Manual de Configuración SICK LMS 2XX

O P E R AT I N G I N S T R U C T I O N S

For LMS200/LMS211/LMS221/LMS291

Laser Measurement Systems

LMSIBS Configuration Software

for LMS2xx/LMI400

Version 4.1

Operating Instructions


2 © SICK AG · Division Auto Ident · Germany · All rights reserved 8009116/V4.1/2006-07

Copyright

Copyright © 2006

SICK AG Waldkirch

Auto Ident, Reute Plant

Nimburger Strasse 11

D-79276 Reute

Germany

Trademarks

Windows 3.11TM, Windows ’95 TM and Windows 98 TM are registered trademarks or

trademarks of the Microsoft Corporation in the USA and other countries.

Latest version of the operating instructions

For the latest version of these operating instructions (PDF), see www.sick.com.

Operating Instructions Contents


8009116/V4.1/2006-07 © SICK AG · Division Auto Ident · Germany · All rights reserved 3

Contents

1 About this document..................................................................................................................51.1 Function ..........................................................................................................................................5

1.2 Target group..................................................................................................................................5

1.3 Depth of information .................................................................................................................5

2 For your safety..............................................................................................................................62.1 Authorised personnel ................................................................................................................6

2.2 Correct use....................................................................................................................................6

2.3 General safety information and protective measures...................................................6

3 General information on LMS2xx und LMI400....................................................................74 General information on the Configuration Software........................................................85 Installing LMSIBS Configuration Software and connecting to PC..............................9

5.1 System requirements ................................................................................................................9

5.2 Installing the software................................................................................................................9

5.3 Connecting the PC to the LMS2xx/LMI400......................................................................9

6 Screen view/display ................................................................................................................ 106.1 Changing the screen view.....................................................................................................10

6.2 Changing the grid .....................................................................................................................10

6.3 Changing the colours ..............................................................................................................11

6.4 Changing the output of measured values.......................................................................11

7 Communication Assistant...................................................................................................... 128 The LMS2xx in stand-alone operation............................................................................... 13

8.1 Schematic diagram showing the programming process 13

9 LMS2xx stand-alone configuration .................................................................................... 149.1 Basic settings ............................................................................................................................14

9.2 Preparation for field evaluation ...........................................................................................16

9.3 Editing/changing configuration ............................................................................................18

Sensor type................................................................................................................................18

Fields.............................................................................................................................................19

Restart..........................................................................................................................................19

Contour as reference .............................................................................................................20

Evaluation....................................................................................................................................21

9.4 Synchronisation of two LMS2xx units...............................................................................22

Adjusting fields ..........................................................................................................................24

Teaching-in fields......................................................................................................................26

Converting fields.......................................................................................................................27

10 LMI400 ....................................................................................................................................... 2810.1 Evaluation principle..................................................................................................................28

11 LMI400 configuration ............................................................................................................. 2911.1 Schematic diagram of programming process ...............................................................29

11.2 Standard application ...............................................................................................................30

11.3 Editing an evaluation case....................................................................................................32

11.4 Expanding the LMI400 configuration ..............................................................................36

Logging-in more sensors.......................................................................................................36

Adding/registering monitoring fields..................................................................................38

Adding an evaluation case....................................................................................................40

Using a reference contour ....................................................................................................43

Changing the LMI400 address ...........................................................................................45

Registering a shaft encoder .................................................................................................45

11.5 Editing fields ...............................................................................................................................46

Editing fields graphically.........................................................................................................46

Editing fields numerically .......................................................................................................48

Converting fields.......................................................................................................................49

Teaching-in fields......................................................................................................................50

Dynamic monitored fields .....................................................................................................51

Contents Operating Instructions



Temporary fields ...................................................................................................................... 57

12 LMS2xx/LMI400 measurement technique/special functions ................................. 5812.1 Download of new LMS2xx system software ................................................................. 58

12.2 Changing the baud rate......................................................................................................... 59

12.3 Change sensor variant........................................................................................................... 59

12.4 Request measured values................................................................................................... 60

12.5 Logging communication ........................................................................................................ 61

12.6 Recording and playing back the scanning line.............................................................. 63

Recording ................................................................................................................................... 63

Playback...................................................................................................................................... 64

13 LMS2xx/LMI400 diagnosis .................................................................................................. 6513.1 LMS2xx/LMI400 diagnosis.................................................................................................. 65

13.2 SICK diagnosis.......................................................................................................................... 66

14 Error lists ..................................................................................................................................... 6714.1 LMS2xx with 50 mm resolution ......................................................................................... 67

14.2 LMS2xx with 10 mm resolution ......................................................................................... 68

14.3 LMI400........................................................................................................................................ 70

15 Glossary ....................................................................................................................................... 73

Operating Instructions About this document Chapter 1



1 About this document

1.1 FunctionThis document describes how to configure and set parameters for the LMS2xx Laser

Measurement System and the LMI400 Laser Measurement Interface.

Note:The LMS2xx Laser Measurement System will all simply be called “LMS2xx” below, except

in such text passages where a differentiation is required. The LMI400 Laser Measurement

Interface will all simply be called “LMI400” below.

1.2 Target groupThis document is intended for those with PC knowledge.

1.3 Depth of informationThis document contains the information required for commissioning LMS2xx and LMI400

laser measurement components.

This document will lead you through all the necessary actions step-by-step.

Further information on laser measurement technology is available from SICK AG, Auto

Ident Division. On the Internet at www.sick.com.

Chapter 2 For your safety Operating Instructions



2 For your safety

2.1 Authorised personnelOnly appropriately qualified personnel may mount, configure and operate the LMS2xx

Laser Measurement System and the LMI400 Laser Measurement Interface in combination

with the LMS2xx.

The following qualifications are required for commissioning:

• knowledge of the electrical engineering safety regulations currently in force

• PC knowledge

2.2 Correct useLMS2xx Laser Measurement Systems in stand-alone operation or in combination with the

LMI400 Laser Measurement Interface serve as signal providers in applications involving

area monitoring. In addition, LMS2xx contour measurement data can be evaluated to

determine the relative positions and sizes of objects.

All warranty claims are forfeited in the case of any other use, or alterations being made to

devices, even within the framework of mounting or installation, or software changes that

deviate from SICK software or change it.

2.3 General safety information and protective measuresThe currently applicable safety regulations are to be observed when working on electrical

equipment.

The LMS2xx Laser Measurement System and the LMI400 interface operate on low-

tension 24 V DC.

Safety information:The LMS2xx Laser Measurement Systems and the LMI400 Interface are not devicesfor protecting persons as defined by current machine safety standards.

Operating Instructions General information on LMS2xx and LMI400 Chapter 3



3 General information on LMS2xx and LMI400

LMS2xx (laser measurement systems) can be configured for stand-alone operation or for

operation with the LMI400 (interface) with the LMSIBS Configuration Software.

One distinguishes between two different scanners:

LMS2xx with 10 mm resolutionand

LMS2xx with 50 mm resolution

LMS2xx units with 10 mm resolution offer programmable monitored zones with

corresponding switching outputs in stand-alone operation, i.e. without external evaluation.

The functions and options required can be configured within the scanner itself.

In the case of LMS2xx units with 50 mm resolution, the monitored fields and

corresponding switching outputs are only available through the LMI400. A system

diagnosis can, however, be carried out with the Configuration Software.

Please see the relevant Technical Description for detailed information on planning themounting location and mounting the LMI400 and/or LMS2xx.

When operating LMS2xx/LMI400 systems please ensure:

• Connect the LMI400 and LMS2xx according to the Technical Descriptions

• Lay down all wiring and connection cables in such a way as to protect them from

damage

• that obstacles do not create shadows in the sensor field.

