====== Sick LSM111 - LIDAR ======
The Laser scanner [[http://www.sick.com/us/en-us/home/products/product_news/laser_measurement_systems/Pages/lms100.aspx|LSM111]] from the company [[http://www.sick.com/group/EN/home/Pages/homepage1.aspx|Sick]]. All information is copied from this web.
The LSM on the armadillo currently has 193.167.0.1 as IP
LSM 111
{{:sensors:lms100-manual.pdf|Manual}}
LMS 1XX
{{:sensors:How to store data on LMS1XX.pdf|How to store data using SICK Laser}}
LMS 1XX
{{:sensors:LMS1xx_LMS5xx_TiM3xx_JEF300_JEF500 Telegrams.pdf|LMS1xx Developer's guide}}
{{:sensors:lms100.gif?200|}}
SOPAS
{{:sensors:setup.exe|SOPAS setup.exe}}
====== Specifications ======
^Index^
|[[sensors:lsm111#Functional data|Functional data]]|
|[[sensors:lsm111#General data|General data]]|
|[[sensors:lsm111#Electrical data|Electrical data]]|
|[[sensors:lsm111#(1*)(2*)(3*)|(1*)(2*)(3*)]]|
===== 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**
|{{:sensors:5pin_connection.png?200|}}|**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**
|{{:sensors:8pin_connection.png?200|}}|**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|