Nado NDRA91 User manual

Manual
NDRA91-92
Firmware Version from 1.5
Version 2.0

NDRA91-92 Manual
Page 2 NADO
Dear User,
You are advised to carefully read this User Manual before turning on the Laser
Distance Sensor NDRA91 / NDRA92 for the first time.
This is necessary to ensure that you will be able to use all the capabilities and
features provided by your new purchase.
This product is subject to ongoing technological developments.
Editorial deadline:
Firmware version:
Manual version:
File:
June 2018
≥1.5
V 2.0
Manual_NDRA91-92_EN_V2.0.d
ocx
Note:
Proper care has been used in compiling this document. No liability will be
accepted in the event of damage resulting from the failure to comply with the
information contained herein.
Yantai NADO Intelligent Technology CO., LTD.
Internet www.na-do.com E-Mail [email protected]
Phone [phone] Fax [phone]

Revision history
Manual Version
Date
Changes
2.0
25.06.2018
Laser divergence
1.9
18.10.2016
Laser divergence
1.8
26.02.2016
MTBF
1.7
01.06.2014
New design

Content NDRA91-92 Manual
Page 4 NADO
I. Content
1General Information .................................................................................. 9
2Safety advice............................................................................................ 11
2.1 Basic safety advice .......................................................................... 11
2.2 Safety advice for operating the laser.............................................. 12
2.3 Advice for operating device ............................................................ 14
2.4 Norms ............................................................................................. 16
2.5 Disposal........................................................................................... 16
3Operating conditions ............................................................................... 17
3.1 Electrical installation conditions ..................................................... 17
3.2 Operating and storage conditions .................................................. 17
3.3 Appropriate use .............................................................................. 18
3.4 Improperly use –error sources....................................................... 19
4Device description ................................................................................... 20
4.1 General device description ............................................................. 20
4.2 Technical Data................................................................................. 22
4.3 Device Types ................................................................................... 25
4.4 Technical Data NDRA92 .................................................................. 26
4.5 Laser divergence ............................................................................. 28
4.6 Functional Elements ....................................................................... 31
4.7 Mechanical Integration Requirements ........................................... 32
4.8 Connector pin assignments ............................................................ 33
4.9 Status Display.................................................................................. 36
4.10 Pilot Laser ....................................................................................... 37
5Interface description ............................................................................... 38
5.1 RS-232 interface.............................................................................. 38
5.2 RS-422 interface.............................................................................. 39
5.3 Q1 / Q2 –Digital switching output ................................................. 40
5.4 QA –Analog output ........................................................................ 42
5.5 Trigger Port ..................................................................................... 44
5.6 SSI Interface of NDRA91S................................................................ 46
5.7 Profibus Interface of NDRA91P....................................................... 47
6Installation............................................................................................... 56
6.1 Preparation Work before the installation....................................... 56
6.2 Checklist for installation works....................................................... 56
7Description of commands........................................................................ 58

NDRA91-92 Manual Content
NADO Page 5 Seite 5
7.1 Overview of commands ..................................................................58
7.2 Transmission protocol RS-232 and RS-422...................................... 61
7.3 Identification ................................................................................... 61
7.4 Operation Mode..............................................................................63
7.5 Status............................................................................................... 65
7.6 Setup Parameter ............................................................................. 67
8Maintenance ............................................................................................ 80
8.1 Maintenance by the user ................................................................ 80
8.2 Firmware update.............................................................................80
8.3 Repair .............................................................................................. 80
9Malfunction and error messages .............................................................81
9.1 Malfunction.....................................................................................81
9.2 Error Codes...................................................................................... 81
9.3 Error Status .....................................................................................81
10 Accessories (Options)............................................................................... 82
10.1 RS-232 cable....................................................................................82
10.2 Connection box TCBNDRA............................................................... 83
10.3 Adjustment bracket.........................................................................83
10.4 Dot Sight AD30 ................................................................................83
10.5 Adapter plate ..................................................................................84
10.6 Dust protection tube ....................................................................... 85
10.7 Protection Case ...............................................................................86
10.8 Software NDRATool......................................................................... 87
11 Part numbers ........................................................................................... 88
12 EG Declaration of conformity .................................................................. 89

