SICK LD-MRS Operating Instructions Manual
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SICK LD-MRS Operating Instructions Manual

3d lidar sensor
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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
LD-MRS
3D LiDAR sensor

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Summary of Contents for SICK LD-MRS

  • Page 1 O P E R A T I N G I N S T R U C T I O N S LD-MRS 3D LiDAR sensor...
  • 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 | LD-MRS 8012948/1EYY/2023-10-04 | SICK Subject to change without notice...

  • Page 3: Table Of Contents

    Mounting..................... 35 Mounting instructions................Mounting the device................. Mounting multiple devices............... 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...
  • Page 4 Annex....................65 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 | LD-MRS 8012948/1EYY/2023-10-04 | 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. 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 6: Further Information

    Certificates (e.g., declaration of conformity) • Other publications • Software • Accessories O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK Subject to change without notice...

  • Page 7: Safety Information

    8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 8: Improper Use

    NOTICE Modifications and conversions to the device may result in unforeseeable dangers. O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK Subject to change without notice...

  • Page 9: Requirements For Skilled Persons And Operating Personnel

    8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...
  • Page 10 Install the grounding for the product and the system in accordance with national ■ and regional regulations. O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK Subject to change without notice...

  • Page 11: Product Description

    8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 12: Distance Measurement

    (brilliant white plaster reflects approx. 100% of the light, while black O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...
  • Page 13 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS 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 | LD-MRS 8012948/1EYY/2023-10-04 | SICK...

  • Page 15: Object Sizes

    Example calculation of the minimum object size at a distance of 16 m (16,000 mm): 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 16: Working Range And Angle Dependence Of The Scanning Range

    Due to the optical design of the device, the scanning range of the working range depends on the angle. O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...

  • Page 17: Multi-Layer Technology

    The angle dependence of the scanning range differs slightly in the LD-MRS HD from that of the LD-MRS 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 18: Angular Resolution And Scanning Frequency

    50 Hz), for which different angular resolution settings are possible. These parame‐ ters can be configured by the user. O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...
  • Page 19 0.3491 0.0698 0.3665 0.1484 0.6981 0.1396 0.7330 0.2967 1.3963 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...
  • Page 20 )This function is not possible for field applications and for devices of type LD-MRS820301 O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...
  • Page 21 Figure 18: Scanning frequency 25 Hz with constant angular resolution of 0.25° 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 22: Distance Between The Device And The Object/Surface To Be Measured

    • Horizontal beam expansion for a scan plane = distance × 0.0014 O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK Subject to change without notice...

  • Page 23: Multi-Echo Analysis

     LD-MRS820301: two echo signals 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...
  • Page 24 An evaluation case determines which detection field is evaluated in which way and on which output it acts. O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...
  • Page 25 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...
  • Page 26 NOTE The respective output must be configured for “Application”. O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK Subject to change without notice...
  • Page 27 The respective results can be linked with AND or OR. 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 28: Data Interface

    Frame and coding of the telegrams The payload varies depending on the coding. O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK Subject to change without notice...

  • Page 29: Object Tracking (Ld-Mrsxxxxs01 / Ld-Mrs420201 Only)

    (e.g. rain), and impact on the object. 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...
  • Page 30 The proper motion of the vehicle and the history of the scan data will affect the object contour. O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...
  • Page 31 Normal Full sensitivity Reduced sensitivity Vehicles in dusty environment 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...
  • Page 32 For the LD-MRS with 8 scan plane, the behavior of object tracking can be influenced if the upper and the lower 4 scan planes detect objects of different sizes. O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...
  • Page 33 If o ≥ threshold (default: 75): 1 object, otherwise: 2 objects (i.e.: due to relatively high threshold "preference" to 2 separate objects) 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 34: Transport And Storage

    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 | LD-MRS 8012948/1EYY/2023-10-04 | SICK...

  • Page 35: Mounting

    LD-MRS 8-Layers overhead in the direction of travel. 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 36: Boundary Conditions For Integration

    O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...

  • Page 37: Electrical Installation

    8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...
  • Page 38 This measure achieves a high degree of resistance to electromagnetic interference. O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...

  • Page 39: Overview Of The Installation Steps

    ° Connect optional CAN modules to the supply voltage. 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 40: Connection Diagram

    Table 11: Pin assignment for Ethernet connection Contact Labels Description Receiver- Sender+ Sender- O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK Subject to change without notice...
  • Page 41 CAN bus (connection 2) CAN_H2 CAN bus (connection 2) 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 42: Commissioning

    SOPAS ET establishes communication with the device and loads the associated device description file. O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...

  • Page 43: Establishing Communication With The Device

    8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 44: Initial Commissioning

    (right-click when the pointer is located over the parameter). O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...

  • Page 45: Connecting And Performing A Test Measurement

    The monitor displays the measured values unfiltered, i.e. the effect of filters cannot be checked using the monitor. 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 46: Synchronization

    Figure 32: Synchronization with primary and secondary devices O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...

  • Page 47: Synchronization Details

    ± 4.5° around the true 0° direction. 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...
  • Page 48 Figure 35: Sync IN pulse and Sync Out pulse O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...

  • Page 49: Synchronization Systems

    The next scan on the Ethernet interface is the one to which this Sync-Out signal belongs. 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 50: Software-Based Synchronization

    The page can be accessed via the SICK Product ID: pid.sick.com/{P/N}/{S/N} O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...
  • Page 51 {S/N} corresponds to the serial number of the product, see type label (if indicated). 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 52: Maintenance

    SICK lens cloth. O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...
  • Page 53 SICK. 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 54: Troubleshooting

    Two times 16 bits each are available for warnings and errors. O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...

  • Page 55: Repairs

    SICK AG. Interruptions or modifications to the device by the customer will invalid‐ ate any warranty claims against SICK AG. 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 56: Returns

    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 | LD-MRS 8012948/1EYY/2023-10-04 | SICK Subject to change without notice...

  • Page 57: Technical Data

    Horizontal 0.08°, vertical 0.8° per scan plane, per laser 1.6° 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...
  • Page 58 Scanning range for objects up to 10% remission 50 m 2 scan planes 4 scan planes O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK Subject to change without notice...
  • Page 59 Scanning range for objects up to 10% remission 50 m 2 scan planes 4 scan planes 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 60: Mechanics/Electronics

    According to EN 61010-1:2010-10 / EN 61010-1 / A1:2019-02 Weight Approx. 1 kg Approx. 0.77 kg O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK Subject to change without notice...

  • Page 61: Dimensional Drawing

    Voltage supply connection, 4-pin round socket Sensor coordinate origin Viewing window 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 62: Performance

    Addressing range 0 ... 127 Length of cable max. 100 m O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK Subject to change without notice...

  • Page 63: Ambient Data

    Max. 85% relative humidity (non-condensing) humidity Ambient light immunity 100 klx 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...

  • Page 64: Accessories

    O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK...

  • Page 65: Annex

    Printed copies of the license texts are also available on request. 8012948/1EYY/2023-10-04 | SICK O P E R A T I N G I N S T R U C T I O N S | LD-MRS Subject to change without notice...
  • Page 66 Phone +65 6744 3732 Phone +30 210 6825100 Phone +65 6744 3732 E-Mail sales.gsg@sick.com E-Mail office@sick.com.gr E-Mail sales.gsg@sick.com Hong Kong Slovakia Phone +852 2153 6300 Phone +421 482 901 201 E-Mail ghk@sick.com.hk E-Mail mail@sick-sk.sk Detailed addresses and further locations at www.sick.com SICK AG  |  Waldkirch  |  Germany  |  www.sick.com...

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