SICK LD-MRS User manual

OPERATING INSTRUCTIONS
LD-MRS
3D LiDAR sensor

Described product
LD-MRS
•LD-MRS400001 (standard version)
•LD-MRS400102 (heavy-duty version)
•LD-MRS420201 (UAV version with lightweight housing)
•LD-MRS800001 (standard version with 8 levels)
•LD-MRS820301 (lite version with 8 levels)
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be
reserved for SICK AG. Reproduction of this document or parts of this document is
only permissible within the limits of the legal determination of Copyright Law. Any modi‐
fication, abridgment or translation of this document is prohibited without the express
written permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.
Original document
This document is an original document of SICK AG.
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Contents
1 About this document........................................................................ 5
1.1 Information on the operating instructions.............................................. 5
1.2 Explanation of symbols............................................................................ 5
1.3 Further information................................................................................... 6
2 Safety information............................................................................ 7
2.1 Intended use............................................................................................. 7
2.2 Improper use............................................................................................. 8
2.3 Cybersecurity............................................................................................ 8
2.4 Limitation of liability................................................................................. 8
2.5 Modifications and conversions................................................................ 8
2.6 Requirements for skilled persons and operating personnel.................. 9
2.7 Operational safety and specific hazards................................................. 9
3 Product description........................................................................... 11
3.1 Scope of delivery....................................................................................... 11
3.2 Type label.................................................................................................. 11
3.3 Principle of operation............................................................................... 11
3.3.1 Measurement principle........................................................... 11
3.3.2 Distance measurement........................................................... 12
3.3.3 Impact of object surfaces on the measurement................... 12
3.3.4 Scanning range........................................................................ 14
3.3.5 Object sizes.............................................................................. 15
3.3.6 Working range and angle dependence of the scanning
range......................................................................................... 16
3.3.7 Multi-layer technology.............................................................. 17
3.3.8 Angular resolution and scanning frequency.......................... 18
3.3.9 Distance between the device and the object/surface to be
measured................................................................................. 22
3.3.10 Multi-echo analysis.................................................................. 23
3.3.11 Field application....................................................................... 23
3.3.12 Data interface.......................................................................... 28
3.3.13 Communicating data via telegrams........................................ 28
3.3.14 Object tracking (LD-MRSxxxxS01/LD-MRS420201 only)... 29
4 Transport and storage....................................................................... 34
4.1 Transport................................................................................................... 34
4.2 Unpacking.................................................................................................. 34
4.3 Transport inspection................................................................................. 34
4.4 Storage...................................................................................................... 34
5 Mounting............................................................................................. 35
5.1 Mounting instructions............................................................................... 35
5.2 Mounting the device................................................................................. 35
5.3 Mounting multiple devices....................................................................... 35
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5.4 Overhead mounting (LD-MRS8xxxxx only).............................................. 35
5.5 Boundary conditions for integration........................................................ 36
6 Electrical installation........................................................................ 37
6.1 Wiring instructions.................................................................................... 37
6.2 Prerequisites for safe operation of the device........................................ 37
6.3 Overview of the installation steps............................................................ 39
6.4 Connection diagram................................................................................. 40
7 Commissioning.................................................................................. 42
7.1 Overview of the commissioning steps..................................................... 42
7.2 SOPAS ET configuration software............................................................ 42
7.3 Establishing communication with the device......................................... 43
7.4 Initial commissioning................................................................................ 44
7.5 Connecting and performing a test measurement.................................. 45
7.6 Synchronization......................................................................................... 46
7.6.1 Synchronization details........................................................... 47
7.6.2 Synchronization systems......................................................... 49
7.6.3 Hardware-based synchronization........................................... 49
7.6.4 Software-based synchronization............................................. 50
7.7 ROS driver................................................................................................. 50
8 Maintenance...................................................................................... 52
8.1 Maintenance plan..................................................................................... 52
8.2 Cleaning..................................................................................................... 52
9 Troubleshooting................................................................................. 54
9.1 General faults, warnings, and errors....................................................... 54
9.2 Repairs...................................................................................................... 55
9.3 Returns...................................................................................................... 56
9.4 Disposal..................................................................................................... 56
10 Technical data.................................................................................... 57
10.1 Features.................................................................................................... 57
10.2 Mechanics/Electronics............................................................................. 60
10.3 Dimensional drawing................................................................................ 61
10.4 Performance............................................................................................. 62
10.5 Interfaces.................................................................................................. 62
10.6 Ambient data............................................................................................. 63
11 Accessories........................................................................................ 64
12 Annex.................................................................................................. 65
12.1 Declarations of conformity and certificates............................................ 65
12.2 Licenses.................................................................................................... 65
CONTENTS
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1 About this document
1.1 Information on the operating instructions
These operating instructions provide important information on how to use devices from
SICK AG.
