LDM41/42 - OEM International AB
Contents
1. Interface cable extension is possible One should however observe some important rules depending on the particular application scenario Revision 003 January 2007 A 15 Technical Data LDMA1 RxD and TxD data lines should be kept as short as possible in all cases because they tend to have an interference emitting and interference receiving effect notably when in open state Especially in environments with strong spurious radiation there may be faults that may in some cases require a reset turning the LDM41 off and on again In cases where no RS232 interface communication is required after parameterization you should provide for a termination wiring as shown in Figure 5 geen IxD gt gt Ts a aW o yellow lt lt RxD grey GND z Ska 2 2 nF Figure 5 Recommended termination wiring for work with open RS232 LDMA2 Extension and termination according to standard requirements For correct screening three essential rules must be followed 1 Use screened cable e g 10XAWG224CULSW remember to extend also the cable screen 2 Connect screen to reference potential of UV on cable end 3 For integration with vehicles Where attachment point and reference potential GND or have equal poten tials it may be necessary to electrically isolate the LDM41 42 casing in order to prevent ground loops GND Figure 6 Correct screening of LDM41 42 16 Revision 003 Ja2. ren JENOPTIK GERMANY LDM41 42 Manual Revision 003 January 2007 Dear User You are advised to carefully read this User Manual before powering on the LDM41 42 laser distance measuring module for the first time This is necessary to ensure that you will be able to utilize all the capabilities and fea tures which your new acquisition provides This technology is subject to continuously ongoing development Editorial deadline January 2007 Document number 012840 00 7 98 02 0107 en JENOPTIK Laser Optik Systeme GmbH Sensor Systems business unit 07739 Jena Germany Phone 0 36 41 65 33 14 Fax 0 3641 65 50657 E Mail sensor sales jenoptik com Revision state Date Revision Explanation January 2007 003 Compiled CE Note No part of this User Manual may be reproduced in any way by photographing photocopying microfilm or any other technique without prior written approval by JENOPTIK Laser Optik Systeme GmbH nor may it be processed duplicated or dis seminated with the help of electronic systems Proper care has been used in compiling this document No liability will be accepted in the event of damage resulting from failure to comply with the information contained herein Revision 003 January 2007 3 Dear User For highlighting purposes the following pictograms signs of reference and war ning symbols are used throughout this Manual Warning and reference symbol
3. 50 C Measured value Depends on scale factor 1 mm with SF 1 resolution Time to measure typ 160 ms 6s in standard mode measuring any type of surface 100 ms in DW measuring mode 20 ms in DX measuring mode only LDM42 conditional on target reflectance ambient light influences and atmospheric conditions Revision 003 January 2007 11 Technical Data Max target motion speed 4 m s in DX measuring mode only LDM42 Max acceleration 2 5 m s in DX measuring mode only LDM42 3 4 Interface Type of connection Supply voltage U Max power con sumption in no load state Data interface Please specify on ordering sheet Digital switching output Analog output Trigger input Max input voltages Output voltages 12 12 pole M18 flange mount connector Binder series 723 DC 10 V 30 V lt 1 5 W RS232 LDM41 1 LDM42 1 or RS422 LDM41 2 LDM42 2 Baud rate 9 6 kBaud 2 4 4 8 19 2 38 4 kBaud selectable Data bits 8 Parity none Stop bit 1 Handshake none Protocol ASCII Open collector HIGH U 2 V LOW lt 2 V rated for loads up to 0 5 A with switching threshold latitude width and hysteresis selectable 4 mA 20 mA distance range limits can be set behavior on error report can be preselected 3 mA or 21 mA Load resistance lt 500 Q against GND Accuracy 0 15 Max temperature drift 50 ppm K Trigger volt
4. signal that is applied as a voltage pulse between 3 V and 24 V It is for the user to specify a desired delay time and a pulse flank to be selected for synchronization see 4 2 16 Having done this he she must switch the LDM41 42 to trigger mode DF Revision 003 January 2007 Error Messages Error Messages 6 L N8 uluuex BdeLaUI ELIBS Y JO Zew eleq uess 2 u JI UOISsIWsUeN uo e p 1e16 lul eEMULOS uonesildde ul s euDis p 1lluu Jo SW JPY Dumas ed demos euj 1x 329uD SPUPEWWOI JJEMLOS OA1UOI 49D Jieda1 JO Z7p L PING diusey moddns jed uyde PEIUOY Medad 10 zr l VIN diusey Yoddns jed uyde PEIUOY _dledas 10 77 L pd diysey woddns e32lUuu2 1 Peruon Z 0 jenbaun aq 1snui 4S uluuex 4S 1 J WLJLd yoddns jed UYda DeJUOD Wedel 10 Zp L PING dius y Medad 104 7p L VWI diyusey Pallnba JIAJ9S Z VY 1u lquue WIT uoeipe4 1uDi JuUaIque JD Weds JOL 7p L VW diysey Ajpayeadas sin22o yne J pau nbai 2lAJ3S 09 gt nzes dw JUVIGWe pPIAOld Jol l lIn ejJ duu 1 JUVIGQWe OPIAOJd J 1 uu D2ue1sIp JO 10 I961E JO paads uonoui 5np uv saldels qO 10 pa nsesw Hulag 1 D1e1 01 1 1 uu a9ueIs p WO Ued yDaUD J9AOD JO BAOWAI SP lqo PUN gt 3 134 ober 1e 1uBi JUaIGuUe gt np u pieoq abel sn WW 1 0 lt 2ue1sip Puunseaw uo 1lu uJ uinb i WNWIUIW AJ39SQO pieoq jabiel sn EAOW SJ JO UONDY OI
5. factor Standard setting 1 SF multiplies a calculated distance value with a user selectable factor for changes in resolution or outputs in a different unit of measure The scale factor may also be negative Scale factor Resolution Output Unit of measure SFA 1 MM 12 345 m SF10 0 1 mm 123 45 dm SF1 0936 0 01 yard 13 500 yard SF3 28084 0 01 feet 40 501 feet SF0 3937 1 inch 4 860 100 inch SF 1 mm 2 345 m Table 5 Examples of scale factor Note Following a change in the scale factor the settings for digital and or analog output and offset must be matched accordingly 4 3 12 SEx display set error mode 0 1 2 Standard setting 1 SE allows you to configure how the digital switching output alarm and or the ana log output is to behave on occurrence of an error message E15 E16 E17 E18 Depending on the particular LDM41 42 application different reactions to an error message are possible Available selection options are 0 1 and 2 with the following effects in the event of an error message Revision 003 January 2007 Communications Protocol SE Digital switching output ALARM Analog output lou 0 ALARM of latest valid measurement lour of latest valid measurement 1 AH ALARM LOW RE gt RB IOUT 3 MA AH ALARM HIGH RE lt RB IOUT 21 mA 2 AH ALARM HIGH RE gt RB IOUT 21 mA AH ALARM LOW RE lt RB IOUT 3 MA Table 6 Digital switching output and analog
