Riegl LMS-Q280i Guide

LASER MIRROR SCANNER
LMS-Q280i
TECHNICAL DOCUMENTATION AND USER’S INSTRUCTIONS
Version 07/2004 CE
Rev. 25-03-2004 (V5.63)
Rev. 01-07-2004 (V5.64)
(c) 2004 RIEGL Austria
All rights reserved.
This manual has been compiled with care. However, should you discover any
error, we would be grateful if you would let us know.
RIEGL Laser Measurement Systems GmbH
A-3580 Horn, Riedenburgstrasse 48, AUSTRIA
Tel.: [phone], Fax.: [phone]
e-mail: off[email protected].at
www.riegl.com

I m p o r t a n t N o t e:
The LMS-Q280i makes use of a high power laser source and an extremely high
sensitive optical receiver. As a result of this powerful signal detection
electronics, the LMS-Q280i works with non-cooperative targets (natural
reflecting targets like trees, stones etc.) as well as with cooperative targets
(reflecting targets). The following reflecting target materials can be used:
o Reflecting paint
o Reflecting foil
Due to the high power level of the laser transmitter, high quality glass
retro-reflectors must not be used as a target !!! Using such retro-
reflectors can permanently damage the instrument.

C O N T E N S
1GENERAL ................................................................................................... 1
1.1 System Configuration.............................................................................. 1
1.1.1 Rangefinder System............................................................................1
1.1.2 Scanner Mechanism............................................................................ 2
1.1.3 True Color Channel (optional) .............................................................3
1.1.4 Interfaces............................................................................................. 4
2DESIGN OF LASER SCANNER LMS-Q280I.............................................. 5
2.1 Mechanical Design................................................................................... 5
2.2 Mechanical Drawings .............................................................................. 6
3SAFETY INSTRUCTIONS........................................................................... 9
3.1 General Safety.......................................................................................... 9
3.2 Electromagnetic Compatibility ............................................................. 11
3.3 Laser Safety............................................................................................ 14
4OPERATING INSTRUCTIONS.................................................................. 15
4.1 Preparing the Power Supply................................................................. 15
4.1.1 Fuses................................................................................................. 16
4.2 Connectors and Pin Assignments........................................................ 17
4.2.1 Plug for Power Supply....................................................................... 18
4.2.2 Plug for Serial Interface (RS232)....................................................... 19
4.2.3 Plug for Parallel Interface .................................................................. 20
4.2.4 Plug for Ethernet Interface................................................................. 21
4.3 Cables..................................................................................................... 22
4.3.1 Power Supply Cable.......................................................................... 22
4.3.2 Parallel Data Cable............................................................................ 23
4.3.3 Serial Data Cable .............................................................................. 24
4.3.4 LAN-TCP/IP Data Cable.................................................................... 25
4.4 Mounting the LMS-Q280i....................................................................... 26
4.5 Instrument Cooling................................................................................ 27
4.6 General System Set Up and Cabling.................................................... 27
4.7 Laser Setup and Test Procedure.......................................................... 29
5SPECIFICATIONS..................................................................................... 30
5.1 Technical data........................................................................................ 30
5.2 Definition of axes................................................................................... 32
5.3 LMS-Q280i Timing Characteristic......................................................... 34
5.4 External Synchronization and Internal Reference Timer.................... 35
6DATA COMMUNICATION AND INTERFACES ........................................ 36
6.1 Programming Mode / Measurement Mode for Serial Interface................. 36
6.2 Data Format for Serial Interface............................................................ 37
6.2.1 Data Format for Serial Interface in Programming Mode.................... 37
6.2.2 Data Format for Serial Interface in Measurement Mode.................... 38
6.3 Parameters and Controlling Commands ............................................. 41
6.3.1 Parameter Data Types in Programming Mode .................................. 41
6.3.2 Several Basic Commands ................................................................. 42

