SICK LRS4000 Manuale utente
OPERATING INSTRUCTIONS
LRS4000
2D LiDAR sensors
Described product
LRS4000
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be
reserved for SICK AG. Reproduction of this document or parts of this document is
only permissible within the limits of the legal determination of Copyright Law. Any modi‐
fication, abridgment or translation of this document is prohibited without the express
written permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.
Original document
This document is an original document of SICK AG.
2O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK
Subject to change without notice
Contents
1 About this document........................................................................ 5
1.1 Information on the operating instructions.............................................. 5
1.2 Explanation of symbols............................................................................ 5
1.3 Further information................................................................................... 6
2 Safety information............................................................................ 7
2.1 Intended use............................................................................................. 7
2.2 Improper use............................................................................................. 7
2.3 Cybersecurity............................................................................................ 7
2.4 Limitation of liability................................................................................. 7
2.5 Modifications and conversions................................................................ 8
2.6 Requirements for skilled persons and operating personnel.................. 8
2.7 Operational safety and particular hazards.............................................. 8
3 Product description........................................................................... 10
3.1 Scope of delivery....................................................................................... 10
3.2 Status indicators....................................................................................... 10
3.3 Type label.................................................................................................. 10
3.4 Principle of operation............................................................................... 11
3.4.1 Measurement principle........................................................... 11
3.4.2 Range finding........................................................................... 12
3.4.3 Direction measurement.......................................................... 12
3.4.4 Impact of object surfaces on the measurement................... 12
3.4.5 Object sizes.............................................................................. 14
3.4.6 Multi-echo analysis.................................................................. 17
3.4.7 Filter.......................................................................................... 17
3.4.8 RSSI values.............................................................................. 19
3.4.9 Synchronization of the external clock and device clock........ 19
4 Transport and storage....................................................................... 21
4.1 Transport................................................................................................... 21
4.2 Unpacking.................................................................................................. 21
4.3 Transport inspection................................................................................. 21
4.4 Storage...................................................................................................... 21
5 Mounting............................................................................................. 23
5.1 Mounting instructions............................................................................... 23
5.2 Mounting device....................................................................................... 23
6 Electrical installation........................................................................ 24
6.1 Wiring instructions.................................................................................... 24
6.2 Prerequisites for safe operation of the device........................................ 25
6.3 Connection diagram................................................................................. 27
6.4 Connecting device electrically.................................................................. 29
6.5 Connecting encoder................................................................................. 29
CONTENTS
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7 Operation............................................................................................ 30
7.1 Operation using SOPASair........................................................................ 30
7.1.1 Opening user interface............................................................ 30
7.1.2 Overview................................................................................... 30
7.1.3 User levels................................................................................ 31
7.2 Operation in SOPAS ET............................................................................. 31
7.2.1 Installing and starting the configuration software................ 32
7.2.2 Logging into the device............................................................ 32
7.2.3 Output of measured values via terminal program................. 32
8 Maintenance...................................................................................... 35
8.1 Maintenance plan..................................................................................... 35
8.2 Cleaning..................................................................................................... 35
9 Troubleshooting................................................................................. 36
9.1 General faults, warnings, and errors....................................................... 36
9.2 Repairs...................................................................................................... 36
9.3 Returns...................................................................................................... 36
9.4 Disposal..................................................................................................... 36
10 Technical data.................................................................................... 37
10.1 Features.................................................................................................... 37
10.2 Mechanics/Electronics............................................................................. 38
10.3 Dimensional drawing................................................................................ 39
10.4 Performance............................................................................................. 40
10.5 Interfaces.................................................................................................. 40
10.6 Ambient data............................................................................................. 40
11 Accessories........................................................................................ 41
12 Annex.................................................................................................. 42
12.1 Declarations of conformity and certificates............................................ 42
12.2 Licenses.................................................................................................... 42
CONTENTS
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Subject to change without notice
1 About this document
1.1 Information on the operating instructions
These operating instructions provide important information on how to use devices from
SICK AG.
Prerequisites for safe work are:
•Compliance with all safety notes and handling instructions supplied.
