User Tools

Site Tools


sensors:lsm111

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

MinimumTypicalMaximum
Scan angle 270°
Scanning frequency25 Hz 50 Hz
Remission10% Several 1,000 %(1*) (reflectors)
Angular resolution
- With 25 Hz0.25° 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 drift0 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/LMS1230.5 m (1.64 ft) 20 m (65.62 ft)
- LMS1510.5 m (1.64 ft) 50 m (164,04 ft)
Hardware blanking window0 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 after2 s 60 s

General data

MinimumTypicalMaximum
Laser protection classLaser 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 ratingAs per EN 60529 (1991H10); A1 (2002H02)
- LMS100/LMS122/LMS123IP 65
- LMS111/LMS151IP 67
Protection classIII as per EN 50178 (1997H10)
EMC testAs per EN 61000H6H2 (2005H08), EN 61000H6H3 (2007H03)
Electrical safetyAs per EN 50178 (1997H10)
Operating temperature range
- LMS100/LMS122/LMS1230 °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 resistanceAs per EN 60068H2H6 (1995H04)
- Frequency range10 Hz 150 Hz
- Amplitude5 g RMS
Shock resistanceAs per EN 60068H2H27 (1993H03), EN 60068H2H29 (1993H04)
- Single shock15 g (0.53 oz), 11 ms
- Continuous shock10 g (0.35 oz), 16 ms
SenderPulsed laser diode
- Wave length895 nm905 nm915 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
- MaterialGDHALSI12 3.2582.05
- Colour LMS100RAL 5012 (blue)
- Colour LMS122RAL 9005 (black)
- Colour LMS123RAL 9003 (white)
- Colour LMS111/LMS151RAL 7032 (grey)
- AlloyExcellent weather resistance as per DIN EN 106:1988, plate 3
Optics cover
- MaterialPolycarbonate
- Surface finishOutside with scratch-resistant coating
System plug (LMS100/LMS122/LMS123)
- MaterialGDHALSI12 3.2582.05
- Colour LMS100/LMS122RAL 9005 (black)
- Colour LMS123RAL 9003 (white)
Cable entries (LMS111/LMS151)
- MaterialStainless 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

MinimumTypicalMaximum
Supply voltage LMS100/LMS111/LMS151 SELV or PELV as per IEC 60364H4H41 (2005H12)10.8 V24 V30 V
Supply voltage LMS122/LMS123 SELV or PELV as per IEC 60364H4H41 (2005H12)9 V24 V30 V
Permissible residual ripple ±5%
Supply voltage for the LMS111/LMS151 heating19.2 V24 V28.8 V
Switch on current 2 A
Operating current at 24 V without output load 0.35 A0.5 A
Operating current with max. output load 0.65 A0.8 A
Operating current with maximum heating performance 2.3 A2.5 A
Power consumption without output load 8.4 W12 W
Power consumption with maximum output load 16 W 20 W
Power consumption with maximum heating performance 55 W 60 W
Electrical connection LMS111/LMS151Round M12 plug connector
Electrical connection LMS100/LMS122/LMS123System 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 torque0.22 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
- Number2
- Input resistance on HIGH 2 kΩ
- Voltage for HIGH11 V24 V30 V
- Voltage for LOW 0 V5 V
- Input capacity 15 nF
- Static input current6 mA 15 mA
Dynamic control inputs
- Number2
- Input resistance on HIGH 2 kΩ
- Voltage for HIGH11 V24 V30 V
- Voltage for LOW-3 V0 V5 V
- Input capacity 1 nF
- Static input current6 mA 15 mA
- Duty cycle (Ti/T) 0.5
- Input frequency 100 kHz
- Current load per incremental encoder 50 mA100 mA
Velocity range that can be sampled
- ForwardFrom +100 mm/s to +20,000 mm/s (3.94 in/s to +788 in/s)
- BackwardFrom –10 mm/s to –20,000 mm/s (–0.39 in/s to –788 in/s)
Incremental encoders that can be evaluated
- TypeTwo-channel rotary encoder with 90° phase offset
- Enclosure ratingIP 54
- Supply voltageUV – 3 V UV
- Outputs required on the incremental encodersPush&/Pull
- Pulse frequency 100 kHz
- Number of pulses per cm50
- Cable length (screened) 10 m (32.81 ft)
Digital switching outputs LMS100/111/151
- Number3
- 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 delayNegligible
- Switch off time 0.8 ms2 ms
Relay switching outputs LMS122/123
- Number2
- 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 cycles105
- Power-up delay 2 ms4 ms
- Switch off time 2 ms4 ms
Serial auxiliary interface
- Communication protocolRSH232 (proprietary)
- Transmission speed9,600 Baud57.6 kBd115.2 kBd
Serial host interface
- Communication protocolRSH232 (proprietary)
- Transmission speed (selectable)9,600 Baud57.6 kBd115.2 kBd
- Cable length at 38.400 kBd and wire cross- section 0.25 mm2 (approx. 24 AWG) 15 m (49.21 ft)
- Galvanic de-couplingYes
- Wire cross-section of the connecting cable 0.25 mm2 (approx. 24 AWG)
Ethernet10/100 MBit/s
CAN20 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

PinSignalFunction
1Vs LMS supply voltage
2Vs heatSupply voltage for the heating
3GND Ground
4 - Not assigned
5GND heatGround heating

“RS-232” connection M12×8, plug

PinSignalFunction
1RxD Serial RSH232 host interface (receiver)
2TxD Serial RSH232 host interface (sender)
3CAN_H CAN-BUS High
4CAN_L CAN-BUS Low
5GND CANGround CAN
6IN 1 Digital input 1
7IN 2 Digital input 2
8IN GND Ground digital inputs
sensors/lsm111.txt · Last modified: 2013/06/05 11:29 by claes