SICK LMS4000 Operating Instructions Manual
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SICK LMS4000 Operating Instructions Manual

2d 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
LMS4000
2D 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 LMS4000 2D 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 | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...

  • Page 3: Table Of Contents

    Wiring notes....................Prerequisites for safe operation of the device........8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 4 12.2 EU declaration of conformity / Certificates..........12.3 Licenses....................O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | 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. 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 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 | LMS4000 8023198/16S6/2020-01-24 | 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. 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 8: Limitation Of Liability

    The following qualifications are required for various activities: O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...

  • Page 9: Operational Safety And Particular Hazards

    Safety requirements relating to work on electrical systems must be complied with. ■ 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 10: Warning Signs On The Device

    Notice No. 50 of June 24, 2007. Warning symbol: Laser radiation O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...
  • Page 11 (not included with delivery) must be attached to the system/casing next to the laser output aperture. 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 12 The device stops sending measured values and an entry is added to the error memory. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK...

  • Page 13: Product Description

    0.7 m ... 3 m 2% ... 200% 3x M12 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 14: Type Label

    Working range The working range of the device is illustrated in the drawing below. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK...

  • Page 15: Ethernet Data Interface

    PC (client) can communicate with the device via Ethernet. 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 16: Output Of Measured Values

    "Telegram structure", page 54 for a description of the measured value telegrams. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...
  • Page 17 (encoder ticks). The input frequency of the encoder signal must not exceed 50 kHz. 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 18: Laser Control

    Due to possible restrictions affecting the installation position, the use of switch-on and switch-off delays is advisable in many cases. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK...

  • Page 19: Remission Value

    When activated, an additional correction value is provided in the measure‐ ment telegram for each measurement point. 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 20: Impact Of Object Surfaces On The Measurement

    Figure 7: Angle of reflection O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK...

  • Page 21: Filters

    They enable the device to be adapted to meet the specific requirements of the respective application. 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 22 3 measured values, consisting of the distance values of a point and its two adjacent points in the scan, are sorted by size. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK...
  • Page 23 Individual outliers (shown in bold in the table) influence the mean value. 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 24: Motor Synchronization For Measuring Range Extension

    0°. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK...
  • Page 25 After a few seconds, the Sync LED on the slave lights up permanently green. The devices are now synchronized. 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 26: 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 | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...
  • Page 27 For storage periods of longer than 3 months, check the general condition of all ■ components and packaging on a regular basis. 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 28: Mounting

    Mounting kit (accessory) LMS4000 Beam separation for limiting detection Conveyor system O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...

  • Page 29: Mounting The Device

    The status LED lights up after successful initialization. The device is ready for use. 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 30: Electrical Installation

    50 m 0.25 mm² 15 m 25 m 35 m O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...

  • Page 31: Prerequisites For Safe Operation Of The Device

    Closed current loop with equalizing currents via cable shield 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 32 Within the islands, a stable equipotential bonding prevents equalizing currents on the cable shields. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK...

  • Page 33: Connection Diagram

    The recommended connecting cables and their associated technical data can be found online at: www.sick.com/LMS4000 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 34 Brown Encoder B White Ground Blue Encoder A Black O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...

  • Page 35: Connecting The Device Electrically

    Connect the device according to the connection diagram, see "Connection dia‐ gram", page 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 36: Operation

    Information about the device is displayed in the device window ( > Device > Open) and the device can also be configured here. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK...
  • Page 37 Application: Scan display (left-hand side) and entry of more parameters (right-hand side): 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 38 Interfaces: Scan display (left-hand side) and configuration of interfaces (right-hand side): O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...

  • Page 39: Output Of Measured Values Via Terminal Program

    6E 64 61 74 61 05 Request for continuous output of measured values: 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 40 (automatically framed by STX and ETX when sending in the default setting). Pay attention to blank characters in the string. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK...
  • Page 41 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 42: Maintenance

    Only use cleaning agents suitable for the screen material. ■ O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...
  • Page 43 SICK. 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 44: Troubleshooting

    10 seconds, then restart it. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...
  • Page 45 No encoder configured • Encoder ticks deactivated in output data format 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 46: Repairs

    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 | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...

  • Page 47: Technical Data

    Virtually unlimited, length of sync cable max. 20 m motor synchronization 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 48: Performance

    0.03 mm/K atic) Angle error 0.05° Integrated application Data output O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...

  • Page 49: Interfaces

    IEC 61010-1:2011 Weight LMS4x1x: 2.4 kg LMS4x2x: 3.7 kg 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 50 Threaded mounting hole M6 x 6, max. screw length 7.5 mm O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...

  • Page 51: Ambient Data

    10 Hz … 100 Hz, 0.35 mm, 5 g, 20 cycles 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 52 Illuminance from measurement object; Value for unrestricted measurement performance; Maximum value about 60000 lx O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK...

  • Page 53: Accessories

    Accessories and where applicable mounting information can be found online at: • www.sick.com/LMS4000 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 54: Annex

    Telegram data stream The response to the telegram is followed by the scan data. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK...
  • Page 55 Ok: 00 00 Error: 0 1 Error: 00 01 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 56 FF FF Encoder Ticks/mm Uint_16 00 00 speed O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK Subject to change without notice...
  • Page 57 No time: 00 00 stamp Time: 1 Time: 00 01 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...

  • Page 58: Eu Declaration Of Conformity / Certificates

    Printed copies of the license texts are also available on request. O P E R A T I N G I N S T R U C T I O N S | LMS4000 8023198/16S6/2020-01-24 | SICK...
  • Page 59 ANNEX 8023198/16S6/2020-01-24 | SICK O P E R A T I N G I N S T R U C T I O N S | LMS4000 Subject to change without notice...
  • Page 60 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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