6. is to behave on occurrence of an error message E15 E16 E17 E18 can be defined by making suitable settings under SE see 4 3 12 5 4 Analog Output 4 20 mA R lt 500 Q Figure 19 Wiring diagram of analog output The purpose of the analog output is to allow transmission of analog measured values via a 4 20 mA interface The amount of current which is injected into the line of transmission is proportional to the distance measured A given range of distances can be selected for trans mission via the two parameters Range Beoinnino RB and Range End RE refer to sections 4 3 16 and 4 3 17 Revision 003 January 2007 33 Operating Modes 34 RE may be greater or smaller than RB The amount of injected current can be calculated as follows i R RE gt RB IOUT mA 4 mA 16 u A RE RB RE lt RB IOUT mA 20 mA 16 mA RB RE Current out of distance range Dist lt RB RE Dist gt RB RE RE gt RB AmA 20 mA RE lt RB 20 mA 4A mA 21 SE 20 RB gt RE RB lt RE 4 3 SE 1 0 Dist Figure 20 Output current diagram for RE gt RB and RE lt RB On occurrence of an error message E15 E16 E17 E18 the output current can be matched to 3 mA or 21 mA with the help of parameter SE refer to section 4 3 12 5 5 Trigger Input Figure 21 Wiring diagram of trigger input The trigger input is intended for triggering a distance measurement with an external
7. output for SE 0 1 and 2 4 3 13 ACx x display set ALARM center Standard setting 1000 AC sets the beginning of the distance range for which the switching output will be turned active The length of this active range can be set using the AW parameter AC must be selected in keeping with the currently set SF scale factor refer to section 5 3 Digital switching output 4 3 14 AH display set ALARM hysterese Standard setting 0 1 AH allows you to make parameter settings for the switching hysteresis at the begin ning and the end point of the active range of the switching output AH must be selected so it is properly matched to the currently valid scale factor SF The mathematical sign of AH can be used to set an active state logic level Positive sign active range is HIGH active Negative sign active range is LOW active No sign setting means positively signed refer to section 5 3 Digital switching output 4 3 15 AWx x display set ALARM width Standard setting 100000 AW sets the length of the active range beginning at AC AW settings must be made in agreement with the currently valaid SF scale factor AW is always equal or greater than 0 zero AW is always equal or greater than AH the amount of AH refer to section 5 3 Digital switching output 4 3 16 RBx x display set distance of lout 4mA Standard setting 1000 RB Range Beginning corresponds to the starting point
8. signal H gt no change in state Trigger signal L gt DM active i e one measurement is triggered LOW I i 4 3 21 BRx display set baud rate 2400 38400 Standard setting 9600 Available baud rate BR settings are 2400 4800 9600 19200 38400 Faulty entries will be rounded to the nearest baud rate A fixed data format of eight data bits with no partiy and one stop bit is used Note After a change in baud rate setting the communicating counterpart must also be set to the new baud rate Revision 003 January 2007 Communications Protocol 4 3 22 AS display set autostart command DT DS DW DX DF DM TP LO ID Standard setting ID AS autostart defines which function will be carried out when power becomes available to the LDM41 42 Possible entries are those delivering a measured value on the output side an ID com mand or the command for turning the laser on LO For example if ASDT has been parameterized the LDM41 42 will begin with distance tracking on turning on power 4 3 23 OFx x display set distance offset Standard setting 0 With the help of OF offset the user may define a zero point for his her application For details on the position of the module s zero point refer to section 3 6 Mechani cal Mounting Conditions OF must be selected so it is properly matched to the currently valid scale factor set ting SF OF may also take on negative values 4 3 24 SO set curren
9. AW 00000 distance of lout 4mA RB 000 distance of lout 20mA RE 000 remove measurement RM 0 0 trigger delay trigger level TD 0 0 trigger mode trigger level TM 0 1 paud ratel BR ss een 00 96 autostart command AS D distance offset 0F 0 Revision 003 January 2007 Operating Modes 5 Operating Modes Make sure that all cable ends are protected against short circuit effects before you turn power supply on Connect cable terminals as required for the particular operating mode To prevent short circuits you should seal unused cable ends For starting up a PC with RS232 or RS422 data interface and a terminal program such as the hyperterminal are required As part of preparative actions the LDM41 42 must be properly installed in the designated working site oriented onto the target and kept in a stable position The target to be measured should preferentially have a homogeneous white surface Caution Do not use any retroreflectors AN The LDM41 42 provides a visible laser beam for greater convenience in alignment This laser beam can easily be turned on at the PC Its visibility is conditional on the amount of ambient light present and on the type of surface of the target to be measured 5 1 RS232 Initially RS232 communication interfaces purely functioned as PC communication ports They have become the established standard tool for serial
