Technische Beschreibung rotoScan ROD-4
Contents
1. taa PEDIR 22 Integration in the control system eee ec cece eee e see eeeeeseaeeeaeeseaeeseeseaeeeaeeseaeessueeeaeenaes 23 Connection example 1 without detection area pair 23 Connection example 2 with detection area pair 24 Commissioning asses hoe ls 25 Hardware and software requirements sss nennen 25 Device configuration and parameterisation essssseeeeeeeneeenenen 25 Screwing down and aligning the device Switching on the device essssssseseeneeeeeneenenennen nen ener rtt Technical Dat sss aaa EaR AEAEE Aea Aa EA Ea aE AEE a Eaa AE 28 Detection area data SG ONDA ASO General Specifications Dimensioned drawihg5 sss NE SN civic ak ko boo kid kako PER nue eges Leuze electronic rotoScan ROD 4 1 Inhaltsverzeichnis 48 Leuze 8 Scope of DellVvery 34 9 Maintenance OO ael rg D kd mn ak Ek Er aye deae Erga wee E E CUR koklu 34 10 Status Messages Errors and Error Rectification sees 35 10 1 Status display sess 35 10 2 Status displays si sr AA NAA AO 36 2 rotoScan ROD 4 Leuze electronic 48 Leuze Figures and tables Table 2 1 Standards and directives een2. max cable length 50m use shielded cable 22 rotoScan ROD 4 Leuze electronic 48 Leuze Electrical Connection 5 4 5 4 1 Integration in the control system The two following examples illustrate possibilities for connection to a control system After connecting the operating voltage PIN X1 3 U to PIN X1 1 GND and activating at least one of the detection area pairs X1 4 X1 6 X1 7 or X1 8 the device is ready for oper ation Connection example 1 without detection area pair changeover Integrating the ROD 4 with discrete external wiring with relay or contactor without detection area pair changeover rotoScan ROD 4 x1 Vi ki l ki ka k GND OSSD2 OSSD1 WARN RESTART w VCC A SFU1 ALARM SFU2 N SFU3 co SFU4 13 14 pare a T Ki LZ LO K2 ki 512 ov 24VDC 20 30 Figure 5 6 Connection example without detection area pair changeover With this connection example the restart disable is realised by means of the command device WA connected at the RESTART input X1 2 The device must in this case be configured with the software in such a way that the operating mode with restart disable is active Detection area pair changeover is not provided in this example For this purpos
3. IT Italy IVO Leuze Vogtle Malanca s r l Tel Int 39 02 26 110643 Fax Int 39 02 26 110640 JP Japan C Illies amp Co Ltd Tel Int 81 0 3 34434111 Fax Int 81 0 3 34434118 KR South Korea Leuze electronic Co Ltd Tel Int 82 0 31 3828228 Fax Int 82 0 31 3828522 MX Mexico Leuze Lumiflex M xico S A de C V Tel Int 52 0 81 8371 86 16 Fax Int 52 0 81 8371 8588 MY Malaysia Ingermark M SDN BHD Tel Int 60 0 3 60342788 Fax Int 60 0 3 60342188 NL Netherlands Leuze electronic B V Tel Int 31 0 418 653544 Fax Int 31 0 418 653808 NO Norway Elteco A S Tel Int 47 0 35 573800 Fax Int 47 0 35 573849 PL Poland Balluff Sp z o o Tel Int 48 0 22 8331564 Fax Int 48 0 22 8330969 PT Portugal LA2P Lda Tel Int 351 0 21 4447070 Fax Int 351 0 21 4447075 RO Romania O Boyle s r l Tel Int 40 0 56 201346 Fax Int 40 0 56 221036 RU Russian Federation All Impex Tel Fax 7 095 9332097 SE Sweden Leuze SensorGruppen AB Tel 46 0 8 7315190 Fax 46 0 8 7315105 54000 55999 66000 96999 SG PH ID Singapore Philippines Indonesia Balluff Asia Pte Ltd Tel Int 65 62524384 Fax Int 65 62529060 SI Slovenia Tipteh d o o Tel Int 386 0 1 2005150 Fax Int 386 0 1 2005151 SK Slovakia Schmachtl SK s r o Tel Int 421 0 2 582756
4. 56 0 32 351111 Fax Int 56 0 32 351128 CN China Leuze electronic GmbH Co KG Shanghai Representative Office Tel Int 86 0 21 68880920 Fax Int 86 0 21 68880919 CO Colombia Componentes Electronicas Ltda Tel Int 57 0 4 3511049 Fax Int 57 0 4 3511019 CZ Czech Republic Schmachti CZ s r o Tel Int 420 0 2 44001500 Fax Int 420 0 2 44910700 DK Denmark Desim Elektronik APS Tel Int 45 70220066 Fax Int 45 70222220 ES Spain Leuze electronic S A Tel Int 34 93 4097900 Fax Int 34 93 4905820 FI Finland SKS automaatio Oy Tel Int 358 0 9 852661 Fax Int 358 0 9 8526820 FR France Leuze electronic sarl Tel Int 33 0 1 60051220 Fax Int 33 0 1 60050365 GB United Kingdom Leuze Mayser electronic Ltd Tel Int 44 0 1480 408500 Fax Int 44 0 1480 403808 GR Greece UTECO A B E E Tel Int 30 0 210 4210050 Fax Int 30 0 210 4212033 HK Hong Kong Sensortech Company Tel Int 852 26510188 Fax Int 852 2651 0388 HU Hungary Kvalix Automatika Kft Tel Int 36 0 1 2722242 Fax Int 36 0 1 2722244 IL Israel Galoz electronics Ltd Tel Int 972 0 3 9023456 Fax Int 972 0 3 9021990 IN India Global Tech India Pvt Ltd Tel Int 91 0 20 24470085 Fax Int 91 0 20 24470086 IR lran Tavan Ressan Co Ltd Tel Int 98 0 21 2606766 Fax Int 98 0 21 2002883
5. Warning and error output PNP transistor output max 100mA Parameterisation Gonfiauratiort software configuration software RODsoft under Windows 9x 9 NT 2000 XP with secure protocol for programming Interfaces ee among others for device parameterisation RS 422 g P 30 rotoScan ROD 4 Leuze electronic 48 Leuze Technical Data Optical properties Angular range max 190 Angular resolution 0 36 Scanning rate 25scans s or 40ms scan class 1 eye safe DIN EN 60825 1 wavelength 905nm beam divergence 2mrad time base 100s Laser safety class Laser beam approx 15mm diameter Environmental and material data Protection class IP 65 acc to IEC 60529 Contact protection all insulated safety class 2 Operating temperature 0 C 50 C with heating 20 C 50 C Storage temperature 20 C 60 C DIN 40040 Table 10 code letter E moderately dry Dimensions 140x155x135 WxHxD in mm Distance from scanning plane to bottom edge of housing Humidity approx 50mm 2 connectors can be plugged from above solder con Connection nection Cable length max 50m with conductor cross section 0 5mm Transmitter infrared laser diode A 905nm Housing diecast aluminium plastic Weight approx 2kg acc to IEC 60068 part 2 6 10 55 Hz max 5 G Continuous shock acc to IEC 60068 part 2 29 10 G 16 ms as per DIN EN 61496 3 in accordance wit