LMS2xx/LMI400 product family

Monitored fields,

A, B, C

3

A

C

B

LMS2xx scanning field

RS 422

Switching outputs

Data / user interface

6

Switching outputs A, B, C

Data interface (measured values)

LMS2xx (50 mm resolution) with LMI400

LMS2xx (10 mm resolution) stand-alone

Chapter 4 General Information on the Configuration Software Operating Instructions



4 General Information on the Configuration Software

The Configuration Software is divided into three sections (paths):

1. For laying down monitored fields and configuring field evaluation,

2. For the configuration of an LMS2xx for measurement tasks (configuring measured

values, measurement dimensions, etc.),

3. For displaying the LMS2xx scanning line (control, tests or demonstrations).

• Separate user elements are available for system diagnoses and service checks.

• A Communication Assistant is available in order to simplify communication between the

PC (laptop) and LMS2xx/LMI400.

LMS2xx/LMI400User Software

LMS2xx /LMI400configuration- monitored fields -

Measurements(LMS2xx settings)

Display LMS2xx scanningline

- Define field shapes- Define inputs / outputs- Create linkages- ...

- Define LMS2xx units(dm, cm, mm)

- Define measurementrange(8 m, 16 m, 32 m, 80 m)..

- Define LMS2xx Type-

Define measurementarea

System diagnosis(Service checks)

Communication Assistant

Operating Instructions Installing LMSIBS Configuration Software Chapter 5



5 Installing LMSIBS Configuration Software

5.1 System requirements- PC with 80486 processor and above,

- at least 8 MB working memory,

- at least 4MB hard disk capacity,

- colour monitor recommended.

5.2 Installing the softwareThe installation program will lead you through the installation process.

• Start the PC

• Insert the LMS2xx/LMI400 program diskette

Under MS-Windows 3.x- Select File – Run from the File Manager

- Select "Install.exe" and run it

Under Windows 95 /98- Select Run from the Start menu

- Select "Install.exe" and run it

5.3 Connecting the PC to the LMS2xx/LMI400The interface types RS 232 and RS 422 are interchangeable for the LMS2xx (10 mm

resolution) and the LMI400 when a wire bridge is used for adaptation (see LMS2xxTechnical Description).

See the Technical Description for more information on the plug's wiring.

A pre-configured interface cable is available for the LMS2xx or LMI400 as an option.

Connecting PC to LMS2xx Connecting PC to LMI400Connect LMS2xx data interface Connect LMI400 data interface

to PC via a free (front panel) to PC via a free

serial interface serial interface

SensorLMS2xx

COM

RS 232 / 422

SensorLMS2xx

COM

RS

232

/ 422

LMI400

RS 422

Uv

Chapter 6 Screen view/display Operating Instructions



6 Screen view/display

The display on the PC monitor can be altered if required. Helpful adaptations are:

- size of view

- type of grid (radial or rectangular)

- colours of the monitored fields

6.1 Changing the screen view

1 2 3

1 – enlarges the view

2 – shrinks the view

3 – moves the view

6.2 Changing the grid

Select:

View – Options...

from the Menu Bar.

This window appears.

The view can be changed from radial to rectangular and vice

versa in the "View" register card.

Further options can be selected for each type of display, e.g.

grid marker size, maximum area of view.

Operating Instructions Screen view/display Chapter 6



6.3 Changing the colours

The colours of the monitored fields, the grid, and the textcan be changed in the "Colours" register card.

6.4 Changing the output of measured values

The number of measured values to be displayed during

processing and monitoring can be defined in the "Measuredvalues" register card.

Please note:

The more measured values are displayed, the more accurate

the display, but the Windows application runs slower.

The refresh cycle for the scan line is to be entered with Showmeasured values while editing.

Please note:

Very short times during field editing are not recommended (PC

slows down).

Chapter 7 Communication Assistant Operating Instructions



7 Communication Assistant

If no LMS2xx/LMI400 has been connected to the PC

when the program is started, or the wrong interface has

been selected, the opposite window appears.

The Communication Assistant will help to define the

correct PC data interface.

Select the LMS2xx type or LMI400.

Please note:

LMS2xx units with 50 mm resolution (types 1 ... 5) allow a

system diagnosis to be run, while monitored fields can only

be set-up with the LMI400.

The program attempts to find the LMS2xx/LMI400 at all

the serial interfaces (COM 1, COM 2, ...) available on the

PC, using a variety of transfer rates (baud rates).

The Status Bar on the PC monitor shows the current

situation.

This window appears after successfully

finding the LMS2xx/LMI400.

If the search has been unsuccessful, check that the

LMS2xx/LMI400 is correctly wired up and switched on

(see the Technical Descriptions for further information onelectrical connecting).

Operating Instructions The LMS2xx in stand-alone operation Chapter 8



8 The LMS2xx in stand-alone operation

8.1 Schematic diagram showing the programming process

The LMS2xx is now ready for further duties

Start the ConfigurationSoftware and LMS2xx

Select File – New(LMS 10 mm resolution)

SelectScanning angleMeasurement areaUnits of measurement

Transferto LMS2xx

Sensor type defined

Define the LMSconfiguration for fieldapplication(evaluation, extras, etc.)

Edit monitored fieldsgraphically ornumerically

Application-specificfunctions for fieldevaluation.

LMS2xx is ready for operation aftertransfer of field application.The PC can remain connected forobservation or be removed at any time.

Chapter 10 LMS2xx stand-alone configuration Operating Instructions



9 LMS2xx stand-alone configuration

9.1 Basic settings1. Lay down a new file

2. Select the LMS2xx typehere: LMS2xx 10 mm resolution

3. Define the LMS2xx type:

Select scanning angle and angular resolution:

180 scanning angle for: LMS200/220/221/ 291

100 scanning angle for: LMS211

Any angular resolution can be selected for any type.

4. Select the measurement range

Please note:

maximum range depends on unit of measurement.

Operating Instructions LMS2xx stand-alone configuration Chapter 9




The selected settings can be checked again in

page view.

The Configuration Software now suggests the

transfer of the settings to the LMS2xx:

Log in the authorised user group.

Password: SICK_LMS

Please note:

Only authorised users are permitted to transfer

configurations.

"Machine operator" status only allows reading.

The password can be changed at any time.

The basic settings of the LMS2xx are permanently saved in the LMS2xx after transfer.

The LMS2xx is switched to Monitoring Mode by pressing the "F3" key on the PC (or

selecting the function via the Menu Bar). The PC can remain attached for observation or

be removed at any time.

The LMS2xx automatically goes into Monitoring Mode when it is cold-started (power is

switched on).




9.2 Preparation for field evaluation1. Select:

LMS – Select function – Field configuration

from the Menu Bar.

(Menu selection is also available using the right mouse button)


2. A total of 2 field sets can be used.

The field types for both LMS2xx field sets are to be selected

here (fields A, B, C separately for each).

Please note:

The choice of segmented or rectangular can be changed again

later.

(see also Section "Converting fields", page 27)

3. This is where use of the optional restart input is defined. On

selecting Change field set one can change from one field set

to the other (only one field set is ever active at one time).

In addition, a time element for delayed restart after release

can be activated for the various fields.

The synchronisation of two LMS2xx (Master-Slave) is rarely

used in field applications (see Section "9.4 Synchronisation oftwo LMS2xx units", page 22, for more details).




4. The number of multiple readings is now defined in the

window opposite.

Higher values improve the filtering out of snow, rain, or

particles, though response times increase with the setting.

A blanking factor can also be entered (only in conjunction

with scan-oriented evaluation, however). This determines

the object size that the switching outputs will respond to.

Subtractive evaluationDefinition of whether evaluation is to be carried out

subtractively is made in the window shown opposite, i.e.

field B is subtracted from field A. The remaining area is then

treated as the monitored area (signalling at output Out A).

Use motor flap (only for LMS210/211):

An optional motor flap (a shutter) is available for the front

window of the LMS210/211. It is used wherever the

scanner is to carry out temporary monitoring tasks, to

improve the availability of the LMS210/211 (protecting it

against pollution, sabotage, etc.).