10. DM41 42 Cable connectors must not be plugged or unplugged as long as voltage is supplied Remember to turn voltage supply off before you begin working on cable connections 2 2 Intended 8 Conforming Use e Measurement of distances Special measuring functions e Compliance with prescribed temperatures for operation and storage e Operation at correct voltage level e Application of specified signal levels to the appropriate data lines 2 3 Nonconforming Use Do not operate the LDM41 42 in any other way than described under Intended amp Conforming Use above and only in a proper working condition e Safety devices must not be defeated or otherwise rendered ineffective Information and warning signs must not be removed Repair work on the LDM41 42 must not be carried out by anyone other than JENOPTIK personnel e Refrain from using the LDM41 42 in an explosive environment e Measurement with the LDM41 42 pointed at the sun or other strong lightsources may produce faulty results e Measurement of targets with poor surface reflectance in a strongly reflecting environment may also result in faulty measurement values e Measurement of strongly reflecting surfaces may deliver faulty results e Measurement performed through transparent optical media for example glass Revision 003 January 2007 9 Safety Instructions 10 optical filters plexiglass etc may equally produce incorrect results
11. M mode triggers a single measurement single shot 4 3 7 TP internal temperature C TP queries the value of the inner LDM41 42 temperature Note In tracking mode the inner temperature may exceed the surrounding temperature level by as much as 10 K Revision 003 January 2007 Communications Protocol 4 3 8 SAx display set average value 1 20 Standard setting 1 SA allows you to calculate a floating average value from 1 to 20 measured values Calculation is based on this formula Die Berechnung erfolgt ber folgende Formel Eee Average value x with n SA 4 3 9 SDd display set display format d h Standard setting d SD switches between decimal d and hexadecimal h output format of measured value data SD affects all commands that output a distance value A hexadecimal output value is calculated from a given measured distance value in mm multiplied by the scale factor SF Negative distance values are output in two s complement notation Example Distance 4 996 m SF1 dec 4 996 hex 001384 4996 mm x SF1 Distance 4 996 m SF10 dec 49 960 hex 00C328 49960 4996 mm x SF10 4 3 10 STx display set measuring time 0 25 Standard setting 0 Measuring time is directly conditional on the selected measuring mode As a general rule one may say the poorer the surface reflectance of a selected target the longer the LDM41 42 will take to determine a given distance with spec
12. Rapidly changing measuring conditions are likely to falsify the result of measure ment 2 4 Laser Classification The LDM41 42 is a class 2 laser product as stipulated in IEC825 1 DIN EN 60825 1 2001 11 and a class Il product under FDA21 CFR In the event of accidental short time laser exposure the human eye is sufficiently protected by its own optico Tacial winking reflex This natural reflex may be impaired by medication alcohol and drugs Although the product can be operated without taking special safety precautions one should retrain trom directly looking into the laser beam Do not direct the laser beam onto persons Caution There is class 2 laser radiation Do not look into the beam 2 5 Electric Supply Use only 10 V to 30 V direct voltage tor LDM41 42 operation Use only the specially designated connector terminal for voltage supply Specified signal levels must not be exceeded in order to guarantee correct data communication 2 6 Important Operating Advice To make full use of the system s inherent performance capabilities and achieve a long service life you should always follow these operating rules Do not turn the module on if there is fogging or soiling on its optical parts e Do not touch any of the module s optical parts with bare hands e Proceed with care when removing dust or contamination from optical surfaces e Prevent exposure to shock impacts during transportation of the LDM41 42 e Prevent overhea
13. S Joug bulwely 793 AAO JH9AOOIS 94 OIS 10413 Alued uoNeSIUnWWO gt EU ul anjen BuoJAA Z JOA WEMPJEH 93 JUSS PUEWWOS PIJeAUI B GISSIWPeUI SI JoJaWUeIed p sn 194 JOS S3IEMPIEH e T d 1011 SIeMPJEH psa 0 q UOISIAIG 32u nb suoo 19S 10U JAJOMd33 24 Ul si j uueued BIOW Jo UQ ESF A1 2 4 p Jase YBly OO JUaIND Jase ZSJ JOS VWeMpIeY Z JO ypes J se pOlp JO BHEYOA uDue eAe 185 0 ln iej Ga 10119 WeMpPJeYU WUNSAIBYI WOYd33 AyneJ LEJ o 09 BADGE UINJeJadwWe HZ Do OL MOjeg nzes dw E74 s woL lt p ds uonow J9b1eL ZH 0S spowxauAuo 613 n eA peyejnojed asid pue pa nsesw u AM q D2u lJ JJip YONW OO pow xq ul u 813 uns D d ju6i Apes s ynw ool 13 Saxa jal Puos Alan ssarxx 913 L 0 gt 1361er 6p 44014 Z7 L PWG PUASA S x J J JOOd J AISS99X3 443 UONdUISIq po gt 35 Revision 003 January 2007 Error Messages 36 Revision 003 January 2007 Service and Maintenance 7 Service and Maintenance Please note e A blower brush can be used to remove dust from optical surfaces transmitter and receiver optics You should retrain from the use of cleaners that contain organic solvents when wiping optical surfaces down You are also advised to contact the Manufacturer in the case of stubborn contamination or soiling Do not use solvents of any kind to perform cleaning of the LDM41 42 You are prohibited fr
14. age 3V 24V Trigger threshold 1 5V Trigger delay 5 ms selectable delay time until start of measurement gt 1 ms selectable from 0 ms to 9999 ms Trigger pulse length Delay time trigger delay Extended trigger function U 30 V protected against polarity reversal RxD 25V RX RX 14 V TRIG 25 V ID 5 Vv TX 2 V 2 x 50 W load differential ALARM U 2 selectable autostart trigger Revision 003 January 2007 Technical Data 3 5 Environment 8 Ambient Conditions Operating temperature TO Sr ae Storage temperature 20 CL 70 C Protection type IP65 3 6 Mechanical Mounting Conditions Casino Extruded aluminum profile with powder coat paint fin ish front side 8 rear side cover and tube anodized Dimensions Lx WxH 182 mm x 96 mm x 50 mm Weight 850 g The casing consists of a rugged corrosion resistant extruded aluminum profile with front side and rear side covers also in corrosion resistant design Four mounting holes are provided in the baseplate for mechanical attachment of the LDM41 42 gt Figure 1 Dimensional drawing Equalizer tube at front cover Casing Protective cap for flange mount connector Receiver optics Sender optics Mechanical mounting holes four 12 pole M18 flange mount connector Binder series 723 To protect the range finder s optical surfaces from dust physical contact mechanical impacts etc the casing has a special equalizer tube attached to i
