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sensors:lsm111
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Sick LSM111 - LIDAR
The Laser scanner LSM111 from the company Sick. All information is copied from this web.
The LSM on the armadillo currently has 193.167.0.1 as IP
LSM 111 Manual
LMS 1XX How to store data using SICK Laser
LMS 1XX LMS1xx Developer's guide
SOPAS SOPAS setup.exe
Specifications
Functional data
| Minimum | Typical | Maximum | |
|---|---|---|---|
| Scan angle | 270° | ||
| Scanning frequency | 25 Hz | 50 Hz | |
| Remission | 10% | Several 1,000 %(1*) (reflectors) | |
| Angular resolution | |||
| - With 25 Hz | 0.25° | 0.5° | |
| - With 50 Hz | 0.5° | ||
| Measurement error 1st reflected pulse(2*) | |||
| - Systematic error | ± 30 mm (± 1.18 in) | ± 40 mm (± 1.58 in) | |
| - Temperature drift | 0 mm/°C (0 in/°F) | 0.32 mm/°C (0.007 in/°F) | |
| - Statisticalerror(1σ) | 12 mm (0.47 in) | 20 mm (0.79 in) | |
| Immunity to external light | 40 klx | ||
| Evenness of the scan field (25 Hz) | |||
| - Cone | ±0.5° | ±1° | |
| - Inclination | ±1° | ±–2° | |
| Distance from mirror axis of rotation (zero point on the X and Y axis) to the rear of the device | 55 mm (2.17 in) | ||
| Distance between centre of the scan plane and the bottom edge of the housing | 116 mm (4.57 in) | ||
| Distance measuring range | |||
| - LMS100/LMS111/LMS122/LMS123 | 0.5 m (1.64 ft) | 20 m (65.62 ft) | |
| - LMS151 | 0.5 m (1.64 ft) | 50 m (164,04 ft) | |
| Hardware blanking window | 0 m (0 ft) | 15 m (49.21 ft) | |
| - Step width | 1 m (3.28 ft) | ||
| Power-up delay | 60 s | ||
| - Of a configured device | 15 s | ||
| Configurable restart after | 2 s | 60 s | |
General data
| Minimum | Typical | Maximum | |
|---|---|---|---|
| Laser protection class | Laser class 1 according IEC 60825H1 (2007H3) (complies with 21 CFR 1040.10 with the exception of the deviations as per Laser Notice No. 50, July 26, 2001) | ||
| Enclosure rating | As per EN 60529 (1991H10); A1 (2002H02) | ||
| - LMS100/LMS122/LMS123 | IP 65 | ||
| - LMS111/LMS151 | IP 67 | ||
| Protection class | III as per EN 50178 (1997H10) | ||
| EMC test | As per EN 61000H6H2 (2005H08), EN 61000H6H3 (2007H03) | ||
| Electrical safety | As per EN 50178 (1997H10) | ||
| Operating temperature range | |||
| - LMS100/LMS122/LMS123 | 0 °C (32 °F) | +50 °C (122 °F) | |
| - LMS111/LMS151 | –30 °C (86 °F) | +50 °C (122 °F) | |
| Storage temperature range | –30 °C (86 °F) | +70 °C (158 °F) max. 24 h | |
| Humidity (taking into account the operating temperature range) | DIN EN 60068H2H61, method 1 | ||
| Vibration resistance | As per EN 60068H2H6 (1995H04) | ||
| - Frequency range | 10 Hz | 150 Hz | |
| - Amplitude | 5 g RMS | ||
| Shock resistance | As per EN 60068H2H27 (1993H03), EN 60068H2H29 (1993H04) | ||
| - Single shock | 15 g (0.53 oz), 11 ms | ||
| - Continuous shock | 10 g (0.35 oz), 16 ms | ||
| Sender | Pulsed laser diode | ||
| - Wave length | 895 nm | 905 nm | 915 nm |
| - Divergence of the collimated beam (solid angle) | 15 mrad | ||
| - Light spot size at the optics cover | 8 mm (0.32 in) | ||
| - Light spot size at 18 m (59.05 ft) scanning range | 300 mm (11.82 in) | ||
| Housing | |||
| - Material | GDHALSI12 3.2582.05 | ||
| - Colour LMS100 | RAL 5012 (blue) | ||
