Pepperl+Fuchs 2-D LiDAR R2000 Series User manual

2-D LiDAR Sensor
R2000 Measuring Sensors
FACTORY AUTOMATION
MANUAL

With regard to the supply of products, the current issue of the following document is applicable: The
General Terms of Delivery for Products and Services of the Electrical ndustry, published by the
Central Association of the Electrical ndustry (Zentralverband Elektrotechnik und Elektroindustrie
(ZVE ) e.V.) in its most recent version as well as the supplementary clause: "Expanded reservation
of proprietorship"
2-D LiDAR Sensor

2-D LiDAR Sensor
Contents
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1 Introduction 5
1 1 Content of this Document .............................................................................5
1 2 Symbols Used...............................................................................................5
2 Safety 7
2 1 Safety nformation.........................................................................................7
2 2 Laser Class 1................................................................................................8
3 Product Description 9
3 1 Validity ..........................................................................................................9
3 2 R2000 2-D LiDAR Sensor .............................................................................9
3 3 Functional Principle.....................................................................................10
3 4 Technical Data ............................................................................................11
3 5 ndicators and Operating Elements.............................................................11
3 6 nterfaces and Connections ........................................................................12
3 7 Scope of Delivery........................................................................................13
3 8 Accessories ................................................................................................14
4 Installation 15
4 1 Storage and Transport.................................................................................15
4 2 Unpacking...................................................................................................15
4 3 Mounting.....................................................................................................15
4 4 Device Connection......................................................................................17
5 Commissioning 18
5 1 Ethernet Configuration ................................................................................18
6 Operation 22
6 1 Menu Structure ...........................................................................................22
6 2 Operation....................................................................................................24
6 3 Description of Menu tems ..........................................................................27
6 3 1 "Ethernet nfo" Menu tem.......................................................................27
6 3 2 "Ethernet Setup" Menu tem ...................................................................27
6 3 3 "Sensor Setup" Menu tem .....................................................................28
6 3 4 "Demos" Menu tem ...............................................................................29
6 3 5 "Tools" Menu tem ..................................................................................29
6 3 6 "End" Menu tem ....................................................................................29
7 Maintenance and Repair 30
7 1 Maintenance ...............................................................................................30
7 2 Repairs .......................................................................................................30
8 Troubleshooting 31

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2-D LiDAR Sensor
Contents
8 1 Potential Causes of Faults.......................................................................... 31
9 Appendix 32
9 1 Data Filter................................................................................................... 32
9 2 Amplitude Characteristics .......................................................................... 33
9 3 Pulse Ranging Technology (PRT) Glossary................................................ 34
9 4 Using Open Source Programs.................................................................... 36

2-D LiDAR Sensor
ntroduction
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1 ntroduction
1.1 Content of this Document
This document contains information required to use the product in the relevant
phases of the product life cycle. This may include information on the following:
■Product identification
■Delivery, transport, and storage
■Mounting and installation
■Commissioning and operation
■Maintenance and repair
■Troubleshooting
■Dismounting
■Disposal
The documentation comprises the following parts:
■This document
■Datasheet
n addition, the documentation may comprise the following parts, if applicable:
■EU-type examination certificate
■EU declaration of conformity
■Attestation of conformity
■Certificates
■Control drawings
■nstruction manual
■Other documents
1.2 Symbols Used
This document contains symbols for the identification of warning messages and of
informative messages.
Warning Messages
You will find warning messages, whenever dangers may arise from your actions. t
is mandatory that you observe these warning messages for your personal safety
and in order to avoid property damage.
Depending on the risk level, the warning messages are displayed in descending
order as follows:
Note
For full information on the product, refer to the further documentation on the
nternet at www.pepperl-fuchs.com.