This function need only be activated for stand-alone

LMS210/211 units when the flap is contacted via external

data telegrams. Then the LMS210/211 unit's 24 V

switching output Out A is automatically used for shutter

movements. Out A is, of course, no longer available as a

signal output for monitored fields.

Alternatively, the flap can be moved via an external 24 V DC

control voltage. In this case the function must not be

activated and Out A continues to be available as a signal

output for monitored fields (see LMS2xx TechnicalDescription for further details).

5. The system now suggests accepting the configuration

and transferring the settings to the LMS2xx. All the settings

so far made can be checked again on the page view that

then follows.

If Edit fields straight away is selected the system switches

to field editing mode after transfer. The fields can then be

edited immediately, either graphically or numerically.




9.3 Editing/changing LMS2xx configuration1. Select:

LMS – Configuration – Edit

from the Menu Bar to edit the LMS2xx configuration.

2. Six register cards appear in the window that opens.

Sensor:

The sensor type (scanning angle, angular resolution, units of

measurement) can be changed here.

Selectable "data flags" are available in a data string for

further processing of LMS2xx raw data. Their significance

can be selected here (see chapter on "12.LMS2xx/LMI400 Measurement technique”, page 58, formore information).

The flags are not necessary for field applications in stand-

alone operation.




Fields:

Every partial field (A, B, C) can be edited (Edit...) directly

here (see also Section 11.5 "Editing fields", page 46, formore information).

In addition, a field can be laid down in the volatile memory.

This allows fields (A, B, C) to be changed online during

operation by externally supplied information. This function

can, for example, be used for AGVs for negotiating curves

or avoiding obstacles (see LMS2xx/LMI400 TelegramListing for more information).

Please note:

After switching off power supply the field information in the

volatile memory is lost and must be re-entered after the

system has been restarted.

Restart:

The parameters for

- restart input

- restart delay

can be changed or checked here.




Contour as reference

Select:


from the Menu Bar.

Select the "Contour" register card.


Activate the function for the desired fields and select

Settings...

Please note:

The reference contour function is always linked to a

monitored field. If no field has been programmed the

system automatically creates a field within the selected

validity range.


The individual parameters are entered here (see alsoChapter "15. Glossary, page 73").The contour loss [cm] entry determines the size up to which

contour infringements are to be suppressed (e.g. objects

that block the LMS2xx unit's view of the contour).

The pos./neg. tolerance entry determines the tolerance

corridor within LMS2xx measured values may be made

(measurement of distance to contour).

The position (validity range) of the reference contour within

the LMS2xx unit's scanning range is entered using angular

values (from x to y ).

Please note:

The start and stop angle for the position can be read off

directly using the mouse pointer and automatically entered:

Click with the mouse's pointer on one of the two symbols

next to the angular value entered (see arrows opposite).

The mouse pointer is then moved to the desired position in

the scanning range and a single click at the desired position

marks the angular value and enters it automatically in the

edit window.




After entering the parameters please select Actualise.

The defined monitored field is displayed with the contour

area below the editing window. The tolerance corridor you

set is also visible after actualisation (pos. / neg. tolerance).

The field limit of the corresponding monitored field has now

been shifted within the validity range up to the contour itself

(zero point for the tolerance corridor).

Evaluation:

The parameters for:

- multiple evaluation,

- blanking,

- subtractive evaluation, and

- use of the motor flap,

can be changed or checked again in the window shown

opposite.

Blanking:

Select the option Scan-oriented under the blanking

function. You can now enter the blanking factor directly as

an amount in "cm" (object size for objects that are not to

be detected).

Evaluation of suppressed objects:

Objects that are smaller than the blanking factor entered

above can cause a shadow to be thrown in the sensor field

without being noticed (e.g. as an attempt at sabotage). A

supplementary evaluation can be implemented so that such

objects can nonetheless be detected: all detected objects

below the entered threshold are evaluated via a separately

adjustable reading cycle and their continuing existence is

reported.

In the window opposite you can enter the number ofreading cycles for this purpose.

Please note:

The number of reading cycles must always be higher than

the value entered under multiple evaluation.




9.4 Synchronisation of two LMS2xx unitsIf two LMS2xx units are operated in close vicinity to each other, e.g. for measuring

packages, there may be mutual interference under certain circumstances. In order to

prevent this the rotating mirrors of the two LMS2xx units can be synchronised. The mirrors

are then maintained in a position displaced by 180 relative to each other.

In the process one LMS2xx is defined as the master, the other the slave.

LMS2xx units from software version 02.02 upwards and hardware above serial number

9919... are capable of synchronisation.

(See the LMS2xx Technical Description for more information on the wiring necessary).

Defining the LMS2xx as master:

1. Select:


from the Menu Bar.

2. Select the Restart register card

3. Activate the master function control box.




Defining an LMS2xx as slave:

1. Select:


from the Menu Bar.

2. Select the Restart register card

3. Activate the restart input for slave function.

Extras:

Sensitivity may only be changed in exceptional

circumstances (see the LMS2xx Technical Description forsensitivities/response behaviour).

The "High sensitivity" setting improves the detection of

black but also raises the sensitivity towards ambient light

and interference caused by environmental factors

(particles, etc.).

The "Low sensitivity" setting improves immunity to ambient

light but simultaneously reduces detection reliability for dark

objects.

4. The configuration must be transferred to the LMS2xxagain after editing:Press the "F9" key (see page 15)

The page view displayed shows the corresponding settings.




9.5 Adjusting fields1. Select:

LMS – Monitored field – Graphical editor

LMS – Monitored field – Numerical edit

from the Menu Bar.

Graphical editing is recommended.

After selection (graphic) a cross is visible above the mouse

pointer.

Please note:

Fields can also be automatically taught-in (see Section"Teaching-in fields", page 26).

2. The field to be edited is selected from the pull- down

menu in the window shown opposite.

The LMS2xx scanning line is displayed for orientation (if

"Active sensor" is selected).

3. Monitored fields can be programmed within the scanning

range of the LMS2xx.

The appropriate field points are set (marked yellow) by

double-clicking in the desired position.

A single click on an existing field point selects the point.

Selected points can be deleted or moved. A cross on the

yellow square signifies selection.

4. The window opposite appears after all the desired fields

have been edited and the "Edit monitored fields" mode has

been left.

The Configuration Software now suggests transferring the

entire configuration.

Please note:

Only authorised customers can transfer configurations.




5. The page view opposite appears before the

configuration is sent to the LMS2xx. It is again possible to

check the programmed fields and all the settings that have

been made.

Transfer can be stopped at this point so that the

configuration can be changed again.

6. The LMS2xx can be switched into "Monitor Mode" after

transfer. The "F3" key is used for this, or the Taskbar icon

below the Menu Bar can be activated.

The PC can remain connected for observation or be

unplugged from the LMS2xx at any time.

The LMS2xx automatically adopts Monitor Mode after a

cold-start (switching power supply on).




Teaching-in fields

Fields can be automatically "learnt" using the teach-in method. The entire field of view of

the LMS2xx is defined as a field size. The teach-in function allows precisely positioned

fields to be set up, particularly where field limits are to end just before a solid immobile

object (e.g. a wall).

Please note: only segmented fields can be taught-in.

1. The fields to be "learnt" is selected from the pull-down

menu of the window shown opposite.

2. Select:

LMS – Monitored field – Teach-in

or

press the "F5" key on the PC

or

click on the icon in the Toolbar

3. The taught-in monitored field is displayed on the screen

during the teach-in process. Teach-in is completed by

pressing the F5 key.