6.3.3 Basic Measurement Parameters ....................................................... 46
6.3.4 Adjusting Parameters for Serial Interface.......................................... 48
6.3.5 Definition of Scan Pattern.................................................................. 50
6.3.6 Several Additional Commands.......................................................... 54
6.3.7 Control Commands in Measurement Mode....................................... 55
6.3.8 Additional Low Level Commands ...................................................... 56
6.4 ECP Data Output.................................................................................... 59
6.4.1 Reading Data via ECP....................................................................... 59
6.4.2 Configuring the ECP Data Output...................................................... 70
6.5 LAN interface.......................................................................................... 72
6.5.1 Overview............................................................................................ 72
6.5.2 Activation........................................................................................... 72
6.5.3 Configuring the LAN Interface ........................................................... 73
6.6 Errors and Error Handling..................................................................... 75
6.7 Status and Error Messages................................................................... 77

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Technical Documentation and
User Instructions
Laser Mirror Scanner LMS-Q280i
1 General
The Laser Mirror Scanner LMS-Q280i is a 2D laser scanner based upon
accurately measuring the distance by means of electro-optical pulsed time-of-
flight range measurement and upon fast scanning the laser beam by means of
an opto-mechanical scan mechanism. The high range performance, the fast line
scanning, and the overall system design makes the LMS-Q280i well suited for
airborne laser scanning applications.
1.1 System Configuration
The laser scanner LMS-Q280i consists mainly of two subsystems, an accurate
laser rangefinder electronics and a line scanning mechanism, installed in a
rugged housing.
1.1.1 Rangefinder System
The rangefinder system is based upon the principle of time-of-flight
measurement of short infrared laser pulses.
A laser source emits infrared light pulses, which are collimated by a transmitter
lens system. Via the receiver lens, part of the echo signal reflected by the target
hits a photodiode which generates an electrical receiver signal. The time
interval between transmitted and received pulses is counted by means of a
quartz-stabilized clock frequency. The measured time value is passed to the
internal microcomputer which processes the measured data and prepares it for
data output.
Fig. 1 Measurement principle of the pulsed range finder

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1.1.2 Scanner Mechanism
The scanner mechanism deflects the laser beam for range measurement into a
precisely defined direction. Each scan line is composed of a number of pixels
(single laser measurements).
The angular deflection of the laser beam is realized by a rotating polygon mirror
wheel. The polygon-mirror is composed of flat reflective surfaces arranged
around the wheel perimeter. The wheel rotates continuously at a fixed speed to
provide repetitive unidirectional scans.
Scannedlaserbeam
Rotating
polygonal
mirror
Transmitter
Receiver
Fig. 2 Principle of beam deflection by a rotating mirror

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Due to the finite aperture dimensions, only a fractional part of the polygon mirror
surfaces (excluding the edge areas) can be used for scanning (please refer to
chapter 5.3, LMS-Q280i Timing characteristic).
1.1.3 True Color Channel (optional)
Beside the laser transmitter and the laser receiver, the LMS-Q280i has
optionally an integrated true color channel which provides the color of the
target´s surface as an additional information to each laser measurement. Color
data are included in the binary data stream of the LMS-Q280i allowing
straightforward texturing of scanned surface model.

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Laser Mirror Scanner LMS-Q280i
1.1.4 Interfaces
1.1.4.1 Electrical Interfaces
The laser scanner LMS-Q280i requires a single power supply with nominally 24V DC.
Supply voltage 24V DC
Permitted supply voltage range 18V DC to 32V DC
Current consumption
(scanning operation) typically 3A at 24V DC
1.1.4.2 Data Interfaces
LAN Interface Ethernet Network interface, using the
TCP/IP protocol
RS232 serial interface Bi-directional interface for scanner
configuration
Parallel interface ECP compatible, Uni-directional interface,
provides the scan data
The pin assignment of the interface connectors can be found in chapter 4.2,
Connectors and Pin Assignments.

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Laser Mirror Scanner LMS-Q280i
2 Design of Laser Scanner LMS-Q280i
2.1 Mechanical Design
The housing of the LMS-Q280i laser scanner is designed to meet the
requirements for an installation on board of an airplane or helicopter. The slim
design and the scan direction perpendicular to the longitudinal axis of the laser
scanner allows straightforward integration also under narrow space conditions.
The housing consists of a very stable base plate, which carries 6 pcs. M6
mounting threads and the beam output aperture window.
The top plate provides 6 pcs. M6 mounting threads for the installation of an
inertial measurement unit or other additional equipment. This mounting threads
are firmly connected to the internal frame structure. Additionally, the top plate is
equipped with a heat-sink profile.
For adequate heat dissipation, the rear plate
For additional information about heat dissipation, please refer to chapter
is equipped with a heat-sink
profile. On this side of the laser scanner, there are the connectors for power
supply and data interface as well as the fuse holders located.
4.5,
Instrument Cooling
The front plate carries a desiccant cartridge and valve for nitrogen purging of
the instrument.
The side plates are made of aluminum profile shells.
All outer parts are colorless or black anodized.
The figures on the next pages show the mechanical dimensions of the LMS-
Q280i laser scanner.