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2-D LiDAR Sensor
ntroduction
Informative Symbols
Action
This symbol indicates a paragraph with instructions. You are prompted to perform
an action or a sequence of actions.
Danger!
This symbol indicates an imminent danger.
Non-observance will result in personal injury or death.
Warning!
This symbol indicates a possible fault or danger.
Non-observance may cause personal injury or serious property damage.
Caution!
This symbol indicates a possible fault.
Non-observance could interrupt the device and any connected systems and
plants, or result in their complete failure.
Note
This symbol brings important information to your attention.

2-D LiDAR Sensor
Safety
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2 Safety
2.1 Safety nformation
Read the following information carefully and follow this information when working
with the device. Failure to observe the safety notices and warning messages in
this documentation can lead to malfunctions and hazardous operating scenarios
during operation.
This can result in serious personal injury or death.
Target Group, Personnel
The personnel must be appropriately trained and qualified in order to carry out
mounting, installation, commissioning, operation, maintenance, and dismounting
of the device. The trained and qualified personnel must have read and
understood the instruction manual.
Prior to using the product make yourself familiar with it. Read the instruction
manual carefully.
Reference to Further Documentation
Observe laws, standards, and directives applicable to the intended use and the
operating location.
Intended Use
The R2000 2-D LiDAR sensor is a 360° measuring instrument with an all-round
display. t is used on automated transport systems or other movable machinery in
intralogistics. t is also used on stationary equipment in the area of factory and
building automation.
The device is only approved for appropriate and intended use. gnoring these
instructions will void any warranty and absolve the manufacturer from any liability.
Operation, Maintenance, Repair
Do not remove the nameplate.
Do not remove the warning markings.
Do not repair, modify, or manipulate the device.
f there is a defect, always replace the device with an original device.
Only use accessories specified by the manufacturer.
When using the device with rack feeders and moving carriages, observe the
applicable safety guidelines for these applications.
Supply the device with a power supply that meets the requirements for safety
extra-low voltage (SELV) or protective extra-low voltage (PELV).
Do not point the device directly at the sun. Do not use the device to conduct
measurements into the sun.

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2-D LiDAR Sensor
Safety
Delivery, Transport, Disposal
Keep the original packaging. Always store and transport the device in the original
packaging.
The device, built-in components, packaging, and any batteries contained within
must be disposed in compliance with the applicable laws and guidelines of the
respective country.
2.2 Laser Class 1
Class 1 Laser Product
This sensor is certified according to laser protection class 1.
Warning!
Class 1 laser light
The laser light can be an irritant, especially in a dark environment. Do not point
lasers at people!
Maintenance and repairs should only be carried out by authorized service
personnel!
nstall the device so that the warning is clearly visible and readable.
Caution: Use of controls, adjustments, or performance of procedures other than
those specified herein may result in harmful laser beam exposure.

2-D LiDAR Sensor
Product Description
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3 Product Description
3.1 Validity
This manual applies to all R2000-series measuring devices from firmware version
1.50 and hardware version 1.50 onward. The versions can be found in the device
menu; see chapter 6.3.3.
For devices using older versions, documentation is available on request.
3.2 R2000 2-D LiDAR Sensor
The 2-D LiDAR sensor is a compact 360° sensor with an integrated all-round
display.
The sensor offers a high measurement frequency, a small angular resolution, a
precise light spot, and, depending on the version, a visible measurement beam
(OMD10M-R2000-B23), all of which make it suitable for numerous factory
automation applications. n addition to completing familiar industrial tasks such as
logistics, transportation, and material handling, the sensor can be used for
innovative applications relating to building automation, automatic navigation of
autonomous vehicles, or monitoring rooms.
Design
The device comprises a static body on which a continuously turning
measurement module with an emitter laser and a receiver element is located. The
LiDAR sensor uses Pulse Ranging Technology (PRT). This functional principle
permits continuous scanning of the surrounding area through a full 360°.
User-Friendly All-Round Display
The LiDAR sensor has a row of LEDs on the back of the measurement module
that acts as an all-round display. When the sensor is rotated, this row of LEDs
produces a cylindrical projection surface for displaying text and images. This
enables commissioning and operation without a PC or laptop. Operating and
diagnosis information can therefore be directly displayed during operation.
Safety Certification to Laser Class 1
The R2000 2-D LiDAR sensor fulfills the safety requirements of laser class 1 in
measurement mode. The low amount of laser light emitted ensures that operating
personnel are not injured or harmed.