The system adjusts the field in such a way that a tolerance

corridor is left between the field limit and the object contour

(surroundings). This corridor is:

• 70 mm for LMS2xx with 10 mm resolution or

• 130 mm for LMS2xx with 50 mm resolution




Converting fields

The selected field settings rectangular or segmented can be changed using the converter

function. Thus, for example, what was originally a rectangular field can be converted to a

segmented field, and vice versa, if it becomes apparent during programming that a

different field shape would be desirable.

Example: segmented to rectangular:

1. Select:

LMS – Monitored field –Convert to – Rectangle

2. The system now suggests a size for the rectangular field.

The values can be changed as required.

3. After making the appropriate entries the converted

rectangular field appears on the screen.

4. The configuration must be transferred to the LMS2xxagain after editing:Press the "F9" key (see page 15)

The page view displayed shows the corresponding settings.

Chapter 10 LMI400 interface Operating Instructions



10 LMI400 interface

10.1 Evaluation principle

The LMI400 receives raw data from the LMS2xx connected. The LMS2xx units provide the

maximum values for their field of view.

All the monitored fields are laid down in the LMI400 and linked to the LMS2xx according to

their settings. The fields, adjusted as required, can be linked to any of the LMS2xx units

connected.

The linkage of the fields with the LMS2xx and the switching outputs is carried out in so-

called evaluation cases.

The conditions under which it is to be active can be defined for each evaluation case. The

individual evaluation cases are contacted or activated via the static 24 V DC control inputs

(A, B, C, D).

The LMI400 fundamentally operates using double or triple fields (see diagram below). A

field set's component fields A, B, or A, B, C can be defined independently of one another,

though a field set can only be linked to an LMS2xx as a complete entity. It is, however,

irrelevant whether all component fields are used.

When a field set has been allocated an output, then component field A is firmly assigned

to switching output 1A or 2A, component field B to output 1B or 2B, field C to output 1C or

2C. Output 2C can be used for field evaluation or for reporting pollution.

Control input Field set Sensor OutputA B C D

Evaluationcase

1 0 1 x 0 e.g. 1 e.g. 3 e.g. 22

10

1234

ABA

A

A

B

B

B

1

2

ABC

ABC

1234

1

2

A

A

B

B(C)

(C)

Field setTripleDouble

Sensors Output groups or

Operating Instructions LMI400 configuration Chapter 11



11 LMI400 configuration

11.1 Schematic diagram of programming process

The LMI400 is now ready for further tasks

Start LMI400, LMS2xx

and Configuration

Software

Select File – New(LMI400 configuration)

Register hardware used- LMS2xx types

- output groups

- inputs / control inputs

- define field types

Transfer to LMI400

Basic configuration

LMI400 configuration field application- define restart characteristics

- define evaluation

- register further LMS2xx units

and monitored fields

- create linkages

- ...

Transfer to LMI400

Chapter 11 LMI400 configuration Operating Instructions



11.2 Standard applicationThis chapter describes the minimum configuration of an LMI400 with one sensor, one field

set and one evaluation case.

The programming process can also be used as a brief introduction.

1. Select:

File – New – LMI400 configuration

from the Menu Bar.

2. Select the appropriate LMS2xx type in this window.

In addition, a name can also be assigned for the selected

Sensor 1.


3. You can either go back to the previous step or confirm

setting with OK.

After confirmation the system suggests registering further

sensors (see also Section "11.4 Expanding the LMI400

configuration”, page 36, for more information).

The sensor type and the name it was given can also be

altered.

4. Select Next in the standard application.




5. The measurement range and units of measurement are

defined in the next window.

Please note:

Pay attention to maximum ranges.

The configuration is confirmed here or one can again go

back one programming step.

6. Click on OK.

The page view shown opposite appears before transfer so

that entries can be checked again.

7. Select Confirm.

The settings are now transferred to the LMI400.

8. The user must be logged in as the authorised customerto be able to transfer the configuration.

Password: SICK_LMI

The message opposite appears after transfer to the

LMI400.

9. Click on OK




11.3 Editing an evaluation case

1. Select:

LMI400 – Configuration – Edit

from the Menu Bar.

There are six register cards in the LMI400 configuration

window.

Evaluation cases:

2. Select

Click on Setup...




This window appears. The 4 register cards are intended for

use with the standard application.

Linkages:

Each of the components in blue are linked to the current

evaluation case.

One sensor and one field set are available in the standard

application.

I/O definitions:

The input conditions (control inputs A, B, C, D) under which

the evaluation case is to be active are now defined here:

X – any state (always active)

0 – low (0 V)

1 – high (+24 V DC)

The output group to be activated in the case of a field

infringement is also defined here.

Evaluation:

Multiple evaluation:Higher values improve the filtering out of snow, rain or

particles, though response times are also increased

proportionately.

Blanking:Only in conjunction with scan-oriented evaluation.

Determines what object sizes are not to be reported.

Select Scan-oriented.

Enter the blanking factor in "cm" (object size that is not to

be detected).

Evaluation of suppressed objects:Objects that are smaller than the blanking factor entered

above can throw a shadow into the sensor field without

being noticed (e.g. as a sabotage attempt).

A supplementary evaluation can be implemented in order to




nonetheless be able to detect such objects:

all detected objects below the entered blanking threshold

are evaluated in separately definable reading cycles and

their continued existence is reported.

You can enter the number of reading cycles for this type of

evaluation in the window shown opposite.

Please note:

The number of reading cycles must be greater than the

value entered under multiple evaluation (recommendation:

2 x multiple evaluation).

Subtractive evaluation:This defines whether the evaluation is to operate

subtractively or not, i.e. whether field B is subtracted from

field A. The remaining area is then the valid monitored area

(signalling at output Out A of the selected output group).

Use motor flap (only LMS210/211):A motor flap (shutter) is optionally available for the front

window of the LMS210/211. It is used for increasing

LMS210/211 availability where the scanner has temporary

monitoring tasks, protecting it against pollution, sabotage,

etc.

If the function is activated the motor flap opens on selection

of the relevant evaluation case and the LMS210/211 is

ready for scanning. On changing the evaluation case

(control inputs) the flap closes automatically.

Alternatively the LMS210/211 flap can be moved directly

via an external 24 V DC control voltage (see LMS2xx

Technical Description for electrical connection). In this case

the function should not be activated.

Restart:

The component fields A, B, C can be programmed with

different restart characteristics after a field infringement has

occurred.

The parameter can be entered after selecting the Setup...button for the particular field. For restart with delay the unit

used may be selected as seconds or 1/10 second.

3. On confirming with OK all parameters for the standard

application have now been defined.




The system now suggests transferring the configuration:

4. Click on Yes

The page view opposite appears with several pages and

the settings can be checked again.

5. When the Confirm button is pressed the entire

configuration is transferred to the LMI400.

The LMI400 sends the message shown opposite and the

system is now ready for operation.

6. Click on OK to confirm

(The necessary monitored fields still need to be defined –

see Section "9.5 Adjusting fields", page 24).

The LMI400 configuration can be changed or expanded at any time.




11.4 Expanding the LMI400 configurationPlease note:

The configuration must always be transferred to the LMI400 again after any changes are

made to it:

Press the "F9" key, the page view shows the entries made.

Confirm transfer.

Logging-in more sensors

1. Select:

LMI400 – Configuration – Edit

from the Menu Bar.

2. Select the Sensors register card from the window shown

opposite and

3. press the Add... button.




4. The sensor type is entered here.

In addition, a name can be assigned to the new sensor

(sensor 2).


5. Press OK to confirm.

The register card Sensors appears again after confirmation.

The new sensor is now registered.

6. Sensor names can be changed or entered here again

(the Rename... button).

7. Sensor types can also be checked or changed here

using the Settings... button.




Adding/registering monitored fields

In principle, complete field sets are added, independent of the basic setting "Double field"

or "Triple field".

1. Select LMI400 configuration via the Menu Bar.

Select the Monitored field register card.

