ASTECH LDM41P User manual

Manual
LDM41P and LDM42P
Version 3.5

LDM41P and LDM42P Manual
Page 2 ASTECH GmbH
Dear User,
You are advised to carefully read this User Manual before powering on the
LDM41P and LDM42P Laser distance measuring sensor 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: June 2016
Firmware version: ≥7.05 and 8.06
Manual version: V 3.5
FIle: Manual_LDM41-42P_EN_V3.5.docx
Note:
Proper care has been used in compiling this document. No liability will be
accepted in the event of damage resulting from failure to comply with the
information contained herein.
Revisions history
Manual Version
Date
Changes
3.5
29.06.2016
Ch. 8.1, Fig. 7, MTBF
E19 added
3.4
16.03.2015
New design
ASTECH GmbH, Schonenfahrerstr. 5, D-18057 Rostock
Internet: www.astech.de E-Mail: [e-mail]
Phone: +49 (0)381 / 44073-0 Fax: +49 (0)381 / 44073-20

LDM41P and LDM42P Manual Content
ASTECH GmbH Page 3
I. Content
1 General....................................................................................................... 6
2 Safety Instructions ..................................................................................... 8
2.1 General Safety Instructions...............................................................8
2.2 Intended & Conforming Use ............................................................. 8
2.3 Nonconforming use...........................................................................8
2.4 Laser Classification ............................................................................9
2.5 Electric Supply ................................................................................. 10
2.6 Important Operating Advice ........................................................... 10
3 Technical Data..........................................................................................11
4 Mounting .................................................................................................13
5 Electrical Connection ............................................................................... 15
5.1 LDMRear-Side Cover Terminals.......................................................15
5.2 Assignment of Terminals.................................................................16
5.3 Profibus DP......................................................................................16
5.4 RS232 Serial Interface .....................................................................16
5.5 Programming Cable......................................................................... 17
5.6 Shield and Grounding......................................................................18
6 Limiting Values for Voltages ....................................................................19
7 Start up ....................................................................................................20
8 Parameters and Control via RS232 .......................................................... 21
8.1 General............................................................................................21
8.2 DT –distance tracking ..................................................................... 24
8.3 DS –distance tracking (<7 m).......................................................... 24
8.4 DW –distance tracking with target board (10 Hz) ..........................24
8.5 DX –distance tracking with target board (50 Hz) ........................... 25
8.6 DF –distance measurement with external trigger..........................25
8.7 DM –distance measurement .......................................................... 26
8.8 TP –internal temperature [°C] ........................................................ 26
8.9 SA –display/set average value [1..20] ............................................ 26
8.10 SD –display/set display format [d/h/s}] ......................................... 26
8.11 ST –display/set measure time [0..25].............................................27

Content LDM41P and LDM42P Manual
Page 4 ASTECH GmbH
8.12 SF –display/set scale factor............................................................ 28
8.13 SE –display/set error mode [0/1/2] ............................................... 29
8.14 AC –display set ALARM center ....................................................... 29
8.15 AH –display/set ALARM hysterese................................................. 30
8.16 AW –display/set ALARM width ...................................................... 30
8.17 HO –display/set Temperature for heating on ................................ 30
8.18 HF –display/set Temperature for heating off ............................... 31
8.19 TDx y –display/set trigger delay trigger level................................. 31
8.20 BR –display/set baud rate [2400..38400] ...................................... 31
8.21 AS –display/set autostart command.............................................. 32
8.22 OF –display/set distance offset...................................................... 32
8.23 SO –set current distance to offset ................................................. 32
8.24 LO –Laser on................................................................................... 32
8.25 LF –laser off.................................................................................... 32
8.26 PA –display settings ....................................................................... 33
8.27 PR –reset settings .......................................................................... 33
9 Interface Connection ............................................................................... 34
9.1 Profibus DP ..................................................................................... 34
9.2 Serial Interface RS232 ..................................................................... 36
9.3 Output Format Ethernet and RS232 ............................................... 37
9.4 Digital Switching Output (Alarm) .................................................... 38
9.5 Trigger Input ................................................................................... 40
10 List of Commands .................................................................................... 41
11 Error Codes RS232 and Profibus.............................................................. 42
12 GSD Data.................................................................................................. 43
13 Contact Assignment for Cable Connectors .............................................. 45
14 EG Declaration of Conformity.................................................................. 46
15 Part Numbers........................................................................................... 47

