LMI Technologies DynaVision S Series User manual

SPR-02
Intelligent Single Point Sensor
USER MANUAL
Copyright LMI Technologies Inc. 2003
Version A

Copyright LMI Technologies Inc. 2003

FOWARD
Copyright LMI Technologies Inc. 2003
This is an operational guide and technical manual that offers guidelines on
how to install, configure and operate the DynaVisionSPR-02 Intelligent
Single Point Sensor.
This document, submitted in confidence, contains proprietary information,
which shall not be reproduced or transferred to other documents or disclosed
to others or used for manufacturing or any other purpose without prior
written permission of LMI Technologies Inc.

Copyright LMI Technologies Inc. 2003
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1. INTRODUCTION 1
1.1 DESCRIPTION OF THE DYNAVISIONSPR-02 SENSOR 1
1.2 GENERAL FEATURES 1
1.3 OPERATIONAL FEATURES AND SPECIFICATIONS 2
1.3.1 POWER REQUIREMENTS 2
1.3.2 COMMUNICATIONS 2
1.3.3 ENVIRONMENTAL 2
2. HARDWARE INSTALLATION 3
2.1 PACKING 3
2.2 LASER SAFETY ISSUES 4
2.2.1 OEM SAFETY RESPONSIBILITIES 4
2.3 MECHANICAL MOUNTING 6
2.3.1 MEASUREMENT RANGE 6
2.3.2 ORIENTATION RELATIVE TO OBJECT BEING VIEWED 7
2.3.3 MULTIPLE SENSOR MOUNTING REQUIREMENTS 8
2.4 CONNECTOR AND INTERFACE REQUIREMENTS 10
2.4.1 CONNECTOR TYPE AND MANUFACTURERS 10
2.4.2 SENSOR CONNECTOR PIN OUT 10
2.4.3 CABLE FOR RS-485 11
2.4.4 CABLE CONNECTOR PIN OUT 11
2.4.5 CABLE POWER REQUIREMENTS 12
2.5 MAINTENANCE 13
2.5.1 MECHANICAL 13
2.5.2 CLEANING 13
2.5.3 AIR PURGE SYSTEMS 13
3. SERIAL COMMUNICATIONS 14
3.1 GENERAL OVERVIEW 14
3.2 RS-485 HARDWARE SPECIFICATIONS 14
3.2.1 INTERCONNECT SPECIFICATION 14
3.2.2 MULTIDROP SPECIFICATION 15
3.3 PROTOCOL 16
3.3.1 GENERAL PACKET PROTOCOL 15
3.3.2 PACKET DESCRIPTION 15
3.3.3 PACKET EXAMPLE 17
3.4 ERROR HANDLING 18
3.4.1 SENSOR AND HOST ERROR HANDLING 19
3.5 RE-SYNCHRONIZING TIMING 20
3.5.1 SENSOR 20
3.5.2 HOST 20

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Copyright LMI Technologies Inc. 2003
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4. SENSOR COMMANDS AND RESPONSES 21
4.1 GENERAL OVERVIEW 21
4.1.1 TURN LASER ON22
4.1.2 TURN LASER OFF 22
4.2 SCANNING COMMANDS 23
4.2.1 SET SCAN INTERVAL 23
4.2.2 START SCAN 23
4.2.3 STOP SCAN 24
4.2.4 SET SCAN FILTER FACTORS 24
4.2.5 FILTER SCAN BUFFER 24
4.2.6 READ HIGH /LOW /AVERAGE OF SCAN 24
4.2.7 READ SCAN BUFFER 25
4.3 SET MODE/OPERATION COMMANDS 26
4.3.1 SET MODE 26
4.3.2 SET OFFSET/COSINE/MULTIPLIER 27
4.3.3 SET ADDRESS 27
4.3.4 SET ANALOG OUTPUT FACTORS 28
4.3.5 SET CONFIGURATION VARIABLES 29
4.3.6 SET BAUDRATE 30
4.3.7 SET ERROR CHENGING 31
4.3.8 SET TO DEFAULTS 31
4.4 READ CURRENT VALUES 36
4.4.1 READ CURRENT POSITION 36
4.4.2 READ CURRENT SENSOR SETUP 36
4.4.3 READ CURRENT SENSOR STATUS 37
4.4.4 READ CURRENT ERROR STATUS 38
4.4.5 READ ANALOG OUTPUT FACTORS 38
4.4.6 READ VERSION NUMBER 39
4.4.7 READ CONFIGURATION VARIABLES 39
4.5 HIGH SPEED POLLING MODE 39
4.5.1 GENERAL DESCRIPTION 39
4.5.2 PUT SENSOR IN HIGH SPEED MODE 40
4.6 SUMMARY OF COMMANDS 41
5. TROUBLE SHOOT 42
5.1 TROUBLE SHOOTING 42
5.1 IN A MULTI-DROP CONFIGURATION,ONE OR MORE
SENSORS DO NOT RESPOND AND DO NOT PROVIDE
DATA TO THE SERIAL INTERFACE 42
5.2 DATA APPEARS ERRATIC OR JUMPY 42
5.3 DATA IS NOT AS ACCURATE AS EXPECTED 43