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Laser Mirror Scanner LMS-Q280i
2.2 Mechanical Drawings
24.5
262
505
75
156
95.5
560
132
200
135
6xM6
mounting
threads
depth 10 mm
scan
window
center of laser beam output
Fig. 3 Bottom view of LMS-Q280i (base plate side)

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Laser Mirror Scanner LMS-Q280i
78
186
408
100
6xM6
mounting
threads
depth 10 mm
heat sink
profile
Fig. 4 Top view of LMS-Q280i (top plate side)

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Laser Mirror Scanner LMS-Q280i
www.riegl.com
108.8
213
200
217
-22.5° +22.5°
scanned laser beam
(up to ±30°)
desiccant
cartridge
fitting for
purging
200
17
91.2
13
Fig. 5 Front view of LMS-Q280i (front plate side)
213
200
217
Fig. 6 Rear view of LMS-Q280i (rear plate side)

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Laser Mirror Scanner LMS-Q280i
3 Safety Instructions
3.1 General Safety
GENERAL SAFETY EN 61010-1
LMS-Q280i meets or
exceeds the requirements of the following European
Standard: EN 61010-1 (April 1993)
Safety requirements for electrical
equipment for measurement, control, and laboratory use Part 1: General
Requirements
Temperature:
Note the following explanations and important instructions:
See chapter 5 Specifications for temperature limits for storage
and operation.
Storage and operation at temperatures outside the specified
temperature ranges may cause wrong mea
surement results or
even damage of the instrument.
Sunlight: The LMS-Q280i makes use of the optical time-of-flight
technique to determine the distance to the object. For this
purpose it comprises sensitive optical, electrical and
mechanical components. Thus the LMS-Q280i requires
appropriate handling:
Unnecessary exposure of the internal optical and electronic
parts to direct sunlight via the front window
should be
avoided.
Altitude:
The unit is specified for an altitude up to 2000m (operation or
storage).
Relative
Humidity:
The unit is specified for a relative humidity of 80% at or below
+31°C; linearly decreasing to 50% at +40°C.
Enclosure:
The instrument LMS-Q280i
is water resistant on the outside
but must not however be subjected to rain or
dripping water or
submerged under water.
The optical glass panes should be treated with the care
customarily due to optical instruments and, only when
absolutely necessary, should they be gently cleaned using a
suitable lens cleaning fluid (e.g. pure ethylene alcohol).
Never apply mechanical force or shock to the glass panes
or to the housing itself!
As with other optical instruments, the LMS-Q280i
should be
protected from being shaken or knocked.

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Laser Mirror Scanner LMS-Q280i
Power supply:
Before operating the LMS-Q280i make sure that its case is
properly grounded.
The power supply cable is to be connected with a suitable
DC-
power supply with a maximum voltage of 32 V DC
(nominal 24 V DC).
The instrument must never
be connected to 110 or 230
VAC!
Opening the instrument is
unacceptable due to the danger
presented by the high voltages, and must therefore be
avoided at all costs.
The negative pole of the external line voltage is directly
connected to the instrument’s housing. This should be
remembered when connecting it to other instruments.
ANY USE OF THE LMS-Q280i IN CONTRADICTION TO THE
INSTRUCTIONS AS GIVEN IN THE MANUAL CAN BE DANGEROUS AND IS,
THEREFORE, STRICTLY FORBIDDEN!