LDM41P and LDM42P Manual Content
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II. List of Figures
Figure 1 : Measurement principle ...................................................................... 6
Figure 2 : Warning Sign Laser Radiation Class 2 .................................................9
Figure 3 : Mounting drawing ............................................................................13
Figure 4 : Offset against zero-edge...................................................................14
Figure 5 : LDM41P and LDM42P terminals .......................................................15
Figure 6 : Termination RS232............................................................................ 17
Figure 7 : LDMTool............................................................................................21
Figure 15 : Digital switching output behavior................................................... 39
Figure 8 : GSD data and bitmap ........................................................................44
Figure 9 : Contact assignment .......................................................................... 45
III. List of Tables
Table 1 : Technical data ....................................................................................11
Table 2 : LDM41P and LDM42P terminals ........................................................15
Table 3 : Pin assignment power supply, alarm and trigger............................... 16
Table 4 : Pin assignment Profibus DP ............................................................... 16
Table 5 : Pin assignment RS232 ........................................................................ 17
Table 6 : Pin assignment programming cable................................................... 18
Table 7 : Input voltages..................................................................................... 19
Table 8 : Output voltages..................................................................................19
Table 9 : Command list LDM41P and LDM42P .................................................23
Table 10 : Output format ..................................................................................26
Table 11 : Examples of scale factor...................................................................29
Table 12 : Meaning of SE .................................................................................. 29
Table 13 : Meaning of Profibus DP modes........................................................ 35
Table 14 : Profibus error codes......................................................................... 35
Table 15 : LDM41P and LDM42P command list................................................ 41
Table 16 : Error codes ....................................................................................... 42
Table 17 : Part numbers.................................................................................... 47

General LDM41P and LDM42P Manual LDM41P and LDM42P Manual
Page 6 ASTECH GmbH
1General
The LDM41P AND LDM42P are Laser sensors to measure distances from 0.1 m
to more than 100 m with pinpoint accuracy.
A given target can be clearly identified with the help of a red Laser sighting
point. In terms of operating reach, the LDM41P and LDM42P performs
depending on the reflectance, morphology and qualities of the target to be
measured.
The sensor works based on comparative phase measurement. It emits
modulated Laser 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.
Figure 1 : Measurement principle
A distance measuring cycle can be triggered in three different ways:
By sending a command from the PC or another equivalent control
unit
By making appropriate prior parameter settings for the auto start
command and applying supply voltage
By external triggering (in remote-trigger mode).
For a more detailed description of these three trigger options, you should
consult chapter 8, Parameters and Control via RS232 of this User Manual.

LDM41P and LDM42P Manual General
ASTECH GmbH Page 7
Special performance features are:
Provides high accuracy and great reach under extreme outdoor
temperatures.
Works in a wide range of operating voltages from 10 V= to 30 V= from an
on-board vehicle supply point, an industrial direct voltage supply net or a
DC power pack.
Features consistently low power consumption of <3.5 W
1
(without IAlarm)
Up to 30 m reach for distance measurement, with potential for more than
100 m reach if additional reflectors
2
are mounted onto the target
(depending on reflectance and environmental conditions).
Visible Laser beam for easier sighting.
Output and control via Profibus DP
Measured values can be displayed in meters, decimeters, centimeters, feet
and inches due to.
Option for remote triggering of a measurement from an external trigger
device.
Large range of accessories available
1
inactive internal heating for devices with internal heating (LDM41P-h and LDM42P-h)
2
e.g. 3M, self adhesive foil white non glossy or foil 3290 for longer distances