TABLE OF CONTENTS
Copyright LMI Technologies Inc. 2003
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6. PSEUDO CODE 46
6.1 MAIN LOOP 46
6.1.1 READ SENSOR RANGE 46
7. PC - DEMO HARDWARE AND SOFTWARE 49
7.1 PURPOSE 49
7.2 INTERFACE CABLE 49
7.3 USING SPR02 SETUP UTILITY 49
7.3.1 CONNECTING TO THE SENSOR 50
7.3.2 CHANGING/VIEWING SENSOR PARAMETERS 50
7.3.2.1 VIEW/EDIT SENOSR ID 51
7.3.2.2 VIEW/EDIT/DIAGNOSTICS_RANGE/SPOT 56
7.3.2.3 VIEW/EDIT/DIAGNOSTICS_SCAN BUFFER 59
7.3.2.4 VIEW/EDIT /DIAGNOSTICS_ERRORS/STATISTICS 60
8. GETTING FURTHER HELP 61

INTRODUCTION
Copyright LMI Technologies Inc. 2003 1
1. Vision Sensor covering the general description, features and specifications.
1.1 DESCRIPTION OF THE DYNAVISONSPR-02 Sensor
The DynaVisionS-Series Intelligent Vision Sensor is a laser source (Models 6-32, 16- 32, 16-168)
non-contact optical displacement sensor for use in industrial applications.The sensor is assembled
entirely from solid-state components housed in a rugged, gasketed enclosure. Scanning is
accomplished by projecting a continuous light beam onto the surface to be measured and detecting
the wave image of this beam on a Charged Coupled Device (CCD) array. The sensor measures the
position of an object that is locat
ed between 6.0" (152.4 mm) and 168. +" (4267+ mm) from the front
surface. The range varies according to the model.DynaVisionS-Series Sensors interface easily to
automated systems. A single connector supplies power to the sensor and the communication link
between itself and a host computer and 0 to 10 VDC and 4 to 20mA analog signal. Communication
with the host computer is via a standard RS-
485 serial interface. Commands are issued from the host
computer to set parameters and control the sensor. Multiple sensors can be connected to the same
serial communication line for a multi-drop configuration. Commands can be either broadcast to all
sensors on a multi-drop configuration or sent as individual commands to specific sensors. The 0 to
10 VDC and 4 to 20mA analog range signal can be used by themselves or simultaneously with serial
communications.
1.2 GENERAL FEATURES
16 bit Analog Devices DSP
Flash memory for sensor parameters
High speed RS-485 - serial interface to host
Multiple Vision Sensors on one multi-drop line
Rugged Industrial packaging
Single Power Supply
Internal Power Regulation
Range Readings Available in Digital or Analog Formats
Range redings are available in imperial or metric
0 to 10 VDC analog range output
4 to 20 mA analog range output

INTRODUCTION\
Copyright LMI Technologies Inc. 2003
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1.3 OPERATIONAL FEATURES
AND SPECIFICATIONS
Range 6" to 168" (152.4 to 4267 mm)
Actual range is determined by the sensor
Programmable .60ms
Sample Rate
Sample Buffer in 8192 samples (8 Kbytes)
1.3.1 POWER
REQUIREMENTS
15-30 VOLTS DC @500MA
Analog Output 0- 10 VOLTS DC (programmable)
4-20mA (programmable)
1.3.2 COMMUNICATIONS
TYPE RS-485, FULL DUPLEX
Communications Rates 9600, 19200 , 38400, 57600 baud
preset to 57600 baud
Configuration 8 Data Bits,
1 Stop Bit,
No Parity
1.3.3 ENVIRONMENTAL
Ambient TemperatureOPERATING MIN 0C(32 F)
MAX +50 C(122 F)
STORAGE MIN -30 C(-22 F)
MAX +70 C(158 F)
Relative Humidity 95% Maximum Non-Condensing at 40
C (104 F)
Housing NEMA 4 Gasketed Aluminum
Enclosure

