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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

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°
(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.

“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