Safety Instructions LDM41P and LDM42P Manual LDM41P and LDM42P Manual
Page 8 ASTECH GmbH
2Safety Instructions
2.1 General Safety Instructions
These safety and operating instructions should be carefully read and followed
during practical work with the LDM41P and LDM42P.
There is danger of Laser radiation or electrical shock. For necessary
repair work, the LDM41P and LDM42P 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 observe advisory notes or nonconforming product usage may cause
physical injury to the user or material damage to the LDM41P and LDM42P.
Cable connectors must not be plugged or unplugged under voltage.
Remember to turn voltage supply off before you begin working on cable
connections.
2.2 Intended & Conforming Use
Measurement of distances
Special measuring functions
Compliance with prescribed temperatures for operation/storage
Operation at correct voltage level
Application of specified signal levels to the appropriate data lines
2.3 Nonconforming use
Do not operate the LDM41P and LDM42P in any other way than
described under "Intended & 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 LDM41P and LDM42P must not be carried out
by anyone other than authorized personnel.

LDM41P and LDM42P Manual Safety Instructions
ASTECH GmbH Page 9
Refrain from using the LDM41P and LDM42P without certified
protection in an explosive environment
Measurement with the LDM41P and LDM42P pointed at the sun or
other strong light sources may produce faulty results
Measurement of targets with poor surface reflectance in a strongly
reflecting environment may also result faulty measurements.
Measurement of strongly reflecting surfaces may deliver faulty
results.
Measurement performed through transparent optical media, for
example glass, optical filters, Plexiglas, etc. may equally produce
incorrect results.
Measurement on translucent objects (materials allow light to pass
through, but are not transparency, e.g. polystyrene, wax, different
plastics etc.) can give a too large measured value, since also light is
reflected by deeper layers
Rapidly changing measuring conditions are likely to falsify the result
of measurement
2.4 Laser Classification
The LDM41P and LDM42P is a Class 2 laser product, ≤1 mW as stipulated in
EN60825-1:2007, Class 2.
Caution:
There is Class 2 Laser radiation. Do not stare into beam!
Figure 2 : Warning Sign Laser Radiation Class 2
The Laser power is limited to maximum 1 mW. The Laser radiation is visible. A
short-term exposure (duration up to 0.25 s) is harmless to the eye.

Safety Instructions LDM41P and LDM42P Manual LDM41P and LDM42P Manual
Page 10 ASTECH GmbH
Users are instructed by Laser warning sign (see Figure 2) to do not stare into
the beam. They have to protect themselves by turn the head and/or closing
the eyes and by avoid a long look into the beam.
Do not direct the Laser beam onto persons.
The sensor can use without any additional safety protection.
2.5 Electric Supply
Use only 10 V to 30 V DC (direct voltage) for LDM41P and LDM42P operation.
Use only the specially designated connector terminal for voltage supply.
Specified signal levels must not be exceeded, in order to guarantee correct
data communication.
2.6 Important Operating Advice
To make full use of the system’s inherent performance capabilities and
achieve a long service life, you should always follow these operating rules:
Do not turn the module on if there is fogging or soiling on its optical
parts
Do not touch any of the module's parts with bare hands.
Proceed with care when removing dust or contamination from
optical surfaces!
Prevent shock impacts during transport and use of the LDM41P and
LDM42P
Prevent overheating of the LDM41P and LDM42P.
Prevent major temperature variances during LDM41P and LDM42P
operation
In accordance with IP65 internal protection standards, the LDM41P
and LDM42P is designed to be splash proof and dustproof.
Read these safety and operating instructions with due care and
follow them in practical use.