SERIAL COMMUNICATIONS
Copyright LMI Technologies Inc. 2003 3
This chapter describes the requirements to install the sensor.
2.1 PACKAGING
Before installation of your sensor, please ensure that all components were shipped in
your package. It should contain:
Sensor
Manual
Software diskette
Cable (cable supplied by LMI is “DEMO CABLE”for testing purposes only)
Visually inspect the sensor. The sensor is a single metal enclosure with a connector on
one side and laser and sensor viewing windows on the opposite side. Ensure there is no
damage to the enclosure, laser sensor viewing windows, connector or glass. If you
notice significant flaws, please contact LMI Technologies Inc.

SERIAL COMMUNICATIONS
4 Copyright LMI Technologies Inc. 2003
2.2 LASER SAFETY ISSUS
The DynaVisionscanner head uses lasers for measurement.
Specific safety precautions must be taken
Caution! Performance of procedures or controls other than those specified herein may result
in hazardous radiation exposure.
WARNING! All SPR-02 sensors (Models 6-32, 16-32, 16-168) are Class III type laser
devices. Regardless of the power rating, or visibility of the laser do not view directly, or
through a mirror, as it may result in severe damage to the eyes.
Laser
Laser
Sensor
WARNING! Do Not look directly
into the laser beam
2.2.1 OEM SAFETY RESPONSIBILITIES
LMI Technologies Inc. works closely with Original Equipment
Manufacturers (OEMs) in achieving certification of their own applications by referencing the
report accession number. However, the following precautions should be addressed by the OEM
to ensure safety in the operation of laser equipment.

SERIAL COMMUNICATIONS
Copyright LMI Technologies Inc. 2003 5
LASER WARNING SIGN FORMAT
Laser warning signs, such as the sample below, must be located in the vicinity of the sensors
and clearly visible to operators and other personnel
DANGER
INVISIBLE AND/OR VISIBLE LASER RADIATION
AVOID DIRECT EXPOSURE TO BEAM
PEAK POWER 50mW
WAVELENGTH 600-780nm
CLASS IIIB LASER PRODUCT
LASER EMISSION WARNING INDICATORS
As specified by the U.S. Department of Health and Human Services under the Radiation
Control for Health and Safety Act of 1968, specifies that single point sensor controls
incorporate a visible are audible signal when the lasers of the sensors are active.
Typically this consists of a warning lamp which is illuminated when power is supplied to the
sensor. If the sensors are mounted some distance from the controls it is recommended that
warning indicators are placed at each location. Warning indicators should not be located in
areas where personnel could be exposed to laser emissions.
Additionally, U.S. Food and Drug Administration (FDA) standards require that the indicator be
clearly visible through protective eyewear designed specifically for the wavelengths of the
emitted laser radiation.
BEAM ATTENUATORS
CDRH standards specify that a permanently attached method of preventing human access to the
laser radiation other than switches, power connectors, or key control must be employed.
POWER-ON DELAYS
For Class IIIB laser systems, a delay circuit is required which illuminates the warning
indicators on the cabinet and frame for a short period of time (approximately 20 seconds) prior
to supplying power to the lasers themselves.

