User Manual - OEM International AB
Contents
1. what range will be covered by the switching output depending on the amount of hysteresis The following table shows switching output behaviour depending on the mathe matical sign of hysteresis Trigger threshold Trigger threshold positively exceeded negatively exceeded Positive hysteresis HIGH LOW Negative hysteresis LOW HIGH HIGH lt gt HIGH gt gt AH E AH A 1 A LOW E LOW lt lt gt AC AC Distanz Distanz Fig 10 Behaviour of digital switching output for positive and negative hysteresis Revision 002 April 2006 LDM43 Operation 6 2 12 Diagnostic Interval Diagnostic Interval allows you to define how often diagnostic reports are to be output A diagnostic report includes information about but not limited to the inner device temperature For generation of diagnostic data a running distance measurement will be interrupted The available setting range for Diagnostic Interval is from O to 10000 The time scale is 100 msec If Diagnostic Interval is set to 0 diagnostic data will only be output if there was an error Consequently a setting of 10000 for Diagnostic Interval will correspond to an interval of 1000 sec 6 2 13 Average Average allows a floating mean value to be calculated from one to twenty measured single values Calculation is based on this formula X dX X X 20 Mean value x n 6 2 14 Factory Setti2. 10 C 50 C with automatic laser diode shut down on excession of temperature limits Temperature measurement Internal Storage temperature 20 C 44 0 C Humidity lt 65 Dimensions L x W x H 210 mm x 96 mm x 50 mm Weight 770g Protection type IP 65 EMC EN 61000 6 2 EN 55011 Revision 002 April 2006 Product Description 4 3 Mechanical Mounting Conditions The casing consists of a rugged corrosion resistant extruded aluminum profile with front side and rear side covers also in corrosion resistant design Four moun ting holes are provided in the baseplate for mechanical attachment of the LDM43 Fig 2 Dimensional drawing Fig 1 LDM43 Captions 1 Housing extruded aluminum profile 7 Mechanical mounting holes powder coated Ax 6 6 mm 2 Equalizer tube anodized 8 Receiver optics 3 Front cover anodized 9 Sender optics 4 Back cover anodized 10 Profibus IN M12 5 Laser warning sign 11 Profibus OUT M12 6 Specification plate 12 Power inlet To protect the range finder s optical surfaces from dust physical contact mechani cal impacts etc the casing has a special equalizer tube attached to it Please note that measurement cannot be guaranteed to function correctly if the equalizer tube is removed by unqualified action Revision 002 April 2006 15 Product Description 5 5 100 2 6 6 4x 96 85 Figure 2 Offset ag
3. 19 Alarm OUPU Cc 20 A nennen nnne nennen enne nnn anne 22 SITE M E mere tee 24 LOM43 OD6TFatIOFi 2 iius tiit ette sats Lern nere ara EEN 2d t Dod 25 Measuring Mol m m 25 DM Single Distance Measurement 25 KIELEN 25 DW Distance Tracking With White Target 10 Hz 25 DX Distance Tracking With Cooperative Target 50 Ha 25 DF Distance Measurement with External Trigger 26 EE EE 26 a A a 26 Extended DIRE aan aa 26 o A nen 26 o PP a a ACER 27 mgger Eelere 27 Tigger Delay 27 Error REACTION ET 27 Revision 002 April 2006 Content Content 6 2 8 6 2 9 6 2 10 6 2 11 6 2 12 6 2 13 6 2 14 7 1 7 2 7 3 7 4 75 7 6 1 7 7 8 9 1 9 2 10 11 ME anne 27 Display eM m 27 5 2 10 Switching Point OUIDUE 1 OF 2 une 27 Hysteresis Output Tor 28 Diagnostic Mera RR t ia 28 Dro M 28 Factory SOTUNGS visado 29 Bes e 31 General Information omic iin 31 Slave Address Settin ad 31 Selection of Operating Mode 32 Configuration Data esse ee een 32 Cyclical Data Exchange Input Slave gt Master 32 Cyclical Data Exchange Output Master gt Slave e 33 Parameter EE 34 DIREC li obio 35 Preventive Care amp Maintenance 37 Malfunction S Emor RE OPUS EE E E Om 39 E mas Q 39 Error Report Outputs via Profi bus tnn 39 EC Declaration Of Core aa ege Gases
4. 32 35 If bit 31 of los is set Morge Will be calculated in such a manner that the following equation is met Preset M aser M cer The new offset value can be read in the diagnostic data as Octet 30 33 Revision 002 April 2006 33 Profibus Interface 34 Lf Parameter data The following minimum parameter setups apply to class 1 devices Octet Bit Type Output 1 byte station status profibus default 2 byte wd fact 1 watch dog profibus default 3 byte wd fact 2 profibus default 4 byte min tsdr profibus default ES word word ident number profibus default 7 byte group ident profibus default 8 byte spc3 spec profibus default 9 0 bool unused 1 bool class 2 functionality on off 2 bool commissioning diagnostic on off 3 bool commissioning diagnostic on off 4 bool reserved for future use 5 bool reserved for future use 6 bool reserved for manufacturer Fi bool reserved for manufacturer The following additional parameters apply to class 2 devices Octet Bit Type Output 10 13 unsigned 32 unused linear encoder Measuring units per revolution 14 17 unsigned 32 linear encoder Measuring range in 18 25 byte s unused reserved for future use 26 0 bool unused 1 bool trigger level 0 H gt L 1 L H TDnn x 2 2 bit number e
5. 41 Desunt nennen nun 43 at 45 Revision 002 April 2006 1 General The LDM43 is an opto electronic distance measuring module for industrial applica tions Equipped with a Profibus DP interface the LDM43 can easily be integrated into any fieldbus driven process controller The additional SSI interface provides another convenient option for controlled ope ration of the measuring module A compact and robust design shape combines with low power consumption se lectable switching outputs and the possibility to set specific application parameters to warrant flexibility in use You should not start using the LDM43 unless you have read this User Manual and familiarized yourself with all safety notes contained in it This is necessary to ensure that your opto electronic distance measuring module can be used in the best pos sible way and damage will be prevented Revision 002 April 2006 General General 8 Revision 002 April 2006 Safety Instructions 2 Safety Instructions 2 1 Basic Notes These safety and operating instructions should be carefully read and followed du ring practical work with the LDM43 There is danger of laser radiation or electrical shock For necessary repair work the LDM43 may not be opened by anyone other than Manufacturer personnel Unauthorized intervention into the inner product space will void any warranty claims Compliance with all specified operating conditions is necessary Failure to o