List of figures NDRA91-92 Manual
Page 6 NADO
II. List of figures
Figure 1 : Device warning sign ......................................................................... 14
Figure 2 : Position of the device warning sign ................................................. 14
Figure 3 : Beam diagram for NDRA91 with 1.7 mrad ....................................... 28
Figure 4 : Beam diagram for NDRA91 with 10 mrad ........................................ 29
Figure 5 : Beam diagram for NDRA92 .............................................................. 30
Figure 6 : Functional Elements ......................................................................... 31
Figure 7 : Dimensions and position of the zero point (in mm)......................... 32
Figure 8 : Connection drawing of the main connector..................................... 33
Figure 9 : Connection diagram NDRA91S SSI ................................................... 34
Figure 10 : Connection diagram NDRA91P Profibus-IN.................................... 35
Figure 11 : Connection diagram NDRA91P Profibus-OUT ................................ 35
Figure 12 : Status Display ................................................................................. 36
Figure 13 : Pilot Laser position relative to measurement laser........................ 37
Figure 14 : Wiring RS-232 to D-Sub 9 ............................................................... 38
Figure 15 : Wiring RS-422 to RS-422 unit ......................................................... 39
Figure 16 : Switching behavior of digital outputs............................................. 40
Figure 17 : Example of switching output wiring ............................................... 41
Figure 18 : Signal diagram of NDRA91 analog output ...................................... 42
Figure 19 : Behavior of analog current output................................................. 42
Figure 20 : Wiring analog output QA of NDRA91 ............................................. 43
Figure 21 : Example for the external wiring of the trigger input...................... 45
Figure 22 : Interconnection of several NDRA91 devices .................................. 45
Figure 23 SSI connection diagram NDRA91S M12 connector .......................... 46
Figure 24 : Profibus connection diagram NDRA91P M12 connector ............... 49
Figure 25 : Program NDRATool......................................................................... 57
Figure 26 : Online Help (Command ID?)........................................................... 62
Figure 27 : Display of all parameters (command PA) ....................................... 65
Figure 28 : Parameter reset (command PR) ..................................................... 68
Figure 29 : PC-Interface cable with power supply............................................ 82
Figure 30 : Red dot sight................................................................................... 83
Figure 31 : Adapater plate................................................................................ 85
Figure 32 : Dust protection tube ...................................................................... 86
Figure 33 : Protection Case .............................................................................. 86

NDRA91-92 Manual List of tables
NADO Page 7 Seite 7
III. List of tables
Table 1 : Electrical installation conditions ........................................................17
Table 2 : Technical data ....................................................................................22
Table 3 : Device types ....................................................................................... 25
Table 4 : Technical Data NDRA92 ..................................................................... 26
Table 5 : Beam size for NDRA91 with 1.7 mrad ................................................ 28
Table 6 : Beam size for NDRA91 with 10 mrad ................................................. 29
Table 7 : Beam size for NDRA92 .......................................................................30
Table 8 : Pin assignments of main connector port ...........................................34
Table 9 : Status display - functions ...................................................................36
Table 10 : Profibus baud rate depending on segment length .......................... 48
Table 11 : Profibus cable type A features ......................................................... 49
Table 12 : Explanation Profibus parameters.....................................................50
Table 13 : Profibus parameter .......................................................................... 50
Table 14 : Profibus diagnostic data length ....................................................... 52
Table 15 : Profibus diagnostic data...................................................................53
Table 16 : Profibus Input................................................................................... 54
Table 17 : Profibus Output................................................................................54
Table 18 : Installation of NDRA91 ..................................................................... 56
Table 19 : Overview of commands ...................................................................58
Table 20 : Standard deviation for speed measurement ...................................65
Table 21 : Description for hardware diagnosis ................................................. 66
Table 22 : Pilot laser PLx, x value ......................................................................68
Table 23 : Spread of distance measurement ....................................................72
Table 24 : Error Mode SEx, values for x ............................................................ 73
Table 25 : Function of the switching outputs under different modes ..............74
Table 26 : Serial output format SDy, parameter y ............................................76
Table 27 : Termination character(s) TEx, parameter x .....................................78
Table 28 : Malfunction...................................................................................... 81
Table 29 : Error codes .......................................................................................81
Table 30 : Error Status ......................................................................................81
Table 31 : Connection of programming cable PC sided .................................... 82
Table 32 : Connection of programming cable NDRA91 sided........................... 82
Table 33 : Part numbers.................................................................................... 88