| - Colour LMS122 | RAL 9005 (black) | ||
| - Colour LMS123 | RAL 9003 (white) | ||
| - Colour LMS111/LMS151 | RAL 7032 (grey) | ||
| - Alloy | Excellent weather resistance as per DIN EN 106:1988, plate 3 | ||
| Optics cover | |||
| - Material | Polycarbonate | ||
| - Surface finish | Outside with scratch-resistant coating | ||
| System plug (LMS100/LMS122/LMS123) | |||
| - Material | GDHALSI12 3.2582.05 | ||
| - Colour LMS100/LMS122 | RAL 9005 (black) | ||
| - Colour LMS123 | RAL 9003 (white) | ||
| Cable entries (LMS111/LMS151) | |||
| - Material | Stainless steel/plastic | ||
| Dimensions(3*) | |||
| - Height LMS100/LMS122/LMS123 | 152 mm (5.99 in) | ||
| - Height LMS111/LMS151 | 162 mm (6.38 in) | ||
| - Width | 102 mm (4.02 in) | ||
| - Depth | 106 mm (4.18 in) | ||
| - Total weight (without connecting cables) | 1.1 kg (2.43 lb) | ||
Electrical data
| Minimum | Typical | Maximum | |
|---|---|---|---|
| Supply voltage LMS100/LMS111/LMS151 SELV or PELV as per IEC 60364H4H41 (2005H12) | 10.8 V | 24 V | 30 V |
| Supply voltage LMS122/LMS123 SELV or PELV as per IEC 60364H4H41 (2005H12) | 9 V | 24 V | 30 V |
| Permissible residual ripple | ±5% | ||
| Supply voltage for the LMS111/LMS151 heating | 19.2 V | 24 V | 28.8 V |
| Switch on current | 2 A | ||
| Operating current at 24 V without output load | 0.35 A | 0.5 A | |
| Operating current with max. output load | 0.65 A | 0.8 A | |
| Operating current with maximum heating performance | 2.3 A | 2.5 A | |
| Power consumption without output load | 8.4 W | 12 W | |
| Power consumption with maximum output load | 16 W | 20 W | |
| Power consumption with maximum heating performance | 55 W | 60 W | |
| Electrical connection LMS111/LMS151 | Round M12 plug connector | ||
| Electrical connection LMS100/LMS122/LMS123 | System plug with screw terminal block | ||
| Technical specifications, screw terminals | |||
| - Cross-section of rigid cores (American Wire Gauge — AWG) | 0.14 mm2 (approx. 26 AWG) | 1.5 mm2 (approx. 16 AWG) | |
| - Cross-section of flexible cores (American Wire Gauge — AWG) | 0.14 mm2 (approx. 26 AWG) | 1.0 mm2 (approx. 18 AWG) | |
| - Insulation stripping length for the cores | 5 mm (0.2 in) | ||
| - Screw tightening torque | 0.22 Nm | 0.3 Nm | |
| Cable length for device power supply at 24 V | |||
| - With 1 mm2 wire cross-section (approx. 18 AWG) | 220 m (721.78 ft) | ||
| - With 0.5 mm2 wire cross-section (approx. 22 AWG) | 110 m (360.89 ft) | ||
| With 0.25 mm2 wire cross-section (approx. 24 AWG) | 50 m (164.04 ft) | ||
| Cable length for heating at 24 V | |||
| - With 1 mm2 wire cross-section (approx. 18 AWG) | 45 m (147.64 ft) | ||
| - With 0.5 mm2 wire cross-section (approx. 22 AWG) | 20 m (65.62 ft) | ||
| - With 0.25 mm2 wire cross-section (approx. 24 AWG) | 10 m (32.81 ft) | ||
| Cable length for device power supply at 12 V | |||
| - With 1 mm2 wire cross-section (approx. 18 AWG) | 20 m (65.62 ft) | ||
| - With 0.5 mm2 wire cross-section (approx. 22 AWG) | 10 m (32.81 ft) | ||
| - With 0.25 mm2 wire cross-section (approx. 24 AWG) | 5m (16.40 ft) | ||
| Switching inputs | |||
| - Number | 2 | ||
| - Input resistance on HIGH | 2 kΩ | ||
| - Voltage for HIGH | 11 V | 24 V | 30 V |
| - Voltage for LOW | 0 V | 5 V | |
| - Input capacity | 15 nF | ||
| - Static input current | 6 mA | 15 mA | |
