SICK LMS 200 Installation guide

Quick Manual

MST DEMO setup

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Quick Manual for

MST Demo setup

Software setup

and configuration

Version 1.0 August 2002 (HW/MV)

Quick Manual

MST DEMO setup

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Contents

A. INTRODUCTION 3

1. Basics of the LMS System 3

B. HARDWARE SETUP 4

1. Before you start ... : Required components 4

2. Power supply 5

3. Serial interface for data exchange 7

C. COMMUNICATION VIA MST DEMO 9

1. Principle of MST-Demo 9

2. Installation of MST 9

2. Communication LMS to PC with MST 10

3. Record LMS scan data 11

4. Re-play the stored data 12

5. Editing the Configuration file of the recorder 13

6.Transferring the file LMSData.dat to a LMSData.txt file 14

D. APPENDICES: 18

1. LMS in High-Speed Mode 18

2. Further information and documentation 20

! This is a quick start manual. For extended information please refer to the documents

listed in section D.4. !

Quick Manual

MST DEMO setup

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A. Introduction

1. Basics of the LMS System

The Laser Measurement System LMS 200, LMS

220, LMS 211, LMS 221, LMS 291 is based on a

time-of-flight measurement principle (Laser Radar).

A single Laser pulse is sent out and reflected by an

object surface within the range of the sensor. The

elapsed time between emission and reception of the

Laser pulse serves to calculate the distance between

object and LMS.

Via a integrated rotating mirror the Laser pulses

sweep a radial range in front of the LMS unit. A 2-

dimensional measurement field / detection area is

defined.

(For further details please refer to the Technical Description

Laser Measurement Systems SICK order no.: 8008970)

Main benefits of this measurement principle are:

•Detection of objects independent of object color

and surface structure

•Reliable detection of object presence

The Laser Measurement System LMS offers a

solution for a large range of applications:

•Determining the volumes of objects (measuring

packages, pallets, containers)

•Determining the position of objects (pallets,

containers, transport vessels)

•Collision prevention for vehicles or cranes

•Controlling docking processes (positioning)

•Classification of objects (vehicle detection, camera trigger)

•Process automation (e.g. calander rollers)

•Checking overhang/area monitoring in automated multi-storey car parks

•Determining the volumes or contours of bulk materials

•Monitoring open spaces for building security (facades, grounds, shafts)

•... and many more

Fig.1: Measurement principle LMS

Fig.2: Angular range LMS

Quick Manual

MST DEMO setup

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B. Hardware setup

1. Before you start ... : Required components

As a minimum requirement to set up an LMS sensor with a data connection to a PC, the following

components are required:

For LMS200/LMS291:

Item/Specification Description SICK order number

LMS200-30106 10158501 x LMS unit with cable

connectors LMS291-S05 1018028

1 x power supply 24 V DC +-

15%, min. 2.5 A Power supply DC 24V / 2.5 A 6010361

Cable set 1: 5 m length 20189641 x cable for power supply

and output signals (open

cable ends

1 x cable for data interface Cable set 2: 10 m length 2018965

For LMS211/LMS220/LMS221:

Item/Specification Description SICK order number

LMS211-30206 1018023

LMS220-30106 1015945

1 x LMS unit with cable

connectors LMS221-30206 1018022

1 x power supply 24 V DC +-

15%, min. 2.5 A for LMS

electronics

Power supply DC 24V / 2.5 A 6010361

1 x power supply 24 V DC +-

15%, min. 5 A for LMS

heating

Power supply DC 24V / 10 A 6011156

1 x cable for power supply

and output signals (open

cable ends

1 x cable for data interface

Cable set: 5 m length 2019561

Note: In case of longer cables, please source your own cable. Please make sure to use correct

cable diameters to avoid voltage drops along large cable lengths.

•Suitable brackets, mounting.

A laptop or desktop computer serves as user interface with the LMS unit. The computer is

connected via a serial interface:

•RS232 interface (up to 10 m cable length) (standard COM1 or COM2 in most computers)

•RS422 interface (up to 1200 m cable length) (special interface card required)

In case a high-speed data transmission is required, SICK offers special interface boards for 500

kBaud transmission rate. For details and information please refer to section D.2.

Quick Manual

MST DEMO setup

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2. Power supply

The LMS unit is supplied with 24 V DC +/- 15%. Depending on the length of the power supply

cable, the power supply needs to provide sufficient current.

