Waycon LLD-RS232 User manual

LLD-RS232/RS422
Manual
Revision 003, January 2007
You are advised to carefully read this User Manual before powering on the LLD laser distance measuring
module for the first time. This is necessary to ensure that you will be able to utilize all the capabilities and
features which your new acquisition provides. This technology is subject to continuously ongoing development.
Editorial deadline: January 2007
Document number: 012840-007-98-02-0107
WayCon Positionsmesstechnik GmbH
Mehlbeerenstr. 4
82024 Taufkirchen
Germany
Fon: [phone]
Fax: [phone]
E-Mail: [e-mail]
CE
Note:
No part of this User Manual may be reproduced in any way (by photographing, photocopying, microfilm or any
other technique) without prior written approval by WayCon Laser, Optic, System GmbH, nor may it be
processed, duplicated or disseminated with the help of electronic systems. Proper care has been used in
compiling this document. No liability will be accepted in the event of damage resulting from failure to comply
with the information contained herein.

2
Dear User
For highlighting purposes, the following pictogram, signs of reference and warning symbols are used throughout
this manual:
Signs and Warning symbols:
• Enumeration
+ Advice/Important/Important Note
→Reference (to a passage of text or a Figure)
Warning symbols
Warning:
Indicates potential health risks that may occur if information of this type disregarded.
Caution:
Warns of potential product damage.
Laser:
Warns of potential exposure to emerging visible or invisible laser radiation.
Information:
Provides a reference to important data or details.

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Content
1. General Information...................................................................................................................................4
2. Safety Instructions.....................................................................................................................................4
2.1 Basic Information..................................................................................................................................4
2.2 Intended & Conforming Use .................................................................................................................5
2.3 Nonconforming Use..............................................................................................................................5
2.4 Laser Classification...............................................................................................................................5
2.5 Electric Supply......................................................................................................................................5
2.6 Important Operating Advice..................................................................................................................6
3. Technical Data............................................................................................................................................6
3.1 Scope of delivery..................................................................................................................................6
3.2 Laser.....................................................................................................................................................6
3.3 Measuring Performance .......................................................................................................................7
3.4 Interface................................................................................................................................................7
3.5 Environment & Ambient Conditions......................................................................................................8
3.6 Mechanical Mounting Conditions..........................................................................................................8
3.7 Electrical Mounting Conditions .............................................................................................................9
3.8 Interface-Cable ...................................................................................................................................10
4. Communications Protocol......................................................................................................................12
4.1 Example: Establishing Communication with Hyperterminal ...............................................................12
4.2 Online-Help.........................................................................................................................................15
4.3 Commands and their functions...........................................................................................................16
4.3.1 DT…. distance tracking ..............................................................................................................16
4.3.2 DS…. distance tracking 7m ........................................................................................................16
4.3.3 DW…. Distance tracking with cooperative target (10Hz) ...........................................................16
4.3.4 DW…. Distance tracking with cooperative target (50Hz) ...........................................................17
4.3.5 DF…. Distance measurement with external trigger....................................................................17
4.3.6 DM…distance measurement......................................................................................................17
4.3.7 TP…internal temperature [°C] ....................................................................................................17
4.3.8 SAX….display/set average value [1…20] ...................................................................................17
4.3.9 SDd….display/set display format [d/h] ........................................................................................18
4.3.10 SDx….display/set measure time [0…25].........................................................................................18
4.3.11 SFx….display/set scale factor ........................................................................................................18
4.3.12 SEx….display/set error mode [0/1/2]..............................................................................................19
4.3.13 ACx.x…display/set ALARM center (switching output) ....................................................................19
4.3.14 AHx.x…display/set ALARM hysteresis (sign = Invertating yes/no, switching hysteresis) ..............19
4.3.15 AWx.x…display/set ALARM width (length of switching output) ......................................................20
4.3.16 RBx.x…display/set distance of Iout = 4 mA .....................................................................................20
4.3.17 REx.x…display/set distance of Iout = 4 mA .....................................................................................20
4.3.18 RMx y.y z...... remove measurement ..............................................................................................20
4.3.19 TDx y......display/set trigger delay [0...9999ms] trigger level [0/1] ..................................................21
4.3.20 TMx y......display/set trigger mode [0/1] trigger level [0/1] ..............................................................22
4.3.21 BRx......display/set baud rate [2400...38400]..................................................................................22
4.3.22 ASd....display/set autostart command [DT/DS/DW/DX/DF/DM/TP/LO/ID].....................................23
4.3.23 OFx.x......display/set distance offset...............................................................................................23
4.3.24 SO......set current distance to offset (offset = - distance) ...............................................................23
4.3.25 LO......laser on ................................................................................................................................23
4.3.26 LF......laser off..................................................................................................................................23
4.3.27 PA......display settings.....................................................................................................................23
4.3.28 PR......display settings ....................................................................................................................24
5. Operating Modes......................................................................................................................................24
5.1 RS232.................................................................................................................................................25
5.2 RS422.................................................................................................................................................25
5.3 Digital Switching Output......................................................................................................................26
5.4 Analog Output.....................................................................................................................................27
5.5 Trigger Input........................................................................................................................................28
6. Error Messages........................................................................................................................................29
7. Service and Maintenance........................................................................................................................30