15. data transmission over short cable lengths With greater transmission lengths the interface is highly susceptible to interferences notably in the vicinity of strong electromagnetic noise emitters Therefore it should only be used for LDM41 42 configuration aes Sas Figure 14 Diagram of RS232 wiring at 9 position D Sub cable jack 2 3 7 Shield 0000000000000 OolOlo O O OJO O O O O O gre IHH II orange O U iu ssssasasr aasan s ue Figure 15 Diagram of RS232 wiring at 25 pole D Sub cable jack Revision 003 January 2007 31 Operating Modes 32 52 RS422 For configuration purposes and permanent data transmissions over a greater length the RS422 can be used This type of interface is insusceptible to interference and noi se influences and qualities for industrial use Where twisted cable pairs are involved transmissions lengths up to 1200 m can be handled Figure 16 RS422 wiring diagram Since a standard PC typically includes no RS422 communication port you require an RS422 interface card or an RS422 to RS232 converter for communication 5 3 Digital Switching Output white 1 10 500mMA Figure 17 Wiring diagram of digital switching output For example using the digital switching output an object which was selected for measurement can be monitored for excession of a threshold value To do this para meter settings for a measurement window are required Settings for this window can be
16. er than 16 cm within the measuring field 4 3 4 DX distance tracking with cooperative target 50Hz Input parameter SA SD SE SF OF Output RS232 RS422 digital switchino output analog output DX mode performs at a steady measurino rate of 50 Hz only LDM42 As a neces sary precondition for measured values to be stable a white target board must be placed at the selected object This measurement mode is intended in the first place for objects performing homo geneous motion up to Am s For higher rates of measurement preceding measured values will be included in the process to calculate a currently measured value There must be no sudden jumps in distance greater than 16 cm within the measurino field 4 3 5 DF distance measurement with external trigger Input parameter SD SE oF sl OF TD Output RS232 RS422 digital switching output analog output DF mode allows a measurement that is triggered by an external trigger pulse Initially after selecting this mode the operator does not receive any response As soon as the trigger pulse has been detected the LDM41 42 will send data and swit ches to digital and or analog output Settings for trigger delay delay and trigger flank can be defined via parameter TD see 4 3 19 TD display set trigger delay 0 9999ms trigger level 0 1 4 3 6 DM distance measurement Input parameter SD SE S Sk OF Output RS232 RS422 digital switching output analog output D
17. he amount of delay time and the other parameter the trigger level X corresponds to the delay in time from the arrival of a trigger signal to the start of a measurement Delay settings may range from 0 to 9999 ms Y O for HIGH gt LOW transition 1 for LOW gt HIGH transition Example TD1000_0 Enter In the given example the delay time was set to 1000 ms and the trigger flank to falling type HIGH to LOW transition 4 3 20 TMx y display set trigger mode 0 1g trigger level 0 1 Standard setting 0 1 TM provides parameter setting options for the auto start trigger function which allows external triggering of the auto start command that was set via parameter AS Revision 003 January 2007 27 Communications Protocol 28 Triggering is accomplished via the external trigger input All starting modes which are selectable via AS can be launched and stopped by external triggering These are DS DT DW DX DF DM TP LO ID TM consists of two parameters which are separated by space 20h x 0 trigger function turned off 1 trigger function turned on y 0 measurement is triggered on trigger line at Llevel HIGH gt LOW transition 1 measurement is triggered on trigger line at H level LOW gt HIGH transition For triggering the trigger level must be permanently applied Examples a ASDT TM1 1 Trigger signal H gt DT is performed Trigger signal L DT is stopped LOW DT OFF D ASDM TM1 0 Trigger
18. hting point In terms of operating reach the LDM41 42 performs depending on the reflectance morphology and qualities of the target to be measured The range finder works based on comparative phase measurement It emits modu lated high frequency light which is diffusely reflected back from the target with a certain shift in phase to be compared with a reference signal From the amount of phase shift a required distance can then be determined with millimeter accuracy A distance measuring cycle can be triggered in four different ways By sending a command trom the PC or another equivalent control unit By making appropriate prior parameter settings for the autostart command and applying supply voltage By external triggering in remote trigger mode Using the autostart trigger function For a more detailed description of these four trigger options you should consult section 5 Operating Modes of this User Manual Special performance features are Provides high accuracy and great reach under extreme outdoor temperatures Works in a wide range of operating voltages from 10 V to 30 V from an on board vehicle supply point an industrial direct voltage supply net or a DC power pack J Up to 30 m reach for distance measurement with potential for more than 100 m reach if additional reflectors are mounted onto the target depending on re flectance and environmental conditions Features consistently low power consum
19. ifferent kinds of surfaces varying reflectance Working in this mode the LDM41 42 uses internal algorithms to continuously evaluate the quality of laser radiation that is received back This may cause longer measuring times in the case of varying reflectance or sudden jumps in distance The minimum time to measure is 160 ms the maximum time Is 6 s If the measuring signal fails to reach a specified quality within six seconds an error message is output The time to measure may also be limited by setting the ST parameter to a desired value 43 2 DS 7m distance tracking Input parameter SA SD SE SF ST OF Output RS232 RS422 digital switchino output analog output Operation in DS mode makes sense where different types of surfaces have to be measured at close range up to 7 m Compared to DT measuring mode it allows a higher measurement rate Within the range from 0 1 m to 0 5 m measuring accuracy is restricted Measuring time time to measure can be limited via ST parameter settings Revision 003 January 2007 21 Communications Protocol 22 4 3 3 DW distance tracking with cooperative target 10Hz Input parameter SA SD SE SF OF Output RS232 RS422 digital switching output analog output DW mode performs at a steady measuring rate of 10 Hz As a necessary precondi tion for measured values to be stable a white target board must be placed at the selected object There must be no sudden jumps in distance great