2. Press the Add... button.

3. You will be asked, in the window shown opposite, with

which sensor type the new field set is to be linked.

Please note:

If fields are defined and correspondingly programmed for

180 sensors they cannot be used with 100 sensors.

In addition, a name can be assigned to the second field set.

4. Now you must define whether segmented or rectangularfields are required.

(In the example opposite a double field has been selected

as the basic setting as only two fields, no field C, are shown

in the window).




5. The field registration is then accepted:

press OK.

The register card now shows the entry for the new field set

(field 2).




Adding an evaluation case


Select the Evaluation cases register card.

2. Press the Add... button.

Please note:

EVC = evaluation case.

3. If necessary, give the new evaluation case a name.

4. The linkages of field set and sensor are now made in the

window shown opposite (linked components are shown in

blue).




5. The input conditions (control inputs A, B, C, D) which

activate the new evaluation case are defined here:

X – any state (always active)

0 – low (0 V)

1 – high (+24 V DC)

If an existing evaluation case has already been provided

with the same input information it will appear in the pull-

down menu (here EVC1). These two evaluation cases are

then active simultaneously (Simultaneous Mode)

Please note:

A maximum of 2 evaluation cases can be operated

simultaneously.

6. The output group (switching outputs) for which the

evaluation case is to be effective is now defined in the

window shown opposite.

7. If Restart after a field infringement is to be delayed by a

certain time this is defined here.

An individual time delay can be assigned for each

component field within the field set.

8. The number of multiple readings is now defined in the

window shown opposite.

Higher values improve the filtering out of snow, rain or

particles, but increase response times proportionately.

Furthermore, a blanking factor can be entered (only in

conjunction with scan-oriented evaluation). This defines the

object size at which the switching outputs are to respond.




9. Then the decision can be made about whether the

evaluation is to be subtractive, i.e. field B is subtracted from

field A. The remaining area is then the valid monitored area

(signalling on output Out A).

10. Confirm with OK to accept the evaluation case.

The new evaluation case (EVC2) is now entered on the

register card.

The settings for the linkages of all evaluation cases can be changed later.




11. The evaluation case overview shown opposite is

displayed via the Overview... button.

Using a reference contour


2. Select the Reference contour register card.

Each component field (A, B, C) in the particular evaluation

case (EVC) can be assigned its own reference contour.

3. Select the desired field and press Settings....

Please note:

The reference contour function is always linked to a

monitored field. If no field has been programmed the

system automatically creates a field within the selected

range of validity.





4. The individual parameters are entered here (see alsochapter "15. Glossary", page 73).

The contour loss [cm] entry determines the size up to which

contour infringements are to be suppressed (e.g. objects

that block the LMS2xx unit's view of the contour).

The pos./neg. tolerance entry determines the tolerance

corridor within which LMS2xx measured values may be

made (measurement of distance to contour).

The position (validity range) of the reference contour within

the LMS2xx unit's scanning range is entered using angular

values (from x to y ).

Please note:

The start and stop angle for the position can be read off

directly using the mouse pointer and automatically entered:

Click with the mouse's pointer on one of the two symbols

next to the angular value entered (see arrows opposite).

The mouse pointer is then moved to the desired position in

the scanning range and a single click at the desired position

marks the angular value and enters it automatically in the

edit window.

5. After entering the parameters please select Actualise.

Below the editing window the defined monitored field is

displayed with the contour area. The tolerance corridor you

set is also visible after actualisation (pos. / neg. tolerance).

The field limit of the corresponding monitored field has now

been shifted within the validity range up to the contour itself

(zero point for the tolerance corridor).




Changing the LMI400 address

If the LMI400 is being run with external software, e.g. for

data output, the addresses of the LMI400s can be

individually assigned.

1. Select Unique address

2. and enter the corresponding value

(between 5 and 126)

Please note:

The address remains the global address for applications

without external processing.

Registering a shaft encoder

1. Select the Shaft encoder register card.

2. Enter the shaft encoder data under

Number of impulses/cm and Max. speed




11.5 Editing fields

Editing fields graphically

1. Select:

LMI400 – Monitored field – Graphical edit

from the Menu Bar

(shortcut: "F2")

or

LMI400 – Monitored field – Numerical edit(shortcut: Ctrl+F)

Graphical edit is recommended for most applications.

Please note:

Fields can also be automatically taught-in (see Section"Teaching-in fields", page 50).

The window shown opposite appears after selecting editing

(graphical) and a cross is visible above the mouse pointer.

2. Select the field to be worked on from the Active fieldpull-down menu.

3. Select the appropriate sensor from the Active sensorpull-down menu.

The corresponding LMS2xx scanning line is shown during

field editing for orientation.

4. Monitored fields can be programmed within the scanning

range of the LMS2xx unit(s).

The corresponding field points (yellow squares) are set by

double-clicking at the desired position. Existing fields can

be shown in the background.

A single click on an existing point selects it (yellow square

shows selection with a cross). Selected points can be

deleted or moved.




After all the desired fields have been edited (with renewed

selections) and the "Edit monitored field" mode left, the

window shown opposite appears

5. The Configuration Software now suggests transferringthe entire configuration.

Please note:

Only authorised customers can transfer configurations.

The page view shown opposite appears before the

configuration is finally sent to the LMI400.

One has an opportunity to check the programmed fields

and settings again.

Transfer can be stopped at this stage in order to change

the configuration again.

6. If everything is in order press Confirm.

After transfer the LMI400 sends the message shown

opposite.


After transfer the LMI400 can be switched to MonitorMode.

8. "F3" can be used or the icon in the Toolbar beneath the

Menu Bar activated.

The PC can remain connected for observation or be

unplugged from the LMI400 at any time.

The system automatically goes into Monitor Mode after a

cold-start (switching on power).




Editing fields numerically

1. Use the Menu Bar to select:

LMI400 – Monitored field – Numerical edit

(shortcut: Ctrl+F)

This window appears (rectangular screen display x/y).

2. The x/y co-ordinates of the desired field points can be

entered or deleted here.

If radial has been selected for the screen display (angle/

radius) the screen shown opposite appears as the

counterpart of the above-mentioned rectangular screen

display.

3. Enter the angle and distance value (radius) per beam

here.

4. All the remaining ateps are similar to those described in

“Editing fields graphically”

5. The configuration must be transferred to the LMI400again after making the changes:Use the "F9" button.




Converting fields

The chosen setting of rectangular or segmented can be changed using the converter

function. Thus, what was originally a rectangular field, for example, can be changed to a

segmented field, and vice versa.

Example: segmented to rectangular during field editing:


LMI400 – Monitored field –Convert to – Rectangle


2. The values required for the rectangular field can be

entered here.

After making the appropriate entries the converted

rectangular field is displayed.

3. The configuration must be transferred again to theLMI400 after changes have been made:Use the "F9" key.




Teaching-in fields

Fields can be "learned" automatically using the teach-in method. The entire field of view of

the LMS2xx is defined as the field size. The teach-in function allows precisely positioned

fields to be set up, particularly where the field border is to end close to a fixed immobile

object (e.g. a wall).

Please note: Only segmented fields can be taught-in.

1. Select the field to be taught-in from the Active field pull

down menu.

2. Select the appropriate LMS2xx from the Active sensorpull-down menu.


LMI400 – Monitored field – Teach-in

(shortcut: "F5").

The taught-in monitored field is displayed on the screen

during the teach-in process.

4. Teach-in is completed by pressing the F5 key.

The system adjusts the field in such a way that a tolerance

corridor is left between the field limit and the object contour

(surroundings). This corridor is:



Taught-in fields can be edited graphically or numerically.

5. The configuration must be transferred again to theLMI400 after changes have been made:Use the "F9" key.




Dynamic monitored fields

This function can be used to alter defined fields on the basis of dynamic input information

(shaft encoder). For example, the speed of an AGV could be used as input information.