6. currently active violated detection area is released by the command device WA The relays K1 and K2 used here have overlapping contacts make before break and are oper ated directly at the two secure semiconductor outputs OSSD1 X1 12 and OSSD2 X1 11 24 rotoScan ROD 4 Leuze electronic 48 Leuze Commissioning 6 1 6 2 O Commissioning The ROD 4 can be adapted by the user for the given application requirements Hardware and software requirements First steps with the device require the basis ROD 4 unit an interface cable and a PC For the voltage supply a power supply unit possessing the characteristics described in chapter Technical Data on page 28 is required The PC used should meet the following requirements e Intel processor at Pentium level or faster or compatible models e g AMD e Atleast 16 MB RAM 3 floppy drive e Hard disk with at least 8 MB available memory If the detection area or configuration values are to be stored additional disk space is required e Free RS 232 interface serial or alternatively RS 422 Microsoft Windows 95 98 NT 2000 XP To install the configuration software RODsoft you need the five supplied installation floppy disks The set up program is provided on the first diskette This program launches a self explanatory installation routine After the installation the program is ready to be started Device configuration and parameterisation F
7. e Loosely position the button at the intended position e Switch on the voltage supply of the ROD 4 which has been configured for the appli cation e Violate the active inner detection area e g by entering it The violation is indicated by the following status display see also Chapter 10 1 LI LI Red LED illuminated Yellow LED with continuous light outputs OSSD1 and OSSD2 disabled restart disable active e Now actuate the restart button and observe the left green LED If this LED illumi nates you are no longer in the inner detection area and the location of the button is suitable If the LED does not illuminate there are still objects located within the inner detection area In this case change the location of the button and perform the test again 5 1 3 Connector assignments for interface X2 RS 232 PIN Signal Description 1 NC do not use 2 TxD Data communication transmission 3 RxD Data communication reception 6 4 NC do not use 3 i gt FOND shield r only on the cabinet side with PE 4 6 RS 232 RS 232 detection 5 2 7 NC do not use 8 NC do not use 9 reserved Reserved for test purposes not wired Table 5 3 SUB D9 pin assignments for the interface X2 as RS 232 port Leuze electronic rotoScan ROD 4 17 Electrical Connection 48 Leuze Connector assignments for interface X2 RS 422 Notice If you would like to work with an RS 422 i
8. 24VDC supply voltage is applied to detection area pair 2 X1 6 e In this state both detection area pairs are active Detection area pair 1 X1 4 is switched off within one second e In this state detection area pair 2 X1 6 is active The following situation would be possible with a DTS application The vehicle enters an intersection area while detection area pair 1 is switched on To prevent objects from coming into danger detection area pair 2 is switched on before the curve Detection area pair 1 is switched off within one second The vehicle travels around the curve with detection area pair 2 active G Afterward detection area pair 2 is again switched off and detection area pair 1 activated The vehicle continues to travel with detection area pair 1 active amp Notice The duration for the changeover between detection area pairs is limited to maximum 1s Leuze electronic rotoScan ROD 4 19 Electrical Connection 48 Leuze Direction of movement SFU D DT Movement path Figure 5 3 Detection area pair changeover with a DTS application Notice When configuring the switching on or switching off of detection area pairs make certain that the ROD 4 changes over within the response time io Attention AN If no detection area pair or more than two detection areas are selected by you ROD 4 re ports an error via X1 5 and the corresponding LED in the display field RESTART T
9. rn kia eran e D er e ey RECORD Eno 5 Intended Use sse ione eto tme te aee n e ee ed 6 Working Safely d E dre 7 ETE PPE TTT TET TOT TTTTTTTTTTTTIT 9 echnical OVeIVIEW uice cierre tree tee te RO One se van vine eta ee ie 9 Operating principle a sss inn Aa kan Lb onsen 10 Appli ation examples sss seven nere rni nne e rn erre pastan ets aa eh 11 MOUNTINO EE 13 MountirigiloGatiOri erede seneesa ki rte Pere Pese een A e RARE CORO ERRARE NES Feeder 13 MOUNING IMENSIONS se 14 El ctric al Connection a 15 Connecting the rotoScan ROD 4 ccceeccececeeeneeeeeeeeeeeeeeeeeeeeceeeenaeeeeeeeceeeseeseaeeseeeeeaeeeeeeeeee 15 Interface assignment X1 and X2 eee eee eee tear 16 Connector assignments for interface X1 sess 16 Connector assignments for interface X2 RS 232 17 Connector assignments for interface X2 RS 422 18 Function characteristics of the X1 19 Inp t Switehilg e e n e mel cto utes I No a IK dera ke e do cn idi CN 19 Ouiput switchibg A eie arbeite re EE EE 21 Function characteristics of the X2 interface 22 1
