User's Manual - finger gmbh & co. kg
Contents
1. To avoid spot shadowing and achieving best edge definition orient the sensor triangulation plane in parallel with the step or edge Beam walk on targets with height differences Fig 19 Distance variation along z axis Spot position variation along x axis The SLS7000 is calibrated to give the target distance perpendicular to the sensor front z axis whereas the laser beam is falling onto the surface under a steep angle As the sensor to target distance varies the laser spot position in relation to the sensor will not only move along the z axis but also along the x axis This beam walk on the target surface will inevitably cause topographical distortion when mapping or scanning a surface 2000 05 24 813364 P1 19 SLS7000 Users manual LMI Selcom AB Measurement across reflectivity or colour transitions Fig 20 OK To minimize spot centre of gravity shifts orient the sensor triangulation plane in parallel with the transition Sensor alignment Fig 21 yar NS The sensor tilt in the triangulation plane may be optimised for best repeatability after sensor exchange surface structure insensitivity etc by control of a known step height difference and a fine pitched tilt adjustment Use precision mirror polished gauge blocks as target 2000 05 24 813364 P1 20 SLS7000 Users manual LMI Selcom AB 7 Communication interfaces 7 1 General The SLS7000 is supplied with sever2. C gt Reply 0xC1 calibration was OK 0xC0 calibration failed 2000 05 24 813364 P1 30 SLS7000 Users manual LMI Selcom AB Reset Calibration Command R gt Reply 0xD0 Illegal commands Command Q gt as an example of an illegal command Reply OxFF Binary commands and replies RS 422 Both commands and replies sent over RS 422 are binary The command set is basically a subset of the RS 232 ASCII command set but there is also a special command for requesting a batch of distance values with single laser intensity and probe temperature values added at the end of the batch This command has no counterpart in the RS 232 command set and is included for backward compatibility with a specific software version Command and Reply Structure The RS 422 commands and replies are not structured in any special way It is in the nature of binary communication that any byte value may occur as data and therefore it is not possible to set aside certain values for exclusive use as prompters command indicators etc Instead it is of vital importance that both the master and the SLS7000 sensor keeps a correct byte count in order to interpret commands and replies correctly The SLS7000 sensor will not output anything over the RS 422 lines on power up Batch Commands If more two or more commands are concatenated the identifier bytes are ORed together in the reply to allow the master to check that the SLS7000 sensor understood the command
3. 05 24 813364 P1 22 SLS7000 Users manual Definitions Distance Value Measurement Validity Laser Intensity Sensor Temperature Conventions LMI Selcom AB The reply differs with the measurement unit that is used The actual number of fractional digits in the case of millimeters or inches depends on the sensors scale factor The reply gives the validity of the signal as a percentage of the last 100 samples The reply gives the laser intensity as a percentage of the maximum The maximum is calibrated when the sensor is manufactured A command for reading the actual laser power in milliwatts exists in RS232 ASCII reply mode see section Laser Intensity The reply gives the temperature in degrees Celsius It is measured inside the sensor The following conventions are used in this document nnnnn Rrr rrr OxXX OxXXXX 2000 05 24 Groups of the letter n stand for integer numbers written with ASCII characters The number of n s indicate the maximum permitted number of characters Fewer characters may be used Groups of the letter r stand for real numbers i e numbers with an integer part and a fractional part written with ASCII characters The number of r s to the left of the decimal point indicate the maximum permitted number of characters for the integer part and the number of r s to the right of the decimal point indicate the maximum number of characters for the fractional part Fewer characters may be used
4. 5 Mechanical mounting 4 5 1 Sensor head mounting Due to the high resolution of the sensor careful consideration must be paid to the mounting of the sensor head The way of mounting should be targeted at avoiding measurement errors due to Thermal expansion and mechanical instability in the mounting fixture e Mechanical tension in the sensor housing when tightening the mounting screws e Pick up of electro magnetic noise and disturbances Normal considerations for precision measurement equipment should be sufficient for the overall fixture stability For the actual fitting of the sensor to a mounting surface the flatness must be considered If a sufficient flatness can t be guaranteed it s recommended to use small diameter precision washers to distance the sensor slightly from it s mounting surface If strong ground current loops from welding equipment electrical motors etc can be expected in the sensors vicinity it s recommended to mount the sensor electrically isolated from the mounting structure This is also recommended when several sensors are mounted close to each other and powered from the same supply 2000 05 24 813364 P1 16 SLS7000 Users manual LMI Selcom AB 4 5 2 SLS PPU mounting Mounting of the SLS PPU is less critical from mechanical strain considerations Care must of course be taken to avoid unnecessary cable bending and strain on connectors To isolate the SLS PPU the unit is delivered with sp