LDM41P and LDM42P Manual Technical Data
ASTECH GmbH Page 11
3Technical Data
Table 1 : Technical data
Measurement range3
0.1 m up to 30 m with natural surfaces,
depending on target reflectance or reflectors
more than 100 m achievable4
Measuring accuracy5
2 mm under defined measuring conditions6
3 mm (+15 °C up to +30 °C)
4 mm in DS mode <0.5 m (+15 °C … 30 °C)
5 mm (-10 °C up to +50 °C)
Resolution7
0.1 mm, user scalable, standard 1 mm
Reproducibility
0.5 mm
Measuring time
0.24 to 6 s setup or auto Mode DT
0.1 s (10 Hz) mode DW at white surface
20 ms (50 Hz) mode DX at white surface
(only LDM42P)
Target motion speed
≤4 m/s in DX-Mode (LDM42P only)
Acceleration
≤2.5 m/s² in DX-Mode (LDM42P only)
Operating temperature
-10 °C up to +50 °C
-40 °C up to +50 °C (LDM41P-h and LDM42P-h
only)
Storage temperature
-40 °C up to +70 °C
Supply voltage
10 V ... 30 V DC (protected against polarity
reversal)8
Power consumption
Depending on operation mode
< 2.5 W in Standby
< 3.5 W for distance tracking
< 24 W with heating active (only with -h option)
3
dependent on target reflectance, stray light influences and atmospheric conditions
4
e.g. 3M, self adhesive foil white non glossy
5
statistic spread 95 %
6
for measurement at a planar white target surface in continues movement or still standing, +15
up to +30 °C
7
dependent on target reflectance, stray light influences and atmospheric conditions
8
Please use only 24V DC For devices with heating (LDM41P-h and LDM42P-h) The heater is
connected directly to the power supply.

Technical Data LDM41P and LDM42P Manual LDM41P and LDM42P Manual
Page 12 ASTECH GmbH
Profibus interface
Profibus DP norm slave, auto detect up to
12 Mbit, ID Number 0x2079 (8313),
13 Byte IN, 1 Byte OUT
Data interface
RS232, baud rate 9600 (2400..38400), ASCII,
Format 8N1 (fix), receive path is deactivated
after connecting to the Profibus master!
Digital switching output
„high-side-switch“, programmable switching
threshold and hysteresis, rated for max. load of
0.5 A, HIGH = UB - 2 V, LOW < 2 V
Trigger input9
External trigger, trigger pulse 3 up to 24 V, pulse
length≥ 1 ms, start of measurement 5 ms +
trigger delay, trigger slope and delay can be set
(0 ms ... 9999 ms),
EMC
EN 61326-1
Shock resistance
10 g / 6 ms
Persistence shock DIN ISO 9022-3-31-01-1
Laser Class
Laser class 2, under EN60825-1:2007, Class 2
Wave length
650 nm (red visible)
Laser divergence10
0.6 mrad
Laser angle tolerance
Better than ± 1° to the ground plane
MTBF
30,000 h, 24/7, Operating temp. +25 °C
Connector
12-pol. M18-male socket, Binder Serie 423
Dimensions (LxWxH)
212 mm x 96 mm x 50 mm
Mounting
100 mm x 85 mm, 4 x M6 holes
Weight
approx. 850 g
Protection class
IP 65 (spatter water and dust protection)
9
trigger function is not available for devices with internal heating (LDM41P-h and LDM42P-h)
10
at 10 m distance the beam diameter is 6 mm, at a distance of 50 m it is 3 cm and at a distance of
100 m it is 6 cm

LDM41P and LDM42P Manual Mounting
ASTECH GmbH Page 13
4Mounting
The casing consists of a rugged, corrosion-resistant extruded aluminum profile
with front-side and rear-side covers also of corrosion-resistant design. Four
mounting holes are provided in the base plate for mounting the LDM41P and
LDM42P.
Figure 3 : Mounting drawing
To protect the range finder’s optical surfaces from dust, physical contact and
impacts, etc., a protection tube has been attached to the casing. Please note
that measurement cannot be guaranteed to function correctly if the
protection tube is removed incorrectly or by unqualified personnel!

