SICK LMS 200 Installation guide

Quick Manual
MST DEMO setup
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© SICK AG · Auto Ident · Germany · All rights reserved
Quick Manual for
MST Demo setup
Software setup
and configuration
Version 1.0 August 2002 (HW/MV)

Quick Manual
MST DEMO setup
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© SICK AG · Auto Ident · Germany · All rights reserved
Contents
A. INTRODUCTION 3
1. Basics of the LMS System 3
B. HARDWARE SETUP 4
1. Before you start ... : Required components 4
2. Power supply 5
3. Serial interface for data exchange 7
C. COMMUNICATION VIA MST DEMO 9
1. Principle of MST-Demo 9
2. Installation of MST 9
2. Communication LMS to PC with MST 10
3. Record LMS scan data 11
4. Re-play the stored data 12
5. Editing the Configuration file of the recorder 13
6.Transferring the file LMSData.dat to a LMSData.txt file 14
D. APPENDICES: 18
1. LMS in High-Speed Mode 18
2. Further information and documentation 20
! This is a quick start manual. For extended information please refer to the documents
listed in section D.4. !

Quick Manual
MST DEMO setup
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A. Introduction
1. Basics of the LMS System
The Laser Measurement System LMS 200, LMS
220, LMS 211, LMS 221, LMS 291 is based on a
time-of-flight measurement principle (Laser Radar).
A single Laser pulse is sent out and reflected by an
object surface within the range of the sensor. The
elapsed time between emission and reception of the
Laser pulse serves to calculate the distance between
object and LMS.
Via a integrated rotating mirror the Laser pulses
sweep a radial range in front of the LMS unit. A 2-
dimensional measurement field / detection area is
defined.
(For further details please refer to the Technical Description
Laser Measurement Systems SICK order no.: 8008970)
Main benefits of this measurement principle are:
•Detection of objects independent of object color
and surface structure
•Reliable detection of object presence
The Laser Measurement System LMS offers a
solution for a large range of applications:
•Determining the volumes of objects (measuring
packages, pallets, containers)
•Determining the position of objects (pallets,
containers, transport vessels)
•Collision prevention for vehicles or cranes
•Controlling docking processes (positioning)
•Classification of objects (vehicle detection, camera trigger)
•Process automation (e.g. calander rollers)
•Checking overhang/area monitoring in automated multi-storey car parks
•Determining the volumes or contours of bulk materials
•Monitoring open spaces for building security (facades, grounds, shafts)
•... and many more
Fig.1: Measurement principle LMS
Fig.2: Angular range LMS

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MST DEMO setup
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B. Hardware setup
1. Before you start ... : Required components
As a minimum requirement to set up an LMS sensor with a data connection to a PC, the following
components are required:
For LMS200/LMS291:
Item/Specification Description SICK order number
LMS200-30106 10158501 x LMS unit with cable
connectors LMS291-S05 1018028
1 x power supply 24 V DC +-
15%, min. 2.5 A Power supply DC 24V / 2.5 A 6010361
Cable set 1: 5 m length 20189641 x cable for power supply
and output signals (open
cable ends
1 x cable for data interface Cable set 2: 10 m length 2018965
For LMS211/LMS220/LMS221:
Item/Specification Description SICK order number
LMS211-30206 1018023
LMS220-30106 1015945
1 x LMS unit with cable
connectors LMS221-30206 1018022
1 x power supply 24 V DC +-
15%, min. 2.5 A for LMS
electronics
Power supply DC 24V / 2.5 A 6010361
1 x power supply 24 V DC +-
15%, min. 5 A for LMS
heating
Power supply DC 24V / 10 A 6011156
1 x cable for power supply
and output signals (open
cable ends
1 x cable for data interface
Cable set: 5 m length 2019561
Note: In case of longer cables, please source your own cable. Please make sure to use correct
cable diameters to avoid voltage drops along large cable lengths.
•Suitable brackets, mounting.
A laptop or desktop computer serves as user interface with the LMS unit. The computer is
connected via a serial interface:
•RS232 interface (up to 10 m cable length) (standard COM1 or COM2 in most computers)
•RS422 interface (up to 1200 m cable length) (special interface card required)
In case a high-speed data transmission is required, SICK offers special interface boards for 500
kBaud transmission rate. For details and information please refer to section D.2.