10. supply the ROD 4 requires a DC voltage of 24V with a power of 10W plus the load at the outputs The power supply must be protected using a 2 5A semi time lag fuse in the switch cabinet Electrical Connection To configure the scanner connect control cable X1 to the power supply and the interface cable X2 to the PC or laptop Before commissioning the system please check the pin assignments the wiring the supply voltage and the safeguarding In spite of the scanner s robust housing and fittings which include various internal safety mechanisms damages resulting from misconnection remain possible PIN Signal 1 GND 2 Restart 3 UB 4 SFU1 5 Alarm 6 SFU2 7 SFU3 8 SFU4 9 NC 10 NC ti 05801 12 OSSD2 13 NC 14 NC 15 Warn a Connection for parameterisation only b Dummy connector c Connector X1 15 pin SUB D d Connector X2 9 pin SUB D Figure 5 1 Connecting the rotoScan ROD 4 Attention A In normal operation you must permanently connect the two connection housings with the ROD 4 If one of the two connection housings is missing the ROD 4 no longer meets protection class IP 65 Leuze electronic rotoScan ROD 4 15 Electrical Connection 5 1 1 Interface assignment X1 and X2 48 Leuze Interface No Interface type Interface function Connections for XI SUB D15 e Power supply Switching and s
11. use of the distance sensor may lead to dangerous exposure to radiation The use ofoptical instruments or devices in combination with the device can increase the danger of eye damage Adhere to the applicable legal and local regulations regarding protection from laser beams acc to EN 60825 1 in its latest version Avoid mounting the distance sensor at eye level The reading window is the only opening through which the laser radiation can escape from the device The housing of the distance sensor ROD 4 is sealed and has no parts that need to be adjusted or maintained by the user The device must not be tam pered with and must not be changed in any way Laser Klasse 1 Laser Class 1 Laser de Classe 1 Figure 2 2 Attachment of the sticky label with warning notices Leuze electronic rotoScan ROD 4 7 Safety Notices 48 Leuze A Attention Access and changes to the device except where expressly described in this operating man ual are not authorised Documentation All instructions contained here have to be strictly observed Keep this technical description in a safe place It should be accessible at all times Safety Regulations Observe the locally applicable legal regulations and the rules of the employer s liability insur ance association Qualified Personnel Mounting commissioning and maintenance of the device may only be carried out by quali fied personnel Electrical work must be c
12. when using the ROD 4 unit e Use only in closed rooms Do not expose the ROD 4 ROD 4 06 to fog rain or snow The ROD 4 08 is available for difficult environmental conditions dust fog e Only objects that are in clear view of the sensor can be detected e Objects such as glass panes and mirrors that do not reflect light back to the sensor cannot be safely recognised e The response time must be considered when working with fast moving objects e Objects with reflectivities of at least 1 8 e g black cord can be reliably detected by the ROD 4 ROD 4 06 in the respective detection areas The ROD 4 08 detects objects with a luminosity coefficient of at least 6 remission 10000 T T T zr i 1000 reflectors white plaster 100 writing paper grey cardboard 10 i matt black paint black shoe leather 18 14 LLL 0 10 distance Figure 2 1 Reflectivity ROD 4 ROD 4 06 6 rotoScan ROD 4 Leuze electronic 8 Leuze Safety Notices Working Safely Attention laser radiation The distance sensor ROD 4 operates with a red light laser of class 1 acc to EN 60825 1 The use of operating and adjusting devices other than those specified in this techni cal description carrying out of differing procedures or improper
13. 00 Fax Int 421 0 2 58275601 TH Thailand Industrial Electrical Co Ltd Tel Int 66 0 2 6 42 6700 Fax Int 66 0 2 6 42 4249 TR Turkey MEGA Teknik elek San ve Tic Ltd Tel Int 90 0 212 32004 11 Fax Int 90 0 212 3200416 TW Taiwan Great Cofue Technology Co Ltd Tel Int 886 0 2 29838077 Fax Int 886 0 2 29853373 US CA United States Canada Leuze Lumiflex Inc Tel Int 1 0 973 5860100 Fax Int 1 0 973 586 1590 ZA South Africa Countapulse Controls PTY Ltd Tel Int 27 0 11 6157556 Fax Int 27 0 11 6157513 O All rights reserved especially the right of reproduction distribution and translation Copying or reproductions in any form require the written consent of the manufacturer Changes reflecting technical improvements may be made D GB 152 02 08 05 Part No 50036 604 48 Leuze Table of contents 1 1 1 2 2 1 2 2 2 3 3 1 3 2 3 3 4 1 4 2 5 1 5 1 1 5 1 2 5 1 3 5 1 4 5 2 5 2 1 5 2 2 5 3 5 3 1 5 4 5 4 1 5 4 2 6 1 6 2 6 3 6 4 7 1 7 2 7 3 General information 2 eot Oar ae tie ti creen eerie cette otra ten 4 1 nennen nennen 4 Declaration of conformity isss 4 Safety SUD 5 Safety standards mpra
14. Leuze Area Scanning Distance Sensor rotoScan ROD 4 ROD 4 06 ROD 4 08 Technical Description Leuze electronic Leuze electronic GmbH Co KG P O Box 11 11 D 73277 Owen Teck Tel 49 0 7021 573 0 Fax 49 0 7021 573 199 E mail info leuze de www leuze de Sales and Service Sales Region North amp Phone 07021 573 306 Fax 07021 9850950 e Hambi Postal code areas i 20000 38999 40000 53999 56000 65999 97000 97999 e Hannover D sseldorf e Frankfurt e Stuttgart e Owen Teck M nchen Sales Region East Phone 035027 629 106 Fax 035027 629 107 Postal code areas 01000 19999 39000 39999 98000 99999 Sales Region South Phone 07021 573 307 Fax 07021 985091 1 Postal code areas Worldwide AR Argentina Nort cnica S R L Tel Int 54 0 11 4757 3129 Fax Int 54 0 11 4757 1088 AT Austria Ing Franz Schmachtl KG Tel Int 43 0 732 7646 0 Fax Int 43 0 732 785036 AU NZ Australia New Zealand Balluff Leuze Pty Ltd Tel Int 61 0 3 97642366 Fax Int 61 0 3 97533262 BE Belgium Leuze electronic nv sa Tel Int 32 0 2 2531600 Fax Int 32 0 2 2531536 BR Brasil Leuze electronic Ltda Tel Int 55 0 11 4195 6134 Fax Int 55 0 11 4195 6177 CH Switzerland Leuze electronic AG Tel Int 41 0 1 8340204 Fax Int 41 0 1 8332626 CL Chile Imp Tec Vignola 5 Tel Int