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2-D LiDAR Sensor
Product Description
3.3 Functional Principle
The LiDAR sensor uses the principle of Pulse Ranging Technology (PRT). This
means the device measures the time between the emission of a light pulse and
the receipt of the pulse reflected by an object. Due to the constancy of the speed
of light, this time is a measurement of distance.
Compared with other distance measurement processes, runtime measurement is
affected very little by disturbances in the measuring environment. As a result, this
measurement process ensures a high level of accuracy even under tough
everyday industrial conditions. The light emitter and light receiver are located in
the rotating sensor head.

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Product Description
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3.4 Technical Data
The technical data for this product can be found in the datasheet at www.pepperl-
fuchs.com.
3.5 ndicators and Operating Elements
Figure 3.1 ndicators and Controls
Note
Influence of ambient conditions
The speed of light depends on the air temperature and barometric pressure.
The influence of the air temperature is 1 ppm/K.
The influence of the barometric pressure is -0.3 ppm/hPa.
The user must take these faults into consideration when measuring long
distances.
n the operating range of -10 °C ... +50 °C, this fault amounts to 0.6 mm at a
distance of 10 m.
No. Description Color
1 Operating indicator Green
2 Fault indicator Red
3 "Next" menu button
4 "Return" menu button
5 "Q2" signal indicator Yellow
6 "Q1" signal indicator Yellow
7 Laser beam outlet
8 Ethernet link indicator Green
9 Ethernet activity indicator Yellow
Table 3.1 ndicators and operating elements
2
6
1
4
3
5
7
9
8

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2-D LiDAR Sensor
Product Description
3.6 nterfaces and Connections
The following connections are found on all devices:
Power Supply
There is a 4-pin M12 plug on the rear of the housing for connecting the power
supply. The following diagram shows the pinout:
Figure 3.2 Power supply connection layout
MultiPort
There is an 8-pin M12 plug on the rear of the housing for service purposes.
124 V power supply
2Q2
3Ground (GND)
4Q1
1
3
4
2
1
4
6
7
8
53
2

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Product Description
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Interface:
There is a 4-pin M12 socket on the rear of the housing for connecting the Ethernet
interface. The following diagram shows the pinout:
Figure 3.3 Ethernet connection layout
The connector housing is located on the shield.
3.7 Scope of Delivery
The scope of delivery includes:
■R2000
■Quick start guide
■Protective cover
■3 x socket cap screws, M5 x 10
■3 x washers, size 5
1TD+
2RD+
3TD-
4RD-
1
3
42
Note
Installation Instructions for North America
f a connection is made to the M12 multi-pin connector, the product shall be used
with a UL-listed cable/connector (CYJV) assembly rated minimum 30 VDC,
minimum 1.0 A, in the final installation for power supply.

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2-D LiDAR Sensor
Product Description
3.8 Accessories
The following products are available as accessories.
To parameterize the R2000 conveniently via a software interface, you will need the
corresponding device type manager (DTM) in addition to the FDT framework
program (PACTware 4.x or above). PACTware and the DTM are available at
www.pepperl-fuchs.com.
Name Description
V1SD-G-2M-PUR-
ABG-V45-G
Patch cable, M12 to RJ45, length 2 m
V1SD-G-5M-PUR-
ABG-V45-G
Patch cable, M12 to RJ45, length 5 m
V1SD-G-ABG-PG9 Single-ended male cordset, M12 D-coded, 4-pin for bus cable
V1-G-2M-PUR Single-ended female cordset, straight, M12, 4-pin, PUR cable
V1-W-2M-PUR Single-ended female cordset, angled, M12, 4-pin, PUR cable
MH-R2000 Mounting bracket, quick-release and adjustment device
Note
Installation note for North America
f a connection is made with the M12 multi-pin connector, in the final installation of
the power supply the product must be used with a UL-listed cable/connector
assembly (CYJV) that is designed for at least 30 VDC and at least 1.0 A.
Name Description
V1-G-BK-2M-PUR-U Single-ended female cordset, straight,
M12, 4-pin, PUR cable, length 2 m, "UL
recognized"
V1-G-BK-5M-PUR-U Single-ended female cordset, straight,
M12, 4-pin, PUR cable, length 5 m, "UL
recognized"
V1-G-BK-10M-PUR-U Single-ended female cordset, straight,
M12, 4-pin, PUR cable, length 10 m, "UL
recognized"