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MST DEMO setup
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2. Power supply
The LMS unit is supplied with 24 V DC +/- 15%. Depending on the length of the power supply
cable, the power supply needs to provide sufficient current.
Due to the LMS models, connection diagrams are different for LMS200/LMS291 and
LMS220/211/221.
a. For LMS 200 / LMS 291
LMS 200
LMS 291
Control Cabinet
Power Supply
24 V DC
Pin assignment:
Pin
No. Signal designation Input/ Output Wire color
1GND_EXT (ground) Supply brown
2Restart Input blue
3VCC_EXT (24V DC +- 15%) Supply red
4Not connected - -
5OUT C (for field detection)/
weak signal Output grey
6Not connected - -
7Not connected - -
8OUT B (for field detection) Output turquoise
9OUT A (for field detection) Output orange
Note: Minimum connections marked in bold
PIN 5 / 8 / 9 cannot be used for data processing purposes with the LMS sensor

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MST DEMO setup
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b. For LMS 211 / LMS 220 / LMS 221
LMS 211
LMS 220
LMS 221
Control Cabinet
Power Supply
24 V DC
Heating
Electronics
Power Supply
24 V DC
Pin assignment:
Pin
No. Signal designation Input/ Output Remark
1RxD- Interface
2RxD+ Interface
3RS232/RS422 Jumper 1 With jumper àRS422
Without jumper àRS232 (default)
4GND_EXT for heating Supply
5Flap control Input For flap control details please refer to
technical description
6Not connected -
7OUT C (for field detection)/
weak signal Output
8GND_EXT for electronics Supply
9TxD- Interface
10 TxD+ Interface
11 RS232/RS422 Jumper 2
12 VCC_EXT for heating Supply
13 OUT A (for field detection) Output
14 OUT A (for field detection) Output
15 Restart
16 VCC_EXT for electronics Supply
Note: Minimum connections marked in bold
Use separate cables for connecting the scanner electronics and the heating.
Fig.2: Connections on backplane of LMS211/LMS220/LMS221

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MST DEMO setup
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3. Serial interface for data exchange
For data exchange in measuring tasks, the LMS is equipped with a serial RS 232 / RS 422
interface.
By setting a jumper, RS422 or RS232 can be enabled. Default setting is RS232.
a. Connection of the RS 232 interface.
1. For LMS 200 / LMS 291:
Pin assignment:
LMS PC
Signal designation PIN No. PIN No. Signal designation
Not connected 1 1 NC
RxD 2 2 RxD
TXD 3 3 TXD
Not connected 4 4 Not connected
GND 5 5 GND
Not connected 6 6 Not connected
Not connected 7 7 Not connected
Not connected 8 8 Not connected
Not connected 9 9 Not connected
Note: PINs 2 and 3 are crossed in the cable.
The connector at the PC side is a 9 pin DSub
2. For LMS 211 / LMS 220 / LMS 221
Note: The connector at the PC side is a 9 pin DSub
Fig.3: Wiring of the RS232 for LMS211/LMS220/LMS221