The fields dynamically adapt to changes in the speed, i.e. a valid field set is laid down for

every speed. Dynamic field changes are possible by means of a shaft encoder or data

telegrams.

1. Select the Monitored field register card from the LMI400

configuration.

2. Press Add...

3. Give the field set a name and select the corresponding

sensor type in the window shown opposite.

4. Select the field type in the window that follows:

Dynamic segment... or

Dynamic rectangle




5. The dynamic field set is accepted into the configuration

with OK.

The new field set is now entered in the list of available field

sets.

6. Change to the Evaluation cases register card.

7. Select the evaluation case in which the dynamic field set

is to be used (here EVC1).

8. Press Setup...




9. Link the appropriate sensor with the dynamic field set inthe Linkages register card (linked components are shown in

blue).

10. Change to the I/O definitions register card.

Define the input conditions (shaft encoder) under which the

evaluation case with dynamic field changes is to be active.

≤ 0: reverse

= 0: standstill

≥ 0: forwards

X: any state

11. Select any other output groups that are to be activated

by the evaluation case.

12. Change to the Evaluation register card.

The necessary parameters are entered here:

- multiple evaluation

- blanking

- subtractive evaluation, and

- use motor flap

(See also Section "11.3 Eding an evaluation case", page33)




13. Change to the Restart register card.

The necessary parameters for the restart characteristics

are entered here (see also Section "11.2 Standardapplication", page 30).

14. Then press OK.

The LMI400 configuration window appears.

15. Press OK.

The system suggests transfer to the LMI400.

16. Press Yes.

The page view with the corresponding entries appears

again, and then the LMI400’s confirmation message.




17. After transfer select Dynamic field from the pull-down

menu.

Select:

LMI400 – Monitored field – Numerical edit

(shortcut: Ctrl+F)

from the Menu Bar.

The dialog box opposite appears.

18. This is where the necessary speed states are entered

in cm/s.

19. Select Add...

20. Each speed state is entered, one after the other, in the

dialog box shown opposite.

Please note:

Each component field (field A dyn, B dyn and C dyn) can be

provided with a maximum of 30 speeds.

Thus 3 x 30 = 90 speeds can be edited using appropriate

field programming.

After entering the speeds the dynamic fields available are

listed in the pull-down menu.

21. The fields are now to be defined using graphical or

numerical input (see also Section "11.2 Standardapplication", page 30).

Please note:

Field points can only be set every 20 in a radial field of

view.

22. After editing the fields the system suggests transferringthem again. The page view and confirming message from

the LMI400 appear again.




23. Use the Simulate evaluation case icon to check the

fields in their particular speed states.

24. The relevant speeds can be called up from the pull-

down menu (see arrow).




Temporary fields

Any field shape required can be defined and activated through external data information.

The data is fed in via the LMI400 user interface. External software control that

communicates with the LMI400 is necessary (see LMS2xx/LMI400 Telegram Listing).

The transfer time until the new information is active is approx. 200 ms. The field

information is lost when the power supply is switched off (volatile memory).

1. Select:

LMI – Configuration – Edit

from the Menu Bar

2. Change over to the Monitored fieldregister card.

3. The desired field set is now defined as a volatile field in

the pull-down menu (shown with a ring opposite).

In normal operation, the field located in the working memory

is automatically overwritten by the new data information

(new field).

After the configuration window has been closed with OK, the

system suggests a transfer again.

4. Press Yes.

The page view appears and, after transfer, the LMI400

sends its message of confirmation.

Chapter 12 LMS2xx/LMI400 measurement technique Operating Instructions



12 LMS2xx/LMI400 measurement technique/special functions

The Configuration Software offers auxiliary functions that do not involve pure field use in

order to query and operate the LMS2xx and LMI400 components.

These are:

• the download of new LMS2xx system software (only LMS2xx stand-alone),

• change in baud rate (PC <-> LMS2xx or PC <-> LMI400),

• requesting the measured values from the LMS2xx unit(s),

• logging communication,

• displaying the scanning line and playing it back (recorder function).

Download of new LMS2xx system software

LMS2xx system software is saved in a Flash Prom. Updates of the SW allow a new version

to be loaded in the scanner.

Please note:

Software Version 2.xx is only for hardware Version 2.xx (from 06/1999)

Software Version 1.xx is only for hardware Version 1.xx (to 06/1999)

1. Select:

Measurement technique – Download system software

from the Menu Bar

The dialog box shown opposite appears.

2. Select Install...

The system now asks for the Hex file.

3. Enter the source (standard Windows usage).

Please note:

Only read-in file from local hard disk (not from diskette or

network drive).

The process can take up to a minute.

The message shown opposite appears after a successful

download.


Operating Instructions LMS2xx/LMI400 measurement technique Chapter 12



Changing the baud rate

The baud rate can be changed in order to accelerate communication between the

LMS2xx/ LMI400 and the PC (e.g. for external data processing).

1. Select:

Measurement technique – Change baud rate

from the Menu Bar


2. The relevant values are to be entered here. The

Configuration Software automatically adapts the PC and

LMS2xx/LMI400.

Please note:

If "permanent" is selected the LMS2xx/LMI400 retains the

new baud rate even after the power supply has been

broken.

Change sensor variant (only LMS2xx stand-alone)

Select:

Measurement technique –Change sensor variant

from the Menu Bar.

The individual sensor variants can be defined

here.




Request measured values

The Configuration Software displays or saves the distance measurement values of the

LMS2xx or LMS2xx to LMI400 in a variety of ways.

1. Select:

Measurement technique – Request measured values

from the Menu Bar

Please note:

For applications with the LMI400 activate the appropriate

evaluation case and select the active sensor in advance.

This window appears. The individual options can be

selected here:

All measured values of a scan are formatted:Output:

- field number

- polar details (radius/angle)

- Cartesian details ( x /y values)

Option: change refresh interval for screen output

(<1000 ms only with a baud rate greater than 9.6 kb).

Minimum perpendicular distance:Measurements to object in the corridor of a rectangular

field A, B or C (outside the field, too). If no rectangular field

has been programmed a maximum value is given out (in

mm units – 8 / 16 / 32 m; in cm units – 81 m).

Partitioned measured values:Display can be limited to a partial section of the scan. In

order to do this the angular range can be delineated.

Display is as for formatted measured values.

Averaged measured values:Recording of all measured values with average value

structure for smoothing. The number of averagings can be

selected (2 ... 250).

Option: refresh interval for screen output (<1000 ms only

with a baud rate greater than 9.6 kb).

Averaged perpendicular distance:Displays the average perpendicular LMS2xx beam. An

averaged value can be formed for several scans together

to smooth out the measured values.

Averaged partitioned measured values:A partial section of the scan is displayed. A mean value can

be formed to smooth out the measured values.

Measured values can be saved after recording, regardless

of function used (MS Excel format).




Logging communication

This function can be used to check data or telegram traffic between the LMS2xx/LMI400

and PC.

After selection of the desired function, use of the "Change operating mode" button (seedialog box below) results in the appropriate telegram being sent to the sensor.

Order of input (in the case of LMI400 applications select active sensor first):

- select Function,

- use the "Change operating mode" button,

- use the "Join" (connect) button.

- The output process is ended by using the "Stop" button.

1. Select:

Measurement technique – Log communication

from the Menu Bar.

The dialog box opposite appears.

2. The partial section or number of averagings to be read

(depending on the function selected) can be entered. All

replies from the sensor (measured values) can be saved

after display (log file "*.log").

Display of the measured values can be Cartesian or polar

(x/y values or radius/angle).

Minimum radial measured value on field infringement:The sensor only supplies measured values after a field

infringement.

All measured values continuously:The sensor provides a constant supply of measured values.

Minimum measured values continuously:The sensor provides a constant supply of the shortest

measured distances (per field segment).