List of tables NDRA91-92 Manual
Page 8 NADO
Used Symbols
Sign warns against emitting visible and invisible laser radiation.
Sign warns against danger of electrical power and of electric shock.
Sign warns against danger.
Sign shows information for use in hazardous environments.
Sign indicates important information regarding device use of the
device.
The sign shows protection class 3 (protective extra-low voltage).
Sign indicates degree of protection (IP) of the device.
Sign informs that special guidelines had to be applied for device
disposal.

NDRA91-92 Manual General Information
NADO Page 9 Seite 9
1General Information
The laser distance measurement device NDRA91 is developed for industrial
applications. It enables the non-contact measurement of distances and speed
with a precision down to the centimeter. The device measures with short
measurement time onto any diffusely reflecting target surface also without
using a reflector.
Depending on the type, two switching outputs and the following interfaces are
available: RS-232, RS-422 and analog output, SSI or Profibus. The device is easy
to install and operate. An LED display on the rear side of the device enables
the user to monitor the device in operation.
The compact and rugged design, the easy installation, low current
consumption, adjustable switching outputs and the possibility to set user
specific parameters are important features of the NDRA91 The features of
the device enable a number of applications in industrial environment:
Process surveillance in steel and roller plants
Fill level measurement
Surveillance of object movements
Positioning of cranes and loading facilities
Measurement of inaccessible measurement areas, e.g. in hollow
spaces, tubes and containers
Position surveillance of vehicles and ships
As standard, the NDRA91 is equipped with integrated heating, status display
and a sight mechanism. The alignment to the measurement objective is easy
by the red laser dot of the pilot laser
The modular construction of the device enables the easy upgrade with
additional equipment or the customization for specific applications.

General Information NDRA91-92 Manual
Page 10 NADO
The device operates on the basis of time of flight measurement. Short laser
pulses are transmitted. The light pulse reflected from the target is detected by
the receiver. The distance can be determined by the time shift.
The measurement range depends on the reflectivity and the surface of the
measuring target.

NDRA91-92 Manual Safety advice
NADO Page 11 Seite 11
2Safety advice
2.1 Basic safety advice
Please read the safety and operating advice carefully, and observe the advice
when operating the device.
Danger, laser radiation
Do not open the NDRA9x, otherwise Laser radiation can be emitted
that can cause eye injuries. Please observe all information and
guidelines for operating the Laser.
Danger, electric shock
The NDRA9x may only be opened for repair purposes by the
manufacturer. If the device is opened arbitrarily without
authorization, all warranty claims will expire.
The operating and storage conditions have to be observed (see
chapter 3). The inobservance of this advice and the adverse use of
the device can lead to injuries of the user or to damage of the
device.
Connectors may not be plugged or unplugged when voltage is
applied.All installation work may only be carried out when no
voltage is applied.
The device may only be operated as intended and in faultless
condition.
Safety installations must not be rendered ineffective.
Safety and warning signs must not be removed.
Protection Class 3, low voltage
The device LNDRA9x operates with low voltage of DC 10 to 30 volts.

Safety advice NDRA91-92 Manual
Page 12 NADO
Protection degree: In accordance with the Protection Degree IP67,
the NDRA9xis protected against jet water and dust, and against
short submersion into water.
When operating the device under extreme outdoor environmental
conditions, the use of additional weather protection is
recommended (e.g. a cover plate with a short distance to the
NDRA80). Rapid temperature changes can lead to humidity entering
the device.
The device is not shatter-proof.Do not let the device fall onto the
ground, and avoid any shock.
The device is delivered in a solid cardboard box, which is suited for
the transport of the device.
The device may not be used in explosive environments; otherwise
there is the danger of damage to the NDRA9x and the surrounding
equipment, and of injuries of the user.
Laser Class 1
Laser Class 2
2.2 Safety advice for operating the laser
The NDRA9x is equipped with two lasers:
Laser for measurement (invisible) -
Pilot Laser (visible red) -
Safety advice for laser class 1 –Measurement Laser
The measurement laser is a class 1 laser device based on the norm
IEC 60825-1:2003 (Safety of laser products –Part 1: equipment
classification and requirements).
The laser radiation of class 1 lasers does not imply any danger to
the human eye; any injury of the human eye can be excluded.