Prerequisites for safe work are:
•Compliance with all safety notes and handling instructions supplied.
•Compliance with local work safety regulations and general safety regulations for
device applications
The operating instructions are intended to be used by qualified personnel and electrical
specialists.
NOTE
Read these operating instructions carefully to familiarize yourself with the device and its
functions before commencing any work.
The operating instructions are an integral part of the product. Store the instructions
in the immediate vicinity of the device so they remain accessible to staff at all times.
Should the device be passed on to a third party, these operating instructions should be
handed over with it.
These operating instructions do not provide information on the handling and safe
operation of the machine or system in which the device is integrated. Information on
this can be found in the operating instructions for the machine or system.
1.2 Explanation of symbols
Warnings and important information in this document are labeled with symbols. Sig‐
nal words introduce the instructions and indicate the extent of the hazard. To avoid
accidents, damage, and personal injury, always comply with the instructions and act
carefully.
DANGER
…indicates a situation of imminent danger, which will lead to a fatality or serious
injuries if not prevented.
WARNING
…indicates a potentially dangerous situation, which may lead to a fatality or serious
injuries if not prevented.
CAUTION
…indicates a potentially dangerous situation, which may lead to minor/slight injuries if
not prevented.
NOTICE
…indicates a potentially harmful situation, which may lead to material damage if not
prevented.
NOTE
…highlights useful tips and recommendations as well as information for efficient and
trouble-free operation.
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1.3 Further information
More information can be found on the product page.
The page can be accessed via the SICK Product ID: pid.sick.com/{P/N}/{S/N}
{P/N} corresponds to the part number of the product, see type label.
{S/N} corresponds to the serial number of the product, see type label (if indicated).
The following information is available depending on the product:
•Data sheets
•This document in all available language versions
•CAD files and dimensional drawings
•Certificates (e.g., declaration of conformity)
•Other publications
•Software
•Accessories
1 ABOUT THIS DOCUMENT
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2 Safety information
2.1 Intended use
The LD-MRS is a non-contact multi-plane LiDAR sensor for industrial use, especially
outdoors.
As an intelligent sensor based on time-of-flight technology, it scans its surroundings
horizontally by rotating laser beams in up to 8 scan planes vertically, one above the
other. It offers a radial field of view with an aperture angle of 85° for up to 8 scan
planes. The field of view can be extended to a total of 110°, the LD-MRS uses 2 or 4
of the 4 or 8 scan planes for the additional part of the area. Using the scan planes, the
LD-MRS records the distance and position of the objects to itself (measurement origin)
as an ambient profile.
Using its Ethernet interface, the LD-MRS continuously outputs the calculated data of
the scans as raw data on request for processing in a software application.
In addition, the LD-MRS can monitor up to 16 freely definable detection fields (areas).
It signals violations of individual fields, also when combined as part of a logical evalu‐
ation strategy, in definable evaluation cases via max. 10 external switching outputs.
These are achieved with the help of max. 2 CAN modules (accessories).
The LD-MRS enables two applications with its radial field of view:
•Detection of objects around the position or assembly site with continuous output
of measurement data as requested
•Field monitoring of freely defined areas with signaling of object detections via
external switching outputs
The LD-MRS detects objects in the field of view.
The following fields of application are possible:
•Container loading/handling
•Traffic/Transport
•Robotics/UAV
•Collision protection
•Autonomous vehicles in surface mining
•Safety monitoring
•Topography and urban surveying
The LD-MRS 3D LiDAR sensor is intended for use in industrial environments only. Radio
interference may arise when used in residential areas.