2-D LiDAR Sensor
nstallation
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4 nstallation
4.1 Storage and Transport
Package the device for storage and transport such that it is protected from impact
and moisture. The original packaging provides optimum protection. Also take note
of the permitted ambient conditions.
4.2 Unpacking
Check the product for damage while unpacking. n the event of damage to the
product, inform the post office or parcel service and notify the supplier.
Retain the original packaging in case the device must be stored or shipped again
at a later date.
Should you have any questions, please contact Pepperl+Fuchs.
4.3 Mounting
Note
f the temperature is subject to major fluctuations during transport, the device
must be allowed to acclimatize for around two hours prior to installation and use.
During this acclimatization period, avoid subjecting the device to condensation at
all costs, as this could have an effect on internal parts and cause damage.
Caution!
Aggressive environments may damage the sensor lens or cause it to malfunction
Using the device in aggressive environments may damage the sensor lens and
lead to impaired sensor function.
Never use the device in aggressive environments.
Caution!
Condensation may cause property damage and malfunction
Strong fluctuations in ambient temperature and humidity may damage the sensor
lens and lead to impaired sensor function.
Avoid excessive fluctuations in temperature and humidity to prevent
condensation.
Caution!
Excessive sunlight may result in property damage or malfunction
Continuous exposure to direct sunlight may damage the sensor lens and lead to
impaired sensor function. Taking measurements in direct sunlight may lead to
erroneous measurement results.
Protect the device from continuous exposure to direct sunlight.
Do not point the device's sensor at the sun.

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2-D LiDAR Sensor
nstallation
Mounting the 2-D LiDAR Sensor
Only mount the sensor in locations that fulfill the following safety-relevant
requirements: no aggressive environments, no direct sunlight, no excessive
fluctuations in temperature and humidity.
1. n addition, note the following when selecting a mounting location:
■The sensor must not be obstructed visually, e.g., behind a cover.
■The sensor should be installed so it is protected from rain.
2. Mount the device on the underside using the supplied socket head screws
with washers.
Figure 4.1 Dimensional drawing of R2000 2-D LiDAR sensor
3. Check that the sensor is securely seated.
Caution!
The wrong screw-in depth may result in property damage
f you screw the screws deeper than 8 mm into the base, the
device will be mechanically destroyed.
When mounting, make sure that the screw-in depth on the base is
≥5 mm ... ≤8 mm.
70
(40)20
60
20
53
106
117.5
4658
116.5
106
16
97.1
3 x M5
20
45
Emitting and receiving area
Complies with 21 CFR
1040.10 and 1040.11 except
for deviations pursuant to
LaserNotice No. 50,
dated June 24, 2007
CLASS 1
LASER PRODUCT
IEC608 25-1:20 07cer tified.
Note
Keep the emitting/receiving area clear
When mounting, make sure the emitting area and the receiving area are kept
clear. Covering the emitting/receiving area reduces the performance of the 2-D
LiDAR sensor.