•Compliance with local work safety regulations and general safety regulations for
device applications
The operating instructions are intended to be used by qualified personnel and electrical
specialists.
NOTE
Read these operating instructions carefully to familiarize yourself with the device and its
functions before commencing any work.
The operating instructions are an integral part of the product. Store the instructions
in the immediate vicinity of the device so they remain accessible to staff at all times.
Should the device be passed on to a third party, these operating instructions should be
handed over with it.
These operating instructions do not provide information on operating the machine or
system in which the device is integrated. Information on this can be found in the
operating instructions for the machine or system.
1.2 Explanation of symbols
Warnings and important information in this document are labeled with symbols. Sig‐
nal words introduce the instructions and indicate the extent of the hazard. To avoid
accidents, damage, and personal injury, always comply with the instructions and act
carefully.
DANGER
… indicates a situation of imminent danger, which will lead to a fatality or serious
injuries if not prevented.
WARNING
… indicates a potentially dangerous situation, which may lead to a fatality or serious
injuries if not prevented.
CAUTION
… indicates a potentially dangerous situation, which may lead to minor/slight injuries if
not prevented.
NOTICE
… indicates a potentially harmful situation, which may lead to material damage if not
prevented.
NOTE
… highlights useful tips and recommendations as well as information for efficient and
trouble-free operation.
ABOUT THIS DOCUMENT 1
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Subject to change without notice
1.3 Further information
NOTE
Further documentation for the device can be found on the online product page at:
•www.sick.com/LRS4000
There, additional information has been provided depending on the product, such as:
•Model-specific online data sheets for device types, containing technical data,
dimensional drawing, and specification diagrams
•Declarations of conformity and certificates of the product family
•Dimensional drawings and 3D CAD dimension models of the device types in
various electronic formats
•Other publications related to the devices described here
•Publications dealing with accessories
1 ABOUT THIS DOCUMENT
6O P E R A T I N G I N S T R U C T I O N S | LRS4000 8026338/0000/2022-02-15 | SICK
Subject to change without notice
2 Safety information
2.1 Intended use
The LRS4000 2D LiDAR sensor features 1 scan plane and is designed for the following
applications:
•Detection of objects during continuous output of measurement data as required.
•Detection and position determination of structures and objects.
It is suitable for applications which demand precise, non-contact optical measuring
contours and dimensioning. Typical applications include profile detection in container
handling, volume measurement in coal piles and boom protection on cranes.
2.2 Improper use
Any use outside of the stated areas, in particular use outside of the technical specifica‐
tions and the requirements for intended use, will be deemed to be incorrect use.
•The device does not constitute a safety component in accordance with the respec‐
tive applicable safety standards for machines.
•The device must not be used in explosion-hazardous areas, in corrosive environ‐
ments or under extreme environmental conditions.
•Any use of accessories not specifically approved by SICK AG is at your own risk.
WARNING
Danger due to improper use!
Any improper use can result in dangerous situations.
Therefore, observe the following information:
■Product should be used only in accordance with its intended use.
■All information in these operating instructions must be strictly observed.
■Shut down the product immediately in case of damage.
2.3 Cybersecurity
To protect against cybersecurity threats, it is necessary to continuously monitor and
maintain a comprehensive and holistic cybersecurity concept. A suitable concept com‐
prises organizational, technical, procedural, electronic, and physical levels of defense
and provides suitable measures for different types of risks. SICK's products and solu‐
tions must be viewed as a component of this concept.
Information on Cybersecurity can be found at: www.sick.com/psirt .
2.4 Limitation of liability
Relevant standards and regulations, the latest technological developments, and our
many years of knowledge and experience have all been taken into account when
compiling the data and information contained in these operating instructions. The
manufacturer accepts no liability for damage caused by:
■Non-adherence to the product documentation (e.g., operating instructions)
■Incorrect use
■Use of untrained staff
■Unauthorized conversions or repair
■Technical modifications
■Use of unauthorized spare parts, consumables, and accessories
SAFETY INFORMATION 2
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2.5 Modifications and conversions
NOTICE
Modifications and conversions to the device may result in unforeseeable dangers.