5. after the identifier OxE2 is the parameter nnnnn in binary form Laser Intensity percent of maximum Command Innnnn gt Reply OxE4 OxXXXX OxYY OxYY repeated nnnnn times The first binary word after the identifier 0xE4 is the parameter nnnnn in binary form Sensor Temperature C Command Tnnnnn gt Reply OxE8 OxXXXX OxYY OxYY repeated nnnnn times The first binary word after the identifier OxE8 is the parameter nnnnn in binary form Examples Command DI100 gt Reply OxE5 0x0064 OxXXXX OxYY OxXXXX OxYY repeated 100 times This command requests 100 groups consisting of a distance and an intensity value The identifier OxE5 is the inclusive OR of 0xE1 Distance and 0xE4 Intensity and allows the master to check that the command was properly understood 0x0064 is the data count being the binary word equivalent to 100 After these items there will come 100 groups consisting of one 2 byte distance value OxXXXX and one 1 byte intensity value OxYY Command DVIT1 gt Reply OxEF 0x0001 OxXXXX OxYY OxZZ OxTT This command requests one group of data containing all four possible items The identifier OxEF is the inclusive OR of 0xE1 Distance OxE2 Validity OxE4 Intensity and OxE8 Temperature 0x0001 is of course the data count 1 OxXXXxX is the distance value OxYY is the validity OxZZ the intensity and OxTT the temperature 2000 05 24 813364 P1 29 SLS7000 Users manual LMI Selcom AB Single Comma
6. correctly Distance Value Command OxE1 OxXXXX Reply OxE1 OxXXXX OxYYYY OxYYYY repeated OxXXXX times This command will report measurement values in LSBs and without any calibration offset applied The command works even if a measurement unit other than LSBs has been entered in the setup The first binary word after the command identifier OxE1 is the number of data items to be transmitted in the batch The maximum is OxFFFF 65535 values and the minimum is 0x0001 1 value If the parameter is Ox0000 data will be transmitted continuously until the next batch command is received Measurement Validity Command OxE2 OxXXXX Reply OxE2 OxXXXX OxYY OxYY repeated OxXXXX times The parameter OxXXXX works the same as for the Distance Value command 2000 05 24 813364 P1 31 SLS7000 Users manual LMI Selcom AB Laser Intensity percent of maximum Command OxE4 OxXXXX Reply OxE4 OxXXXX OxYY OxYY repeated OxXXXX times The parameter OxXXXX works the same as for the Distance Value command Sensor Temperature C Command OxE8 OxXXXX Reply OxE8 OxXXXX OxYY OxYY repeated OxXXXX times The parameter OxXXXX works the same as for the Distance Value command Special Batch Command OxFO OxXXXX Reply OxF1 OxYYYY repeated OxXXXX times OxZZ OxTT This command requests a batch of OxXXXX distance values followed by one laser intensity and one temperature value Note that the reply identifier in
7. used to enter a setup menu where some of the SLS7000 sensor s internal parameters can be modified This is an interactive menu which demands the use of an ANSI terminal or a PC running an ANSI terminal emulation program Before the setup menu is shown the user must enter the password after the PWD gt reply from the probe Command SELCAT gt Parameter Options Keyb 2000 05 24 813364 P1 27 SLS7000 Users manual LMI Selcom AB Measurement Units LSBs Millimeters Inches Tab key Protocol Type ASCII Binary Tab key Interface Selcom RS 422 Tab key Samples Per Average 1 1024 Num Keys Enter Valid threshold 10 90 Num Keys Enter Analog Output On Invalid Hold Latest Valid Output Tab key Zero F1 Save And Exit F1 F2 Save Do Not Exit F2 F3 Exit Do Not Save F3 Illegal commands Command Q gt as an example of an illegal command Reply All commands which are illegal have parameters with values outside the legal range or contain too many characters more than 12 will be rejected by the SLS7000 sensor and cause the reply shown above Binary replies RS 232 The SLS7000 sensor can be set up to give binary replies over RS 232 The primary reason for using this mode would be to speed up the data transfers and to make the master s job easier in decoding the SLS7000 sensor s output Only a subset of the commands described in section Conventions can be used with binary replies For instance it would be impos
8. 000 series are classified Class II FDA class 2 IEC 825 1 1993 Special precautions are only required to prevent continuous viewing of the direct beam A momentary exposure limited by the blinking reflex t lt 0 25 sec as would occur in accidental viewing situations is not considered hazardous However staring into the beam should be avoided and the laser beam should not be intentionally aimed at people 3 2 Warning labels The following labels are attached to the sensor Figure 9 Manufacturers serial number label Valid for all languages Selcom MEASUREMENT amp CONTROL BOX 250 S 433 25 PARTILLE SWEDEN PART NO TYPE S N OUTPUT MANUFACTURED Made in Sweden CE MONTH YEAR Aperture Label Figure 10 IEC 825 example English AVOID EXPOSURE laser radiation emitted E from this aperture 2000 05 24 813364 P1 10 SLS7000 Users manual LMI Selcom AB 4 Installing 4 1 Pin configuration DSUB 15 pin pin connector CONTACT series R2 5 16 pin pin connector 1 12 ER Ee 1 Receive data RS232 C 9 Transmit data RS232 C 3 CLOCK SELCOM interface or RS422 Rx 4 CLOCK inv SELCOM interface or RS422 Rx 5 DATA SELCOM interface or RS422 Tx 6 DATA inv SELCOM interface or RS422 Tx 8 Invalid out when analog interface is used 12 Invalid out when analog interface is used 13 Analog out 11 Ground 14 Laser ON 24 VDC 15 Power 24 VDC Figure 11 15 pin DSUB miniat
