensor Commissioning 6. Click OK to confirm. Note Device restart You must restart the sensor after changing the Ethernet configuration.

  • Page 22: Operation

    2-D LiDAR Sensor Operation Operation Menu Structure Menu Adress Mode IP Address Subnet Mask Ethernet Info Gateway MAC Address Back Manuel DHCP Adress Mode Auto IP IP Address Back Subnet Mask Ethernet Setup Gateway Reboot Back...
  • Page 23 2-D LiDAR Sensor Operation...

  • Page 24: Operation

    2-D LiDAR Sensor Operation Operation The sensor is operated using the two buttons on the front. These buttons can be used to navigate within the menu structure. You can also use the two buttons to change parameters or enter values. The content of the all-round display will vary according to the input data.
  • Page 25 2-D LiDAR Sensor Operation Meaning of Buttons Button Explanation ARROW button. Press this button ■ To navigate to the next menu item, ■ To change a value. This button has a similar function to the ARROW button on the computer keyboard. ENTER button.
  • Page 26 2-D LiDAR Sensor Operation Bottom row This shows the currently selected parameter value. Underlined parameter This is the currently activated value. value Operation Takes you to the next available parameter value. Keep the button pressed for > 1 second to go to the next menu element up without changing the parameter.

  • Page 27: Description Of Menu Items

    2-D LiDAR Sensor Operation No function. Keep the ARROW button or the ENTER button pressed for > 1 second to go to the next menu element up. Back Menu Item The "Back" menu item returns you to the higher-level menu. Description of Menu Items 6.3.1 "Ethernet Info"...

  • Page 28: Sensor Setup" Menu Item

    Display off: The display goes dark as soon as the menu is exited. ■ Static logo: The display shows the Pepperl+Fuchs logo. The logo can be replaced with a custom bitmap file that will still be available after the device is switched on/off.

  • Page 29: Demos" Menu Item

    ■ Hardware: The display shows the current hardware version. ■ PFSDP: The display shows the current version of the Pepperl+Fuchs Scan Data Protocol. Factory Settings The factory settings for the sensor can be loaded in this menu item. To do this, select "Load"...

  • Page 30: Maintenance And Repair

    If the device needs to be repaired, return it to Pepperl+Fuchs. If you open or modify the device yourself, not only are you endangering yourself and others but you will void any warranty and absolve the manufacturer from any liability.

  • Page 31: Troubleshooting

    Is the sensor exposed to sunlight or positioned so that it is measuring into the sun? => Check installation point for sunlight. If none of these suggestions rectifies the fault, contact Pepperl+Fuchs. Do not repair, modify, or manipulate the device. If there is a defect, always replace the device with an original device.

  • Page 32: Appendix

    2-D LiDAR Sensor Appendix Appendix Data Filter The R2000 allows you to preprocess data. This can be useful for suppressing measured value noise or reducing the volume of output data, for example. The following measured data filters are available: ■ Average value filter: All distance data and amplitude data is determined arithmetically using an appropriate filter width.

  • Page 33: Amplitude Characteristics

    2-D LiDAR Sensor Appendix Amplitude Characteristics In addition to the measured value output for the distance, the R2000 generates an echo amplitude for each measuring step. The measured value for the echo amplitude is a value without a unit of measurement, ranging from 0 ... 4095 digits. The echo amplitude is a measure of the energy received by the R2000.

  • Page 34: Pulse Ranging Technology (Prt) Glossary

    2-D LiDAR Sensor Appendix Echoamplitude characteristic Echoamplitude [digit] 2500 2000 1500 1000 Distance X [m] Echoamplitude on Diamond Grade 983-10 Object remission 0% ... 90 % Figure 9.2 Amplitude characteristics OMD30M-R2000-B23-V1V1D*; OMD30M-R2000- B23-V1VD-HD-1L (ends at 30m); OMD12M-R2000-B23* (ends at 12 m) The measurement on reflective film is based on a vertical angle of incidence on a 40 mm-wide reflective strip and an angular resolution of 0.071°.
  • Page 35 2-D LiDAR Sensor Appendix Term Explanation Repeat accuracy (repeatability) The measurement is repeated on the same target and under the same conditions. The error is the repeatability value. The measured value noise is not taken into account. Measured value noise Randomly distributed deviation of a measured value by an average value.

  • Page 36: Using Open Source Programs

    2-D LiDAR Sensor Appendix Using Open Source Programs Pepperl+Fuchs uses a range of open source software in the R2000. These are the programs listed individually below from 1 to 12. We have edited programs 1 to 4: 1. U-Boot 2. Blackfin uClinux 3.
  • Page 37 Public License v2 and/or the Lesser General Public License. Pepperl+Fuchs offers to provide you and any third party with the source code for programs 1, 2, and 3 in the form in which we developed it for a period of three years from distribution by Pepperl+Fuchs, free of charge on a read/write tag commonly used for exchanging software.
  • Page 38 Twinsburg, Ohio 44087 · USA Tel. +1 330 4253555 E-mail: sales@us.pepperl-fuchs.com Asia Pacific Headquarters Pepperl+Fuchs Pte Ltd. Company Registration No. 199003130E Singapore 139942 Tel. +65 67799091 E-mail: sales@sg.pepperl-fuchs.com www.pepperl-fuchs.com Subject to modifications Copyright PEPPERL+FUCHS • Printed in Germany DOCT-6019A 05/2020...

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