NDRA91-92 Manual Safety advice
NADO Page 13 Seite 13
Safety advice for laser class 2 –Pilot Laser
The pilot laser is a class 2 laser device based on the norm IEC
60825-1:2007 (Safety of laser products –Part 1: equipment
classification and requirements).
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.
Users are instructed by Laser warning sing (see VERWEIS) to do not stare into
the beam. They have to protect themselves by turn the head and/or the
closing the eyes and by avoid a long look into the beam. The sensor can be
used without any additional safety protection.
Danger: Laser radiation Class 2, do not stare into the Laser beam!
Do not look into the Laser beam with optical instruments. Do not
direct the Laser beam onto persons.

Safety advice NDRA91-92 Manual
Page 14 NADO
Figure 1 : Device warning sign
1
Figure 2 : Position of the device warning sign
2
2.3 Advice for operating device
The NDRA9x should not be put into operation when optical parts
are fogged or dirty. The optical components of the equipment
should not be touched with bare hands!
Dust and dirt are removed from the optical components with
extreme caution! Cleaning with solvents or mechanical means is
not allowed.
The device must be protected against overheating. The device will
not be switched off automatically when the operating
temperatures are exceeded. The persisting overheating of the
device will lead to a reduced lifetime of the laser diode.
The device must be protected from impact.
The device must be protected from extreme temperature
1
The devices of the NDRA91 series can vary with regard to the divergence of the laser diode and
the maximum measurement frequency displayed on the laser labels.
2
A second laser warning sign is inside the delivery. It is to be attached to the installation place and
must be easy to view for the operator.

NDRA91-92 Manual Safety advice
NADO Page 15 Seite 15
fluctuations. When extreme temperature fluctuations are occurring
use additional protection housing.
It is not allowed to operate the device in explosive environments.
The device corresponds to the protection degree IP 67, and is
protected against jet water and short submersion. Please observe
the conditions for the protection degree IP 67, and observe
especially the following advice:
The device must not be exposed to persisting driving rain or
high temperature variations.
If the device is exposed to humidity, the temperature
difference between the device and the environment may be
± 5K maximum.
It is necessary to observe the operating and storage conditions.
Use only a supply voltage of 10 V ... 30 V DC (direct current voltage). For using
the heating, direct current voltage of 24 V is recommended.
The limit values for the input voltage have to be observed. Do not wire inputs
as outputs.
All outputs are resistant to short circuits. The housing is galvanically separated
from the sensor electronics assembly. The interference resistance at
electrostatic discharge (ESD) is 4 kV according to EN 61326-1.

Safety advice NDRA91-92 Manual
Page 16 NADO
2.4 Norms
The device conforms to the following norms:
IEC 61326-1:2005
Electrical equipment for measurement, control and
laboratory use - EMC requirements - Part 1: General
requirements (IEC 61326-1:2005); German version EN
61326-1:2006
IEC 60825-1:2007
Safety of Laser products –Part 1: equipment
classification and requirements
(IEC 60825-1:2007)
Laser Class 1 (Measurement Laser)
Laser Class 2 (Pilot Laser)
IEC 61010-1:2001
Safety requirements for electrical equipment for
measurement, control and laboratory use - General
requirements (IEC 61010-1:2001);
German version EN 61010-1:2001
2.5 Disposal
For the disposal of the device, special environmental protection
guidelines apply. Do not dispose the device with the usual domestic
refuse. The manufacturer offers to take back the device after the
end of the product life cycle, and to dispose of the product in
accordance with the effective environmental protection guidelines.
Please note that this service is subject to a charge.