15. a as well as the signalling of the warning state can be parameterised see user manual for the configuration software RODsotft OSSD1 X1 12 and OSSD2 X1 11 These two semiconductor outputs report violation of the inner detection area Leuze electronic rotoScan ROD 4 21 Electrical Connection 434 Leuze 5 3 Function characteristics of the X2 interface The RS 232 422 interface X2 is used to e configure and parameterise the ROD 4 e transmit measurement data for viewing on a monitor e for analysing the co ordinates during the parameterisation e g for DTS applications as well as for error diagnosis and troubleshooting The connection housing for interface X2 is delivered standard with a blank PG cable gland To configure and parameterise the ROD 4 open the connection housing and connect your interface cable After configuring and or parameterising connect the connection housing with the blank PG cable gland 5 3 4 Wiring the plug To connect the device use the supplied connection housings Each connection housing consists of the following individual parts Housing with sealing ring and cross recessed fastening screws e PG cable glands M16 with blank plugs e SubD 9 pin plug or SubD 15 pin plug each with solder connection Figure 5 5 Plug wiring Observe when wiring e cable cross section min 0 5 mm e cable outer diameter 5
16. arried out by a certified electrician Repairs in particular the opening of the housing may only be carried out by the manufac turer or a person authorised by the manufacturer Attention Adjustment and change of the detection areas by means of the RODSoft configuration software may only be carried out by an authorised person The password required is to be stored under lock and key by the designated person rotoScan ROD 4 Leuze electronic 48 Leuze Description 3 3 1 Description Technical Overview Designation Type Part No rotoScan ROD 4 without heater 500 36010 rotoScan ROD 4 06 with integrated heater 500 38614 with integrated heater rotoScan ROD 4 08 with reduced receiving power for objects 500 41423 with luminosity coefficient gt 6 Table 3 1 Device types The ROD 4 device is an optical distance sensor It could also be considered an optical area radar unit The device periodically transmits light pulses within a working field of 190 If the pulses are incident upon an obstacle or a person the light is reflected and received and analysed by the ROD 4 From the propagation time of the radiated light the ROD 4 unit calculates the exact co ordinates of the seen objects If the obstacle or person is located within a defined area a stop function is executed In this case the semiconductor switch outputs are switched off within the system reaction time The stop function i
17. e directly connect SFU1 X1 4 to the operating voltage VCC The relays K1 and K2 used here have overlapping contacts make before break and are operated directly at the two semicon ductor outputs OSSD1 X1 12 and OSSD2 X1 11 The two semiconductor outputs possess an internal electronic current limit and are protected in the event of errors by fuse SI 2 Leuze electronic rotoScan ROD 4 23 Electrical Connection 4 Leuze 5 4 2 Connection example 2 with detection area pair changeover Integrating the ROD 4 with discrete external wiring with relay or contactor with detection area pair changeover rotoScan ROD 4 1 vi ki zi GND OSSD2 OSSD1 WARN RESTART w VCC A SFU1 ALARM co SFU4 A o A k N w A ao ki k2 9 N dum EL N _ 8 Ki ki ov 24VDC 20 30 Figure 5 7 Connection example with detection area pair changeover A detection area pair changeover of four detection area contours an inner and an outer contour each is possible via inputs X1 4 SFU1 X1 5 SFU2 X1 6 SFU3 and X1 7 SFU4 in this example The restart disable and contactor monitoring are realised via the RESTART input The ROD 4 is operated in this case in the operating mode with restart disable The
18. e 5 Figure 2 1 X Reflectivity ROD 4 ROD 4 06 6 Figure 2 2 Attachment of the sticky label with warning notices KRATA Table 3 1 Devic AY PON sss neteso SANON SKU 9 Figure 3 1 Detection areas ccsesccsseccsecsscesescsssnesseessccsessessaeecocesesesseeseeesoneesesesendeessuenseentoeeoses 10 Figure 3 2 Working range and angular resolution 10 Figure 3 8 Operating principle 14 Figure 3 4 Use with a side tracking skate 12 Figure 4 1 Scanning planes and device CdgeS cceccesceeeeteeeeceeeneeeeeeaeeeeeeaeeeeseaeeeeeeaeeeseaeeaes 13 Figure 4 2 Mounting dimensions 0 0 ee ee eee cece cece ote otenoosesoosenoteaoosoooesoosoooseooososoooooosonoooon Figure 5 1 Connecting the rotoScan ROD 4 Table 5 1 Interfaces of the rotoScan ROD 4 X1 and 2 Table 5 2 SUB D15 pin assignments for interface 1 Table 5 3 SUB D9 pin assignments for the interface X2 as RS 232 port Table 5 4 SUB D9 pin assignments for the interface X2 as RS 422 port Figure 5 2 Inputs of interface X1 Figure 5 3 Detection area pair changeover with a DTS application Figure 5 4 Outputs of interface X1 Figure 5 5 PO WING eye rore eer rente exer Fi