6. Diagnostics Transmits more than six standard diagnostic bytes 16 bytes as Class 1 Slave 61 bytes as Class 2 Slave 6 2 3 Scale Factor Scale factor SF multiplies a calculated distance value with a factor that can be selected within the range from 10 00000 to 10 00000 to allow changes in resolution setting or output of results in a unit of measure other than the metric system Up to five positions after decimal point can be processed To make settings for profibus system operation SF needs to be multiplied with 100 000 The resulting number must then be converted into a 32 bit hexadeci mal number In profibus setup mode a mathematically obtained number can be entered at bytes Octet 55 58 of the table of parameter setup data SF Resolution Long integer Byte 55 Byte 56 Byte57 Byte 58 10 0 1 mm 1 000 000 o 0 O PF 4 2 4 0 1 1 mm 100 000 0 0 0 1 8 6 A 0 1 mm 100 000 F IF F JE 7 9 6 0 10 0 1 mm 1 000 000 F F F JO B D C O Revision 002 April 2006 LDM43 Operation SF Resolution Long integer Byte 55 Byte 56 Byte57 Byte 58 0 3937 1 inch 39 370 o O O O 9 9 C JA 3 28084 0 01 feet 328 084 0 ID lO 5 0 J1 9 4 1 0936 0 01 yard 109 360 0 0 O 1 A B 3 0 6 2 4 Trigger Mode Trigger Mode enables 1 or disables 0 external triggering 6 2 5 Trigger Level Trigger Level defines if measurement w
7. Exchange Input Slave gt Master The LDM43 outputs position data which are mathematically signed The SF scale factor parameter can be used to invert a given mathematical sign Resolution is also defined via SF Octets in a telegram are arranged in a Profibus compliant manner big endian i e the MSB always comes first and the LSB is always the last one Octet Bit Type Output 1 4 signed 32 position data from encoder 32 Revision 002 April 2006 Profibus Interface 76 Cyclical Data Exchange Output Master gt Slave The most significant bit in a preset value bit 32 defines the validity of that preset Octet Bit Type Output 1 4 signed 32 preset value standard mode MSB 0 bit 31 preset mode MSB 1 bit 31 The Preset value is available for setting a current output value to a desired value This is achieved with the help of an internal offset M By setting of bit 31 this offset value can be changed The following assignments are valid offset Most Value transported to the Profibus in cyclical data exchange mode Maser reading determined by the laser Mise intern calculated offset value M value transferred with Preset function Preset Cyclical calculation of Mases Maser Moser The value for Mise is not permanently stored in the LDM43 i e it will be lost on turning power off The offset value can also be stored as a parameter in Octet
8. Profibus in active state Each of the two alarm outputs allows a given object or state to be monitored for positive or negative excession of its limit values This is achieved with the help of a user definable distance threshold value AC Which way the particular alarm out put will switch depends on the mathematical sign of its hysteresis Rule Positive hysteresis With increasing distance the output switches from LOW to HIGH as soon as AC AH 2 is exceeded with decreasing distance it switches from HIGH to LOW as soon the distance value falls below AC AH 2 Negative hysteresis With increasing distance the output switches from HIGH to LOW as soon as AC AH 2 is exceeded with decreasing distance it switches from LOW to HIGH as soon the distance value falls below AC AH 2 HIGH HIGH gt lt AH gt A LOW LOW lt AC AC Distanz Distanz Fig 6 Digital switching output behaviour for positive and negative hysteresis LOW corresponds to a voltage level 2 V HIGH corresponds to a voltage level of VCC 2 V Revision 002 April 2006 Product Description Each alarm output is short circuit proof and rated for a maximum current load of 0 5 A Parameter settings for alarm outputs can be made with the Profibus master using the Encoder profile with Class 1 functionality The following parameters may be configured refer to GSD File ExtUserPrmData
9. same order as it arrives at the shift register This process occurs in the measuring mode that was most recently stored in the LDM43 A desired measuring mode can be selected via the Profibus Transfer rates from 50 kHz to 1 MHz are available for selection Selections should always take into account the actual cable length The SSI interface works independently of the Profibus interface It provides a data length of 24 bits and uses Gray code The pause interval between two bit sequences is 200 usec All interface inputs are electrically isolated They provide an isolation strength of 500 V To guarantee undisturbed data transmission screened twisted pair cables have to be used This requirement is met by the cable type which you can find quoted in the optio nal accessories section above Scope of Delivery The following table shows selectable clock rates with corresponding cable lengths that must not be exceeded Clock rate kHz Cable length m 500 25 400 50 300 100 200 200 100 400 For SSI interface operation the wiring diagram is as follows Revision 002 April 2006 A 19 Product Description 20 Steuerung Spannungs versorgung gray pink red blue Device terminal Fig 5 Wiring for SSI interface operation 4 7 Alarm Outputs Parameter settings for alarm outputs can be made via Profibus This function is only available with the