Due to the LMS models, connection diagrams are different for LMS200/LMS291 and

LMS220/211/221.

a. For LMS 200 / LMS 291

LMS 200

LMS 291

Control Cabinet

Power Supply

24 V DC

Pin assignment:

No. Signal designation Input/

Output Wire

color

1GND_EXT (ground) Supply brown

2Restart Input blue

3VCC_EXT (24V DC +- 15%) Supply red

4Not connected - -

5OUT C (for field detection)/

weak signal Output grey

6Not connected - -

7Not connected - -

8OUT B (for field detection) Output turquoise

9OUT A (for field detection) Output orange

Note: Minimum connections marked in bold

PIN 5 / 8 / 9 cannot be used for data processing purposes with the LMS sensor

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MST DEMO setup

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b. For LMS 211 / LMS 220 / LMS 221

LMS 211

LMS 220

LMS 221

Control Cabinet

Power Supply

24 V DC

Heating

Electronics

Power Supply

24 V DC

Pin assignment:

No. Signal designation Input/

Output Remark

1RxD- Interface

2RxD+ Interface

3RS232/RS422 Jumper 1 With jumper àRS422

Without jumper àRS232 (default)

4GND_EXT for heating Supply

5Flap control Input For flap control details please refer to

technical description

6Not connected -

7OUT C (for field detection)/

weak signal Output

8GND_EXT for electronics Supply

9TxD- Interface

10 TxD+ Interface

11 RS232/RS422 Jumper 2

12 VCC_EXT for heating Supply

13 OUT A (for field detection) Output

14 OUT A (for field detection) Output

15 Restart

16 VCC_EXT for electronics Supply

Note: Minimum connections marked in bold

Use separate cables for connecting the scanner electronics and the heating.

Fig.2: Connections on backplane of LMS211/LMS220/LMS221

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MST DEMO setup

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3. Serial interface for data exchange

For data exchange in measuring tasks, the LMS is equipped with a serial RS 232 / RS 422

interface.

By setting a jumper, RS422 or RS232 can be enabled. Default setting is RS232.

a. Connection of the RS 232 interface.

1. For LMS 200 / LMS 291:

Pin assignment:

LMS PC

Signal designation PIN No. PIN No. Signal designation

Not connected 1 1 NC

RxD 2 2 RxD

TXD 3 3 TXD

Not connected 4 4 Not connected

GND 5 5 GND

Not connected 6 6 Not connected

Not connected 7 7 Not connected

Not connected 8 8 Not connected

Not connected 9 9 Not connected

Note: PINs 2 and 3 are crossed in the cable.

The connector at the PC side is a 9 pin DSub

2. For LMS 211 / LMS 220 / LMS 221

Note: The connector at the PC side is a 9 pin DSub

Fig.3: Wiring of the RS232 for LMS211/LMS220/LMS221

Quick Manual

MST DEMO setup

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b. Connection of the RS 422 interface

1. For LMS 200 / LMS 291

Pin assignment:

LMS PC

Signal designation PIN No. PIN No. Signal designation

RxD- 1 1 RxD-

RxD+ 2 2 RxD+

TxD- 3 3 TxD-

TxD+ 4 4 TxD+

GND 5 5 GND

Not connected 6 6 Not connected

Jumper 1 7 7 Not connected

Jumper 2 8 8 Not connected

Not connected 9 9 Not connected

Note: As there is no standard for RS422 connector pinning, please check the signal

assignments of your RS422 interface card to the respective PINs. Refer to the

documentation of your RS422 interface board manufacturer.

In case of deviations, change the cable assignments accordingly.

For selection of the RS422, there needs to be a jumper connection between between

PINs 7 and 8 on the LMS side inside the cable connector.

PINs 2 and 3 are crossed in the cable, PINs 1 and 4 are crossed in the cable. It is

recommended to use twisted pair cables for RS422 connections.

2. For LMS 211 / LMS 220 / LMS 221

Note: For selection of the RS422, there needs to be a jumper connection between between

PINs 3 and 11 on the LMS side in the cable connector.

PINs 2 and 3 are crossed in the cable, PINs 1 and 4 are crossed in the cable. It is

recommended to use twisted pair cables for RS422 connections.

Fig.3: Wiring of the RS232 for LMS211/LMS220/LMS221

Quick Manual

MST DEMO setup

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C. Communication via MST Demo

1. Principle of MST-Demo

The MST Demo Tool is made for two main purposes. Primarily it demonstrates what can be done

with the software package MST 200 and what functions are available for custom software

development. On the other hand it is a tool for quick and easy recording of scans for a

preliminary data evaluation. The feasibility of the LMS sensor as a data source for a specific

application can be evaluated with this tool.

2. Installation of MST

MST is delivered as a ZIP file. Please create a dedicated MST home directory on your harddrive.

After unpacking the ZIP file into the home directory, you get the following file structure.

By starting MSTDemo.exe you will get the MST start screen with an active menu (Start | Options).

Quick Manual

MST DEMO setup

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2. Communication LMS to PC with MST

MST Provides a simple data connection. The Hardware connection between PC and LMS is

shown in section B3.

Please select Options in the start window and set your connection parameters.

Note: Always select 9600Bd . MST will automatically use the highest Baud rate possible

when started.

The Software is now ready.

Within the Start button you will have several applications which can be started.

For every application MST_Demo will create a configuration file in the MST home directory. This

configuration file is a text file and can be edited with every editor.

In this quick start manual the application Record LMS scan data and Play back LMS scan data

are discussed. The other applications follow the same idea by principle.

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