In measuring mode, the determined measurement data can be used by an external
processing function for the determination and examination of objects. In field monitor‐
ing, external switching outputs signal the change of monitored areas (fields). For this
purpose, evaluation cases with application-specific evaluation strategies can be defined
per detection field, assigned to the switching outputs and also combined. Combinator‐
ics of two switching inputs activates a certain evaluation case only if required.
The object tracking provides pre-processed object data. Up to 64 objects can be proc‐
essed in parallel in the device. Dynamic parameters such as direction, speed and even
acceleration are available for each object. This data is available when vehicle data (ego
motion data) is provided.
SICK AG assumes no liability for losses or damage arising from the use of the product,
either directly or indirectly. This applies in particular to use of the product that does not
conform to its intended purpose and is not described in this documentation.
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2.2 Improper use
Any use outside of the stated areas, in particular use outside of the technical specifica‐
tions and the requirements for intended use, will be deemed to be incorrect use.
•The device does not constitute a safety component in accordance with the respec‐
tive applicable safety standards for machines.
•The device must not be used in explosion-hazardous areas, in corrosive environ‐
ments or under extreme environmental conditions.
•Any use of accessories not specifically approved by SICK AG is at your own risk.
WARNING
Danger due to improper use!
Any improper use can result in dangerous situations.
Therefore, observe the following information:
■Product should be used only in accordance with its intended use.
■All information in the documentation must be strictly observed.
■Shut down the product immediately in case of damage.
2.3 Cybersecurity
Overview
To protect against cybersecurity threats, it is necessary to continuously monitor and
maintain a comprehensive cybersecurity concept. A suitable concept consists of organi‐
zational, technical, procedural, electronic, and physical levels of defense and considers
suitable measures for different types of risks. The measures implemented in this
product can only support protection against cybersecurity threats if the product is used
as part of such a concept.
You will find further information at www.sick.com/psirt, e.g.:
•General information on cybersecurity
•Contact option for reporting vulnerabilities
•Information on known vulnerabilities (security advisories)
2.4 Limitation of liability
Relevant standards and regulations, the latest technological developments, and our
many years of knowledge and experience have all been taken into account when
compiling the data and information contained in these operating instructions. The
manufacturer accepts no liability for damage caused by:
■Non-adherence to the product documentation (e.g., operating instructions)
■Incorrect use
■Use of untrained staff
■Unauthorized conversions or repair
■Technical modifications
■Use of unauthorized spare parts, consumables, and accessories
2.5 Modifications and conversions
NOTICE
Modifications and conversions to the device may result in unforeseeable dangers.
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Interrupting or modifying the device or SICK software will invalidate any warranty claims
against SICK AG. This applies in particular to opening the housing, even as part of
mounting and electrical installation.
2.6 Requirements for skilled persons and operating personnel
WARNING
Risk of injury due to insufficient training.
Improper handling of the device may result in considerable personal injury and material
damage.
■All work must only ever be carried out by the stipulated persons.
The following qualifications are required for various activities:
Table 1: Activities and technical requirements
Activities Qualification
Mounting, maintenance ■Basic practical technical training
■Knowledge of the current safety regulations in the workplace
Electrical installation,
device replacement
■Practical electrical training
■Knowledge of current electrical safety regulations
■Knowledge of the operation and control of the devices in their
particular application
Commissioning, configura‐
tion
■Basic knowledge of the computer operating system used
■Basic knowledge of the design and setup of the described
connections and interfaces
■Basic knowledge of data transmission
Operation of the device for
the particular application
■Knowledge of the operation and control of the devices in their
particular application
■Knowledge of the software and hardware environment for the
particular application
2.7 Operational safety and specific hazards
Please observe the safety notes and the warnings listed here and in other sections
of this product documentation to reduce the possibility of risks to health and avoid
dangerous situations.
CAUTION
Optical radiation: Class 1 Laser Product
The accessible radiation does not pose a danger when viewed directly for up to 100
seconds. It may pose a danger to the eyes and skin in the event of incorrect use.