10. signal levels to the appropriate data lines Revision 002 April 2006 11 Intended amp Conforming Use 3 3 Nonconforming Use Do not operate the LDM43 in any other way than described under Inten ded amp Conforming Use above and only in a proper working condition Safety devices must not be defeated or otherwise rendered ineffective Information and warning signs must not be removed Repair work on the LDM43 must not be carried out by anyone other than JENOPTIK personnel Refrain from using the LDM43 in an explosive environment Measurement with the LDM43 pointed at the sun or other strong lightsour ces may produce faulty results Measurement of targets with poor surface reflectance in a strongly reflec ting environment may also result in faulty measurement values Measurement of strongly reflecting surfaces may deliver faulty results Measurement performed through transparent optical media for example glass optical filters plexiglass etc may equally produce incorrect results Rapidly changing measuring conditions are likely to falsify the result of measurement Revision 002 April 2006 Product Description 4 Product Description 4 1 Scope of Delivery Description Part number LDM43 012840 430 22 CD with Customer documentation Optional accessories Power chord 2m 012840 144 24 Power chord 5 m 012840 145 24 Power chord 10 m 012840 146 24 1
11. target Its effective operating range depends on the reflectance and surface qualities of the targets being sighted The module works based on comparative phase measurement It emits modulated 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 measurement cycle can be triggered e via the Profibus e from an external trigger source external trigger mode via the SSI Special performance features are e Profibus interface e Broad range of parameter setting options via Profibus e SSI interface Two switching outputs each with selectable parameter settings e External trigger input with selectable parameter settings e Capable of operating at outdoor temperatures from 15 C to 30 C with 2 mm accuracy e Up to 30 m reach for distance measurement with potential for 150 m reach if additional reflectors are mounted onto the target e Visible laser beam for easier sighting The LDM43 measuring module is shipped in a rugged cardboard box with adequa te padding for safe transportation 3 2 Conforming Use e Measurement of distances and output of measured data to the Profibus e Special measuring functions e Compliance with prescribed temperatures for operation and storage e Operation at correct voltage level e Application of specified
12. 2 pole jack 28509 Profibus terminator M12 94145 Profibus 5 pole jack 94136 Profibus 5 pin plug 94133 Profibus in out cable 5m 012840 170 24 Profibus in cable jack 5m 012840 165 24 Profibus in cable jack 10m 012840 166 24 Profibus out cable plug 5m 012840 160 24 Profibus out cable plug 10m 012840 161 24 Screw cap for Profibus jack 94363 Screw cap for Profibus plug 94366 Set of Customer documentation hardcopy 4 2 Technical Data Measuring Performance Measuring principle Comparative phase measurement Measuring parameter Distances Measuring range 0 1 m 30 m for natural diffusely reflecting sur faces and up to 150 m with a target board Measuring accuracy 2 mm for white surfaces 4 15 C 30 C 3 mm for natural surfaces 415 C 30 C 5 mm 10 C 50 C Target surface Of natural diffusely reflecting type Target board required From 30 m to 150 m Measured value resolution 0 1 mm Reproducibility X 0 5 mm Measuring time 0 16 sec 6 sec on white target board 10 Hz mode 20 msec on white target board 50 Hz mode Max carrier motion speed 4 m p sec in DX operating mode conditional on target reflectance ambient light influences and atmospheric conditions Laser Laser class Laser class 2 1 mW conforming to standard IE
13. 29 Switching point output 1 31 16 for AC alarm output 1 ExtUserPrmData 30 Switching point output 1 15 0 for AC alarm output 1 ExtUserPrmData 31 Switching point output 2 31 16 for AC alarm output 2 ExtUserPrmData 32 Switching point output 2 15 0 for AC alarm output 2 ExtUserPrmData 33 Hysteresis output 1 31 16 for AH alarm hysteresis 1 ExtUserPrmData 34 Hysteresis output 1 15 0 for AH alarm hysteresis 1 ExtUserPrmData 35 Hysteresis output 2 31 16 for AH alarm hysteresis 2 ExtUserPrmData 36 Hysteresis output 2 15 0 for AH alarm hysteresis 2 Further switching functionalities for example monitoring for specified operating ranges may be accomplished by combining the two alarm outputs The wiring diagram for utilization of alarm outputs is as follows Controller Profibus IN Voltage supply violet Application Device terminal Profibus OUT gt Profibus OUT Fig 7 Wiring for alarm outputs Revision 002 April 2006 21 Product Description A 22 4 8 Trigger Input Parameter settings for the trigger input can be made using Profibus tools This function is only enabled with the Profibus in active state The trigger input allows a distance measurement cycle to be triggered by an exter nal signal that is applied as a voltage pulse Available setting options are the delay time Trigger Delay until measurement ac tually starts and the puls
14. C 825 1 EN 60825 Revision 002 April 2006 13 Product Description Laser beam divergence 0 6 mrad Wavelength 650 nm red visible Electric Power Requirements Supply voltage 10V 30VDC Max power consumption 3 2 W at 24 V Interface Data interface Profibus RS485 Ident no OXO9CB Profibus DP VO slave under IEC 61158 IEC 61784 External termination resistor Baud rate 9 6 19 2 93 75 187 5 500 kbaud 1 5 3 6 12 Mbaud Automatic baud rate detection GSD file LDM409CB GSD PNO Profile Encoder Class 1 2 Configuration of measuring parameters Output of measured values and error messages Parameters and PB address are stored in NVRAM SSI interface Transfer rate 50 kHz 1 MHz 200 us break Signal input to signal output differential signal RS422 24bit gray encoded Slave Electrical isolation to 500 V for signal input Operation modes Continuous measurement external triggering Switching output Two outputs with HIGH signal level VCC 2 V and LOW signal level lt 2 V max load carrying capacity 0 5 A short circuit proof switching threshold and hysteresis selectable Trigger input One input with HIGH signal level gt 11 V and LOW signal level lt 6 5 V 2 5 mA input current at 24 V Trigger edge and delay selectable Trigger pulse of max 24 V Environment amp Ambient Conditions Operating temperature