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MST DEMO setup
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b. Connection of the RS 422 interface
1. For LMS 200 / LMS 291
Pin assignment:
LMS PC
Signal designation PIN No. PIN No. Signal designation
RxD- 1 1 RxD-
RxD+ 2 2 RxD+
TxD- 3 3 TxD-
TxD+ 4 4 TxD+
GND 5 5 GND
Not connected 6 6 Not connected
Jumper 1 7 7 Not connected
Jumper 2 8 8 Not connected
Not connected 9 9 Not connected
Note: As there is no standard for RS422 connector pinning, please check the signal
assignments of your RS422 interface card to the respective PINs. Refer to the
documentation of your RS422 interface board manufacturer.
In case of deviations, change the cable assignments accordingly.
For selection of the RS422, there needs to be a jumper connection between between
PINs 7 and 8 on the LMS side inside the cable connector.
PINs 2 and 3 are crossed in the cable, PINs 1 and 4 are crossed in the cable. It is
recommended to use twisted pair cables for RS422 connections.
2. For LMS 211 / LMS 220 / LMS 221
Note: For selection of the RS422, there needs to be a jumper connection between between
PINs 3 and 11 on the LMS side in the cable connector.
PINs 2 and 3 are crossed in the cable, PINs 1 and 4 are crossed in the cable. It is
recommended to use twisted pair cables for RS422 connections.
Fig.3: Wiring of the RS232 for LMS211/LMS220/LMS221

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MST DEMO setup
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C. Communication via MST Demo
1. Principle of MST-Demo
The MST Demo Tool is made for two main purposes. Primarily it demonstrates what can be done
with the software package MST 200 and what functions are available for custom software
development. On the other hand it is a tool for quick and easy recording of scans for a
preliminary data evaluation. The feasibility of the LMS sensor as a data source for a specific
application can be evaluated with this tool.
2. Installation of MST
MST is delivered as a ZIP file. Please create a dedicated MST home directory on your harddrive.
After unpacking the ZIP file into the home directory, you get the following file structure.
By starting MSTDemo.exe you will get the MST start screen with an active menu (Start | Options).

Quick Manual
MST DEMO setup
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2. Communication LMS to PC with MST
MST Provides a simple data connection. The Hardware connection between PC and LMS is
shown in section B3.
Please select Options in the start window and set your connection parameters.
Note: Always select 9600Bd . MST will automatically use the highest Baud rate possible
when started.
The Software is now ready.
Within the Start button you will have several applications which can be started.
For every application MST_Demo will create a configuration file in the MST home directory. This
configuration file is a text file and can be edited with every editor.
In this quick start manual the application Record LMS scan data and Play back LMS scan data
are discussed. The other applications follow the same idea by principle.

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MST DEMO setup
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3. Record LMS scan data
The message at the first start of the MST recorder is:
after pressing the OK button the scan is displayed and directly stored in the file LMSDATA.dat in
the MST home directory (discussed later). The screen should look like this:
By pressing the stop record button the recording will stop.
Note: By default the data file is limited to 500 Kbyte.
Zoom
Stop record Button

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MST DEMO setup
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To re-play the recorded data, close the application in the start button by selecting Close
application.
4. Re-play the stored data
By pressing start again and selecting Play back LMS scan data the recorded data is displayed.
Depending on your computer hardware it is displayed faster than during the actual recording.
Remember, if this is the first time you start the player it will create a new configuration file for the
player. In this case you will see:

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MST DEMO setup
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After accepting the next screen looks similar to the following:
The player will show scan after scan in a endless loop. By pressing the quick button Stop you
stop at the first scan of the recording. In the lower left corner of the display the data rate of the
RECORDING is indicated.
5. Editing the Configuration file of the recorder
The configuration file can be edited via a standard text editor. To provide an easier configuration
change you find possible configurations as pre-sets for the different measurement modes in a
separate directory structure under \Configuration_LMS. By copying the required file
(LMSRecorder.cfg) into the MST home directory, the new configuration is used by the LMS upon
the next start-up of the MST Recorder. The default settings can be restored by deleting the all
configuration files (extension .cfg) from the MST home directory.
Default created by the first record task (no LMSRecorder.cfg in the MST home directory):
Default mode
Angular range Angular resolution Measurement range
0° .. 180° 0,5° 8 m
The \Configuration_LMS directory structure contains the following setup files, which are available
to use the LMS in the various measurement modes. Copy the file LMSRecorder.cfg as described.
Angular range Angular
resolution Measurement range Path in directory
0° .. 180° 1° 8 m Home directory/LMS_8_M/LMS_100_180
0° .. 180° 0.5° 8 m Created by default
0° .. 100° 0.25° 8 m Home directory/LMS_8_M/LMS_025_100
0° .. 180° 0.25° 8 m Home directory/LMS_8_M/LMS_025_180
0° .. 180° 1° 32 m Home directory/LMS_32_M/LMS_100_100
0° .. 180° 0.5° 32 m Home directory/LMS_32_M/LMS_050_100