20. ified accuracy For example if error message E15 is output because of poor reflectance and insufficient time to measure this latter setting must be increased Available ST value range 0 to 25 Basically the greater the time setting is the more time will be available for measure ment and the lower the resulting measuring rate An exception therefrom is zero value In this case the LDM41 42 automatically picks the smallest possible time value for measurement The LDM41 42 comes factory set with ST 0 ST is effective in the DT DS DF and DM mode of operation The measuring time setting option can also be used to modify the measuring rate for example in order to restrict the data volume or for synchronization purposes Revision 003 January 2007 23 Communications Protocol 24 Measuring time can only be set as an approximate value because the underlying principle of measurement is subject to certain variances that cannot be accounted for DT measuring mode gt measuring time ST x 240ms except ST 0 DS measuring mode gt measuring time ST x 150ms except ST 0 Example The target distance is 25 m but the target s reflectance is not ideal With a measu rino time setting of ST 2 E15 will be output following measurement The user must increase the time to measure in this case Note One should work in DW or DX measuring mode where stable measuring times are required 4 3 11 SFx x display set scale
21. igger mode 0 1 trigger level 0 1 BR Enter BRx Enter display set baud rate 2400 38400 AST Enter ASd Enter display set autostart command DT DS DW DX DF DM TP LO ID OF Enter OFx x Enter display set distance offset DOV ENC tile sense set current distance to offset offset distance LOL EVE EN 22er nen laser on LF Enter laser off PALEN OT een display settings PR Enter reset settings Revision 003 January 2007 Communications Protocol 4 3 Commands and their functions Command entries are not case sensitive This means that small and capital lettering can be used for commands Any command which is to be sent to the LDM must be terminated by a hexadecimal ODh carriage return character Where decimal digits are to be entered they must be separated by period 2Eh For command paramater entries one must distinguish between parameter settings and parameter queries Querying is achieved with a command in simple format e g for alarm center parameters AC Enter For parameter setting a new value must be added after the command with no delimitation sign in between for example AC20 8 Enter In the given example the alarm center will be set to 20 8 4 3 1 DT distancetracking Input parameter SA SD SE SF ST OF Output RS232 RS422 digital switching output analog output DT mode can be chosen for distance measurement of d
22. made via the three parameters Alarm Center AC Alarm Hysteresis AH and Alarm Width refer to sections 4 3 13 to 4 3 15 The range which will be subject to monitoring begins at AC and ends at AC AW Switching transitions can be set via parameter AH The logic state of the switching output follows from the mathematical sign of AH In the case of a positive AH the output switches with increasing distance e from LOW to HIGH if the distance is found to be greater than AC AH 2 e from HIGH to LOW if the distance is found to be greater than AC AW AH 2 with decreasing distance e from LOW to HIGH if the distance is found to be smaller than AC AW AH 2 e from LOW to HIGH the distance is found to be smaller than AC AH 2 In the case of a negative AH the output switching pattern will be inverse Revision 003 January 2007 Operating Modes AH AH AH AH HIGH LOW LOW HIGH cc F AC AW Dist gt Figure 18 Digital switching output behavior with positive and negative hysteresis Example A moving object is assumed to be monitored within a window of 10 m to 11 m with a hysteresis of 0 2 m AC 10 AHO 2 AW 1 Distance m Increases 98 99 10 0 10 1 102 14 0 11 1 11 2 113 AH L L L H H H H L L H AH H H H L L L L H H H Distance m decreases 113 112 11 1 110 109 108 100 99 98 AH L L L L H H H H H AH H H H H L L L L L H L LOW H HIGH How the switching output
23. mands Enter corresponds to hexadecimal ODh carriage return DI Enter distancetracking DS Enter bane distancetracking 7m DW Entet 4443 2 distancetracking with cooperetive target 10Hz DX Enter distancetracking with cooperetive target 50Hz DPL EMEN ereer rear en distance measurement with external trigger DMI Enter oaa een distance measurement TPL LENTET ler prenien rawiri internal temperature C SAlEnter SAx Enter display set average value 1 20 SD Enter SDd Enter display set display format d h STi Enter STxlEnterl display set measure time 0 25 SPLENtCE 4 S y XL EME J a display set scale factor SE Enter SEx Enter display set error mode 0 1 2 0 lout const ALARM const l lout 3mA RE gt RB 21mA RE lt RB ALARM OFF AH gt 0 ON AH lt 0 2 lout 21mA RE gt RB 3mA RE lt RB ALARM ON AH gt 0 OFF AH lt 0 AC Enter ACx x Enter display set ALARM center AH Enter AHx x Enter display set ALARM hysterese AW Enter AWx x Enter display set ALARM width RB Enter RBx x Enter display set distance of lout 4mA RE Enter REx x Enter display set distance of lout 20mA RM Enter RMx y y z Enter remove measurement TD Enter TDx y Enter display set trigger delay 0 9999ms trigger le vel 0 1 TM Enter TMx ylEnter display set tr
24. n harmonisierten Normen entspricht agree with the following harmonized standards EN 55011 2000 Funkentst rung Radio disturbance characteristics EN 61000 6 2 2002 St rfestigkeit EMC immunity Jena 2004 09 02 JENOPTIK Laser Opti Systeme GmbH iA Lies Henry Bitner Ronald Kahn Gesch ftsf hrer Qualit tsbeauftragter President Quality Management Deutsche Bank Jena BL 820 700 00 Konto 399 763 200 Dresdner Bank Jena BL 820 800 00 Konto 344 541 000 Commerzbank Jena Gesch ftsf hrung i BLZ 820 400 00 Konto 259 Fey oe mp er bo manski Bayerische H und Vereinsbank A itz der Gesellschaft Jena ee BL 830 200 8 Konto 4 157 613 HRB 5579 AG Gera JENOPTIK Gruppe Revision 003 January 2007 39 EC Declaration of Conformity 40 Revision 003 January 2007