SERIAL COMMUNICATIONS
6 Copyright LMI Technologies Inc. 2003
KEYLOCK SWITCH
For Class IIIB laser systems delay circuit is required which illuminates warning indicators on
the cabinet and frame for a short period of time (approximately 20 seconds) prior to supplying
power to the lasers.
REMOTE INTERLOCK CONNECTOR
A remote interlock connection must be present in all Class IIIB laser systems. This permits
remote switches to be attached in serial with the keylock switch on the controls. The
deactivation of any remote switches must prevent power from being supplied to the lasers.
2.3 MECHANICAL MOUNTING
The sensor enclosure contains built in extensions with mounting holes 5/16" (7.9 mm)
diameter –two on one side, one on the other. Refer to the diagram in section 2.1 Packaging,
for placement and orientation of the mounting holes.
The sensor enclosure must be securely mounted to ensure measurement accuracy. Any
movement or vibration of the sensor relative to the object being measured will result in
measurement errors. The mounting surface must be flat to within 0.030" (0. 76 mm) between
the three mounting points. Standoff washers' 0.125" (3.16 mm) may be used between the
mounting surface and the sensor enclosure to ensure proper alignment.
2.3.1 MEASUREMENT RANGE
The various SPR-02 sensor units can measure surfaces within ranges from 6.0" (152.4 mm) to
168.0" (4673 mm) from the face of the unit depending on model number. The model number
represents standoff and range, e.g. the Model 16-32 has a standoff (start of measurement) of
16”and range of 32”. This represents a measurement zone of 16”to 48”from the face of the
sensor.
The host can issue a command to set the zero reference point anywhere in the field of view (see
4.3.2. Set Offset/Cosine/Multiplier). For example, if the zero reference is set up for 23.0" (584
mm) from the face of sensor, material that is located 24.5"(622 mm) from the face of the sensor
will have a measured distance of 1.5" (38 mm).

SERIAL COMMUNICATIONS
Copyright LMI Technologies Inc. 2003 7
2.3.2 ORIENTATION RELATIVE
TO OBJECT BEING VIEWED
The light beam is projected perpendicular to the face of the sensor. The reflectivity of the
measurement surface affects whether the sensor should be mounted perpendicular to the surface
or at an angle. Refer to the following diagram locating the light beam and viewing angles.
Highly reflective surfaces may be difficult to measure with the SPR-02 sensors.
If the surface of the material being measured is Diffused the sensor should be mounted so the
beam is projected perpendicular to the surface.
If the surface of the material being measured is semi-reflective then the sensor should be
rotated counter-clockwise to reduce a direct reflection of the beam back to the sensor detector.
A correction angle is then programmed to allow for the beam angle of the sensor. Any angle
may be used, but 20are recommended. If the sensor is mounted at an angle from the surface
to be measured, the cosine of the angle is programmed to correct the reading (see 4.3.2 Set
Offset/Cosine/Multiplier).

SERIAL COMMUNICATIONS
8 Copyright LMI Technologies Inc. 2003
2.3.3 MULTIPLE SENSOR
MOUNTING REQUIREMENTS
If more than one sensor is used, care must be taken to avoid projecting the laser spot
from one sensor into the field of view of another sensor.
Note: The above illustration applies to the Model 16-32-5 sensors and may not accurately
indicate the overlap areas for sensors of different ranges.
As the distance from the sensor increases the field of view increases. Sensors may detect a
laser spot from another sensor beyond the measuring range of 48" (1,210 mm), but due to the
angle of detection appear to be within the field of view. Refer to the diagram above.
Two different mounting schemes are recommended to eliminate interference from other lasers:

SERIAL COMMUNICATIONS
Copyright LMI Technologies Inc. 2003 9
Option #1 The plane of the field of view should be perpendicular to the plane of the sensors.
Refer ot the following diagram:
Option #2 The vertical mounting position of the adjacent sensors could be offset to alter the field
of view. Adjacent sensors should be offset from each other by 0.250" (6.4mm) or
greater, according tot he diagram below. The host system should align the data from
the sensors.
Adjacent sensors are mounted with a
minimum offset of 0.250”to prevent
interference between sensors.

SERIAL COMMUNICATIONS
10 Copyright LMI Technologies Inc. 2003
2.4 CONNECTOR AND INTERFACE
REQUIREMENTS
The connector contains the power, power ground analog signal, analog ground, RS-485 serial
input and RS-485 serial output signals for the sensor.
WARNING:Always turn the power OFF before installing or removing the connector,
otherwise damage may occur.
2.4.1 CONNECTOR TYPE AND
MANUFACTURERS
The sensor has a 10-pin male connector manufactured by Amphenol, ITT Cannon, (Part
Number MS-3102E18-IP). The mating 10-pin female cable connector is manufactured by
Amphenol, ITT Cannon, (Part MS-3106E18-IS) with cable clamp, (Part number 97-3057-
1010).