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Laser Mirror Scanner LMS-Q280i
3.2 Electromagnetic Compatibility
ELECTROMAGNETIC COMPATIBILITY EN 61326
1
Laser scanner LMS-Q280i
meets or exceeds the requirements of the following
European Standards:
EN 61326-1 (1997) Electrical equipment for measurement, control and
laboratory use; EMC requirements; Part 1: General requirements
(IEC 61326-1:1997)
EN 61326/A1 (1998) Electrical equipment for measurement, control and
laboratory use; EMC requirements (IEC 61326:1997/A1:1998)
WARNING:
The LMS-Q280i is a class A equipment intended for industrial
environment. Therefore, it must not
The labeling of the LMS-Q280i
, which is affixed on the front side of the housing
of the instrument, meets the requirements of the commission’s guideline
89/336/EEC:
be used in residential, commercial
and light industry environment.
1) The tests have been run using default scanner parameter settings. The tests
have been performed using original RIEGL data and power supply cables,
powered with 24 V DC provided by an PbGel-Powerpack.
To maintain emission requirements when connecting to the I/O interface of the
LMS-Q280i use only a high-quality shielded data interface cable. The cable
shield must have low impedance connections to both connector housings.
Any changes or modifications to the standard equipment not expressly
approved by RIEGL as well as any non-observance if the directions for
installation may cause harmful interference and void the authorization to
operate this equipment.
The following table lists the applied standards and the performance criteria (see
also definition below) for the evaluation of the immunity test results:
CISPR 16-1 Edition 2.1: 2002
Specification for radio disturbance and immunity measuring apparatus and
methods; Part 1: Radio disturbance and immunity measuring apparatus
CISPR 16-2 Edition 1.2: 2002
Specification for radio disturbance and immunity measuring apparatus and
methods; Part 2: Methods of measurement of disturbances and immunity

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Laser Mirror Scanner LMS-Q280i
EN 61000-4-2 + A1 + A2 : 2002
Electromagnetic compatibility (EMC); Part 4-2: Testing and measurement
techniques - Electrostatic discharge immunity test (IEC 61000-4-2:1995 +
A1:1998 + A2:2001)
Performance Criterion B
EN 61000-4-3 + A1 + A2: 2002
Electromagnetic compatibility (EMC); Part 4-3: Testing and measurement
techniques - Radiated, radio frequency, electromagnetic field immunity test
(IEC 61000-4-3:1995 + A1:1998 + A2:2000)
Performance Criterion A
EN 61000-4-4 + A1 + A2: 2002
Electromagnetic compatibility (EMC); Part 4-4: Testing and measurement
techniques - Electrical fast transient/burst immunity test (IEC 61000-4-
4:1995 + A1:2000 + A2:2001)
Performance Criterion B
EN 61000-4-5 + A1: 2002
Electromagnetic compatibility (EMC); Part 4-5: Testing and measurement
techniques - Surge immunity test (IEC 61000-4-5:1995 + A1:2001)
Performance Criterion C
EN 61000-4-6 + A1: 2002
Electromagnetic compatibility (EMC); Part 4-6: Testing and measurement
techniques - Immunity to conducted disturbances, induced by radio
frequency fields (IEC 61000-4-6:1996 + A1:2000)
Performance Criterion A
EN 61000-4-8 + A1: 2002
Electromagnetic Compatibility (EMC); Part 4-8: Testing and Measurement
Techniques - Power Frequency Magnetic Field Immunity Test (IEC 61000-
4-8:1993 + A1: 2000)
Performance Criterion A
Definition of the performance criteria and acceptable degradations:
Performance Criterion A: during testing, normal performance within defined
limits
•additional distance depending range error up to ±10 cm;
•additional statistical range error up to ±25 cm;
•loss of range
•additional angle error up to ±1 °;
Performance Criterion B: during testing, temporary degradation or loss of
function or performance which is self-recovering
•loss or heavy degradation of functionalities during testing with self-
recovering after finishing the test;

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Laser Mirror Scanner LMS-Q280i
Performance Criterion C: during testing, temporary degradation or loss of
function or performance which requires operator intervention or system
reset occurs
•loss or heavy degradation of functionalities during testing with self-
recovering after finishing the test; a system reset may occur;
•loss or heavy degradation of functionalities which require simple user
intervention, e.g. replacement of a fuse, switching the device Off and On,
restoration of settings;