■Do not open the housing. Opening the housing may increase the level of risk.
■Current national regulations regarding laser protection must be observed.
Caution – Use of controls or adjustments or performance of procedures other than
those specified herein may result in hazardous radiation exposure.
It is not possible to entirely rule out temporary disorienting optical effects, particularly
in conditions of dim lighting. Disorienting optical effects may come in the form of 
dazzle, flash blindness, afterimages, photosensitive epilepsy, or impairment of color
vision, for example.
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WARNING
Electrical voltage!
Electrical voltage can cause severe injury or death.
■Work on electrical systems must only be performed by qualified electricians.
■The power supply must be disconnected when attaching and detaching electrical
connections.
■The product must only be connected to a voltage supply as set out in the require‐
ments in the operating instructions.
■National and regional regulations must be complied with.
■Safety requirements relating to work on electrical systems must be complied with.
WARNING
Risk of injury and damage caused by potential equalization currents!
Improper grounding can lead to dangerous equipotential bonding currents, which may
in turn lead to dangerous voltages on metallic surfaces, such as the housing. Electrical
voltage can cause severe injury or death.
■Work on electrical systems must only be performed by qualified electricians.
■Follow the notes in the operating instructions.
■Install the grounding for the product and the system in accordance with national
and regional regulations.
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3 Product description
3.1 Scope of delivery
The delivery of the device includes the following components:
Table 2: Scope of delivery
Item Component Comments
1 Device in the version ordered Depending on version
Without connecting cables and brackets
1 Set of protective caps for electri‐
cal connections
Attached to the connections
1 Printed safety notes, multilin‐
gual
Quick guide and general safety notes
3.2 Type label
The type label gives information for identification of the device.
LD-MRS400001S01
P/N: 1052960
1
3
4
2
5
DC 9V...30V typ.8W
Figure 1: LD-MRS type label (example)
1Conformity mark/certification mark
2Voltage supply, typical power, max. power, operating temperature, enclosure rating
3MAC address
4Manufacturer
5Production location, note: Do not remove type label
6Production date
7Part number
8Serial number
9Data Matrix code with product data and link to product page
ßType code
3.3 Principle of operation
3.3.1 Measurement principle
The device is an optoelectronic LiDAR sensor that contactlessly scans the outline of its
surroundings with the help of laser beams. The device measures its surroundings in
two-dimensional polar coordinates, relative to its measurement origin. This is marked
by a circular indentation in the center of the optics cover. If a laser beam strikes an
object, the position of that object is determined in terms of distance and angle.
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Figure 2: LiDAR sensor with 8 scan layers
Figure 3: LiDAR sensor with 4 scan layers
3.3.2 Distance measurement
The device emits beams pulsed by a laser diode. If the laser beam is reflected by an
object, the reflected beam is received by the sensor.
The distance to the object is calculated on the basis of the time that the pulsed light
beam requires to be reflected and received by the sensor.
t
1 2
1Emitted pulse
2Receive pulse
3.3.3 Impact of object surfaces on the measurement
Reflection
Most surfaces produce a diffuse reflection of the laser beam in all directions. The
structure (smooth or rough), shape (flat or curved), and color (light or dark) of the
surface determine how well the laser beam is reflected.
On very rough surfaces, a large proportion of the energy is lost due to absorption.
Curved surfaces produce a higher diffusion. Dark surfaces reflect the laser beam worse
than light ones (brilliant white plaster reflects approx. 100% of the light, while black
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foam rubber reflects approx. 2.4%). The aforementioned surface characteristics can
reduce the scanning range of the device, in particular for surfaces with low remission
values.
Figure 4: Reflection of light on the surface of the object
Angle of reflection
The angle of reflection corresponds to the angle of incidence. If the laser beam hits
a surface at right angles, the energy is optimally reflected. If the laser beam hits a
surface at an oblique angle, energy and range are lost accordingly.
Figure 5: Angle of reflection
Retroreflection
If the reflective energy is greater than 100%, the beam is not reflected diffusely in all
directions; instead it is reflected in a targeted way (retroreflection). Thus a large part of
the emitted energy can be received by the laser distance measurer. Plastic reflectors
(cat’s eyes), reflective tape, and triple prisms have these properties.