SERIAL COMMUNICATIONS
Copyright LMI Technologies Inc. 2003 11
2.4.2 SENSOR CONNECTOR
PIN OUT There is an alignment tab in the connector housing to ensure correct orientation of the
mating ends of the connectors. No other connector configuration or type should be
used with this sensor. The following diagram shows the connector pin out on the
sensor as it is viewed facing the sensor. The table details pin assignments for the
Sensor Connector.
2.4.3 CABLE FOR RS-485
It is recommended that Belden Cable type 8777 (or equivalent) be used as the RS-485
connection to the host.
HA
B
C
GI
FJ
ED
Pin Signal
A Rx- (Receive)
B Rx+ (Receive)
C Gnd (Signal)
D Tx- (Transmit)
E Tx+ (Transmit)
F Gnd (Power)
G Analog Out (Gnd)
H Analog Out (0-10 VDC)
I Analog Out (4-20mA)
J +15 to 30 VDC @ 500 mA

SERIAL COMMUNICATIONS
12 Copyright LMI Technologies Inc. 2003
2.4.4 CABLE CONNECTOR PIN OUT
The signals use shielded twisted pairs as follows:
NOTE:A terminating resistor (220 ohm) should be installed on the end unit across TX-, TX+
and across RX-, RX+ to reduce noise.
WARNING:DEMO Cable supplied by LMI communicates via RS232 protocol and has to be
used for testing purposes only.
It is not recommended this cable to be used for final operation, because it is not manufactured
to communicate via RS 485 protocol.

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Copyright LMI Technologies Inc. 2003 13
2.4.5 CABLE POWER REQUIREMENTS
The cable must be capable of handling +15 to 30VDC at 500 mA current.
The voltage must not drop below 14.5 VDC at the sensor.
2.5 MAINTENANCE
Since the DynaVision® scanner heads operate optically, the primary maintenance procedure is
keeping the heads, and especially optical surfaces clean of sawdust, oil and pitch.
Do not immerse the unit in fluids or use a high pressure spray to clean.
The sensor contains optical and electronic components and under no circumstances should the
enclosure be opened.
2.5.1 MECHANICAL
The sensor surface attachment should be periodically checked (once per month or as required)
to ensure that mechanical mounting is secure.
2.5.2 CLEANING
The glass surfaces must be kept clean from dirt and grease build up. It is recommended that the
face of the sensor be inspected and cleaned with isopropyl alcohol on a regular basis.
Commercial glass cleaners should not be used; many have chemicals that leave a residue on
the glass, which can affect optical performance.
2.5.3 AIR PURGE SYSTEMS
In very dirty environments, where free-floating particles are present, it is advised that a positive
air pressure systems be installed, such as an ‘air knife’or ‘blower’system. These systems blow
air over the laser and sensor glass surfaces to prevent dust particles from settling. It is
important that the air be clean and free from oil and water. The air purge system could be
continuous or pulsed air operated from a timer.

SENSOR COMMANDS AND RESPONSES
14 Copyright LMI Technologies Inc. 2003
3.1 GENERAL OVERVIEW
All communication between the host computer and the sensor is via an RS-485 serial interface.
This interface is designed to be utilized with a single sensor or with multiple sensors.
All commands are initiated from the host computer to the sensor, with the sensor responding to
the commands. Command 35 is an exeption. It puts the sensor in a special mode which allows a
high speed data transfer. Refer to chapter 4.5.
3.2 RS-485 HARDWARE SPECIFICATIONS
This section describes the operation of the RS-485 serial interface.
3.2.1 INTERCONNECT
SPECIFICATION
Serial communication is accomplished using RS-485 differential drivers with one input and one
output port.
The RS-485 serial input and output ports must be configured as followed:
Asynchronous
9600, 19200, 38400, 57600 baud to match the sensors.
8 Data Bits
One Stop Bit
No Parity
3.2.2 MULTIDROP
SPECIFICATION
Up to 255 sensors can be addressed on one serial interface from the host.
The serial transmitters from the sensor to the host are tri-stated and are normally off (high
impedance) until the host requests data from the sensor.
Some commands to the sensor are broadcast to all sensors connected to a serial line. A
broadcast command does not require a response from any of the sensors and therefore all sensor
transmitters will remain tri-stated.
Some commands are addressed to a specific sensor which will cause only that sensor to
respond. The sensor addressed will remain on-line (output driver on) until either a broadcast
command has been issued from the host or another sensor has been addressed at which time the
new sensor will become active and the previous one will be tri-stated.