2-D LiDAR Sensor
nstallation
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4.4 Device Connection
Electrical connection in accordance with P65
Put protective covers on unused M12 connectors.
The P65 degree of protection is achieved. The protective covers can be
ordered as accessories; see chapter 3.8.
The device conforms to protection class . This means the power supplied to the
device must be a safety extra-low protective voltage (PELV).
The power supply of the device uses a direct current of 10 VDC ... 30 VDC. Due to
the integrated motor, a higher startup current is required than with normal
operation. t is recommended that power supplies with 1 A (for 24 V) or with 2 A
(for 12 V) are used.
The maximum cable length is 30 m.
The pin assignment is as follows:
Figure 4.2 R2000 pin assignment
Danger!
Danger to life from electric shock
Absent or insufficient insulation can result in electric shock.
Only connect supplies that provide protection against electric shock (e. g. SELV
or PELV).
PowerServiceLAN
4
1
2
3
TD+
TD-
RD-
Shield
4
1
2
3
24 V DC
0 V
RD+ Q2
Q1
1
3
4
2
1
3
42

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2-D LiDAR Sensor
Commissioning
5 Commissioning
The sensor has been tested and calibrated before delivery. t can be put into
operation immediately.
Commissioning the LiDAR sensor
1. Connect the device to the appropriate power supply.
The initialization phase lasts approx. 15 seconds. This phase is shown by
circles moving down the all-round display.
2. After the initialization phase, the Pepperl+Fuchs logo will appear on the all-
round display.
The device is now ready for operation.
5.1 Ethernet Configuration
The sensor has 3 different addressing options that can be used as required. The
setting is configured using the menu interface on the sensor itself.
Auto IP
n the Auto P setting, the sensor independently assigns a "link-local" P address
in the 169.254.0.0/16 range. During this process, the system ensures that the
selected address is not already being used by another device.
Danger!
Danger to life from electric shock
Absent or insufficient insulation can result in electric shock.
Only connect supplies that provide protection against electric
shock (e. g. SELV or PELV).
Tip
Factoring in a arm-up phase
To achieve the best measurement accuracy, allow the device to warm up for at
least 30 minutes after switching on.
Note
Point-to-point connection
The sensor does not meet the requirement of the modern cybersecurity directives
and therefore is an unsafe component in the network structure.
We recommend establishing an isolated point-to-point connection between
sensor and the higher-level control.

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Commissioning
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Configuring a Connection via Auto P
The sensor is set to Auto P by default. The Auto P setting is the best way to
connect directly to a PC.
1. f the network configuration of the sensor no longer matches the factory set-
ting:
1. Under Ethernet Setup > Address Mode, set the sensor to "Auto P."
2. Restart the sensor to apply the configuration.
3. To connect the sensor to the PC, set the PC to Dynamic Host Configuration
Protocol (DHCP).
4. Adjust the properties of the PC network card accordingly. To do this, select
the TCP/ P protocol in the network card properties.
5. n the nternet protocol properties, select Obtain an IP address
automatically.
6. Click OK to confirm.

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2-D LiDAR Sensor
Commissioning
After approx. 30 seconds, Microsoft® Windows® assigns an auto P for
the PC.
DHCP
Connecting via DHCP requires the availability of a DHCP server, such as a router,
on the local network; see Auto P, PC network card settings.
f this requirement is fulfilled, you can set the sensor to DHCP.
Configuring a Connection via DHCP
1. Under Ethernet Setup > Address Mode, set the sensor to "DHCP."
2. Restart the sensor to apply the configuration.
Manual IP
You can also address the sensor via an P address set manually. You can set the
PC network card and the sensor to an P address of your choice.
Configuring a Connection via a Manual P Address
1. Configure the sensor:
1. Under Ethernet Setup > Address Mode, set the sensor to "Manual."
2. Enter the required address under Ethernet Setup > IP Address.
3. Restart the sensor to apply the configuration.
4. To connect the sensor to the PC, enter the required P address in the menu for
the PC network card. Select the TCP/ P protocol in the PC network card
properties.
5. Select "Use the following P address" and enter the required P address and
subnet mask.
Note
The P address of the sensor is set to 10.0.10.9 and the subnet mask to 255.0.0.0
by default.