Figure 6: Retroreflection
Reflective surfaces
The laser beam is almost completely deflected on reflective surfaces. This means that
an object hit by the deflected beam may be detected instead of the reflective surface.
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Figure 7: Specular surfaces
Small objects
Objects that are smaller than the diameter of the laser beam cannot reflect the laser
light’s full energy. The portion of the light beam that does not reach the object is lost. If
all of the light reflected to the sensor is insufficient, the object may not be detected.
The portion of the light that does not reach the front object can be reflected by a larger
object in the background. If all of the light reflected to the sensor is sufficient, this
object is detected. This can lead to a corruption of the measured value.
Figure 8: Object smaller than the laser beam diameter
3.3.4 Scanning range
The scanning range of the device depends on the remission of the object to be
detected. The better a surface reflects the incident beam back to the device, the
greater the scanning range of the device.
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Scanning range [m] 1
Remission [%] 2
3
4
Figure 9: Scanning range as a function of object remission for various ambient light influences
(no filter activated; no influence from fog, rain or dust)
1Scanning range in m
2Remission in %
3Values for LD-MRS400001, LD-MRS400001S01, LD-MRS420201, LD-MRS800001
4Values for LD-MRS400102, LD-MRS400102S01, LD-MRS820301
3.3.5 Object sizes
As the distance from the device increases, the laser beam expands. As a result, the
diameter of the light spot on the surface of the object increases.
Values required to calculate the light spot size:
•Light spot size on the device cover: 7mm (rounded up)
•Divergence of 1 light spot: 0.59deg (10.4mrad)
Formula for calculating the light spot width:
(Light spot divergence [mrad] + HDDM+ supplement [mrad]) x distance [mm] + light
spot size on the device cover [mm] = light spot width [mm]
Example calculation of the light spot width at a distance of 16m (16000mm):
Formula for calculating the height of the light spot:
Light spot divergence [mrad] x Distance [mm] + Light spot height at the n device cover
[mm] = Light spot width [mm]
Example calculation of the light spot height at a distance of 16m (1,600mm):
10.4mrad * 16,000mm + 7mm = 173.4mm
Formula for calculating the minimum object size:
(Light spot divergence [mrad] + angular resolution [mrad]) x distance [mm] + light spot
height on the device cover [mm] = minimum object size [mm]
Example calculation of the minimum object size at a distance of 16m (16,000mm):
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NOTE
For reliable measurement, in particular when using the device to output measured
values, the laser needs to hit the object several times. Therefore, the object either
needs to be larger than the minimum object size, or both the LiDAR sensor and the
object must not be moving.
3.3.6 Working range and angle dependence of the scanning range
Working range
The device is designed with a central working range of 85° for four scan planes. The
working range can be extended between +35° and +50° or -50° and -60° to a total of
110°. In the lateral working range, only two scan planes are available instead of four.
12
3
Figure 10: Working range
1Central working range (green)
2Lateral working range (light green)
3Device
Angle dependence of the scanning range
Due to the optical design of the device, the scanning range of the working range
depends on the angle.
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1
2
3
4
Figure 11: Angle dependence of the scanning range 1).
1Curve progression of the upper levels (scan planes 1 and 2)
2Curve progression of the lower levels (scan planes 3 and 4)
3Angle in °
4Scanning range in %
3.3.7 Multi-layer technology
The multi-layer technology of the device uses four scan layers at different vertical
angles to compensate for pitch angle, for example when the device is attached to a
vehicle. This enables the device to reliably detect an object even, for example, when the
vehicle accelerates or brakes.
Figure 12: Multi-layer technology
1LiDAR sensor
2Scan layers
3Object
1) The angle dependence of the scanning range differs slightly in the LD-MRS HD from that of the LD-MRS
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The photodiode receiver of the device consists of a linear array of four independent
receivers. The multilayer technology is achieved through these four receivers. Each
scan planes is assigned a receiver so that the vertical aperture angle is divided into
four scan planes.