Mounting LDM41P and LDM42P Manual LDM41P and LDM42P Manual
Page 14 ASTECH GmbH ASTECH GmbH
The interface connector is located on the back cover. Interface cables with
different length are available (standard 2 m, optionally 5 or 10 m).
Figure 4 : Offset against zero-edge
The LDM41P and LDM42P’s zero-point is located 7 mm behind the outer
surface of the front cover or 137 mm before the back cover outside face
respectively. This zero-point has been introduced for constructional design
reasons. It can be compensated with the help of parameter “OF“ (see section
8.22 OF –display/set distance offset)

LDM41P and LDM42P Manual Electrical Connection
ASTECH GmbH Page 15
5Electrical Connection
5.1 LDMRear-Side Cover Terminals
Connector terminals are located on the rear-side cover of the device. The
terminals consist of 4 buses for metal circular plug-in connectors (from
Binder), or compatible connectors, sealed against the casing in compliance
with IP 65 requirements. This connector type guarantees optimised screening
and a high IP level.
The following connection plugs should be used:
Table 2 : LDM41P and LDM42P terminals
Quantity
Connector Type
Use
1
4-pin male cable connector
(series 715 B from Binder)
Profibus DP Output
1
4-pin female cable connector *)
(series 715 B from Binder)
Profibus DP Input
1
5-pin male cable connector
(series 713 from Binder)
RS232
1
5-pin female cable connector
(series 713 from Binder)
Power supply, trigger input
and digital output
*) until Dec. 2006 4-pin male cable connector
Note: Various connectors and cables are available. Please ensure that
only shielded connectors and shielded cables are used.
Profibus DP
Output
Profibus DP
Input
RS232
Power supply,
trigger input
and digital
output
Figure 5 : LDM41P and LDM42P terminals

Electrical Connection LDM41P and LDM42P Manual LDM41P and LDM42P Manual
Page 16 ASTECH GmbH ASTECH GmbH
5.2 Assignment of Terminals
The required power supply is 10 to 30 V DC.
The trigger input allows for a distance measurement via an external signal in
the form of a voltage impulse from 3 to 24 V (only DF mode, please see
Chapter 8).
Table 3 : Pin assignment power supply, alarm and trigger
Pin
Description
Colour
Comment
1
VCC
brown
Power supply 10 to 30 V
2
ALARM
white
Digital Output (VCC –2 V)
3
GND
blue
Power supply 0 V
5
Trigger
gray
Trigger input 3 to 24 V
(ground potential GND)
5.3 Profibus DP
The LDM41P and LDM42P has two terminals (input and output) for circular
plug-in connectors (series 715 B for Profibus DP from Binder) conforming to
the relevant standards.
Table 4 : Pin assignment Profibus DP
Pin
Description
Comment
1
+UB
Power supply for active terminal resistance
2
A
Profibus signal line A (green)
3
0 V
Power supply for active terminal resistance
4
B
Profibus signal line B (red)
Note: Only use connection plugs and Profibus cables that conform to
the relevant standards. If the LDM41P and LDM42P is to be
connected at the end of the bus, then a terminal resistance must be
connected to the output terminal for the Profibus DP.
5.4 RS232 Serial Interface
The RS232 interface was originally designed as a PC interface only. It has now
become the standard for serial data transfer for short distances. It is subject to
interference when used for longer distances, in particular, in environments