19. ent dam age to the vehicle or to the load This task is reliably solved using ROD 4 Leuze electronic rotoScan ROD 4 11 Description Leuze Figure 3 4 Use with a side tracking skate Other applications Buffing protection e g for telpher lines Contour measurement e g in fully automatic car parks Detection counting of persons e Room security facade monitoring Access control Packet measurement volume measurement e etc 12 rotoScan ROD 4 Leuze electronic 8 Leuze Mounting 4 1 Mounting Mounting location The ROD 4 unit should be mounted so that the area which is to be monitored is covered by the corresponding sensor safety field Attention Because of the optical scanning principle only objects with good reflective properties are detected directly in front of the sensor window Physical damage to the sensor e g due to collision or climbing on should be prevented by using a protective enclosure In order for the ROD 4 to function optimally it must be mounted in a favourable position You should make every effort to observe the following points Position the ROD 4 in a protected location e The mounting location and the electrical supply should be located as close as possi ble to one another The following figure displays the relationship of the scanning plane with respect to the device housing Here the zero point for the distance measure
20. gure 5 6 Connection example without detection area pair changeover Figure 5 7 Connection example with detection area pair changeover a Figure 6 1 User interface of the configuration software Figure 6 2 LEDS sees ss iret rete sereis sucis siu Table 7 1 Technical Data Detection Figure 7 1 Object size diffuse reflection as a function of distance for the ROD 4 ROD 4 06 29 Table 7 2 Technical Data General Data eene 31 Fig re 7 2 e eee D eie ener eH e Ce e Figure 7 3 Lateral WOW i issie senteria esanian aataid n inen drea e aa edge Figure 10 1 Status display ROD 4 ss Table 10 1 Status displays on the rotoScan ROD 4 36 Leuze electronic rotoScan ROD 4 3 General information 48 Leuze 1 1 O 1 2 Il General information Explanation of symbols The symbols used in this technical description are explained below Attention This symbol appears before text passages which must absolutely be observed Failure to heed this information may lead to injuries to personnel or damage to the equipment Attention Laser This symbol warns of possible danger through hazardous laser radiation The laser used in the rotoScan ROD 4 is a laser device of laser safety class 1 acc to DIN EN 60825 1 Observe the legal and local regulations applicable to the operation of laser units Notice This symb
21. h the requirements for type 4 as well as per DIN 40839 1 3 testimpulse 1 2 3a 3b and 5 no application for vehi cles with combustion motors Vibrating stress Interference rejection Rotating mirror drive brushless DC motor Rotating mirror bearings maintenance free ball bearing Table 7 2 Technical Data General Data Leuze electronic rotoScan ROD 4 31 Technical Data 48 Leuze 7 3 Dimensioned drawings 140 12 Figure 7 2 Front view 32 rotoScan ROD 4 Leuze electronic 48 Leuze 169 15 Technical Data Figure 7 3 Lateral view 134 77 Leuze electronic rotoScan ROD 4 33 Scope of Delivery 8 Leuze 8 Scope of Delivery The basic unit consists of e rotoScan ROD 4 e 2 connector covers including connectors for solder connection e RODsoft Configuration Software e rotoScan ROD 4 technical description e user manual RODsoft Configuration Software The following accessories are available e mounting kit BT ROD 4 e cable with connector set bm and 10m Maintenance The response of the detection area should be checked annually to ensure availability The front cover should be cleaned in regular intervals application dependent with a soft cloth and commercially available glass cleaner Attention Do not use solvents or cleaning agents containing acetone Use of improper cleaning agents can damage the optical wind
22. he RESTART input X1 2 has depending on operating status several functions e Enable restart after a detection area violation e New start after correcting a device error e A high signal of at least 3 s and maximum 6 s duration triggers a RESET This input must be set from a separate button and may not be connected to the rest of the control system in order to prevent unintentional enabling of the system The restart button must be positioned so that it cannot be activated by a person standing in a safety field 20 rotoScan ROD 4 Leuze electronic 48 Leuze Electrical Connection 5 2 2 Output switching The signal outputs are used to control indicator lamps or relays which indicate the device status This is switched from a transistor output with open collector set to active high oper ating voltage 20 30 VDC o X1 2 KS 100 250 sa 10k po OND 1 1 Figure 5 4 Outputs of interface X1 Alarm X1 5 X1 5 active high signals that the device is ready for operation A low output indicates one of the following conditions e Violation of the outer detection area Warning state e g slightly soiled window detected user should clean window before a device error is reported and outputs OSSD1 and OSSD2 are switched off e Device error e g resulting from a faulty reference measurement or heavily soiled win dow Both the signalling upon violation of the outer detection are