15. Connector pin 16 B Baudrate 14 17 18 Bus termination 17 Carrier motion speed 13 Cleaning 37 Connector pin assignments 16 D Data Exchange Input 32 Data Exchange Output 33 Data interface 14 Diagnosedaten 35 Diagnostic data 35 Distance 11 Distance Tracking 25 Divergence 14 E Electric power requirements 14 Electric supply 9 Error reports 39 F Factory settings 29 G GSD file 14 17 ID number 17 L Laser beam divergence 14 Laser class 13 Laser classification 9 Laser radiation 9 Revision 002 April 2006 Index Linear encoder 36 M Maintenance 37 Malfunction 39 Measured value resolution 13 Measuring accuracy 13 Measuring mode 25 Measuring modes 25 Measuring range 13 Measuring time 13 Mechanical Mounting Conditions 15 Mounting conditions mechanical 15 O Operating temperature 14 Operation mode 14 P Parameter 34 Parameter data 34 Parameterdaten 34 Parameters 26 Phase measurement comparative 11 Power consumption 14 Power requirements electric 14 Preventive care 37 Profibus 11 17 31 Profibus Interface 31 Profibusschnittstelle 31 R Reproducibility 13 Resolution 13 S Scope of delivery 13 Single Distance Measurement 25 Slave 31 Slave Address 31 Slave address 17 Specification plate 10 SSI interface 7 14 19 45 Index Storage temperature 14 Supply electric 9 Supply voltage 14 Switching output 14 T Target surface 13 Technical da
16. D file In addition to specific profile data the LDM43 provides specific device settings These concern laser control and diagnosing aspects Profile Class Functionality Encoder class 1 only input simple diagnosis minimal parameter setup options class 2 input and output Preset extended diagnosis extended parameter setup otions LDM43 class 1 see encoder profile class2 additional vendor specific diagnosis and parameter setups 7 2 Slave Address Setting Slave address 4 is factory set Changes can be made via the Profibus Master A desired address can be assigned using the SSA Set Slave Address signal Revision 002 April 2006 31 Profibus Interface 73 Selection of Operating Mode DT measuring mode is factory set Changes can be implemented in parameter setup mode using bits 5 7 of parameter setup byte 26 0 000 DF 1 001 DT 2 010 DW 3 011 DX 4 100 DM Where modified data are to be written onto the EEPROM bit 4 of parameter setup byte 26 must be set to 1 7 4 Configuration Data For input and output data the following configurations are available mandatory class 1 D1 hex 2 words input consistency dass2 Fl hex 2 words of input data 2 words of output data for preset value consistency optional class 1 DO hex not implemented in LDM43 class 2 FO hex not implemented in LDM43 7 5 Cyclical Data
17. GSD File The GSD file is named LDM409CB GSD It includes the two files LDM43 dib and LDM43 bmp which are necessary for representation of the LDM43 in the confi guring tool For information regarding integration of these files please consult the special documentation parts that relate to the configuring tool 4 5 4 Slave Address A Profibus address can be assigned with due consideration of other participants in bus communications to any number from 0 to 125 The setting of an address can be achieved by triggering an SSA command via the Profibus For details on how to change a previously set slave address via the config uring tool you should consult the special tool documentation In as delivered state the slave is set to the address 4 A currently set slave address is permanently stored in the EEPROM It is also preser ved in the event of a power failure Where more than one slave LDM43 communicates via one Profibus they must be connected in series and each of them must be assigned a different address 4 5 5 Bus Termination For LDM43 operation the bus must be fitted with an external terminator 5 V sup ply voltage for bus termination can be drawn from the Profibus OUT This voltage is electrically isolated from actual operating voltage supply VCC and provides 100 mA current load capacity The terminating resistor is available as an accessory item 4 5 6 Baud Rate The LDM43 is prepared to automatically detect any of t
18. JENOPTIK JENA Laser Optik Systeme LDM43 User Manual JENOPTIK Group Revision 002 April 2006 Dear User You are advised to carefully read this User Manual before powering on the LDM43 laser distance measuring module for the first time This is necessary to ensure that you will be able to utilize all the capabilities and features which your new acquisition provides This technology is subject to continuously ongoing development Editorial deadline April 2006 Document number 012840 005 98 02 0406 JENOPTIK Laser Optik Systeme GmbH Sensor Systems business unit 07739 Jena Germany Phone 49 3641 65 3635 Fax 49 3641 65 3657 e Mail sensor sales jenoptik com Revision state Date Revision Explanation April 2006 002 Modified 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 disseminated with the help of electronic systems Proper care has been used in compiling this document No liability will be accep ted in the event of damage resulting from failure to comply with the information contained herein Revision 002 April 2006 3 Dear User For highlighting purposes the following pictograms signs of reference and war ning symbols are used throughout this Manual Enumerat
19. ainst zero edge Dimensions in mm The LDM43 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 44 Connector Pin Assignments violet red blue Device terminal SSI C SSI C TRIG n c SSI D SSI D VCC 24V n c Fig 3 Pinning diagram Profibus IN 1 reen red 5 Profibus OUT n c Profibus IN B CASE Shield VCC 45V For operation via Profibus other Profibus participants may connect to the 5 pole jack A wire B wire The Profibus may terminate or continue at the 5 pole con nector Some kind of termination device must always be provided at the end of the Profibus Supply voltage for the bus terminator is available at Profibus OUT Revision 002 April 2006 Product Description 4 5 Profibus Interface 4 5 1 ID Number The LDM43 has been registered with PROFIBUS Nutzerorganisation e V PROFIBUS User Organization incorporated society under ID number 09CB HEX 4 5 2 Interfacing Requirements The LDM43 is prepared for connection to any type of Profibus DP structure The related Profibus DP Master must be capable of sending a parameterization telegram The Master s own configuring tool typically configuring software must support representation of the parameters which are contained in the LDM43 Master file GSD file 4 5 3