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MST DEMO setup
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0° .. 100° 0.25° 32 m Home directory/LMS_32_M/LMS_025_100
0° .. 180° 0.25° 8 m Home directory/LMS_32_M/LMS_025_180
The configuration 180° with 0,25° leads to a special data output format which will be discussed
later.
6.Transferring the file LMSData.dat to a LMSData.txt file
By starting the recorder automatically a new file LMSDATA.dat is created. This file is only
readable by MST Software. To generate a readable text file, MST Demo provides an integrated
conversion function. Close all open applications and select the LMS Recorder file conversion
function in the Options menu.
Press the “Find” button and select the LMSdata.dat file.

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MST DEMO setup
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Press the Open button and then continue (if the displayed path is correct for your conversion file)
The next window shows the parameters for the conversion:
If you use the standard configuration you don’t have to change anything.

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MST DEMO setup
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Note:
For the 32 m configuration you have to change the item bit mask to 32767
Press conversion to start the conversion process. Now you will find a LMSdata.txt in your home
directory.
This text file can be read by any editor for text. If you use for example ‘Microsoft EXCEL’ you will
get the values in a logical order.
As an example:
In default setting of 0,5° resolution and 180° angular view you get a similar picture. In the
displayed example you find the first distance data point of the 0° shot at cell E4. E5 shows the
0,5° shot . E6 shows the 1° shot and so on. The row 5 shows the next scan. The following table
shows the number of distance values you receive per scan.

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MST DEMO setup
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LMS mode
Angular
range Angular resolution
Number of transferred
measurement data values
0°..100° 1° 101
0°..100° 0.5° 201
0°..180° 1° 181
0°..180° 0.5° 361
0°..180° 0.25° 4 packages of 181
There is one specialty in the data display if you select the mode for 0,25° resolution and 180°
angular view. In this mode the scanner is in the so-called interlaced mode. Due to hardware
reasons the scanner transfers the data in four separate packages. Every package has an angular
shift to the preceding package of 0,25 °. In this case your file looks similar to the following:
The column D in line 4 shows values from 1 to 4. The number ‘1’ in row D indicates there are 181
values following starting with 0°;1°; 2°........180°. The number ‘2’ in row D indicates there are 180
values following starting with 0,25°; 1,25°; 2,25°.......179,25°. The number ‘3’ in row D indicates
there are 180 values following staring with 0,5°;1,5°; 2,5°......179,5°. And finally the number ‘4’ in
row D indicates there are 180 values following starting with 0,75°; 1,75°; 2,75°...... 179,75°. The
positive effect is in case of limitations of your editor due to the amount of columns you will only
get a maximum of 185 columns per scan.
Note: It is possible that MS Excel does not allow you to open more than 255
columns per file. In this case use the configuration above (0.25°,180°).

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MST DEMO setup
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D. Appendices:
1. LMS in High-Speed Mode
Warning: Once the LMS baudrate is changed to 500 kBaud, it isnot possible to
communicate with the LMS without the MOXA high-speed serial interface
card!
To return to the default baud setting of 9600 baud, it is necessary to restart
the LMS (power off/on).
To use the high-speed LMS communication mode, it is necessary to use one of the following
special serial communication boards as supplied by SICK:
Item/Specification Description SICK order number
MOXA card for 500 kBaud
(ISA bus (old PC standard))2 x RS422, opto-decoupled, high-speed (500 kBaud) 6011807
Quatech card for 500 kBaud
(PCI bus(new PC standard))2 x RS 422, high Speed (500kBaud) 6022515
PCMCIA card for 500 kBaud
SIO-card RS485-SICK Order at: CSM GmbH
Raiffeisenstrasse 34, 70794 Filderstadt
Germany, Tel.: ++49 71177964-0
Connection to the LMS data interface cable:
Both PC cards have 9 pin connectors to connect a data interface cable.
However different pinnings apply for the MOXA and the Quatech cards!