25. nuary 2007 Communications Protocol 4 Communications Protocol The easiest way to trigger and parameterize the LDM41 42 is by using a PC with RS232 communication port see 5 1 RS232 and a terminal program see 4 1 Examp le Establishing Communication with Hyperterminal The communications protocol is available in ASCII format Before an operating session begins desired parameter settings can be made in a smart selection procedure until the measuring module is optimally adapted to the particular measuring site conditions and the measuring job All valid settings will be preserved on turning the LDM41 42 off They can only be replaced with new value entries or changed back to their standard values by running an initialization routine The following is a short overview of the communications protocol Command Description DT Starts distance tracking DS Starts distance tracking 7 m DW Starts distance tracking on white target at 10 Hz DX Starts distance tracking on white target at 50 Hz only LDM42 DF Starts remote triggered single distance measurement single shot DM Starts single distance measurement single shot TP Queries inner temperature SA Queries sets floating average value 1 20 SD Queries sets output format dec hex ST Queries sets time to measure 0 25 SF Queries sets scale factor SE Queries sets error mode 0 1 2 AC Querie
26. of the distance range that is provided at the analog output A distance value RB will generate a current l u of 4 mA Revision 003 January 2007 25 Communications Protocol RB must be set in agreement with the currently valid SF scale factor RB can be greater or smaller Beyond the range that was set via RB and RE the applied current will be that of the next limiting value In the event of a fault the output value will correspond to the current that was set via parameter SE refer to section 4 3 12 refer to section 5 4 Analog output 4 3 17 REx x display set distance of lout 20mA Standard setting 2000 RE Range End corresponds to the end point of the distance range that is provided at the analog output A distance value RE will generate a current IOUT of 20 mA RE must be set in agreement of the scale factor SF RE can be greater or smaller as RB Beyond the range that was set via RB and RE the applied current will be that of the next limiting value In the event of a fault the output value will correspond to the current that was set via parameter SE refer to section 4 3 12 refer to section 5 4 Analog output 4 3 18 RMx yy z remove measurement Standard setting 0 0 0 RM is intended to facilitate settings for a range of expected distance values Values which are found to be outside of this expected range will be corrected until matching the most recently valid measured values RM is only effecti
27. om opening the LDM41 42 You are prohibited from loosening any screw at the LDM41 42 For necessary repair work you should carefully pack the LDM41 42 and reship it to the appropriate dealer or to us at this address stating the conditions in which it has operated applications connections and environmental conditions JENOPTIK Laser Optik Systeme GmbH Sensor Systems business unit G schwitzer Stralse 25 07745 Jena Germany You may also contact us via phone or by fax before dispatching the LDM We can be reached at Phone 49 3641 65 33 14 Fax 49 3641 65 36 57 E Mail sensor sales jenoptik com Internet www jenoptik los com Revision 003 January 2007 37 Service and Maintenance 38 Revision 003 January 2007 EC Declaration of Conformity 8 EC Declaration of Contormity JENOPTIK JENA Laser Optik Systeme JENOPTIK Laser Optik Systeme GmbH D 07739 Jena JENOPTIK Laser Optik Systeme GmbH Besuchsadresse EG Konformitatserklarung G schwitzer Stra e 25 nach EMV Richtlinie 89 336 EWG Anhang EC Declaration of Conformity in accordance with the Directive of Electromagnetic Compatibility 89 336 EEC annex Hiermit erkl ren wir vertreten durch die Unterzeichner dass das nachfolgend bezeichnete Produkt We herewith declare represented by the signatories that the following designated product Laserdistanzmessmodul Laser Distance Measuring Module LDM 41 42 folgende
28. own TRIG External TRIG External trigger input trigger input 14 Revision 003 January 2007 Technical Data D Red ie Analog output Wy Analog output E Black ie in RS422 send data F Violet n C TX RS422 send data G Orange U Supply voltage U Supply voltage H White ALARM Digital switching ALARM Digital switching output output J Gray GND GND GND GND K N C N C L Blue GND GND GND GND M _ N C N C Table 2 Pinout assignments GND wires are connected to an internal collective ground point They provide the reference potential for all voltage values quoted below IF input signals are applied to an output port this may damage the LDM41 42 For data communication via RS232 you are recommended to use cable 4 gray GND for signal ground and cable 7 blue GND for supply ground The limiting values of voltages load rates and logic levels are in accordance with RS232 and RS422 standard requirements All outputs are protected against steady short circuit currents 3 8 Interface Cable Caution Cable end is exposed The user is responsible to take precautions that will prevent any kind of shorts For interface cable wire assignments refer to Table 2 The interface cable can be provided in 2 m 5 m and 10 m length version Customized cable lengths are optionally available by previous agreement with JENOPTIK Laser Optik Systeme GmbH Bild 4 Interface Kabel