LDM41P and LDM42P Manual Electrical Connection
ASTECH GmbH Page 17
with interfering high-frequency electromagnetic radiance. As a result, this
interface should only be used for configuring the LDM41P and LDM42P. Please
configure using the programming cable and the LDMTool program.
Following successful configuration, remove the programming cable and
protect the terminal with a sealing plug.
Note: Please configure the LDM41P and LDM42P prior to connecting
the Profibus. The receiving line of the RS232 serial interface is
deactivated after connecting to the Profibus master.
Please observe the RS232 standard. The maximum extension of the RS232
lines is 15 m.
Table 5 : Pin assignment RS232
Pin
Description
Colour
Comment
1
RxD
brown
Receiving line
2
TxD
white
Transmit line
3
GND
blue
Ground potential
Note: Following successful programming, remove the RS232 cable
and protect the RS232 cable connector with the enclosed sealing plug
against entry of dirt. If the cable is to remain connected to the device,
then a terminal resistance must be attached.
Figure 6 : Termination RS232
Ensure that no data line ends are left open,
since they may be subject to interference
(EMC).
A terminator circuit should be installed when
the RS232 is unconnected.
This circuit must be provided by the customer
(see diagram on the left).
5.5 Programming Cable
Connection to a PC requires the following cable with SUB-D 9 F connectors.
The TxD and RxD signals of the LDM41P and LDM42P and the PC connection
are crossed. The colours apply to the optional programming cable.
TxD Pin 2
RxD Pin 1
GND Pin 3

Electrical Connection LDM41P and LDM42P Manual LDM41P and LDM42P Manual
Page 18 ASTECH GmbH ASTECH GmbH
Table 6 : Pin assignment programming cable
Pin LDM 4xP
Description
Colour
Pin SUB-D 9 F
Description
1
RxD
brown
3
TxD
2
TxD
white
2
RxD
3
GND
blue
5
GND
5.6 Shield and Grounding
Cable shields must be grounded with low resistance. Only high quality shielded
cables should be used.
Carrier bases and control boxes should have equal potential. Potential
differences could lead to electrical currents and may cause EMC problems (no
correct measurement function or switching the gauge off or on is necessary).
If no potential equalization is possible, then mount the LDM41P and LDM42P
isolated from the carrier base (use nylon screws and washers). Connect the
screen with mass to the cable end. This way of assembly should also be used
when installing the LDM41P and LDM42P inside vehicles.

LDM41P and LDM42P Manual Limiting Values for Voltages
ASTECH GmbH Page 19
6Limiting Values for Voltages
Input voltages:
Table 7 : Input voltages
Terminal point
Voltage
Comment
VCC
+10 V ... +30 V
Pole-reversal-protected
TxD
±13.2 V
Short-circuit-proof
RxD
±25 V
Short-circuit-proof
TRIG11
±25 V
Short-circuit-proof
Output voltages:
Table 8 : Output voltages
Terminal point
Voltage
Comment
TxD
±5.4 V
± 5 V at 3 kload
Alarm
VCC –2 V
Level depending on VCC
Limiting values of voltages, loads and logical levels comply with relevant RS232
and Profibus standards.
11
Trigger function is not available for devices with internal heating (LDM41P-h and LDM42P-h)

Start up LDM41P and LDM42P Manual LDM41P and LDM42P Manual
Page 20 ASTECH GmbH ASTECH GmbH
7Start up
Ensure that all cable ends are protected against short circuit prior to turning
on the power supply!
Connect cable terminals as required for the particular operating mode. A pole-
reversal protection is included so as to prevent the destruction of electronic
components.
Connection to the Profibus master should only take place following start up!
Note: Please turn on the LDM41P and LDM42P prior to connecting
the Profibus. The receiving line of the RS232 serial interface is
deactivated after connecting to the Profibus master.
Turning on the LDM41P and LDM42P requires a PC with a corresponding
COM1 data interface, an optional programming cable and a terminal
programme. We recommend the use of the following programme: LDMTOOL
(Version 4.5 or higher).
When turning on the LDM41P and LDM42P, it must be properly installed at
the designated operation site, aimed at the target, and kept in a stable
position. Targets to be measured (e.g. machine or system components) should
preferably have a light and homogeneous surface. Several optional reflex foils
are available.
Caution: Do no use any retro reflectors!
Alignment of the LDM41P and LDM42P is facilitated by a visible laser
beam
12
that can easily be turned on from a PC.
Operating voltage supply occurs via the power supply terminal (see Chapter
5).
12
Depending on ambient light and target conditions