SICK MRS1000 Operating Instructions Manual
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SICK MRS1000 Operating Instructions Manual

3d 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
MRS1000
3D 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 MRS1000 3D 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 | MRS1000 8020494/1AZF/2021-05-10 | SICK Subject to change without notice...

  • Page 3: Table Of Contents

    Transport inspection................. Storage...................... Mounting..................... 34 Mounting instructions................Mounting device..................8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...
  • Page 4 Configuring interfaces............. 12.5.6 Some useful functions............. 12.5.7 Configuring the device............. O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | 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. 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 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 | MRS1000 8020494/1AZF/2021-05-10 | 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. 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 8: Limitation Of Liability

    Knowledge of the current safety regulations in the workplace ■ O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK Subject to change without notice...

  • Page 9: Operational Safety And Particular Hazards

    Install the grounding for the product and the system in accordance with national ■ and regional regulations. 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 10: Product Description

    The devices of the MRS1000 product family are arranged according to the following type code: O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK...

  • Page 11: Type Label

    Conformity mark/certification mark, symbol: Observe the operating instructions! Manufacturer 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 12: Principle Of Operation

    165,000 echoes per second with every scan. Every single HDDM+ measured value output therefore provides even more information because it is not just composed of O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK...

  • Page 13: Direction Measurement

    Figure 5: Angle of reflection 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 14: Scanning Range

    The better a surface reflects the incident beam back to the device, the greater the scanning range of the device. O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK...
  • Page 15 Figure 10: Statistical error for white objects as a function of object distance for various ambient light influences 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 16: Object Sizes

    Example calculation of the minimum object size at a distance of 16 m (16,000 mm): Angular resolution: 0.25° -> 4.4 mrad O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK...

  • Page 17: Multi-Echo Analysis

    8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...
  • Page 18 Figure 15: Multi-echo analysis: example industrial application for mining. Glass pane Dust Measuring object O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK Subject to change without notice...

  • Page 19: Filter

    The values calculated by the median filter are then averaged over a configurable number of scans by the mean filter. 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...
  • Page 20 In doing so, successive scans are continuously evaluated in order to detect static objects. O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK...
  • Page 21 Median calculation: 0 (lowest value) | 0 | 0 | 850 | 850 (median) | 950 | 1,100 | 1,150 | 1,200 (highest value) 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...
  • Page 22 Figure 26: Ground reference evaluation, explanation of application parameters Yaw angle Roll angle O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK Subject to change without notice...
  • Page 23 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 24: Multi-Plane Technology

    • Difference = 20 ms (corresponds to a scan data output at 50 Hz) O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK...

  • Page 25: Interlaced Mode

    Normally, the jitter of the angular position of the scan points is detectable. 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...
  • Page 26 Module 4 (blind zone) Module 1 (-60°) Near range Detection zone O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK Subject to change without notice...

  • Page 27: Rssi Values

    8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 28: Contamination Indication

    In order to prevent collisions between vehicles, and between vehicles and fixed objects, the switching field must have sufficient length and width. O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK...
  • Page 29 LiDAR sensor and the vehicle control’s response time. 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...
  • Page 30 (e.g., particle filter). O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK...
  • Page 31 ZR = Supplement for application-related influences or the selected application parame‐ ters 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 32: Transport And Storage

    Avoid mechanical shocks. • Storage temperature: see "Technical data", page O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK Subject to change without notice...
  • Page 33 For storage periods of longer than 3 months, check the general condition of all components and packaging on a regular basis. 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 34: Mounting

    Radiation sources with a wavelength of 850 nm can cause interference if they affect the device directly. O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK...
  • Page 35 Figure 32: Arrangement for 2 devices 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 36: Electrical Installation

    6.5 m at 12 V; 46.5 m at 24 V; 66.5 m at 30 V. O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK...

  • Page 37: Prerequisites For Safe Operation Of The Device

    Closed current loop with equalizing currents via cable shield Ground potential difference 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...
  • Page 38 Within the islands, a stable equipotential bonding prevents equalizing currents on the cable shields. Measures for small system installations O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK Subject to change without notice...

  • Page 39: Connection Diagram

    The recommended connecting cables and their associated technical data can be found online at: www.sick.com/MRS1000 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...
  • Page 40 IN6 / OUT6 Digital input 6 / digital output 6 Pink O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK Subject to change without notice...

  • Page 41: Connection Options

    Figure 39: Connection example with PNP outputs and active high inputs (default) 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 42: Connecting The Device Electrically

    Examples for the connection options, see "Connection options", page O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK Subject to change without notice...

  • Page 43: Operation

    Information about the device is displayed in the device window and the device can also be configured here (Device> Open menu). 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...
  • Page 44 Distance measurement: input fields for output data format, output control and output range (right-hand side). O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK...
  • Page 45 Field evaluation: Scan display for adapting the field geometry (left-hand side) and entering detection parameters (right-hand side): 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...
  • Page 46 Interfaces. Configuration of the interfaces (left-hand side) and input of communica‐ tion 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 | MRS1000 8020494/1AZF/2021-05-10 | SICK...
  • Page 47 The terminal program is started in the main window of SOPAS via the Tools > Terminal menu. 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 48: Operation With Teach-In

    For an example of configuring the device using EasyTeach and for an input circuit, refer to the annex, "Configuration without computer", page O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK Subject to change without notice...

  • Page 49: Maintenance

    5600006). Rinse off coarse dirt first with water. The cleaning interval essentially depends on the ambient conditions. 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 50: Troubleshooting

    Separate the recyclable materials by type and place them in recycling containers. ■ O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK Subject to change without notice...

  • Page 51: Technical Data

    7 mm rounded screen Number of echoes evalu‐ ated 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...
  • Page 52 Scanning range for objects up to 10 % Remission 16 m Figure 42: Working area diagram, top view O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK...

  • Page 53: Mechanics/Electronics

    100 mA per output e.g., 30 V*100 mA = 3 W 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 54: Dimensional Drawing

    á Close range (no detection or measurement possible) â O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK Subject to change without notice...

  • Page 55: Performance

    Max 90% air humidity (non-condensing) humidity Ambient light immunity 80 klx 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 56: Accessories

    O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK...

  • Page 57: Annex

    It is important to make sure that the person can always be unequivocally detected. 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 58: Configuration With Computer

    (English, no. 8014631). Request for 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 | MRS1000 8020494/1AZF/2021-05-10 | SICK Subject to change without notice...
  • Page 59 In the dialog window in the Connections menu, select the Create new connection function. 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 60: Measured Value Display And Configuration Via Start Window

    The Start view with information on the device, device status, and the graphic scan display opens. O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK...

  • Page 61: Selecting The Application

    It is possible to define up to 64 fields and 16 evaluations. 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...

  • Page 62: Configuring Interfaces

    Click the Export… button to save the parameter set on the computer. ° O P E R A T I N G I N S T R U C T I O N S | MRS1000 8020494/1AZF/2021-05-10 | SICK Subject to change without notice...
  • Page 63 ANNEX 8020494/1AZF/2021-05-10 | SICK O P E R A T I N G I N S T R U C T I O N S | MRS1000 Subject to change without notice...
  • Page 64 E-Mail office@sick.com.gr E-Mail info@sick.ru Vietnam Hong Kong Singapore Phone +65 6744 3732 Phone +852 2153 6300 Phone +65 6744 3732 E-Mail sales.gsg@sick.com E-Mail ghk@sick.com.hk E-Mail sales.gsg@sick.com Detailed addresses and further locations at www.sick.com SICK AG | Waldkirch | Germany | www.sick.com...

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