9. 4 2 5 Cable screening The cable shall include a screen connected to a conductive connector housing in the sensor end of the cable 2000 05 24 813364 P1 12 SLS7000 Users manual LMI Selcom AB 4 3 Analog output 4 3 1 General considerations The analog current output of the SLS7000 sensor is derived from the same high performance and accuracy digital distance data as available over the Selcom Serial RS232 and RS422 interfaces The D A conversion is made from a 12 bit s distance data value As a complement to the analog output an Invalid out signal is available The sensors are available in two versions factory set not to be changed by the user regarding the state of the analog output when data is considered invalid Hold latest valid i e the analog output current is held at the latest valid D A converted data value Zero out on invalid is only available with 4 20 mA output The analog current output is set to O mA as long as data is considered invalid IMPORTANT The transformation of the current output to engineering units i e mm inches etc in a control computer PLC etc requires the use of a scale factor SF that defines the relation between current output and engineering unit Sensor type 0 20 mA SF mm mA 4 20 mA SF mm mA SLS7001 15 0 0512 0 064 It is NOT CORRECT and will lead to erroneous results if the measurement range is simply divided by the current range If an absolu
10. IMISelcom fingers ika MEASUREMENT amp CONTROL User s Manual SLS 7000 SLS7000 Users manual LMI Selcom AB finger GmbH amp Co KG Contents COMETS so naea nao ea ANE NR SRS tis EE E AEA YES AN BAREN E E ANNAN NEKAS NEAR Readers 2 1 General information sirccccssenaveesseveancegucecaronsearivesnineasecslsten ERER EEEE VEEE AENEA ASAE EE EAE EE 3 2 COMPONSH SSCIIP N enreda aa a a a aea aA REAA Aa E AA NAA NARVA Ko RAN aN ara ERASE NN ES 4 2 1 SENSOMMESCHIPULOM osrstenie E EAA E a EE a aT ENER EEA EEEE EESE RAEE 4 PLASI OLLES EAEE EAE EEA EEN 6 PARA E EANAN AEE ENE AENEAS EAE IE LAENE INSON EE ONE ESR TIER VR SET VAA 6 222 DLS POWEr unit 24er ordeninin aNEKSi DNA NN SUN E E a AE AA EER a ENAS S E EAEE Ee 6 PAPIE NATO Camera PAA EAE EE E EE E AAE EOE A 9 3 Lasersafety cce cdeatancaatidend RA A A O E AA ON aca E ae Sl Classification aneirin n a e a a e A RH N YA 3 2 Warning labels 4 TAS llin ni A EEE ETRO OR A NO EE AEE EE EE OO NOOA AAT Pin CONF SULA OM iaeano a EAA EE a OR EEEE aE SSA SEEE EEE EEE ES A PROOI EEEE LEBKA a T AAEE EAE IAEE NEEE EE N EEEIEI EI SEESE ETN 4 2 l Gable lenih inan sades E EA VE ANE EEE AA AEE E OEE 4 2 2 Signal leads with demand for twisted pairs 4 2 3 Signal leads without demand for twisted pairs 4 2 4 Power supply leadS sessesessessrssrssrssersrssrrsrrssrrsrnn AD S Cable SCHESMING ninesi a VORE NA banat ab ra RF ANAR R R e e ee a e ASA ral O SOUP Ute
11. akes it possible to control the rate at which output is produced by the SLS7000 sensor in response to a batch command The parameter nnn is a divisor which is applied to the basic 100 Hz frequency used by the RS 232 communication routines In ASCII reply mode the highest possible output rate is 50 Hz so nnn may not be lower than 2 The limitation to three characters means that the highest legal value is 999 giving an output rate of about 0 1 Hz or one value every 10 seconds NOTE The averaging filtering and data rate output are independent processes The data sent from the sensor at a rate defined by the Bnnn gt parameter samples from the stream of data that is output from the averaging filter A small averaging factor i e high bandwidth measurement in combination with a large B parameter i e low data rate out may cause aliasing phenomenon s to occur in the data The opposite settings large averaging and small B parameter may cause the same data to be sent out several times It is therefore recommended to match averaging and B parameter reasonably well Synchronize reset filter Command S gt Reply S gt This command causes the SLS7000 sensor to restart its filtering cycle from scratch It may be used to ensure that several probes are in sync with each other 2000 05 24 813364 P1 26 SLS7000 Users manual LMI Selcom AB Set Nominal Value for calibration Command Nnnnn gt measurement unit LSBs Nrrr rrr gt mea
12. al serial communication alternatives The RS232 interface is always available over pins 1 and 9 in the sensor connector The main function of the RS232 interface is to facilitate internal sensor parameter set up for production parameters as gain laser power etc A sub set of these parameters are also available for customer use via the SELCAT menu ref 6 3 SLS asynch 1 Protocol The RS232 Interface may also be used for low speed sensor data communication To facilitate data collection and presentation several examples of free software for use on PC via simple com port communication is available from LMI Selcom Please contact LMI Selcom or your local representative for more information For RS232 cabling refer to 4 2 Cable requirements The Selcom Serial Interface SSI RS422 is a four wire interface available over pins 3 4 5 6 on the sensor connector The choice between SSI and RS422 interface is factory made and must be defined when ordering the sensor The SSI is a one way high speed 16 kHz sensor distance data interface For electrical and data format description refer to 6 2 Selcom Serial Interface The RS422 is a medium speed 1 kHz full duplex communications interface The command set is basically a sub set of the RS232 command set For a complete protocol description refer to 6 3 SLS asynch 1 protocol 7 2 Selcom Serial interface 16 bit serial synchronous interface including 12 bit measurement data and 3 bit va