23. ignal lines rotoScan ROD 4 PC interface Parameter configuration X2 SUB D9 e Detection zone definition e Data transmission Diagnostics Table 5 1 Interfaces of the rotoScan ROD 4 X1 and X2 5 1 2 Connector assignments for interface X1 PIN Signal Description 1 GND Supply voltage ground Safe input restart disable 2 Restart reset the scanner and connection of the restart button 3 UB Supply voltage 24 V DC 4 SFU1 Changeover to detection zone pair 1 Output upon violation of outer detection zone and 8 for warning messages such as window lightly 15 5 Alarm soiled or error messages such as window heav 7 ily soiled 6 14 both functions can be parameterised 5 13 6 SFU2 Changeover to detection zone pair 2 a 12 7 SFU3 Changeover to detection zone pair 3 a 11 8 SFU4 Changeover to detection zone pair 4 10 9 NC do not use e 9 10 NC do not use 1 Semiconductor output shutdown upon violation of 11 OSSD1 the inner detection zone channel 1 12 OSSD2 Semiconductor output shutdown upon violation of the inner detection zone channel 2 13 NC do not use 14 NC do not use 15 Warn Warning and error output Table 5 2 SUB D15 pin assignments for interface X1 16 rotoScan ROD 4 Leuze electronic 48 Leuze Electrical Connection Attention A Any additionally used switching components e g button for restarting must be permanently mounted
24. ment is the axis of rotation of the rotating mirror AA 5 E N ELT s Es L 5 5 o o en CS re Y Figure 4 1 Scanning planes and device edges For all mounting examples an industry suitable environment is assumed for the measure ment error value Leuze electronic rotoScan ROD 4 13 Mounting Leuze O Il 4 2 Notice Under certain circumstances a larger measurement inaccuracy can occur with strongly re flective backgrounds such as retro reflectors size 100x 100mm Mounting dimensions The ROD 4 can be fastened using the holes on the rear of the device No mounting kit is necessary in this case It is however recommended that the ROD 4 be mounted with the aid of the BT ROD 4 mounting kit The advantage of this mounting variant lies in the exchangeability of the device The device can in this way be removed from the mounting kit and returned at a later time without readjusting the device With the aid of the BT ROD 4 mounting kit pitches of maximum 8 downward or upward are possible In addition the mounting kit allows lateral inclinations of up to 4 l NE e N Up el N 156 5 Figure 4 2 Mounting dimensions 14 rotoScan ROD 4 Leuze electronic 48 Leuze 5 Electrical Connection 5 1 Connecting the rotoScan ROD 4 For its electrical
25. nterface you must connect PIN 6 with PIN 5 GND by means of a briage PIN Signal Description 1 TxD RS 422 transmitted data 1 2 TxD 2 3 RxD RS 422 received data 3 4 RxD Ground shielding 4 gt GNDishietd to be connected only on the cabinet side with PE 5 6 RS 422 RS 422 detection select as interface RS 422 by bridging on PIN 5 7 NC do not use Connection PIN 5 8 NC do not use to PIN 6 9 reserved Reserved for test purposes not wired Table 5 4 SUB D9 pin assignments for the interface X2 as RS 422 port 18 rotoScan ROD 4 Leuze electronic 48 Leuze Electrical Connection 5 2 5 2 1 O Function characteristics of the X1 interface Input switching Two pluggable connection housing are located on the top of the device A prewired cable is fastened to the connection housing with the SubD 15 pin interface by means of solder connections at the solder points of the plug see figure 5 5 3 3k 1 o e 1k O 1uF X1 3 0 e Figure 5 2 Inputs of interface X1 SFU1 SFU4 With the ROD 4 it is possible to work with up to four detection area pairs Use the inputs 1 4 SFU1 X1 5 SFU2 X1 6 SFU3 and X1 7 SFU4 to changeover between the detection area pairs Example of detection area pair changeover Detection area pair 1 X1 4 is the active primary detection area e The
26. nuous light CL restart disable locked The rotoScan ROD 4 uses two different types of messages at the Alarm output Warning message Information for the user indicating that a non critical device error has been detected e g window contamination Error message System has detected a critical device error and switches off the semicon ductor outputs OSSD1 and OSSD2 Status inner detection area is free OSSD outputs X1 11 X1 12 are enabled inner detection area is free LIL L e OSSD outputs X1 11 X1 12 are enabled e outer detection area is occupied output X1 5 Alarm OSF is enabled e inner detection area is free LI e OSSD outputs X1 11 X1 12 are enabled SF e warning message due to e g soiled front cover e inner detection area is occupied l OSSD outputs X1 11 X1 12 are disabled CL restart disable is active inner detection area is free LI l OSSD outputs X1 11 X1 12 are disabled CL restart disable is switched on moo e inner detection area is occupied LI OSSD outputs X1 11 X1 12 are disabled output Alarm Error X1 5 is enabled Table 10 1 Status displays on the rotoScan ROD 4 36 rotoScan ROD 4 Leuze electronic
27. ol indicates text passages containing important information Declaration of conformity The distance sensors rotoScan ROD 4 rotoScan ROD 4 06 and rotoScan ROD 4 08 have been developed and produced in accordance with the applicable European standards and directives The distance sensor rotoScan ROD 4 also fulfils the UL requirements Underwriters Labo ratory Inc for the USA and Canada Notice The corresponding declaration of conformity can be requested from the manufacturer The manufacturer of the product Leuze electronic GmbH Co KG in D 73277 Owen Teck possesses a certified quality assurance system in accordance with ISO 9001 Du rotoScan ROD 4 Leuze electronic 8 Leuze Safety Notices 24 Safety Notices Safety standards The distance sensor rotoScan ROD 4 rotoScan ROD 4 06 rotoScan ROD 4 08 further on abbreviated as ROD 4 has been developed produced and tested subject to the appli cable safety standards It represents the state of the art Standards and directives The standards and directives which apply in Europe and which are to be observed during the use and installation of the ROD 4 are listed below Standard or Directive Designation 98 37 EU Machine directive 73 23 EEC Low voltage directive 89 336 EEC EMC directive Table 2 1 Standards and directives Laser If the functionality is not ensured the error output is immediately activated The laser output p