1 2 3
Figure 13: Scan plane principle
1Vertical aperture angle
2One of the four scan planes
3Device
These four scan planes are scanned in an interlaced pattern. This means that the
combinations of two scan planes (e.g. first the yellow and the green together, then the
blue and the red together) are scanned one after the other, see "Angular resolution and
scanning frequency", page 18.
Table 3: Naming convention
Plane Echo 1 Echo 2 Echo 3 (not LD-
MRS820301)
Yellow Scan plane 4 Scan plane 4 Scan plane 4
Green Scan plane 3 Scan plane 3 Scan plane 3
Blue Scan plane 2 Scan plane 2 Scan plane 2
Red Scan plane 1 Scan plane 1 Scan plane 1
Color tones visualize the scan planes and color saturations the echoes. The table 3
represents the defined naming convention for the respective scan layer and its default
color, which are used for visualization. The saturation of the color in the visualization
decreases from echo to echo.
3.3.8 Angular resolution and scanning frequency
The device can be operated at three different scanning frequencies (12.5 Hz, 25 Hz
and 50 Hz), for which different angular resolution settings are possible. These parame‐
ters can be configured by the user.
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Angular resolution
Figure 14: Angular resolution
Two scan planes are measured and evaluated simultaneously. If, for example, an angu‐
lar resolution of 0.125° is specified for a particular area, this means that there is an
angular increment of 0.125° between the two scan planes (e.g. red-blue) and their
partners (e.g. yellow-green). The angle to the next measurement on the same scan
planes is double, i.e. 0.25° in this example.
Y_G2 Y_SY_G1
X_Layer
1 2 3
4
Figure 15: Example angular resolution 0.25° with distance d = 25 m
1Measuring point distance between two laser pulses (here: Y_G2 = 0.0742 m)
2Measuring point distance in a scan planes (here: Y_G1 = 0.1833 m)
3Measuring point width (here: Y_S = 0.0349 m)
4Single measuring point height (here: X_Layer = 0.3491 m)
The following tables show some values with one example:
Table 4: Angular resolution 0.125°
Distance d [m] Y_S [m] Y_G1 [m] Y_G2 [m] X_Layer [m]
10 0.0140 0.0297 0.0079 0.1396
25 0.0349 0.0742 0.0196 0.3491
50 0.0698 0.1484 0.0393 0.6981
100 0.1396 0.2967 0.0785 1.3963
Table 5: Angular resolution 0.25°
Distance d [m] Y_S [m] Y_G1 [m] Y_G2 [m] X_Layer [m]
10 0.0140 0.0733 0.0297 0.1396
25 0.0349 0.1833 0.0742 0.3491
50 0.0698 0.3665 0.1484 0.6981
100 0.1396 0.7330 0.2967 1.3963
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Table 6: Angular resolution 0.5°
Distance d [m] Y_S [m] Y_G1 [m] Y_G2 [m] X_Layer [m]
10 0.0140 0.1606 0.0733 0.1396
25 0.0349 0.4014 0.01833 0.3491
50 0.0698 0.8029 0.3665 0.6981
100 0.1396 1.6057 0.7330 1.3963
In measuring mode, it is possible to select between a constant angular resolution
and one that differs per sector for a scanning frequency of 12.5 Hz (adjustable with
SICK LaserView Customer Edition2). For scanning frequencies 25 Hz and 50 Hz, only the
constant angular resolution is available in each case.
1
2
3
4
Figure 16: Angular resolution differing per sector (not LD-MRS820301)
1Central range angular resolution 0.125°
2Medium range angular resolution 0.25°
3Lateral range angular resolution 0.5°
4Device
The focus of the angular resolution is in a range of ± 10° (central range) around the
x-axis of the sensor. A slightly lower angular resolution is used in the medium range of
± (30° to 10°) around the x-axis. The lateral range between +50° to +30° and -30° to
-60° has a low angular resolution due to the smaller relevance of the objects located
there.
2) )This function is not possible for field applications and for devices of type LD-MRS820301
3 PRODUCT DESCRIPTION
20 O P E R A T I N G I N S T R U C T I O N S | LD-MRS 8012948/1EYY/2023-10-04 | SICK
Subject to change without notice