13. and the decimal point may be omitted if it is not needed The notation 0xXX indicates a binary byte value The two following characters are in hexadecimal notation NOTE This is not an ASCII representation For example if a byte value is given as 0x41 only one character one byte will be sent in this case the character A and not the four characters 0 x 4 1 Where successive bytes refer to different types of data they are distinguished by the notation 0xXX OxYY etc The notation OxXXXxX indicates a binary word value It is transmitted as two characters bytes with the most significant byte first Where successive words refer to different types of data they are distinguished by using the notation OxXXXX OxYYYY etc 813364 P1 23 SLS7000 Users manual LMI Selcom AB ASCII Commands and Replies RS 232 Command and Reply Structure RS 232 commands and replies are structured as follows Every command sent from the master must be preceded by a dollar character Every command sent from the master must be terminated by a greater than character gt This terminating character will be referred to as the prompter in the rest of this document There will be no output from the SLS7000 sensor until the prompter has been received Between the leading dollar character and the prompter comes the actual command It consists of a command character always an uppercase letter and possibly a numer
14. ata types in the command i e it is not possible to ask for one number of distance values and another number of temperature values Distance Value Command Dnnnnn gt msm unit LSBs Reply Dnnnn gt Drerr rrr gt msm unit millimeters Drr rrrrr gt msm unit inches This command causes the SLS7000 sensor to transmit a number of distance values The number of values is determined by the parameter nnnnn The maximum value that can be used is 65535 A parameter value of 0 causes the SLS7000 sensor to transmit distance values continuously until it receives another batch command The reply to this command differs with the measurement unit that is used The actual number of fractional digits in the case of millimeters or inches depends on the probe s scale factor The numbers shown here represent the maximum Measurement Validity Command Vnnnnn gt Reply Vnnn gt The parameter nnnnn works the same as for the Distance Value command 2000 05 24 813364 P1 24 SLS7000 Users manual LMI Selcom AB Laser Intensity percent of maximum Command Innnnn gt Reply Innn gt The parameter nnnnn works the same as for the Distance Value command Sensor Temperature C Command Tnnnnn gt Reply T nn T nn The parameter nnnnn works the same as for the Distance Value command Examples Command DITV200 gt Reply DnnnnVnnninnnT nn gt DnnnnVnnninnnT nn gt 200 repetitions This command causes
15. ecial nylon washers that fit in the mounting holes Use of the isolation washers is always recommended 5 Technical specification 5 1 general LASER SOURCE ENVIRONMENTAL Laser type Laser Class GaAlAs 0 50 32 122 1 2 Temp fluctuation of mr C Wavelength RR e a SSA SN Laser ife expectancy hrs 100000 f ELECTRICAL PHYSICAL PPU 50 ms fg Eo a ti Max output power mw Relative humidi 18 to 32 Dimensions sensor V head Sampling rate Frequency response Hz 2000 Cable length Sensor m 2 head SLS PPU 16000 Weight SLS PPU 1000 Detector type PSD Cable length SLS m PPU 5 2 Performance specification TYPE MR STANDOFF RESOLUTION LINEARITY TRIANG ANGLE SLS7001 15 15 6nm 0 25um 0 05 0fMR 86 Depending on averaging and data type analogue RS232 etc 2000 05 24 813364 P1 17 SLS7000 Users manual LMI Selcom AB 5 3 Laser beam characteristics Figure 17 Laser beam characteristics principal a o Far End F E of M R Focal point at S O Close End C E of M R Beam diameter at S O 10 20 um Beam diameter at S O 0 45 mm 70 90 um The beam diameter is specified to contain 90 of the beam energy 2000 05 24 813364 P1 SLS7000 Users manual LMI Selcom AB 6 Hints on correct use Most precautions commonly mentioned when applying triangulation sensor also apply for the SLS7000 Measurement of steps and detection of edges Fig 18 OK
16. ensor but may be added as an update Video camera and camera controller come as a factory tuned set and must be serviced and replaced as one part To avoid problems finding a suitable video monitor for displaying the video camera scene it s important to specify the correct video signal type EIA for North America Japan and CCIR for Europe The latter also applies for the power adaptor that requires a specification for use in the USA or Europe The camera controller is delivered with its user settable control switches in the automatic position These settings will for most applications provide a sufficient image quality All accessible switches on the camera controller are free to change in order to enhance image quality To enhance image quality like contrast and definition of laser spot on scene it is also recommended to add lighting to the scene Depending on requirement scene lighting can be accomplished with everything from an ordinary office table lamp to sophisticated light guide fibres The main consideration when adding light is to avoid possible heating and thereby expansion and movement of the measurement object The sensor data will not be influenced by added light as such although the possible heating of the sensor may cause initial drift until a stable sensor housing temperature is established 2000 05 24 813364 P1 SLS7000 Users manual LMI Selcom AB 3 Laser safety 3 1 Classification Sensors in the SLS7