29. ption of lt 1 5 W without Alarm Visible laser beam for easier sighting RS232 interface port for input of measuring functions and commands from and output of measured values to aPC or a laptop Switching output and analog output are separately programmed Switching output with adjustable limit to indicate positive and negative excession of preselectable distance range window by sighting distance Measured values can be displayed in meters decimeters centimeters feet inches due to Option for remote triggering of a measurement from an external trigger device The LDM41 42 measuring module is shipped in a rugged cardboard box with ade quate padding for safe transportation Revision 003 January 2007 7 General 8 Revision 003 January 2007 Safety Instructions 2 Safety Instructions 2 1 Basic Notes These safety and operating instructions should be carefully read and followed during practical work with the LDM41 42 There is danger of laser radiation or electrical shock For necessary repair work the LDM41 42 may not be opened by anyone other than AA Manufacturer personnel Unauthorized intervention into the inner product space will void any warranty claims Compliance with all specified operatino conditions Is necessary Failure to observe advisory notes or information contained in this Manual or noncon forming product usage may cause physical injury to the user or material damage to the L
30. s Enumeration u Advice Important Important Note gt Reference to a passage of text or a Figure Warning symbols Warning Indicates potential health risks that may occur if symbols of this type are disregarded Caution Warns of potential product damaoe Laser Warns of potential exposure to emerging visible or invisible laser radiation Information Provides a reference to important data or details a Revision 003 January 2007 1 2 2 1 2 2 23 2 4 25 2 6 3 3 1 2 Se 3 4 3 5 D C cF 3 8 4 4 1 4 2 4 3 4 3 1 4 3 2 I 5 3 4 3 4 4 3 5 4 3 6 4 3 4 3 8 4 3 9 4 3 10 4 3 11 25 12 43 13 4 3 14 4 3 15 4 3 16 4 3 17 4 3 18 4 3 19 4 3 20 4 3 21 222 4 3 23 General Safety Instructions Basic Notes Intent amp Conforming Use Nonconforming Use Laser Classification Electrical Supply Important Operating Advice Technical Data Scope of delivery Laser Measuring Performance Interface Environment amp Ambient Conditions Mecanical Mounting Conditions Electrical Mounting Conditions Interface Cable Communications Protocol Example Establishing Communication with Hyperterminal Online Help Commands and their functions a distancetracking DS distancetracking 7 m DW distancetracking with cooperative target 10Hz DR zs distancetracking with cooperative target 50Hz bere distance measurement with external trigger Diss distance measurement J ee internal
31. s sets alarm center AH Queries sets alarm hysteresis AW Queries sets alarm width RB Queries sets beginning of range 4 mA RE Queries sets end of range 20 mA RM Queries sets removal of measured value TD Queries sets trigger delay TD Queries sets trigger mode BR Queries sets baud rate AS Queries sets autostart OF Queries sets offset SO Sets current distance as offset LO Turns laser on LF Turns laser off PA Displays all parameter values PR Resets all parameters to standard values Table 3 Short overview of communications protocol Revision 003 January 2007 12 Communications Protocol 41 Example Establishing Communication with Hyperterminal Hyperterminal is a terminal program that is typically included in Win32 operating system delivery To start Hyperterminal use the starting menu in this order Start gt Programs gt Accessories gt Communication gt Hyperterminal Initially a dialog box appears for defining a randomly selectable name of a communi cation session you want to begin Connection Description Figure 7 Establishing communication with the hyperterminal name of communication session A second dialog box allows you to select the serial COM port to which the LDM41 42 is connected H E F Connecti To Figure 8 Establishing communication with the hyperterminal COM port selection A third dialog box is then displayed with various parame
32. t This tube can be extended or removed as necessary to meet the customer s operating needs Please note that measurement cannot be guaranteed to function correctly if the equalizer tube is removed by unqualified action Figure 1 Dimensional drawing NOUBRWN consult your local distributor on this issue Revision 003 January 2007 E Technical Data Figure 2 Offset against zero edge The LDM41 42 s zero point is located 7 mm behind the outer surface of the front cover or 137 mm before the back cover outside face respectively This zero point has been introduced for constructional design reasons It can be compensated with the help of parameter OF see section 4 3 19 OF display set distance offset 3 7 Electrical Mounting Conditions Located on the back cover is a connector terminal A 12 pole round type flange mount series 723 connector from Binder has been selected for this purpose It is sealed against the casing to comply with IP 65 requirements This connector type guarantees optimized screening and a high IP degree The required counterpart is a cable jack series 423 from Binder with grading ring A cable set with open ends is optionally available Figure 3 View of LDM41 42 pole assignments Pin Interface LDMA41 LDMA2 cable A Green TxD R522 RX RS422 send data receive data B Yellow RxD RS232 RX RS422 receive data receive data C Br
33. t distance to offset offset distance SO performs a distance measurement and saves the measured reading as an offset value with inverted mathematical sign OF 4 3 25 LO laser on LO turns the laser on This function can be used for orientation or functional testing of the LDM41 42 4 3 26 LF laser off LF turns the laser off 4 3 27 PA display settings PA lists all parameters in a table average value SA 0 0 eae 1 display format SD 0 d measure time ST 0 scale factor SF 1 error mode SE 1 ALARM center AC 20 ALARM hysterese AH 0 1 ALARM width AW 10 distance of lout 4mA RB 15 distance of lout 20mA RE 25 remove measurement RM 000 trigger delay trigger level TD 0 0 trigger mode trigger level TM 01 baud ratel BR 0 ccc cee eee 9600 autostart command AS D distance offset 0F 0 Revision 003 January 2007 Zo Communications Protocol 30 4 3 28 PR reset settings PR resets all parameters except for baud rate to their standard settings average values 1 display format d measure time ST 0 scale factor SF 1 error model SE ee ew oe ae 200 aa 1 ALARM center AC 1 1 2 0 00 ALARM hysterese AH al ALARM w dth