NDRA91-92 Manual Operating conditions
NADO Page 17 Seite 17
3Operating conditions
3.1 Electrical installation conditions
Use only a supply voltage of 10 V ... 30 V DC (direct current voltage). For using
the heating, direct current voltage of 24 V is recommended.
The limit values for the input voltage have to be observed. Do not
wire inputs as outputs.
All outputs are short circuit proof.
The housing is galvanically separated from the sensor electronics assembly.
The interference resistance at electrostatic discharge (ESD) is 4 kV according to
EN 61326-1.
Table 1 : Electrical installation conditions
Electrical installation conditions
Supply voltage
10 V ... 30 V DC (direct current voltage) 3
Power consumption
< 5 W (without heating)
11.5 W (with heating, 24 V)
3.2 Operating and storage conditions
Operating temperature -40 °C … +60 °C
Stroage temperature -40 °C ... +70 °C
Air humidity 15 % ... 90 % not condensing
The mentioned operating and storage conditions have to be
observed. When the operating temperatures exceed the permitted
values, the device will not be switched off automatically. The
continuous overheating of the device will reduce the lifetime of the
laser diode.
3
For using the heating, direct current voltage of 24 V is recommended.

Operating conditions NDRA91-92 Manual
Page 18 NADO
3.3 Appropriate use
The device is intended for the following applications:
Distance and speed measurement and output of measured data via the
interfaces RS-232, RS-422, analog output SSI or Profibus.
Use of the special measurement functions
Operating with the correct voltage
Observing the environmental conditions, operating
and storage temperature
Use in industrial environments complying with the
standard IP 67 (protected against splash and jet water)
Control of the data interfaces using the indicated signal levels
Measurement through optically transparent material Measurement
through optically transparent materials such as glass, optical filters,
acrylic glass etc. can lead to erroneous measurement results. When
measuring through optically transparent material, use the function
“measurement window”. By defining a fixed measurement range
using this function, the display of an erroneous measurement value
caused by the optical medium in front of the laser can be avoided.
Please take care that the surface of the medium is clean and light-
transparent.
Measuring distances < 8 m
Due to the optical system of the receiver, the device NDRA91 with a
divergence of 1.7 mrad receives only scattered light at distances < 8
m. Therefore, measurement in this range is only possible onto targets
with good reflective properties. As an alternative, an NDRA91 with 10
mrad can be used, as this device does not imply any restrictions for
distance measurement.

NDRA91-92 Manual Operating conditions
NADO Page 19 Seite 19
3.4 Improperly use –error sources
The device may only be used when the safety advice described in chapter 0 is
observed. The non-observance of the safety advice can lead to damages of the
device or to injuries of the eyes.
To achieve correct measurement results, avoid the following error sources:
Measurement against the sun or other intense light sources
Measurement onto low reflective target surfaces in highly reflective
environments
Measurements onto highly reflective surfaces (mirror)
Rapidly-changing measurement conditions (rapid distance changes)
Two or more NDRA91 may not be "frontal view" because the devices
interact. To avoid false readings, the devices must be successively
raised. Use the trigger generator TPG1 (accessory) or the trigger
function according to item 2 in chapter 5.5 (Interconnection of
several NDRA91).
Operation and storage of the device under conditions that do not
conform with the specifications
Overheating
The operating temperatures have to be observed. The overheating of
the device has to be avoided in any case. When the operating
temperatures are exceeded, the device is not switched off
automatically. Persisting overheating of the device leads to a
reduced lifetime of the laser diode.

Device description NDRA91-92 Manual
Page 20 NADO
4Device description
4.1 General device description
The laser distance measurement device NDRA91 is intended for distance
measurement onto static and moving objects with a precision down to the
centimetre:
Measurement in the range of 0.5 m ... 300 m onto natural surfaces
with 90 % reflectivity.
Measurement onto reflectors (e.g. Scotchlite 3000x) at distances
between 300 m and 3000 m.
For speed measurement in the range of 0 m/s ... 100 m/s (distance
0.5 m ... 700 m
For measuring distances < 300 m, the use of glass reflectors (triple
mirrors) is not recommended, as a distortion of measurement
values can be caused by overload.
Pilot Laser
With the red laser measurement spot (pilot laser), the measurement target
can be clearly identified. The range depends on the reflectivity and the surface
properties of the measurement target.
Serial interfaces
The NDRA91 is equipped either with an RS-232 or with an RS-422 interface.
The device configuration is carried out during the assembly. The device cannot
be changed retroactively.
Outputs
The device is equipped with two switching outputs, an analog output (4 mA ...
20 mA) and an external trigger connection. All outputs are parameterizable.
Heating