17. ical parameter depending on the command The commands belonging to the batch class described in section Batch Commands may be concatenated in a single command so that there may be up to four command characters at the same time The SLS7000 sensor outputs a prompter as soon as it is ready to process commands after power on No commands may be issued by the master until it has received this initial prompter Replies from the SLS7000 sensor always start with the command character and end with the prompter In between there may be data depending on the command There is no initial dollar character in the reply The master may not output a new command until it has received a prompter back from the SLS7000 sensor in response to the previous command Illegal commands commands whose parameters are outside the legal range and commands which contain more characters than the maximum 12 characters will be rejected by the SLS7000 sensor Batch Commands The Distance Value Measurement Validity Laser Intensity and Probe Temperature commands all take a parameter nnnnn which determines how many values the SLS7000 sensor should transmit The data transmitted as a result of such a command is referred to as a batch in the rest of this document These four commands may also be concatenated into a single command In this case they may appear in any order but they must precede the nnnnn parameter The parameter applies equally to all the d
18. l LMI Selcom AB Front view DSUB 15 pin pin connector SLS Powerbox 24 connectors H1 and H2 1 oo 1 Receive data RS232 C 9 Transmit data RS232 C 3 CLOCK SELCOM interface or RS422 Rx 4 CLOCK inv SELCOM interface or RS422 Rx 5 DATA SELCOM interface or RS422 Tx 6 DATA inv SELCOM interface or R8422 Tx 8 Invalid out when analog interface is used 12 Invalid out when analog interface is used 13 Analog out 11 Ground Figure 8 H1 and H2 connector male pin configuration Technical specification Dimensions Length 218 6 mm 8 5 inches Height 62 8 mm 2 5 inches Width 143 7 mm 5 6 inches Weight 1 4 kg 3 1 Ibs Environmental conditions Protection class IP50 NEMA 1 Temperature Operating 0 50 C 32 120 F Storage 30 70 C 20 160 F Power requirements Input voltage 110 230 VAC 10 Line frequency 50 60 Hz Power consumption 40 W 50 W peak at startup 2000 05 24 813364 P1 SLS7000 Users manual LMI Selcom AB 2 2 3 Video Camera An optional video camera may be ordered with the sensor to facilitate exact operator positioning of the 10 micron laser spot on the work object Video parts Sensor integrated video camera e External camera controller with standard video output on BNC connector specify video standard EIA or CCIR e Video lens f 12 e 110 240 Vac Power adaptor Specify US or Europe connector type The video camera option is preferably ordered with the s
19. laser spot further enhances the basic triangulation resolution 2000 05 24 813364 P1 SLS7000 Users manual LMI Selcom AB 2 Component description 2 1 Sensor description The basic SLS7000 sensor consists of two parts e SLS7000 Sensor head e SLS PPU controller Figure 3 BESO Sensor head r Front Side The 3 m sensor cable connects to the SLS PPU with a high density connector A red LED on the sensor top surface indicates sensor power ON 2000 05 24 813364 P1 SLS7000 Users manual LMI Selcom AB Figure 4 SLS PPU controller 135 0 ee 6 540 2 Mounting Holes 7 2 0 2 4x The 2 m cable from the SLS PPU controller connects to the user Power supply data acquisition equipment via a 15 pin high density D sub connector Two LED s on the top surface of the controller indicates valid data in the measurement range green LED or Invalid data out of range yellow LED condition A continuous switching between Yellow and Red LED indicates a malfunction in the sensor DSP Digital Signal Processor 2000 05 24 813364 P1 SLS7000 Users manual LMI Selcom AB 2 2 Accessories 2 2 1 Cables To facilitate different installation needs a variety of extension and connection cables are available for use with the sensor stand alone or in combination with the SLS Power Unit Contact LMI Selcom or your local representative for more information 2 2 2 SLS Power unit 24 The SLS Power unit 24 can supply one or t
20. lid invalid signal Updating frequency 16 kHz Balanced data output D D inv C C inv 2000 05 24 813364 P1 21 SLS7000 Users manual LMI Selcom AB MSB LSB ER Ed Ec ee ee Ee ee po w LLLA CT Clock I p B pag B a B a E eek e Lf Lf LY LS LS LS LS M a M ag E a M ag EE g E ag M ag a Clock Data Figure 220 Data output format Logical 1 C gt 0 6 V C inv D gt 0 6 V D inv Logical 0 C inv gt 0 6 V C D inv gt 0 6 V D Max Load OH Output High OL Output Low Voltage U OH gt 2 0 V U OL lt 0 8 V Current I OH gt 40 mA OL lt 40 mA 7 3 SLS asynch 1 Protocol General information Baud rate 9600 baud RS 232 38400 baud RS 422 8 LSBs None 1 LSB 1 LSB None SW handshake XON XOFF RS 232 ASCII reply mode only 3 3 50 Hz RS 232 ASCII reply mode Do 4 100 Hz RS 232 binary reply mode 1000 Hz RS 422 The SLS7000 sensor always operates as a slave i e it never initiates a data transfer itself All data transfers must be requested by an external device referred to in the rest of this document as the master The master can communicate with the SLS7000 sensor either via RS 232 or RS 422 The RS 422 command set is a subset of the full RS 232 command set RS 232 commands are always ASCII whereas RS 422 commands are binary The output from the SLS7000 may be either ASCII or binary over RS 232 but is always binary over RS 422 2000