34. temperature C SAX display set average value 1 20 SDd display set display format d h Sen display set measure time 0 25 SD OME display set scale factor SEX display set error mode 0 1 2 ACX X display set ALARM center PD cect display set ALARM hysterese AWX X display set ALARM width usss display set distance of lout 4mA RE display set distance of lout 20mA RMx y y z remove measurement TDx y display set trigger delay 0 9999 ms trigger level 0 1 TMx y display set trigger mode 0 1 trigger level 0 1 BR Xara display set baud rate 2400 38400 AS display set autostart command DT DW DX DF DM TP LO OP aea display set distance offset Revision 003 January 2007 Content Content 4 2 24 4 2 25 4 2 26 4 2 27 4 2 28 5 1 DZ 3 3 5 4 gt SON set current distance to offset offset distance LO laser on Lr esses laser off PAQ display settinos Pe reset settings Operating Modes RS232 RS422 Digital Switching Output Analog Output Trigger Input Error Messages Service amp Maintenance EC Declaration of Conformity 29 29 29 29 30 31 31 32 32 33 34 35 37 39 Revision 003 January 2007 General 1 General The LDM41 42 is a laser range finder to measure distances from 0 1 m to more than 100 m with pinpoint accuracy A given target can be clearly identified with the help of a red laser sig
35. ter display set trigger delay 0 9990ms trigger level BRxxxx Erzer display set baud rate 2400 00 ASddlEnter display set autostart command TDT DA DF DW TP LO f OFx x Enter display set distance offset set current distance to offset offset distance laser on laser off display sattings reset settings Figure 11 Establishing communication with the hyperterminal LDM41 42 response Revision 003 January 2007 19 Communications Protocol 20 Before terminating a hyperterminal session the software queries if you really want communication abandoned This query must be acknowledged Hyper T eminal You are currently connected Are you sura you want to disconnect now we Figure 12 Establishing communication with the hyperterminal disconnect query box Finally unless performed earlier the current hyperterminal configuration can be saved for more convenience i e you don t have to reconfigure the interface for each new hyperterminal session Hyper T erminal lt gt Do you want to save session L Mdx No Concel Figure 13 Establishing communication with the hyperterminal saving a communication session 4 2 Online Help Once communication has been established with a PC as described above an online help tool can be called up by triggering an ID Enter or id Enter command at the keypad Its purpose is to support work with distance measurement and parameteri zation com
36. ter setting options for this communication session At this point in the process the baud rate bits per second and the flow control must be correctly initialized Figure 9 Establishing communication with the hyperterminal communication parameter settings Revision 003 January 2007 Communications Protocol Once the third dialog box has been confirmed the terminal window opens Its status bar in the lower left corner should display Connected With the LDM41 42 powered and operational commands can now be input for example ID Note A currently entered command will only be displayed if Local echo is enabled This function can be accessed via File menu File gt Properties gt Settings tag gt ASCII Setup Figure 10 Establishing communication with the hyperterminal ID input Once this command has been triggered by pressing the Enter key the LDM41 42 uk a its online help in response Enter SixxlEnter va dleplay eot messure time 0 25 Enter SFx xlEnter display set scale factor Enter SEx Enter display set error mode 0 1 2 lout const ALARNMFco 1 lout 4mA RE gt RE m PERE lt RB ALARM OFF AH gt O 2 lout 20mA RE gt RB 4mA RE lt RB ALARM ON AH gt O AGx xlEnter display sat ALARM center AHx xlEnter display set ALARM hysterese REx xlEnter display set distance of out 4mA r REx x Enter display set distance of lout 20mA Toxx s En
37. ting of the LDM41 42 e Prevent major temperature variances during LDM41 42 operation e In accordance with IP65 internal protection standards the LDM41 42 is designed to be splashproof and dustproot Read these safety and operating instructions with due care and follow them in practical use Revision 003 January 2007 Technical Data 3 Technical Data 3 1 Scope of delivery Description Part number LDM41 1 RS232 012840 411 22 LDM41 2 RS422 012840 412 22 LDMA42 1 RS232 012840 421 22 LDMA42 2 RS422 012840 422 22 CD with Customer documentation Optional accesssories Description Part number Power chord 2 m 012840 136 24 Power chord 5 m 012840 137 24 Power chord 10 m 012840 138 24 12 pol jack female 94477 Set of Customer documentation hardcopy 3 2 Laser Laser 650 nm laser diode red light Laser class 650 nm visible laser class 2 conforming to standard IEC825 1 EN60825 class II FDA21 CFR Output power lt ImW Laser divergence 0 6 mrad Beam diameter lt 11 mm at 10 m distance lt 35 mm at 50 m distance lt 65 mm at 100 m distance 3 3 Measuring Performance Measuring range 0 1 m to 30 m for natural diffusely reflecting surfaces for DT DF or DM and ST 0 and up to 150 m with a target board Measuring 2 mm for white surfaces 15 C 30 C accuracy 3 mm for natural surfaces 15 C 30 C 4mm at 0 1 0 5 m range in DS mode 15 C 30 C 5 mm 10 C
38. ve in DT mode It consists of three parameters which are separated by space 20h X designates the number of preceding measured values that will be evaluated in the case of non conforming measurement A maximum of ten preceding measured values can be evaluated Y defines the range of permissible values If this range is exceeded in negative or positive direction the respective measured value will be corrected accordingly Z stands for the number of values that are out of the permissible value range out of tolerance values In the event of out of tolerance values arriving in succession the most recently corrected value will be included in the correction process for the next out of tolerance value The maximum allowed number of out of tolerance values is100 26 Revision 003 January 2007 Communications Protocol Example X 3 2y 0 1 Z 10 10 10 05 10 00 9 95 stMeswert tte Limit Korr Verlauf 1 2 3 4 5 6 7 8 9 10 Important The use of RM parameter settings should be restricted to suitable appli cations only Improper use of this parameter may create safety hazards 4 3 19 TD display set trigger delay 0 9999 ms trigger level 0 1 Standard setting 0 0 TD is solely intended for behavioral configuration of the remote trigger input DF mode refer to section 4 3 5 for DF mode TD consists of two parameters which are separated by space 20h one parameter containing the actual delay i e t
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