20. arrival of an external trigger pulse This trigger pulse releases a single distance shot Desired settings for the Measuring Time the trigger edge Trigger Level and the delay in triggering Trigger Delay can be made in the Master s configuring tool using the Encoder profile and Class 2 encoder functionality Trigger mode must be active 6 2 Parameters Settings can be made for each parameter in the Master configuration tool using the Encoder profile and Class 2 encoder functionality For a description you should refer to the special configuring tool documentation The configuring tool of the Master uses the GSD file as input to create parameters for the slave It must have sent these parameters at least once to the slave before the slave will be able to work in cyclical data exchange mode The slave has been programmed with enough tolerance to allow operation with only its seven byte standard PB parameters i e without any profile adapted user parameters Where the Master is unable to send user parameters the EEPROM S previously stored parameters will be used This may make sense in SSI encoder applications without involvement of a Profibus In such cases the LDM43 must be parameteri zed once using the Profibus The selected parameter settings must then be saved the Profibus disabled again and the SSI interface terminal be activated 6 2 1 Class 2 Function Selects slave type according to Encoder profile 6 2 2 Extended
21. bserve advisory notes or information contained in this Manual or non conforming product usage may cause physical injury to the user or material dama ge to the LDM43 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 Laser Classification The LDMA1 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 facial winking reflex This natural reflex may be impaired by medication alcohol and drugs Although the product can be operated without taking special safety precau tions one should refrain from 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 3 Electric Supply Use only 10 V to 30 V direct voltage for LDM43 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 4 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 e Do not turn the LDM43 on if there is fogging or soiling on its optical parts e Do n
22. ctive laser 9 bool E53 failure to set one or more parameters in EEPROM consequence division by 0 10 bool E54 hardware error PLL 11 bool E55 hardware error 12 bool E61 selected parameter is illegal invalid com mand was triggered 13 bool E62 1 hardware error 2 false value for interface communications SIO parity error 14 bool E63 SIO overflow 15 bool E64 SIO framing error 20 4 21 word warnings unused 20 225 23 word warnings unused 20 24 25 word profile version z B 1 1 2 0110 hex 26 27 word software version z b 1 11 2 0111 hex 28 31 unsigned 32 operating time of laser in units of 0 1 hour 32 35 signed 32 offset value also refer to Output Data 36 39 signed 32 manufacture offset unused 0 40 43 unsigned 32 unsigned 32 measuring units per revolution unused GO 44 47 unsigned 32 unsigned 32 measuring range unused 0 48 57 10 byte 10 byte serial number 58 4 59 word word reserved for future use 60 signed byte laser temperature in C 61 byte reserved unused Since the LDM43 is a linear encoder that measures absolute distances the four parameters code sequence nu scaling function control Hon Measuring units per revo lution and Measuring range in measuring units will be ignored 36 Revision 002 April 2006 Preventive Care amp Maintenance 8 Preventive Care amp Maintenance Please note e To re
23. e edge to be selected for triggering Trigger Level Trigger mode 0 Off 1 On must be turned on Parameter settings for Trigger Input can be made with the help of the Profibus Master using the Encoder profile and Class 2 encoder functionality The following parameters are available for configuration refer to GSD File ExtUserPrmData 220 Trigger Mode for trigger mode ExtUserPrmData 21 Trigger Level for trigger level ExtUserPrmData 25 Trigger Delay 31 16 for trigger delay ExtUserPrmData 26 Trigger Delay 15 0 for trigger delay For detection of a clock edge the following voltage signals are required 24V gt HIGH gt 11V OV LOW 65V Wiring connections for working with the trigger input are as follows Controller Profibus IN Voltage supply violet Application red blue Device terminal Profibus OUT gt Profibus OUT Fig 8 Wiring of trigger input Revision 002 April 2006 Start Up The table below proposes a sample procedure that may be followed for LDM43 start up It does not purport to provide complete information or exhausting details on all possible applications For this description it is assumed that the user will match cabling to his her specific requirements No Working step 1 Unpack LDM43 and inspect for visible damage 2 Connect and firmly screw on Profibus terminals 3 Connect and firmly screw on device termi