21. mainly finds its use in low bandwidth industrial measurement and control applications The signal conversion equipment in such applications is normally band limited to low frequencies making the system insensitive to high frequency noise For some wide band applications like vibration analysis or when the signal is to be manually studied with an oscilloscope the high frequency noise may be a problem In these cases an anti aliasing filter may be added between the load resistor and the registration equipment A simple but in most cases sufficient filter is shown below The components as chosen will give an upper frequency limitation of 1 6 KHz It is important that the filter and the registration equipment is connected with as short cabling as possible to avoid additional noise pick up SLS7000 connector pin 13 output Registration equipment pin 11 Figure 14 Example of filter 4 4 3 Alternative connections for valid output The output transistor conducts as long as the measurement is valid Figure 15 Example of connection current sink 5V V SLS 7000 Connector 4 7 k ohm 100 ohm Pin 12 LOW Valid I max 50 mA HIGH Invalid Pin 8 2000 05 24 813364 P1 15 SLS7000 Users manual LMI Selcom AB Figure 16 Example of connection current source 5V SLS 7000 connector 100 ohm pin 12 max 50 mA Valid out LOW Invalid HIGH Valid 4 7 k ohm 4
22. nds Laser On Off Command L1 gt laser on L0 gt laser off Reply 0x71 laser on 0x70 laser off Averaging Factor Filter Cutoff Frequency Command Annnn gt Reply OxAO OxXXXX The first binary word after the identifier OxAO0 is the parameter nnnn in binary form Set Output Rate For Batch Data Command Bnnn gt Reply OxBO OxXX The first binary byte after the identifier 0xBO is the parameter nnn in binary form The parameter may be as low as 1 in binary reply mode giving an output rate of 100 Hz NOTE The averaging filtering and data rate output are independent processes The data sent from the sensor at a rate defined by the Bnnn gt parameter samples from the stream of data that is output from the averaging filter A small averaging factor i e high bandwidth measurement in combination with a large B parameter i e low data rate out may cause aliasing phenomenon s to occur in the data The opposite settings large averaging and small B parameter may cause the same data to be sent out several times It is therefore recommended to match averaging and B parameter reasonably well Synchronize reset filter Command S gt Reply 0x90 Set Nominal Value for calibration Command Nnnnn gt measurement unit LSBs Reply 0x80 OxXXXX This command can be used only if the measurement unit is LSBs The first binary word after the identifier 0x80 is the parameter nnnn in binary form Calibrate Command
23. rgweg 223 205 7088 Ventura Street S 43325 Partille SOUTHFIELD MI 48075 6419 AT Heerlen Delta BC V4G 1H5 SWEDEN USA Netherlands Canada Tel 46 0 31 336 25 10 Tel 1 248 355 5900 Tel 31 45 571 93 00 Tel 1 604 940 0141 Main 46 0 31 336 25 00 Fax 1 248 355 3283 Fax 31 45 574 25 00 Fax 1 604 940 0793 Fax 46 0 31 44 61 79 Printed in Sweden Internet http www lmint com 2000 05 24 813364 P1 2 SLS7000 Users manual LMI Selcom AB 1 General information The SLS7000 Specular reflective sensor is intended for measuring surfaces ranging from perfect mirrors to semi specular surfaces such as aluminium stainless steel and other reflective materials The specular reflective triangulation principle provides as opposed to the more commonly used diffuse reflection triangulation a principally higher capability for high resolution data on shiny and reflective materials and surface structures The SLS7000 has been designed to further stretch the area of use towards difficult surface structure materials like the cold rolled special steel used in hard disk drive read write head suspensions Resolution in the sub micron range is typically achievable in such applications Fig 1 The diffuse reflection sensor will only see a minor part of the beam reflected from a semi specular surface Fig 2 The specular reflection sensor Picks up a major part of the reflected beam The wide triangulation angle and 10 micron sized
24. s ics ccsdut ds en ho rasa dnsa anse stred er ak rk SANERAS ARSA N EEEIEI EISEAN 4 3 1 General considerations sessesesesseosossresersrsnrnn 4 4 Load conditions for analog and invalid outputs 4 4 1 Analog output l0aC sessesesrsesssessssrrsrssrnsrnn 44 2 Optional Noise filtering ia iasairse ie dernia ars sirener hsa eiii iE E A E E E A FANER RANN NASN NANG KAN SANKTAN a SN 4 4 3 Alternative connections for valid output cc eeseseseseseseceseseseceseseseceseseseseseseseceseseseceseaeseceseseseeeeeseaeeeeeateneeaees 4 5 Mechanical MOUNTING s smmsesresresresrssrssrnsensrrnsrrsrrsrnnrn rn nen 4 5 1 Sensor head mounting 4 5 2 SLS PPU mounting 5 Technical specificationer trii wai nia sit ssk sr sa EEE LARE aed aaa NGAN KANE a eis aad Dhaene ices Dod Beira isrener isa diay dagas dn waves dove Besse ARE EEEE E E E E davesh A KA EEE 5 2 Performante SpeciNcation a aA ara sker a R eee rdar aE E a SRA RA d a aeii 53 Laser beam Characteristi Cs see vesssscvas iini e Ru EAEE EON EEO NOR NEON EEE 6 Hints on correct use 7 COMMUNICATION interfaces ariin ate aa lad E T RER ated Sa ee RA AEEA SAD NAS or EE E e E EE A E E E E SE Ta Nelcom Serial nterface naroa E R E EE E E NEES To SLS asyneh l Protocol nrinn e E RE EE EE ean E RA R A 8 Ordering and spare parts information svirepo teine ses aE ENNART K E E EEE ATEREA E EES LMI Selcom AB LMI Selcom INC LMI Sensors 95 LMI DynaVision BOox 250 21666 Melrose Ave Valkenbu