Continuous perpendicular distance:Only in conjunction with a rectangular field. The sensor only

provides the smallest perpendicular distance to the object

in the corridor or the field's transient direction (also values

outside the field, no field infringement necessary).

Continuous averaged measured values:Output of all measured values. An average value of the

individual measured values can be formed to smooth out

the values.

Continuous partition of measured values:Constant output of all the measured values within the

defined field section.

Continuous partition of measured values and field values:As above, but with the additional output of the distance to




the outer field limit. I.e. information is provided on the radial

distance to the LMS2xx for a measurement beam that

leaves the particular field (separate for fields A, B, C).

Continuous averaged partition of measured values:Constant output of all measured values of a partial section

with average value formation for smoothing.

All measured values direct continuously:Constant output of all raw measurement values.

Continuous measured values and reflectivity values:Output of all measured values and their corresponding

object reflectivity values.

Option: formation of a max. of any five partial sections.




Recording and playing back the scanning line

The active scan (scanning line) of an LMS2xx can be recorded and saved on the hard disk

of a PC (laptop) for later playback, for documentation or test purposes.

Please note:

For applications with the LMI400 first select the active sensor.

Recording:

1. Select:

Measurement technique – Scanning line –Record scanning line

from the Menu Bar.


2. Enter the path for saving (hard disk) and give the file a

name (*.sca).

The message shown opposite appears after the path and

name have been decided, i.e. the system must be in

"Monitoring Mode" to record the scanning line.

3. Press the "F3" key or

select Monitoring Mode via the Menu Bar.

The recording commences. The scan course (dynamic

scanning line) is now saved online on the hard disk.

The online recording is ended by leaving "Monitoring

Mode".

The "Record" function is then deactivated:

4. Select:

Measurement technique – Scanning line – End recording

from the Menu Bar




Playback:

1. Select:

Measurement technique – Scanning line –Play back scanning line

from the Menu Bar

This window appears, with the request that a saved file

(*.sca) be opened.

2. The scanning line can be played back using the functionbuttons that are shown.

Operating Instructions LMS2xx/LMI400 diagnosis Chapter 13



13 LMS2xx/LMI400 diagnosis

13.1 Simple diagnosisA simple diagnosis tool is provided for system diagnosis and status queries for the

LMS2xx and LMI400.

1. Select:

LMS – Diagnosis

or

LMI400 – Diagnosis

from the Menu Bar.


2. Press Run.

When running LMI400 diagnosis, the connected LMS2xx

status can also be queried. In order to do this activate the

control box (see opposite).

3. The results can be saved on the hard disk with Save (in

text format).

Chapter 13 LMS2xx/LMI400 diagnosis Operating Instructions



13.2 SICK DiagnosisSICK Diagnosis is only available for experienced operators or for Service functions.

For this reason no detailed description is provided below – only the principal operation is

described.

Operation is only possible with "Authorised customer" status.

1. Select:

Measurement technique – Sick Diagnosis

from the Menu Bar.


If communication is in order the system automatically

enters the appropriate device type and address(default address = 0).


2. Available telegrams are shown in the left half of the

window. A single click on the desired telegram and use of

the Add button transfers the selected telegram to the right

half of the window under "Telegrams to be executed".

Several telegrams can be worked on in a logical order.

3. Press Run after selecting telegrams.

The result can be saved on the hard disk.

Shown opposite:

Dialog box with the corresponding results.

4. Supplementary comments can be written into the log

using the "Enter" button.

Operating Instructions Error lists Chapter 14



14 Error lists

LMS2xx/LMI400 units carry out a variety of tests during operation in order to maintain the

availability of the system and check the configurations defined.

Any errors that occur are given out in accordance with the following error list.

14.1 LMS2xx with 50 mm resolutionError no. Description

00 Internal CPU tests

01 CRC-EPROM test

02 EEPROM test

03 Cyclic register RAM test

04 Cyclic RAM test

05 Evaluation; dazzle evaluation

(constant flow, comparator, monoflop)

06 Not used

07 Evaluation; stop comparator threshold

08 Not used

09 Evaluation of signal amplitude; comparator

10 Not used

11 Not used

12 Time Interval Counter; cycle frequency (PLL, VCO)

13 Time Interval Counter; function at max. frequency

(overflow • 1 LSB)

14 Time Interval Counter; logical function

15 Not used

16 Not used

17 Front window pollution evaluation; channel 1




21 Front window pollution evaluation; reference channel 1

22 Front window pollution evaluation; reference channel 2

23 Reference measurement; internal error

24 Reference measurement; determination of TIC offset

25 Reference measurement; determination of transmitter

and receiver performance

26 AD/DA transformer

27 Switch-off path; field infringement field A (OUT 1)

28 Switch-off path; field infringement field B (OUT 2)

29 Motor revolutions

30 System control; measurement number to code write increments do not

correlate

Chapter 14 Error lists Operating Instructions



Error no. Description

31 Sensor dazzle detected

32 Not used

33 Not used

34 Not used

35 Not used

36 Calibration; reference target

37 Calibration; front window pollution

38 Not used

39 Timeout; code write impulse

40 Not used

41 Not used

42 Not used

14.2 LMS2xx with 10 mm resolutionError no. Description

05 Dazzle test

06 Peak comparator test

07 Stop comparator test

15 TDC initialisation & railing function test

17 Pollution evaluation front window oil channel 1

18 Pollution evaluation front window pollution channel 1

19 Pollution evaluation front window pollution channel 2

20 Pollution evaluation front window oil channel 2

21 Pollution front window reference channel 0

22 Pollution front window reference channel 1

27 Output A defective

28 Output B defective

29 Motor revolutions

37 Calibration front window pollution

39 Timeout on TDC calibration

44 Ref. target load measurement implausible

45 1 measurement missed

46 1 scan missed

47 Reference target: load/impulse width value implausible

48 Calibration laser power

49 Laser power (outside 50 – 140%)

50 Initialisation TDC M0 channel 0 & 1

51 DA/AD test – stop branch

52 DA/AD test – peak branch

53 Error on writing in FLASH

54 Pollution channel measurement without active transmitter





55 No two different angles detected on laser power calibration

56 Watchdog (Hardware) defective

57 No zero index signal available

58 Slave cannot synchronise itself to the master cycle during initialisation

59 Synchronisation lost during running operation

60 Synchronisation cycle from master missing

61 Hardware is not suitable for synchronisation (slave operation mode)

62 DIP switch for laser pulse is in wrong position

80 Reference target: >40 values invalid through filter between

current and measured reference target values.







84 Reference target: >20 values in averaged reference target table

invalid through filter

85 Reference target: gaps in reference target table

86 Reference target: smallest impulse width too small

87 Reference target: largest impulse width too large

88 Reference target: impulse width spectrum (largest-smallest imp.

width) too large

89 Reference target: Reference target erroneous, Ref. table

less than 2 cycles update

90 Reference target: calculated bend in the impulse width implausible

91 Reference target: reflectivity measurement cannot be calibrated

92 Reference target: teach-in mode not completed

124 Out of memory: measurement routine

125 Out of memory: reference target routine

126 Out of memory: reference target angle table

127 Out of memory: reference target value telegram preparation




14.3 LMI 400Error no. Description

00 No error

01 Configuration erroneous

02 Wrong configuration parameter

03 Wrong field parameter

04 Wrong evaluation case parameter

05 Sensor and field have different definitions

06 Number of configured sensors too low

07 Number of configured fields too low

08 Sensor type (angle and resolution) not supported

09 Number of fields in the configuration too high

10 In evaluation case 1 ...










20 field from field group 1 ...




24 does not match sensor 1!




28 only with impaired response time to sensor 1

29 only with impaired response time to sensor 2.