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1.General Information
The LLD is a laser distance sensor to measure distances from 0.1 m to maximum 150 m with pinpoint accuracy.
A given target can be clearly identified with the help of a red laser sighting point. In terms of measurement
range, the LLD performs depending on the reflectance, morphology and qualities of the target to be measured.
The Laser sensor works based on comparative phase measurement. It emits modulated high-frequency light
which is diffusely reflected back from the target with a certain shift in phase to be compared with a reference
signal. From the amount of phase shift, a required distance can be determined with an accuracy of a millimetre.
A distance measurement can be triggered in four different ways:
• By sending a command from the PC or another equivalent control unit
• By making appropriate prior parameter settings for the autostart command and applying supply voltage
• By external triggering (in remote-trigger mode)
• Using the autostart trigger function.
For a more detailed description of these four trigger options, please see section 5. Operating Modes of this User
Manual.
Special performance features are:
• Provides high accuracy and great reach under extreme outdoor temperatures.
• Works in a wide range of operating voltages from 10 V= to 30 V= from an on board vehicle supply point,
an industrial direct voltage supply net or a DC power pack.
• Features consistently low power consumption of <1.5 W (without IAlarm).
• Up to 30 m reach for distance measurement, with potential for more than 150 m reach if additional
reflectors are mounted onto the target (depending on reflectance and environmental conditions).
• Visible laser beam for easier sighting.
• RS232 interface port for input of measuring functions and commands from, and output of measured
values to, a PC or a laptop.
• Switching output and analog output are separately programmed.
• Switching output with adjustable limit to indicate positive and negative exceeding of preselectable
distance range window by sighting distance.
• Measured values can be displayed in meters, decimetres, centimetres, feet, and inches due to.
• Option for remote triggering of a measurement from an external trigger device.
The LLD laser sensor is shipped in a rugged cardboard box with adequate padding for safe transportation.
2.Safety Instructions
2.1 Basic Information
These safety and operating instructions should be carefully read and followed during practical work with the LLD
There is danger of laser radiation or electrical shock. For necessary repair work,
the LLD may not be opened by anyone other than manufacturer personnel.
Unauthorized intervention into the inner product space will void any warranty
claims.
Compliance with all specified operating conditions is necessary.

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Failure to observe advisory notes or information contained in this Manual or nonconforming product usage may
cause physical injury to the user or material damage to the LLD. Cable connectors must not be plugged or
unplugged, as long as voltage is supplied. Remember to turn voltage supply off before you begin working on
cable connections.
2.2 Intended & Conforming Use
•Measurement of distances
• Special measuring functions
• Compliance with prescribed temperatures for operation and storage
• Operation at correct voltage level
• Application of specified signal levels to the appropriate data lines
2.3 Nonconforming Use
• Do not operate the LLD in any other way than described under “Intended & Conforming Use“ above and
only in a proper working condition.
• Safety devices must not be defeated or otherwise rendered ineffective.
• Information and warning signs must not be removed.
• Repair work on the LLD must not be carried out by anyone other than WAYCON personnel.
• Refrain from using the LLD in an explosive environment.
• Measurement with the LLD pointed at the sun or other strong light sources may produce faulty results.
• Measurement of targets with poor surface reflectance in a strongly reflecting environment may also result
in faulty measurement values.
• Measurement of strongly reflecting surfaces may deliver faulty results.
• Measurement performed through transparent optical media, for example, glass, optical filters, Plexiglas,
etc. may equally produce incorrect results.
• Rapidly changing measuring conditions are likely to falsify the result of measurement.
2.4 Laser Classification
The LLD is a class 2 laser product as stipulated in IEC825-1/DIN EN 60825-1:2001-11 and a class
II product under FDA21 CFR. In the event of accidental, short time laser exposure, the human eye
is sufficiently protected by its own optical-facial winking reflex. This natural reflex may be impaired
by medication, alcohol and drugs. Although the product can be operated without taking special
safety precautions, one should refrain from directly looking into the laser beam. Do not direct the laser beam
onto persons.
Caution:
There is class 2 laser radiation. Do not look into the beam!
2.5 Electric Supply
Use only 10 V to 30 V direct voltage for LLD operation. Use only the specially designated connector terminal for
voltage supply.
Specified signal levels must not be exceeded, in order to guarantee correct data communication.