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Laser Mirror Scanner LMS-Q280i
3.3 Laser Safety
The laser scanner instrument LMS-Q280i is classified as Class 1 laser product
in compliance with the International Eye safety regulation IEC60825-
1:1993+A1:1997+A2:2001 and the European Eye safety regulation EN60825-
1:1994+A1:2002+A2:2001 Safety of Laser Products, Equipment Classification,
Requirements and User´s Guide.
Class 1: Lasers which are safe under reasonably foreseeable conditions of
operation, including the use of optical instruments for intrabeam viewing
(IEC60825-1:2001, Sub-clause 8.2).
The labeling of the LMS-Q280i meets the requirements of the above standard
(IEC60825-1:2001, sub-clause 5.1 and 5.2). It is affixed two times near the front
pane on the LMS-Q280i.
CAUTION! The invisible laser radiation inside
Aligning the infrared laser instrument with the lenses of CCD-cameras or
infrared night vision devices can result in damage to them and is therefore not
permitted.
Note: The laser beam exits the instrument via the front window as
indicated in the mechanical drawings.
IMPORTANT NOTE : This classification is based on the condition that the laser
beam is continuously scanned. The LMS-Q280i emits laser radiation only, when
in scanning operation. In case of any fault of the driving mechanism, the laser is
switched off immediately.
the instrument may
exceed the accessible emission limits of laser class 1, thus never
open the instrument’s housing
! Do not operate evidently damaged
instruments! If the instrument is handle
d incompetently, the
manufacturers absolve themselves from granting any guarantee or
insurance whatsoever.

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Laser Mirror Scanner LMS-Q280i
4 Operating Instructions
4.1 Preparing the Power Supply
•All ground terminals of data interfaces, control lines and power supply and
the housing are internally connected (common ground). Details are shown by
the following scheme:
RS232: RxD & TxD
laser safety lock
RS232: GND
RS422: (optional)R & T
GND output
+UB input
GND input
laser mirror scanner
housing = ground = GND input =
= GND RS232 (RS422 optional) =
= GND ECP port = GND output
(connections inside the instrument)
LMS-Q280
RS422: (optional)GND
ECP port data lines
ECP port GND
•The connections between the ground terminals and the housing, which are
within the instrument, are not suitable to drain off potential differences.
Therefore, further ground connections have to be provided during installation.
•The DC-power supply has to fulfill the requirements for ‘Limited Circuit’
according to EN 61010-1 and the requirements for ‘SELV’ circuits according
to EN 60950.
•The power supply cable is to be connected to a suitable DC power supply
with a voltage specified in chapter 5 Specifications. The negative pole of the
supply voltage has to be grounded.
•The LMS-Q280i is protected by 3 fuses (located on the rear plate of the
instrument), one for the range finder part electronics, one for the scanning
mechanism and one for the laser transmitter (for fuse types and ratings see
chapter 4.1.1). The current drain capacity of the power supply must be at
least three times the sum of the rated currents of the three fuses, so the
fuses can be activated reliably if necessary (for example, in the case of false
polarity).
•When using a long power supply cable, the drop of voltage should be
considered when adjusting the supply voltage. The negative pole of the
supply voltage should be connected to ground near the instrument.
•The internal resistance of the power supply must be low enough for the
supply voltage not to fall short below the minimum voltage of the instrument.
•The control inputs, analog and digital outputs, and the serial interface of the
laser mirror scanner may be connected only to equipment fulfilling the
requirements for ‘SELV’ circuits according to EN 60950.
•
For electromagnetic compatibility, use only original RIEGL power supply
cables and low-noise power supply units, which meet the relevant CE
requirements.

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Laser Mirror Scanner LMS-Q280i
4.1.1 Fuses
The laser scanner LMS-Q280i is equipped with 3 glass tube fuses. The fuse
holders are located at the rear side of the instrument.
Fig. 7 Fuse Holders LMS-Q280i
The fuse holders can be opened and closed by means of a coin used like a
screw driver.
Note: Replace a blown fuse only with specified type and rated fuse!
fuse holder for scanning mechanism
2.0 A quick-acting
(according to IEC60127 and EN60127)
fuse holder for laser module
1.25 A quick-acting
(according to IEC60127 and EN60127)
fuse holder for rangefinder electronics
1.0 A quick-acting
(according to IEC60127 and EN60127)