SICK LRS4000 Operating Instructions Manual
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SICK LRS4000 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
LRS4000
2D LiDAR sensors

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Summary of Contents for SICK LRS4000

  • Page 1 O P E R A T I N G I N S T R U C T I O N S LRS4000 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 | LRS4000 8026338/0000/2022-02-15 | SICK Subject to change without notice...

  • Page 3: Table Of Contents

    Prerequisites for safe operation of the device........Connection diagram................. Connecting device electrically..............Connecting encoder................. 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...
  • Page 4 Annex....................42 12.1 Declarations of conformity and certificates..........12.2 Licenses....................O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | 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. 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 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 | LRS4000 8026338/0000/2022-02-15 | SICK Subject to change without notice...

  • Page 7: Safety Information

    Use of unauthorized spare parts, consumables, and accessories ■ 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...

  • Page 8: Modifications And Conversions

    Caution – Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure. O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK...
  • Page 9 Install the grounding for the product and the system in accordance with national ■ and regional regulations. 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...

  • Page 10: Product Description

    Type label The type label gives information for identification of the device. O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK Subject to change without notice...

  • Page 11: Principle Of Operation

    Figure 3: LiDAR sensor with one scan plane 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...

  • Page 12: Range Finding

    Steel (high gloss) 140 … 200% Reflector > 1,000% O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK Subject to change without notice...
  • Page 13 (cat’s eyes), reflective tape, and triple prisms have these properties. 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...

  • Page 14: Object Sizes

    Figure 9: Beam expansion Expanded laser beam Optical axis O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK Subject to change without notice...
  • Page 15 Calculation example of minimum object size (vertical) at 30 m distance: 2.6 mrad * 30 m + 7 mm = 85 mm 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...
  • Page 16 (continuous detection). 0.040° 0.040° 0.040° Single spots object size O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK Subject to change without notice...

  • Page 17: Multi-Echo Analysis

    The echo filter screens out unwanted measurement data and signals caused by edge hits, rain, dust, snow and other ambient conditions. 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...
  • Page 18 Median calculation: 850 (lowest value) | 850 | 950 | 1,100 | 1150 (median) | 1,150 | 1,200 | 1,200 | 1,250 (highest value) O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK...

  • Page 19: Rssi Values

    1 ms. The scan data output starts at -180°. 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...
  • Page 20 This signal is used, for example, to synchronize scans with the position of a swivel device for 3D measurement. O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK...

  • Page 21: Transport And Storage

    Avoid mechanical shocks. • Storage temperature: see "Technical data", page 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...
  • Page 22 For storage periods of longer than 3 months, check the general condition of all components and packaging on a regular basis. O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK...

  • Page 23: Mounting

    Perform a fine adjustment using a test target and, if necessary, use the alignment aid. 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...

  • Page 24: Electrical Installation

    Take appropriate measures to prevent equipotential bonding currents flowing through the cable shield. O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK...

  • Page 25: Prerequisites For Safe Operation Of The Device

    Closed current loop with equalizing currents via cable shield 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...
  • Page 26 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 | LRS4000 8026338/0000/2022-02-15 | SICK...

  • Page 27: Connection Diagram

    The recommended connecting cables and their associated technical data can be found online at: www.sick.com/LRS4000 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...
  • Page 28 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 | LRS4000 8026338/0000/2022-02-15 | SICK Subject to change without notice...

  • Page 29: Connecting Device Electrically

    It is therefore not necessary to apply the signal to the device. 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...

  • Page 30: Operation

    Workspace with scan view and menu panels Status indicators LED display Device connection status O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK Subject to change without notice...

  • Page 31: User Levels

    The most up-to-date version of the SOPAS ET software can be downloaded from www.sick.com/software, category: Configuration software, software type: SOPAS ET. 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...

  • Page 32: Installing And Starting The Configuration Software

    02 73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 03 O P E R A T I N G I N S T R U C T I O N S | LRS4000...
  • Page 33 The LiDAR sensor responds by providing the data as a one-off or continuously in the display area of the terminal emulator. 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...
  • Page 34 Distance measurement view, select the RSSI check box under Output data format. O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK...

  • Page 35: Maintenance

    5600006). Rinse off coarse dirt first with water. The cleaning interval essentially depends on the ambient conditions. 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...

  • Page 36: 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 | LRS4000 8026338/0000/2022-02-15 | SICK Subject to change without notice...

  • Page 37: Technical Data

    The aperture angle is limited to 288° with angular resolution 0.020°/12.5 Hz and 0.040°/25 Hz. 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...

  • Page 38: Mechanics/Electronics

    Dimensions (L x W x H) 151.9 mm x 150 mm x 126.7 mm O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK...

  • Page 39: Dimensional Drawing

    > 500 mm measuring range ä < 500 mm close range å 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...

  • Page 40: Performance

    Max. 90% (non-condensing) humidity Ambient light immunity 80 klx O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK Subject to change without notice...

  • Page 41: Accessories

    Accessories and, if applicable, mounting information can be found online at: • www.sick.com/LRS4000 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...

  • Page 42: Annex

    For license texts see www.sick.com/licensetexts. 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 | LRS4000 8026338/0000/2022-02-15 | SICK...
  • Page 43 ANNEX 8026338/0000/2022-02-15 | SICK O P E R A T I N G I N S T R U C T I O N S | LRS4000 Subject to change without notice...
  • Page 44 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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