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2.6 Important Operating Advice
To make full use of the system’s inherent performance capabilities and achieve a long service life, you should
always follow these operating rules:
•Do not turn the module on if there is fogging or soiling on its optical parts!
•Do not touch any of the module’s optical parts with bare hands!
•Proceed with care when removing dust or contamination from optical surfaces!
•Prevent exposure to shock impacts during transportation of the LLD!
•Prevent overheating of the LLD!
•Prevent major temperature variances during LLD operation.
•In accordance with IP65 internal protection standards, the LLD is designed to be splash proof and
dustproof.
Read these safety and operating instructions with due care and follow them in practical
use.
3. Technical Data
3.1 Scope of delivery
Description
Order-Number
LLD-150-RS232 (10 Hz)
LLD-150-RS232
LLD-150-RS422 (10 Hz)
LLD-150-RS422
LLD-150-RS232-50 (50 Hz)
LLD-150-RS232-50
LLD-150-RS422-50 (50 Hz)
LLD-150-RS422-50
LLD-150-RS232-H (10 Hz + Heating)
LLD-150-RS232-H
LLD-150-RS422-H (10 Hz + Heating)
LLD-150-RS422-H
LLD-150-RS232-H (50 Hz + Heating)
LLD-150-RS232-50-H
LLD-150-RS422-H (50 Hz + Heating)
LLD-150-RS422-50-H
CD with Manual and Software
Optional accessories
Description
Order-Number
Interface cable 2 m
KAB-LLD-2M
Interface cable 5 m
KAB-LLD-5M
Interface cable 10 m
KAB-LLD-10M
Pre-configuration by WayCon for RS232, RS422 models
LLD Aktivierung
Option Heating for all models
H
3.2 Laser
Laser:
650 nm laser diode; red light
Laser class:
650 nm, visible, laser class 2, conforming to standard
IEC825-1/EN60825, class II (FDA21 CFR)
Output power:
< 1 mW
Laser divergence:
0,6 mrad
Beam diameter:
< 6 mm at 10 m distance
< 30 mm at 50 m distance
< 60 mm at 100 m distance

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3.3 Measuring Performance
Measuring range1
0,1 ... 30 m for natural, diffusely reflecting surfaces (for DT,
DF or DM and ST =0), and up to 150 m with a target board
Measuring accuracy:
± 2 mm for white surfaces, (+15...+30 °C)
± 3 mm for natural surfaces, (+15...+30 °C)
± 4 mm 0,1…0,5 m range in DS mode, (+15 °C…+30 °C)
± 5 mm (-10 °C ...+50 °C)
Measured value resolution:
Depends on scale factor (1 mm with SF = 1)
Max. acceleration:
Typ.: 160 ms ... 6 s in standard mode measuring any type of
surface
100 ms in „DW“-measuring mode
20 ms in „DX“- measuring mode (only LLD 50 Hz)
1depends on target reflectance, ambient light influences and atmospheric conditions
Max. target motion speed:
4 m/s in „DX“- measuring mode (only LLD 10 Hz)
Max. acceleration:
2,5 m/s² in „DX“- measuring mode (only LLD 50 Hz)
3.4 Interface
Type of connection:
12-pole M16-flange-mount connector (Binder Series 723 )
Supply voltage (UV):
10...30 VDC
Max. power consumption
<1,5 W (in no-load state)
Data interface:
RS232 / RS422 (please specify in your order)
Baud rate: 9,6 kBaud (2,4/ 4,8/ 19,2/ 38,4 kBaud selectable)
Data bits: 8
Parity: none
Stop bit: 1
Handshake: none
Protocol: ASCII
Digital switching output:
Open Collector
HIGH = UV – 2 V, LOW < 2 V, rated for loads up to 0,5 A, with
switching threshold, latitude (width) and hysteresis selectable
Analog output:
4...20 mA, distance range limits can be set, behaviour on error
report can be preselected,3 mA or 21 mA
Load resistance: ≤500 Ω against GND
Accuracy: ±0,15 %
Max. temperature drift: 50 ppm/K
Trigger input:
Trigger voltage: 3...24 V
Trigger threshold: +1,5 V
Trigger delay: 5 ms + selectable delay time until start of
measurement
Trigger pulse length: ≥1 ms
Delay time (trigger delay): selectable from 0...9999 ms
Extended trigger function: selectable autostart trigger
Max. input voltages:
U
V
= 30 V (protected against polarity reversal)
RxD= ±25 V
RX+, RX- = ±14 V
TRIG = +25 V
Output voltages:
T
X
D ≥5 V
TX ±2 V, 2 x 50 W Last; load differential
ALARM UV– 2