32 not used

33 Internal state: no response from sensor

34 not used

35 Object blanking size larger than contour blanking size

36 The units of the field do not match

37 The blanking size has been adapted to the contour size

38 No measured values from sensor

39 The units of the sensor do not match the configuration

40 The units of the field do not match the configuration





41 Wrong sensor 1

42 Wrong sensor 2

43 Wrong sensor 3

44 Wrong sensor 4

45 No sensor 1

46 No sensor 2

47 No sensor 3

48 No sensor 4

49 Wrong operating mode

50 No free news

51 Error in error log

52 Wrong sensor address

53 The required sensors cannot be registered

54 Warning log is full

55 Error / pollution sensor 1




59 Dynamic field does not match evaluation case

60 Max. speed for dynam. fields exceeded

61 not used

62 not used

63 not used

64 not used

65 Internal state: timeout telegram response sensor

66 Internal state: timeout response sensor

67 Internal state: abort through IPC event

to not used

127 not used

128 Sensor 1 is not in any evaluation case




132 Sensors have been reset by LMI

133 not used

to not used

159 not used

160 not used

161 Back-read output 1A does not match (short-circuit)

162 Back-read output 1B does not match (short-circuit)

163 Back-read output 2A does not match (short-circuit)

164 Back-read output 1B does not match (short-circuit)





165 Error high-test

166 Error low-test

167 Error complex input-output test

168 On LMS2xx interface test...

169 ... check-error 1 occurred







176 NOT USED

to NOT USED

191 NOT USED

192 NOT USED

193 E2PROM Checksum error in PC channel

194 E2PROM Checksum error in LMS2xx channel

195 EPROM Checksum error in PC channel

196 EPROM Checksum error in LMS2xx channel

197 E2PROM write error

198 Not used

to Not used

239 Not used

240 Maximum number of sensor reset procedures exceeded

241 Not used

to Not used

255 Not used

Operating Instructions Glossary Chapter 15



15 Glossary

Blanking A so-called blanking factor is defined in "cm". The blanking factor defines the minimum

object size that leads to a message at the switching outputs.

Please note: blanking is only possible in conjunction with scan-oriented evaluation (not in

conjunction with pixel-oriented evaluation – see below).

Contour as reference This function additionally monitors the surroundings of a monitored field (background), i.e.

an object (e.g. a house wall) is constantly checked for its continued existence. If this

contour is missing the corresponding switching output is activated, even without a field

infringement. The validity range of the reference contour can be defined as required:

The minimum object size defines how many cm of a reference contour may be "missing"

before a switching signal is triggered.

The pos./neg. tolerance allows a corridor for LMS2xx measured values to take up their

tolerances or balance fluctuations in the contour (pos. = tolerance band for larger

measurement values = measurement of the contour's larger distance; neg. = tolerance

band for smaller measured values = measurement of the contour's smaller distance).

Measured values outside the corridor are evaluated as loss of contour.

This function can also be employed to prevent sabotage. Basically, the standard field

evaluation is valid outside the defined corridor.

Customer, authorised All configuration settings can be transferred to the LMS2xx/LMI400 with authorised

customer status.

Customer, machine operator All settings can be checked but not changed or transferred with machine operator status.

Field evaluation To prevent erroneous switching through particles, etc. fields are evaluated using different

processes (scan-oriented or pixel-oriented – see below).

Field evaluation,pixel-oriented

With pixel-oriented field evaluation every single scanner beam is evaluated and stored

temporarily – unlike the scan-oriented process. The corresponding switching signal is

triggered if infringements are repeated sequentially at the same beam (pixel). This

method is best suited for increasing availability in rain and snow.

Field evaluation,scan-oriented

With scan-oriented field evaluation a field infringement at a particular location is saved

and verified using multiple reading. If further infringements are reported in subsequent

scans (at the particular location) then, depending on the number of multiple readings

defined, the field's corresponding switching output is activated.

Field infringement The detection of an object within a pre-defined monitored field.

Field set switching Changing between different field sets. In the LMS2xx either field set 1 or 2 is active, in the

LMI400 2 field sets can be activated simultaneously. The change of field set in the

LMS2xx takes place via the restart input (24 V DC static), in the LMI400 through separate

control inputs (24 V DC static).

Alternatively, field sets can also be switched via software telegram.

Field sets Consist of 2 or 3 individual monitored fields:

(fields A, B or fields A, B, C).

2 field sets can be saved in the LMS2xx, and up to 4 in the LMI400.

Field, dynamic Only for LMI400; field shapes and sizes can be changed automatically dependant on

shaft encoder input (e.g. speed for an AGV application).

Field, volatile A field form can be defined and activated by external data information online via the user

interface, transfer time approx. 200 ms (volatile [temporary] as the field is lost when

power supply turned off).

Fields, subtractive Allows a zone to be monitored that is the "remainder" of field A minus field B.

Chapter 15 Glossary Operating Instructions



Fields, teach-in Fields can be taught-in, when set to "segmented fields" instead of their being

programmed. The LMS2xx or LMI400 defines the entire free scanner field of view as the

monitored area. This function is extremely helpful for large fields, e.g. securing building

facades. The field limits precisely follow the contour of the surroundings and ensure the

largest possible cover. Field sections that are not required (e.g. the outermost edges),

can be deleted (cut out) in the Configuration Software in a few easy steps.

Monitored fields Freely programmable zones (areas); objects that are detected in a field by an LMS2xx

trigger a switching signal.

Reflectivity (remission) Reflectivity is the amount of reflection from a surface.

The well-known photographic KODAK standard, among others, forms the basis for

reflectivity measurements (see also Technical Description).

Resolution The resolution of a LMS2xx shows how precisely distance values are determined and

given out. For pulse time-of-flight measurements this is basically dependent on the

counter resolution (stop watch).

Restart, with delay

The corresponding switching output is active only after the defined delay has elapsed (if

the field is free).

Restart,with button

The corresponding switching output is active only after the external button has been

pressed (if the field is free).

Restart, automatic The corresponding switching output is active immediately after the field is released as

free.

Synchronisation If LMS2xx are employed in close proximity to one another (< 6 m), under certain

unfavourable conditions scanners may cause mutual interference. Synchronisation

ensures that the mirror wheels of the two LMS2xx units correspond to one another. The

mirrors then rotate synchronously displaced by 180 . The LMSIBS Configuration Software

is used to define 1 LMS2xx as a master and the other as a slave (see TechnicalDescription for cable connections).

Operating Instructions



SICK AG | Waldkirch | Germany | www.sick.com

AustraliaPhone+61394974100 1800334802–tollfreeE-Mail [email protected]

Belgium/LuxembourgPhone+32(0)[email protected]

[email protected]

Ceská [email protected]

[email protected]

[email protected]

DeutschlandPhone+49(0)[email protected]

Españ[email protected]

[email protected]

Great BritainPhone+44(0)[email protected]

IndiaPhone+91–22–[email protected]

[email protected]

JapanPhone+81(0)[email protected]

NederlandsPhone+31(0)[email protected]

Norge [email protected]

ÖsterreichPhone+43(0)[email protected]

[email protected]

Republic of KoreaPhone+82-27866321/[email protected]

Republika SlowenijaPhone+386(0)[email protected]

[email protected]

[email protected]

[email protected]

[email protected]

[email protected]

[email protected]

Tü[email protected]

USA/Canada/MéxicoPhone+1(952)941-6780 1800-325-7425–[email protected]

Morerepresentativesandagenciesinallmajorindustrialnationsatwww.sick.com

8009

116/

2006

-07

. 5M

/TR

<PM

6.5/

Wor

d97/

PDF>

/VD

.P

rinte

din

Ger

man

y .

Sub

ject

toc

hang

ew

ithou

tnot

ice

. Th

esp

ecifi

edp

rodu

ctfe

atur

esa

ndte

chni

cald

ata

don

otre

pres

enta

nyg

uara

ntee

.0

5Af

tint

57

Documents

Manual de Configuración SICK LMS 2XX