24. he following baud rates 9 6 19 2 93 75 187 5 500 kbaud and 1 5 3 6 12 Mbaud respectively 4 5 7 Segment Length The maximum segment length between Profibus participants depends on the selected baud rate The following segment length requirements must be met Revision 002 April 2006 17 Product Description 18 Baud rate baud Segment length m 9 6 k 93 75 k 1200 187 5 k 1000 500 k 400 1 5 M 200 3M 12M 100 For cabling in accordance with these segmenting limits you are stongly recommen ded to use cable of type A This cable type provides the following performance features Surge impedance 135 165 W Capacitance per unit length lt 30 pf m Loop impedance lt 110 W km Wire diameter gt 0 64 mm Wire cross section gt 0 34 mm 4 5 8 Wiring Diagram red blue Device terminal Fig 4 Minimum wiring configuration of Profibus interface Profibus OUT Profibus IN Voltage supply Profibus OUT gt Revision 002 April 2006 Product Description 4 6 SSI Interface Parameter settings for SSI interface operation can be made via the Profibus Default state set on initial product delivery DT Mode The LDM43 has a SSI data interface SSI synchronous serial interface At the request of a SSI clock generator the LDM43 triggers a distance measure ment cycle sending the data bit by bit to a controller for processing in the
25. ill start on a rising 0 or a falling 1 pulse edge 6 2 6 Trigger Delay Trigger Delay sets the time from the arrival of a trigger pulse to the actual begin ning of measurement It may correspond to any value between O and 9999 msec 6 2 7 Error Reaction Error Reaction defines how the alarm outputs will react if a measurement cycle is found to have been unsuccessful Different setting options are available in order to cause error messages to trigger different kinds of response as appropriate for a particular environment in which the LDM43 operates Possible settings are 0 1 and 2 with the following assigned effects upon occurrence of an error message Error reaction Alarm outputs 0 Preserves latest valid measurement state 1 Positive alarm hysteresis LOW negative alarm hysteresis HIGH 2 Positive alarm hysteresis HIGH negative alarm hysteresis LOW 6 2 8 Measuring Time Measuring Time is active in DM and DT measuring mode As a general rule it may be assumed that the poorer the surface quality of a targeted object the more time will be required by the LDM43 to determine that target s distance with specified accuracy For example if error message E15 is output because of poor reflectance and too small a measuring time value the setting for measuring must be increased The available range for measuring time variation is O to 25 Note The greater the value which is selected for measuring time the l
26. ion F 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 damage Laser Warns of potential exposure to emerging visible or invisible laser radiation Information Provides a reference to important data or details GEI amp 4 Revision 002 April 2006 2 1 2 2 2 3 2 4 2 5 3 1 3 2 3 3 4 1 4 2 4 3 4 4 4 5 4 5 1 4 5 2 4 5 3 4 5 4 4 5 5 4 5 6 4 5 7 4 5 8 4 6 4 7 4 8 5 6 6 1 6 1 1 6 1 2 6 1 3 6 1 4 6 1 5 6 2 6 2 1 6 2 2 6 2 3 6 2 4 6 2 5 6 2 6 6 2 7 i r MTM AENA 7 Salet AS MOCHON O nto pei AE ida cire ue ex ONE 9 Basic Ve 9 Laser Llassihealion a naeh 9 ee 9 Important Operating Advice AAA 9 Danger Signs Specification Plates ite uice teo tte teta te b tihi onte 10 intended amp Conforming Use anne 11 General Product Description AAA 11 COMO ze A eae IN 11 Noncanfonming WSO e 12 Product DES RM rc 13 SCORE Delivery een een ae 13 Technical Dada m 13 Mechanical Mounting Conditions anne 15 Connector Pin Assignments sssssssssss ees 16 Profi bus Interface 17 ID NUMDET M Mm 17 Interfacing Requirements 17 C ril RC S 17 SINE EES EA 17 ETC ll e FEUEIEERRUIEREFRERRERGERR 17 Baud Balearen 17 A NN 17 Wiring Diagram ernennen emer ner 18 S NDE el o A o o EE
27. move dust from optical glass surfaces of transmitter or receiver Optics you may use a pneumatic brush Do not use solvent containing cleaners to wipe optical surfaces down You are advised to contact the Manufacturer if there is contamination of a more obstinate nature e Refrain from the use of solvents for cleaning work e You are prohibited from opening the LDM43 e Do not release any screws of the LDM43 In the event of necessary repair work you are requested to carefully pack the LDM43 away indicate its particular operating environment applications commu nication amp wiring details environmental conditions and send it back to your local distributor or to us at the following address JENOPTIK Laser Optik Systeme GmbH Sensor Systems business unit Goeschwitzer Stra e 25 07745 Jena Germany You may also choose to contact us via phone or fax at the following extensions before reshipping the LDM43 Phone 49 3641 65 3635 Fax 49 3641 65 3657 E mail sensor sales jenoptik com Internet www jenoptik los com Revision 002 April 2006 37 Preventive Care amp Maintenance 38 Revision 002 April 2006 Malfunction amp Error Reports 9 Malfunction amp Error Reports 9 1 Malfunction Error situation Cause Action for removal No data coming via Profi Faulty Profibus Check Profibus bus configuration configuration Device error Ext diagnosis Hardware problems Reship LDM43 for repair c
28. nals in power off state 4 Turn voltage supply on 5 Trigger distance measurement laser comes on and Profibus or SSI launches measurement 6 Sight a given target using the visible laser spot 7 Lock the LDM43 in position 8 Perform final visual inspection Revision 002 April 2006 Start Up 23 Start Up 24 Revision 002 April 2006 LDM43 Operation 6 LDM43 Operation 6 1 Measuring Modes The various measuring modes are distinguished by the algorithms they use for calculation The LDM43 relies on the phase comparison method for normal operation In order to obtain a precise measured value the user should perform an appropri ate number of single distance shots at different frequencies of a fixed number For DW mode and DX mode the number of frequencies and or the number of single distance shots is limited which allows for higher measurement frequencies On the other hand this also places tighter demands on the quality of operating conditions for example targets should be strongly reflecting The resulting limitations should AN be taken into account by the user in practical work In DT mode or DM mode the user may define his her own limits for the maximum time which measurement is to last by setting appropriate measuring time values in Measuring Time 6 1 1 DM Single Distance Measurement In DM mode a single distance shot is triggered A desired measuring time can be set in the Master s configuring tool using