28. or the device configuration and parameterisation you require the configuration software ROD Soft which is included in the delivery contents Notice The description of the program can be found in the user manual which is also included in the delivery contents Attention We assume here that you perform the user specific configuration and parameterisation of the ROD 4 using this user manual Commissioning procedure e Install the configuration software on the PC setup exe e Connect the ROD 4 to the PC using a standard 9 pin sub D cable e Enter password ROD 4LE in level authorised customer Leuze electronic rotoScan ROD 4 25 Commissioning 48 Leuze Short description The detection area can then be displayed under Display measurement contour Under ROD 4 configuration the response times the detection area changeovers and other parameters are defined To program the detection area select the field Define detection area Error codes and other information are contained in the ROD 4 system data A more detailed description is included on the CD of this technical description LI 1515 Datei Ansicht Einstelungen RS4 Konfiguration Etkennungsbereiche 954 Systemdaten Sicherheit Hile DO AnasigoderMefkonur AE thereon v E ALPI as a Current measureme values 42 01 00 01 02 Inner detection zone ETE fi ausgew hlte Erkennungsbereich Paare 1 X Sta
29. ow If window monitoring continues to report a soiled cover even after cleaning it must be replaced with a new front cover Attention When replacing the front cover the ROD 4 must always be disconnected from the voltage supply The replacement must only be performed by trained personnel in a clean environ ment After replacing the front cover the window sensors must be adjusted with the aid of the RODsott configuration software see RODsoft user manual 34 rotoScan ROD 4 Leuze electronic 42 Leuze Status Messages Errors and Error Rectification 10 Status Messages Errors and Error Rectification 101 Status display The status of the ROD 4 can be read using the five LEDs located on the front side A white cover protects the LEDs from contamination and guarantees protection class IP 65 When in a voltage free state the LEDs are hidden from view by this cover 1 2 3 4 5 green yellow red green yellow Figure 10 1 Status display ROD 4 Leuze electronic rotoScan ROD 4 35 Status Messages Errors and Error Rectification 44 Leuze 10 2 mO Status displays Notice LED Colour Function Meaning 1 green sensor functions active inner detection area is free 2 yellow outer detection area is occupied 3 red OSSD outputs are switched off 4 green OSSD outputs are free e slow flashing SF warning message 5 yellow e fast flashing FF error message conti
30. ower and the rotational speed of the mirror are continuously monitored by the built in control system to ensure that the requirements of laser protection class are satisfied Reference measurement A reference measurement cyclically controls the measurement function The following func tions are checked on each rotation of the mirror by means of a test object located inside of the device e optical systems e g transmitter and receiver e hardware software etc Window monitoring A total of six light axes monitor the degree of soiling of the window During this procedure the results are compared with two reference sensors Moreover these reference sensors are used for temperature compensation and ageing monitoring Monitored processing The processing of measurement values in the rotoScan ROD 4 is monitored by a sepa rate component i e errors in program execution are detected immediately and appropriate protective measures initiated Software test The entire system is tested when first switched on and during operation Leuze electronic rotoScan ROD 4 5 Safety Notices 8 Leuze 2 2 Intended Use Attention AN The protection of personnel and the device cannot be guaranteed if the device is operated in a manner not corresponding to its intended use The ROD 4 is a switching device for detecting objects in specified areas and outputting a message via e g transistor outputs The following measures must be heeded
31. rror in such a way that a light pulse is emitted every 40ms in all angular segments scanning rate 25scans s If the light pulse is incident upon an object or person it is reflected and subsequently detected and analysed by the ROD 4 10 rotoScan ROD 4 Leuze electronic 8 Leuze Description 3 3 4 i ttt t LAM Figure 3 3 Operating principle The ROD 4 unit works on the principle of pulse propagation time measurement The light pulse propagation time is a direct measurement of the distance to the object Combination of hardware and software The ROD 4 can be programmed using the supplied software In addition to the device configuration the software can also be used to adapt the detection area pairs to the given application and to save the same in the ROD 4 The image of the surroundings generated during the scan process is compared with the specified detection area contours If an object or person violates a detection area for a least one scan 40ms a corresponding user specific reaction is triggered Application examples The following examples can be considered typical areas of application for the ROD 4 Side tracking skate To prevent damage to the vehicle and the load being transferred the ROD 4 can be used for the following tasks Projection control on the left and right sides of the vehicle Objects located in the transportation path must be recognised in time to prev