25. sible or at least rather complicated to transmit a fractional value in binary mode Note Only the replies are binary The commands sent by the master to the SLS7000 sensors are the same as in ASCII reply mode Reply structure In binary mode the reply to each command has a leading identifier which consists of one byte but there is no trailing prompter In the replies to batch commands only one identifier is output for the whole batch i e no identifying byte is prefixed to each data item This means that the master must keep a correct count of received bytes in order to decode data properly and to know when the next command can be sent This is especially important in the batch commands where large amounts of data with different types of data intermixed may occur Batch Commands The batch commands can be used in binary mode If two or more commands are concatenated the identifier bytes are ORed together in the reply to allow the master to check that the SLS7000 sensor understood the command correctly 2000 05 24 813364 P1 28 SLS7000 Users manual LMI Selcom AB Distance Value Command Dnnnnn gt Reply OxE1 OxXXXX OxYYYY OxYYYY repeated nnnnn times This command can be used only if the measurement unit is LSBs The first binary word after the identifier OxE1 is the parameter nnnnn in binary form Measurement Validity Command Vnnnnn gt Reply OxE2 OxXXXX OxYY OxYY repeated nnnnn times The first binary word
26. surement unit millimeters Nrr rrrrr gt measurement unit inches Reply Nnnnn gt nnnn same as in command Nrrr rrr gt rrr rrr same as in command Nrr rrrrr gt rr rrrrr same as in command This command is used to set a nominal value to be used at a subsequent calibration see section Calibrate Calibrate Command C gt Reply C1 gt calibration was OK calibration failed C0 gt The SLS7000 sensor can be calibrated against a reference if for example it is desired to measure thickness of an object The reference object should be in place and its thickness should have been given to the probe with the Nominal Value command before the calibration is started Example An SLS7000 sensor is set up to measure the thickness of steel plates in millimeters The plates rest on a flat surface while they are measured A calibration piece with the known thickness of 50 mm is used First the Nominal Value command is given N50 0 gt The SLS7000 sensor replies N50 0 gt Then the calibration piece is put in place and the Calibration command is given c gt The SLS7000 sensor replies C1 gt presuming that the calibration was OK After this the SLS7000 sensor will present the actual thickness in mm of every plate that passes Reset Calibration Command R gt Reply R gt This command resets the offsets calculated by a calibration to zero Parameter Setup Command P gt Reply PWD gt This command is
27. te distance between the target and the sensor or some other ref Point is to be computed it is necessary to be aware of the fact that the fixed calibration point between the sensor and the current output is defined at the Stand Off distance as being 10 mA for a 0 20 mA sensor and 12 mA for a 4 20 mA sensor 2000 05 24 813364 P1 13 SLS7000 Users manual LMI Selcom AB 4 4 Load conditions for analog and invalid outputs 4 4 1 Analog output load The current output load resistance should not exceed 500 ohms A separate return path to ground should be provided via pin 11 GND The total resistance in the analog out lead and the ground lead must not exceed 15 ohms SLS5000 connector 0 20mA pin ER max 500 ohm 0 10 VDC hh te OA IM max 100 meters max 7 5 ohm signal lead Figure 12 Example of connection Note We recommend the use of temperature stable resistors to reduce the effects of voltage variations due to resistance changes Always turn the power off before connecting or disconnecting the analog output load 4 4 2 Optional noise filtering Due to cable cross talk the spectral characteristics of the analog current output as measured over a 100 Ohm resistor may have the following principal appearance SLS7000 signal spectrum HF noise spectrum 1 10 100 kHz Figure 13 Illustration of spectrum 2000 05 24 813364 P1 14 SLS7000 Users manual LMI Selcom AB The analog output of the SLS7000 sensor
28. the SLS7000 sensor to send 200 groups of values where each group contains one distance value one validity value one intensity value and one temperature value The example shows LSBs as measurement unit Note Although the command letters were given in the order D I T V in this example the SLS7000 sensor always replies with the values ordered D V I T Command D0 gt Reply Dr rr gt Dr rr gt Repeated continuously This command causes the SLS7000 sensor to send distance values continuously until a new command is received The example shows millimeters or inches as measurement unit Single commands All commands except the four described in section Batch Commands will only cause a single reply from the SLS7000 sensor They cannot be concatenated but must be given individually Laser Intensity milliwatts Command wW gt Reply Wr rr gt Laser On Off Command L1 gt laser on L0 gt laser off Reply L1 gt L0 gt 2000 05 24 813364 P1 25 SLS7000 Users manual LMI Selcom AB Set Averaging Factor Filter Cutoff Frequency Command Annnn gt Reply Annnn gt nnnn same as in command The current SLS7000 sensor software employs a rolling average filter In this case the parameter nnnn determines how many samples should be included in every average Any number between 1 and 1024 may be given Set Output Rate For Batch Data Command Bnnn gt Reply Bnnn gt nnn same as in command This command m