29. ngs Slave Address 4 Measuring Mode DT Scaling Function 0 Trigger Mode 0 Trigger Level 0 Trigger Delay 0 Error Reaction 0 Measuring Time 0 Display Offset 0 Switching Point Output 1 10000 Switching Point Output 2 20000 Hysteresis Output 1 100 Hysteresis Output 2 100 Diagnostic Interval 10 Average 1 Revision 002 April 2006 29 LDM43 Operation 30 Revision 002 April 2006 Profibus Interface 7 Profibus Interface 71 General Information The Profibus Interface for LDM43 operation control is identical with the Standard DP VO Profibus with peripherals decentralized where VO designates the version Telegrams are byte oriented A byte is also referred to as an Octet in Standard Pro fibus terminology From a user s point of view the following types of telegrams are required to accomplish communication cyclical data exchange telegrams DataEx diagnostic telegrams parameter setup telegrams The various Profibus slaves of identical or similar functionality are described in pro files These make it easier for users to work with PB slaves from different manufac turers which provide identical functionality For operation of the LDM43 in Profibus mode the encoder profile of the Profibus order no 3062 of PNO is supported The LDM43 works as a linear encoder in this case Within the available encoder profile capabilities the LDM43 can work as a class1 or class2 encoder recommended All versions are accomplished via a GS
30. onger the time which will be available for measurement and the smaller the frequency at which measurement will be performed 0 value setting is an exception In this case the LDM43 will use its internal criteria for evaluation Revision 002 April 2006 27 LDM43 Operation 28 In addition by varying the Measuring time one may also configure the measuring frequency This may prove helpful where data volumes have to be restricted The following provides an approximated measuring time equation Measuring time Measuring time x 240 ms gt 0 Because different factors may result in frequency shifts this equation can only be given in an approximated relationship 6 2 9 Display Offset On selection of Display Offset a desired amount of offset may be applied to the measured value for correction 6 2 10 Switching Point Output 1 or 2 Switching Point Output 1 or 2 corresponds to the trigger threshold of alarm output 1 or 2 respectively The trigger threshold behaviour is user definable For settings of this kind a swit ching hysteresis parameter is provided refer to section 6 2 11 6 2 11 Hysteresis Output 1 or 2 Hysteresis Output 1 or 2 corresponds to the switching hysteresis of alarm output 1 and 2 respectively Your settings for switching hysteresis define e how a switching output will respond to the positive or negative excession of a trigger threshold depending on the mathematical sign of a hysteresis value
31. ontact technical support 9 2 Errror Report Outputs via Profibus Code Cause Action for removal E15 Excessively poor reflexes Use target board observe minimum require ment on measuring distance gt 0 1 m E16 Excessively strong Use target board do mot measure against reflexes reflecting surfaces E17 Too much steady light Mount LDM43 in such a position that excessive e g sun incidence of steady light is prevented extend glare protection tube provide additional light shielding e g protective cap E18 Only in DX mode too Check path from distance meter to target much difference between being measured for obstacles measured and pre calcula ted value E23 Temperature below 10 C Provide ambient temperature gt 10 C E24 Temperature above 60 C Provide ambient temperature lt 60 C E31 Faulty EEPROM checksum Service required if fault occurs repeatedly hardware error gt Reship LDM43 for repair E51 Failure to set avalanche 1 Check target reflectance and ambient light voltage steady light make sure that neither target 1 straylight not entry opening of LDM43 is exposed to 2 hardware error light from reflecting surfaces projectors or sun 2 Service required reship for repair E52 Laser current too high Reship LDM43 for repair laser defective Contact technical support E53 Hardwarefehler Reship LDM43 for repair Contact technical support E54 Hardware erro
32. ot touch any of the modules 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 LDM43 Revision 002 April 2006 A A Safety Instructions e Prevent overheating of the LDM43 e Prevent major temperature variances during LDM43 operation e n accordance with IP65 internal protection standards the LDM43 is desig ned to be splashproof and dustproof Read these safety and operating instructions with due care and follow them in practical use 2 5 Danger Signs amp Specification Plates Connection E JENOPTIK PNA SSCe white Laser Optik Systeme GmbH JENOPTIK PINB E brown JE me Tig green Typ LDM43 _ PND nc yellow SerNr 05 0020 LaserOptik PNE ssiD grey Power DC24V 32W Ysteme pup ssp pink op 10 C 50 C PNG V24 blue Profibus DPVO Slave PNH nc red SSI 100kHz 24bit gray PNJ GND black Internal protection class IP65 NK Alam Violet CE PNL nc grey pink Made in Germany Revision 002 April 2006 Intended Conforming Use 3 Intended amp Conforming Use 3 1 General Product Description The LDM43 is a laser distance measuring module to determine distances from 0 1 m to 30 m using natural surfaces or to measure distances up to 150 m with a target reflector Providing a red laser sighting point the LDM43 allows you to un equivocally mark a particular