Interrupting or modifying the device or SICK software will invalidate any warranty claims
against SICK AG. This applies in particular to opening the housing, even as part of
mounting and electrical installation.
2.6 Requirements for skilled persons and operating personnel
WARNING
Risk of injury due to insufficient training.
Improper handling of the device may result in considerable personal injury and material
damage.
■All work must only ever be carried out by the stipulated persons.
The following qualifications are required for various activities:
Table 1: Activities and technical requirements
Activities Qualification
Mounting, maintenance ■Basic practical technical training
■Knowledge of the current safety regulations in the workplace
Electrical installation,
device replacement
■Practical electrical training
■Knowledge of current electrical safety regulations
■Knowledge of the operation and control of the devices in their
particular application
Commissioning, configura‐
tion
■Basic knowledge of the computer operating system used
■Basic knowledge of the design and setup of the described
connections and interfaces
■Basic knowledge of data transmission
Operation of the device for
the particular application
■Knowledge of the operation and control of the devices in their
particular application
■Knowledge of the software and hardware environment for the
particular application
2.7 Operational safety and particular hazards
Please observe the safety notes and the warnings listed here and in other sections
of this production documentation to reduce the possibility of risks to health and avoid
dangerous situations.
CAUTION
Optical radiation: Class 1 Laser Product
The accessible radiation does not pose a danger when viewed directly for up to 100
seconds. It may pose a danger to the eyes and skin in the event of incorrect use.
■Do not open the housing. Opening the housing may increase the level of risk.
■Current national regulations regarding laser protection must be observed.
Caution – Use of controls or adjustments or performance of procedures other than
those specified herein may result in hazardous radiation exposure.
2 SAFETY INFORMATION
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It is not possible to entirely rule out temporary disorienting optical effects, particularly
in conditions of dim lighting. Disorienting optical effects may come in the form of
dazzle, flash blindness, afterimages, photosensitive epilepsy, or impairment of color
vision, for example.
WARNING
Electrical voltage!
Electrical voltage can cause severe injury or death.
■Work on electrical systems must only be performed by qualified electricians.
■The power supply must be disconnected when attaching and detaching electrical
connections.
■The product must only be connected to a voltage supply as set out in the require‐
ments in the operating instructions.
■National and regional regulations must be complied with.
■Safety requirements relating to work on electrical systems must be complied with.
WARNING
Risk of injury and damage caused by potential equalization currents!
Improper grounding can lead to dangerous equipotential bonding currents, which may
in turn lead to dangerous voltages on metallic surfaces, such as the housing. Electrical
voltage can cause severe injury or death.
■Work on electrical systems must only be performed by qualified electricians.
■Follow the notes in the operating instructions.
■Install the grounding for the product and the system in accordance with national
and regional regulations.
SAFETY INFORMATION 2
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Subject to change without notice
3 Product description
3.1 Scope of delivery
The delivery of the device includes the following components:
Table 2: Scope of delivery
No. of
units
Component Remarks
1 Device in the version ordered Depending on version
1 Set of protective caps for electri‐
cal connections
Attached to the connections
1 Printed safety notes, multilin‐
gual
Brief information and general safety notes
3.2 Status indicators
1 2
Figure 1: Status indicators
1APP LED
2DEV LED
APP LED (color) DEV LED (color) Description
O (Red) O (Red) Starting up
- – O (Red) Configuration
- – – Off
–O (Green) On / Ready for operation
- – Ö (Yellow) Warning
Ö Slow (red) Ö Slow (red) Error that can be corrected by the
customer
Ö Fast (red) Ö Fast (red) Fatal error
- – O (Yellow) Standby / Power save
Ö (Red)
Ö (Yellow)
Ö (Green)
Ö (Red)
Ö (Yellow)
Ö (Green)
Identification of the device
Ö (Red) Ö (Green) Firmware update
O = illuminated; Ö = flashing
3.3 Type label
The type label gives information for identification of the device.
3 PRODUCT DESCRIPTION
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