29. this case is not identical to the command identifier This is for backward compatibility reasons A parameter value of 0x0000 cannot be used with this command and would in any case be useless this would in effect be equivalent to the command OxE1 0x0000 Note For compatibility the count parameter is NOT included in the reply of this command Examples Command OxE3 0x0100 Reply OxE3 0x0100 OxXXXX OxYY OxXXXX OxYY repeated 256 times This command requests 256 groups consisting of a distance and a validity value The identifier OxE3 is the inclusive OR of 0xE1 Distance and 0xE2 Validity and allows the master to check that the command was properly understood 0x0100 is the data count being the binary word equivalent to 256 After these items there will come 256 groups consisting of one 2 byte distance value OxXXXX and one 1 byte validity value OxYY Command OxFO 0x2710 Reply OxF1 OxXXXX repeated 10000 times OxYY OxTT This command requests a batch of 10000 0x2710 distance values followed by one laser intensity and one temperature value Single Commands Laser On Off Command 0x71 laser on 0x70 laser off Reply 0x71 laser on 0x70 laser off 2000 05 24 813364 P1 32 SLS7000 Users manual LMI Selcom AB Averaging Factor Filter Cutoff Frequency Command 0xA0 OxXXXX Reply OxAO OxXXXX Set Output Rate For Batch Data Command 0xB0 OxXXXX Reply 0xB0 OxXXXX The first binary word after the command iden
30. tifier 0xBO is a divisor which is applied to the 16 kHz sampling frequency It may take on any value between 0x0010 16 and OxFFFF 65535 inclusive This gives output rates from 1000 Hz to 0 244 Hz one value every 4 seconds Synchronize reset filter Command 0x90 Reply 0x90 Illegal Commands Command 0x33 as an example of an illegal command Reply OxFF 8 Ordering and spare parts information The list below covers a limited no of items that may come in question as customer spare parts It is by no means a full scope of parts available or accessories For more information contact LMI Selcom or your local representative Part Type LMI Selcom art No SLS7001 15 incl camera option US ver 812330 Video camera excl lens US ver retrofit or exchange by Selcom 813086 Interface cable SLS PU to PC RS 422 spec length in order 2000 05 24 813364 P1 33
31. ure Male pin connector 3 rows and 16 pin CONTACT series R2 5 male pin connector front views Note The DSUBmin connector meets IP50 NEMA 1 The connector may require extra protection if mounted in a humid environment although dust alone will not require any added precautions The CONTACT connector meets IP65 NEMA 4 when connected with mating connector 2000 05 24 813364 P1 SLS7000 Users manual LMI Selcom AB 4 2 Cable requirements 4 2 1 Cable length Interface Pin number Max cable length RS 232 1 9 11 15m RS 422 or Selcom serial 3 4 5 6 100 m Analog 11 13 100 m lt 7 5 Q signal lead Invalid 8 12 100 m 4 2 2 Signal leads with demand for twisted pairs in number 11 Interface P RxD GND RS232 1 TxD GND RS232 9 CLOCK CLOCK inverse 3 5 3 5 s DATA DATA inverse Rx Rx RS422 Tx Tx RS422 OAOA 4 2 3 Signal leads without demand for twisted pairs Signal lead Pin number Analog out Current source 13 Laser ON 24VDC 5 32 VDC 14 Invalid out optocoupled 12 Invalid out optocoupled 8 4 2 4 Power supply leads Main power The power supply leads should be dimensioned so that the voltage between pin 15 24VDC and pin 11 GND never falls below 18 VDC For a 24 VDC power source this means that the total resistance in the power and ground leads must not exceed 15 ohms Laser ON control input Pin 14 must be held at 24 VDC 5 32 VDC to enable the laser
32. wo SLS7000 sensor sensors The customer must provide a power cable of suitable length fitting the power receptacle Figure 5 Front panel A Key switch The key is removable when power is off B Power ON LED Illuminated when power is turned on Color Green 2000 05 24 813364 P1 SLS7000 Users manual LMI Selcom AB B Figure 6 Rear panel A Power receptacle B Laser Remote Control LRC connector Screw terminal with a jumper controlling the LASER ON signal to both SLS7000 1 and SLS7000 2 The lasers are on if power is on AND the jumper or a remote switch is closed C Two SLS7000 sensors connectors SLS7000 1 and SLS7000 2 Female Socket connectors for easy connection of one or two SLS7000 sensors with DSUBmin connectors Front view DSUB 15 pin socket connector SLS Powerbox 24 connectors SLS1 and SLS2 1 Receive data RS232 C 9 Transmit data RS232 C 3 CLOCK SELCOM interface or RS422 Rx 4 CLOCK inv SELCOM interface or RS422 Rx 5 DATA SELCOM interface or R8422 Tx 6 DATA inv SELCOM interface or RS422 Tx 8 Invalid out when analog interface is used 12 Invalid out when analog interface is used 13 Analog out 11 Ground 14 Laser ON 24 VDC 15 Power 24 VDC Figure 7 SLS7000 1 and SLS7000 2 connector female pin configuration D Two output connectors H1 and H2 Male Pin connectors with capacity to output all signals available from the SLS7000 sensor 2000 05 24 813364 P1 7 SLS7000 Users manua
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