32. rtpunkt 0 185 m Y Startpunkt 0 474 m e Datenquelle R i XEndpunkt 0 192 m N Endpunkt 0 073 m vi comed Fi54 MeBbetieb PC gt Eikennungsbereichdefiniion AKTI Figure 6 1 User interface of the configuration software Attention Before commissioning the device you must adjust the device parameters and the detection areas for your application To do this use the user manual as a guide to configure the ROD 4 in such a way that the given danger area is optimally protected by the device 26 rotoScan ROD 4 Leuze electronic Leuze Commissioning 6 3 Screwing down and aligning the device The ROD 4 is to be mounted and aligned as described in Chapter 4 6 4 Switching on the device Once the device is installed the required device parameters set and the detection areas defined the ROD 4 can be put into operation After you have switched on the voltage supply of the ROD 4 the status display see chapter 10 1 Status display remains undefined for the first seconds Afterwards the right yellow Error LED illuminates until the nominal rotational speed of the rotating mirror is achieved Once the yellow Error LED goes out the ROD 4 is ready for operation O O S Figure 6 2 LEDs Notice lf the ROD 4 has not yet been configured i e the device is still in the delivery state restart disable is switched on in this state the Error LED is continuously illuminated For commissioning adju
33. s auto matically reset once the detection area is clear or upon acknowledgement depending on the operating mode The ROD 4 can detect persons or objects with diameters greater than 20mm at a distance of up to 4 0m even when the surface of the given object is dark Larger objects are detected at distances of up to 50m Four programmable detection zone pairs make possible an optimal adaptation to the appli cations A detection zone pair is considered to be the combination of both an internal and an external detection zone Inner and outer detection zones each have a different colour display The ROD 4 unit can be used for mobile driverless transportation systems side tracking skates as well as for stationary applications projection control The long range and contact less measurement principle makes the ROD 4 unit a univer sally applicable monitoring device Leuze electronic rotoScan ROD 4 9 Description 4 Leuzec Detection range max 50 Detection area ROD 4 ROD 4 06 max 50 m Detection area ROD 4 08 max 25m Figure 3 1 Detection areas 3 2 Operating principle The working range of the ROD 4 190 is divided into 0 36 angular segments 36 Le Working range v is Figure 3 2 Working range and angular resolution Bundled light pulses are generated by a laser diode with coupled transmission optics These light pulses are reflected by a rotating mi
34. st the application parameters appropriately for your application see Chapter 6 2 O Leuze electronic rotoScan ROD 4 27 Technical Data 7 1 Technical Data Detection area data Inner detection area 43 Leuze Detection area ROD 4 ROD 4 06 0 50m ROD 4 08 0 25m Reflectivity ROD 4 ROD 4 06 from min 1 896 matte black ROD 4 08 from min 696 Object size see Figure 7 1 Response time at least 40ms corresponds to 1 scan Number of detection area pairs 4 selectable via switching inputs Output two PNP transistor outputs 24V 250mA Start up the start up testing and start disable are parameter ised separately Outer detection area Detection area ROD 4 ROD 4 06 0 50m ROD 4 08 0 25m Reflectivity ROD 4 ROD 4 06 from min 1 896 matte black ROD 4 08 from min 6 Object size see Figure 7 1 Response time at least 40ms corresponds to 1 scan Number of detection area pairs 4 selectable via switching inputs Output one PNP transistor output max 100mA Contour measurement Scanning range ROD 4 ROD 4 06 0 50m ROD 4 08 0 25m Luminosity coefficient see Figure 7 1 Object size see Figure 7 1 Output serial interface RS 232 RS 422 Resolution sector 5mm Sector width 0 36 Repeatability 15mm Table 7 1 Technical Data Detection Areas 28 ro
35. toScan ROD 4 Leuze electronic 48 Leuze Technical Data object size mm 10000 1000 100 50 25 10 1 2 4 810 15 20 100 distance m remission 10000 1000 100 10 distance m Figure 7 1 Object size diffuse reflection as a function of distance for the ROD 4 ROD 4 06 Leuze electronic rotoScan ROD 4 29 Technical Data 48 Leuze 72 General Specifications Power supply Voltage supply 24V DC 20 30 Overcurrent protection via fuse 2 5A semi time lag in the switching cabinet Current consumption approx 400mA approx 2A with heating Power consumption 10 50W at 24VDC Overvoltage protection overvoltage protection with protected limit stop Voltage dips acc to EN 61496 1 VDE 0113 part 201 Inputs command device for operating mode with restart disa Restart Reset ble and or device reset dynamically monitored 24V optically decoupled activate for 2s select from 4 detection area pairs via 4 control lines Detection zone pair switchin with internal monitoring P 9 detection area pairs 1 2 3 4 5 6 7 8 24VDC optically decoupled Outputs 2x semiconductor output PNP max 250mA short cir cuit monitored overcurrent protected load must dem for inner detection area ZR onstrate lowpass characteristics limit frequency f lt 1kHz for outer detection area soiling PNP transistor output max 100mA
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