| Dynamic control inputs | |||
| - Number | 2 | ||
| - Input resistance on HIGH | 2 kΩ | ||
| - Voltage for HIGH | 11 V | 24 V | 30 V |
| - Voltage for LOW | -3 V | 0 V | 5 V |
| - Input capacity | 1 nF | ||
| - Static input current | 6 mA | 15 mA | |
| - Duty cycle (Ti/T) | 0.5 | ||
| - Input frequency | 100 kHz | ||
| - Current load per incremental encoder | 50 mA | 100 mA | |
| Velocity range that can be sampled | |||
| - Forward | From +100 mm/s to +20,000 mm/s (3.94 in/s to +788 in/s) | ||
| - Backward | From –10 mm/s to –20,000 mm/s (–0.39 in/s to –788 in/s) | ||
| Incremental encoders that can be evaluated | |||
| - Type | Two-channel rotary encoder with 90° phase offset | ||
| - Enclosure rating | IP 54 | ||
| - Supply voltage | UV – 3 V | UV | |
| - Outputs required on the incremental encoders | Push&/Pull | ||
| - Pulse frequency | 100 kHz | ||
| - Number of pulses per cm | 50 | ||
| - Cable length (screened) | 10 m (32.81 ft) | ||
| Digital switching outputs LMS100/111/151 | |||
| - Number | 3 | ||
| - Voltage drop load | 2 V | ||
| - Maximum switching current | 140 mA | ||
| - Current limiting (after 5 ms at 25°C (77 °F) | 100 mA | 200 mA | |
| - Power-up delay | Negligible | ||
| - Switch off time | 0.8 ms | 2 ms | |
| Relay switching outputs LMS122/123 | |||
| - Number | 2 | ||
| - Switching capacity | DC 30 W/ AC 37,5 VA | ||
| - Switching voltage | DC 110 V/ AC 125 V | ||
| - Switching current | 0.5 A at DC 30 V | ||
| - Switching capacity | 10μA DC 10 mV | ||
| - Switching cycles | 105 | ||
| - Power-up delay | 2 ms | 4 ms | |
| - Switch off time | 2 ms | 4 ms | |
| Serial auxiliary interface | |||
| - Communication protocol | RSH232 (proprietary) | ||
| - Transmission speed | 9,600 Baud | 57.6 kBd | 115.2 kBd |
| Serial host interface | |||
| - Communication protocol | RSH232 (proprietary) | ||
| - Transmission speed (selectable) | 9,600 Baud | 57.6 kBd | 115.2 kBd |
| - Cable length at 38.400 kBd and wire cross- section 0.25 mm2 (approx. 24 AWG) | 15 m (49.21 ft) | ||
| - Galvanic de-coupling | Yes | ||
| - Wire cross-section of the connecting cable | 0.25 mm2 (approx. 24 AWG) | ||
| Ethernet | 10/100 MBit/s | ||
| CAN | 20 kBit/s, 500 kBit/s, 1 Mbit/s | ||
(1*)(2*)(3*)
| (1*) Corresponds to Diamond Grade 3000XTM (approx. 1,250 cd/lx × m2). | |||
| (2*) The time after the first reflected pulse from which measurement can be performed with full accuracy is dependent on the target that reflected the first reflected pulse. | |||
| (3*) Without fixing screws and projection of cable glands with system plug mounted. |
Cable connection
“Power” connection M12×5, plug
 | Pin | Signal | Function |
| 1 | Vs | LMS supply voltage | |
| 2 | Vs heat | Supply voltage for the heating | |
| 3 | GND | Ground | |
| 4 | - | Not assigned | |
| 5 | GND heat | Ground heating |
“RS-232” connection M12×8, plug
 | Pin | Signal | Function |
| 1 | RxD | Serial RSH232 host interface (receiver) | |
| 2 | TxD | Serial RSH232 host interface (sender) | |
| 3 | CAN_H | CAN-BUS High | |
| 4 | CAN_L | CAN-BUS Low | |
| 5 | GND CAN | Ground CAN | |
| 6 | IN 1 | Digital input 1 | |
| 7 | IN 2 | Digital input 2 | |
| 8 | IN GND | Ground digital inputs |
sensors/lsm111.txt · Last modified: 2021/08/14 04:21 (external edit)
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