33. r Reship LDM43 for repair Contact technical support E55 Hardware error Reship LDM43 for repair Contact technical support E61 Hardware error Service required if occurring repeatedly gt Reship LDM43 for repair E62 Hardware error Check RS232 settings if fault persists reship LDM43 for repair contact technical support E63 SIO overflow Check time of emitted signals in application software integrate delay on transmission if necessary Revision 002 April 2006 39 Malfunction amp Error Reports Code Cause Action for removal E64 SIO framing error Reship LDM43 for repair Contact technical support E98 Hardware error Reship LDM43 for repair Contact technical support Revision 002 April 2006 EC Declaration of Conformity 10 EC Declaration of Conformity JENOPTIK JENA Laser Optik Systeme JENOPTIK Laser Optik Systeme GmbH D 07739 Jena JENOPTIK Laser Optik Systeme GmbH Besuchsadresse EG Konformit tserkl rung G schwitzer Strahe 25 nach EMV Richtlinie 89 336 EWG Anhang EC Declaration of Conformity in accordance with the Directive of Electromagnetic Compatibility 89 336 EEC annex I 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 43 folgenden harmoni
34. rofibus default 4 byte master address profibus default en word ident number profibus default class 1 diagnostic 7 byte group ident profibus default 8 byte Spc3 spec profibus default 9 0 bool unused 1 bool class 2 functionality on off 2 bool commissioning diagnostic on off 3 bool unused 4 bool reserved for future use 5 bool reserved for future use 6 bool reserved for manufacturer 7 bool reserved for manufacturer operation status parameter byte 9 10 byte encoder type 7 absolute linear encoder 11 14 unsigned 32 single turn resolution gt 100000nm 0 1mm 15 16 unsigned 16 no of distinguishable revolutions unused 20 class 2 diagnostic 17 0 bool E98 timeout SIO 1 bool E99 unknown error 18 19 0 bool E15 reflex signal too weak use target boardn 1 bool E16 reflex signal too strong use target board 2 bool E17 steady light e g insolation 3 bool E18 only in DX mode 50 Hz variance between measured and precalculated value too great 4 bool E23 temperature below 10 C 5 bool E24 temperature above 60 C Revision 002 April 2006 35 Profibus Interface Octet Bit Type Output 6 bool E31 wrong EEPROM checksum hardware errorr 7 bool E51 failure to set avalanche voltage of laser diode cause stray light or hardware error 8 bool E52 laser current too strong defe
35. rror reaction O 2 SEnn 4 bool 02 non action 12 write on EEPROM store all parameters D ats 3 bit number measure mode 0 DF 1 DT 2 DW 3 DX 4 DM 27 byte measure time STnn O 25 28 31 signed 32 trigger delay TDnn O 9999 32 5 35 signed 32 display offset OFnnnn 36 39 signed 32 output1 switch limit O 5000000 ACnn 40 43 signed 32 output2 switch limit O 5000000 ACnn 44 47 signed 32 output1 switch hysterese 5000000 5000000 AHnn 48 51 signed 32 output2 switch hysterese 5000000 5000000 AHnn B2 iis De word diag update time in 0 1 sec 54 byte average time SAnn 1 20 55 58 signed 32 scale factor SFnn n 0 00001 1 0 100000 Revision 002 April 2006 Profibus Interface Since the LDM43 is a linear encoder that measures absolute distances the four parameters code sequence oon scaling function control Hon lution and Measuring range in measuring units will be ignored 7 8 Diagnostic data Measuring units per revo Class 2 functionality Commissioning diagnostic Diagnostic information 0 6 byte standard diagnosis 0 1 16 byte class 1 diagnosis 1 1 61 byte class 2 diagnosis Octet Bit Type Output 1 byte diag state 1 profibus default 2 byte diag state 2 profibus default 3 byte diag state 3 p
36. sierten Normen entspricht agree with the following harmonized standards EN 61000 6 4 2002 EMV St raussendungen f r Industriebereich EMC Emission standard for industrial environments EN 61000 6 2 2002 EMV St rfestigkeit f r Industriebereich EMC Immunity for industrial environments Jena 2006 01 12 JENOPTIK Laser Optik Systeme GmbH Hi Y TAR Ronald Kahn Qualit tsbeauftragter Quality Management Deutsche Bank Jena BLZ 820 700 00 Konto 399 763 200 Dresdner Bank Jena BLZ 820 800 00 Konto 344 541 000 Commerzbank Jena Gesch ftsf hrung BLZ 820 400 00 Konto 259 Se m any iren ane arn Bayerische Hypo und Vereinsbank AG itz der Gesellschaft Jena BI 830 200 47 Konto 4 157 613 HRB 5579 AG Gera JENOPTIK Gruppe Revision 002 April 2006 41 EC Declaration of Conformity 42 Revision 002 April 2006 Abbreviation listing 11 Abbreviation listing DF DM DT DW DX GSD Datei ID number LSB MSB SSI Revision 002 April 2006 Distance Measurement with External Trigger Single Distance Measurement Distance Tracking Distance Tracking With White Target 10 Hz Distance Tracking With Cooperative Target bO Hz Devica Data Base File LDM43 registration number at Profibus Nutzerorganisation e V Least Significant Bit Most Significant Bit Synchronous Serial Interface 43 Abbreviation listing 44 Revision 002 April 2006 12 Index A Alarm outputs 20 Assignments
37. ta 13 Trigger input 14 22 W Wavelength 14 46 Revision 002 April 2006
38. the Encoder profile and Class 2 encoder functionality 6 1 2 DT Distance Tracking DT mode can be chosen for distance measurement of different kinds of surfaces varying reflectance This may cause longer measuring times in the case of poor re flectance or sudden jumps in distance The minimum measuring time is 160 msec the maximum time is 6 sec On expiry of six seconds measurement will be aborted with an error message A desired Measuring Time can be set in the Master s confi guring tool using the Encoder profile and Class 2 encoder functionality 6 1 3 DW Distance Tracking With White Target 10 Hz DW mode uses a steady measuring rate of 10 Hz A white target board is a neces sary prerequisite for measured values to be stable There must be no sharp jumps in distance above a value of 16 cm within the area being measured 6 1 4 DX Distance Tracking With Cooperative Target 50 Hz DX mode uses a steady measuring rate of 50 Hz It is primarily intended for applications where there is uniform carrier motion up to a rate of 4 m p sec The high measuring rate of 50 Hz is achieved by involving previously measured values in calculation of a currently measured value Distance jumps greater than 16 cm should be avoided A white target board is a necessary prerequisite for stable distance readings Revision 002 April 2006 25 LDM43 Operation 26 6 1 5 DE Distance Measurement with External Trigger In DF mode measurement begins on
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