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MST DEMO setup
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a. MOXA card
The MOXA card provides 2 serial RS422 interfaces for 500 kBaud. The card can be installed
in PCs which have a free ISA-bus adaptor.
b. Quatech card
The Quatech card provides two serial RS422 interfaces for 500 kBaud. The card can be
installed in PCs which have a free PCI-bus adaptor.
LMS 200
LMS 291
Cable
1TxD-
2TxD+
3RXD+
4RXD-
5GND
1RxD-
2RxD+
3TXD+
4TXD-
5GND
9 pol SUB D
female
MOXA
Interface
Card
Sick connector
# 2018963
male
Fig.: Pinning of the data interface MOXA card àLMS
Note: !! PIN 7 and PIN 8 need to bee linked together in SICK Connector!!
! RS 422 can only be used if the pinning fits to the PC side!
Cable
2 wires open
LMS 211
LMS 22X
Cable
8RxD-
4RxD+
2TXD+
7TXD-
3GND
2RxD+
1RxD-
9TXD-
10 TXD+
Shield
16 +24V
8GND
9 pol SUB D
male
Quatech
Interface
Card
SICK Connector
# 2018301
female
Fig.: Pinning of the data interface Quatech card àLMS211/LMS220/LMS221
Note: !! PIN 3 and PIN 11 need to bee linked together in SICK Connector!!
! RS 422 can only be used if the pinning fits to the PC side!
LMS 200
LMS 291
Cable
7TxD-
2TxD+
4RXD+
8RXD-
3GND
1RxD-
2RxD+
3TXD+
4TXD-
5GND
9 pol SUB D
male
Quatech
Interface
Card
9 pol SUB D
male
Fig.: Pinning of the data interface Quatech card àLMS200/LMS291
Note: !! PIN 7 and PIN 8 need to bee linked together in SICK Connector!!
! RS 422 can only be used if the pinning fits to the PC side!

Quick Manual
MST DEMO setup
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Note: After setting the LMS baudrate of 500 kBaud, change your PC program to access
to the LMS via the MOXA high-speed serial interface card. It is required to use the
MOXA card to change the baudrate back to a lower value. Another possible way to
reset the LMS back to 9600 baud is power off/on.
The MOXA, Quatech and PCMCIA cards operate with a NON-STANDARD
baudrate. When using own software (i.e. setcom() routines in C++) to set the
baudrate of these cards, it is not possible to use the standard setting values. To
set the target baudrate of 9600,19200, 38400 or 500k, use the respective baudrate
values as indicated in the table below.
Target baudrate àà 9600 19200 38400 500k
MOXA and Quatech
card 1075 2212 4300 56000 Use baudrate
value PCMCIA
SIO-RS485-SICK 2150 4301 8602 115000
Note: When using SICK software for LMS (LMSIBS or MST driver) the above
values are already implemented.
Benefit of the 500 kBaud communications mode:
The LMS collects measurement data of the defined scan range 75 times per second. In the
180°/0.5° resolution mode, there are 361 measurement values (2 bytes per value plus
framing) per scan. (refer to D.2. LMS output format for details)
Due to the large quantity of data generated by the LMS, it is ONLY possible to transfer all
acquired data in the 500 kBaud communications mode. In lower speed communications
modes, only a subset of the actually acquired data is transferred via the serial interface.
This means, to use the full capabilities of the LMS, it is necessary to use the MOXA high-
speed serial interface card for PC communication.
2. Further information and documentation
For more detailed information on LMS, the following documents are available from SICK.
•Technical Description Laser Measurement Systems
SICK order no.: 8 008 970
•Telegram listing
(only on request)
•Technical Description Measurement Software Tool MST 200 for PC Version 2.0
SICK order no.: 8 008 464
•MST Demo Manual and Software
(only on request)
In case of questions or orders, please do not hesitate to contact your local SICK
representative.