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3.5 Environment & Ambient Conditions
Operating temperature:
-10...+50 °C
Storage temperature:
-20...+70 °C
Protection type:
IP65
3.6 Mechanical Mounting Conditions
Casing:
Extruded aluminum profile with powder-coat paint finish,
front-side &rear-side cover and tube anodized
Dimensions (L x W x H)
182 mm x 96 mm x 50 mm
Weight:
850 g
The casing consists of a rugged, corrosion-resistant extruded aluminium profile with front-side and rear-side
covers also in corrosion-resistant design. Four mounting holes are provided in the baseplate for mechanical
attachment of the LLD (Figure 1: Dimensional drawing).
Figure 1: Dimensional drawing
1. Equalizer tube at front cover
2. Casing
3. Protective cap for flange-mount connector
4. Receiver optics
5. Sender optics
6. Mechanical mounting holes (4x)
7. 12-pole M16-flange-mount connector (Binder series 723)

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To protect the range finder’s optical surfaces from dust, physical contact, mechanical impacts, etc., the casing has
a special equalizer tube attached to it. This tube can be extended or removed2as necessary to meet the
customer’s operating needs. Please note that measurement cannot be guaranteed to function correctly if the
equalizer tube is removed by unqualified action!
2 consult your local distributor on this issue
Figure 2: Offset against zero-edge
The LLD’s zero-point is located 7 mm behind the outer surface of the front cover or 137 mm before the back
cover outside face respectively. This zero-point has been introduced for constructional design reasons. It can be
compensated with the help of parameter “OF“ (see section 4.3.23 „OF.......display/set distance offset“).
3.7 Electrical Mounting Conditions
Located on the back cover is a connector terminal. A 12-pole round-type (flange mount) series 723 connector
from Binder has been selected for this purpose. It is sealed against the casing to comply with IP 65
requirements. This connector type guarantees optimized screening and a high IP degree. The required
counterpart is a cable jack (series 423 from Binder) with grading ring. A cable set with open ends is optionally
available.
Figure 3: View of LLD pin assignment

10
Pin
Interface-
cable
Interface
cable
(Version 2)
LLD-RS232 /
LLD-RS232-
50
LLD-RS422 /
LLD-RS422-
50
A Green Green TXD RS232 send data RX+ RS422 receive data +
B Yellow Yellow RXD
RS232 receive
data
RX- RS422 receive data -
C Brown Brown TRIG
External trigger
input
TRIG External trigger input
D Red Pink Iout Analog output Iout Analog output
E Black Black n.c TX- RS422 send data +
F Violet Violet n.c TX+ RS422 send data -
G
Pink
(or Orange)
Orange UV Supply voltage Uv Supply voltage
H White Beige ALARM
Digital switching
output
ALARM Digital switching output
J Gray
Green/
Yellow
GND GND GND GND
K - n.c n.c
L Blue Blue GND GND GND GND
M - n.c
Table 1: Pinout assignment
GND wires are connected to an internal collective ground point. They provide the reference potential for all
voltage values quoted below.
If input signals are applied to an output port, this may damage the LLD!
For data communication via RS232, you are recommended to use cable 4 (grey GND) for signal ground and
cable 7 (blue, GND) for supply ground!
The limiting values of voltages, load rates and logic levels are in accordance with RS232 and RS422 standard
requirements.
All outputs are protected against steady short-circuit currents.
3.8 Interface-Cable
Caution:
Both cable ends are exposed! The user is responsible to take precautions that will prevent
any kind of shorts!!
For interface cable wire assignments, refer to Table 1
The interface cable can be provided in 2 m, 5 m and 10 m length version. Customized cable lengths are
optionally available by previous agreement with WayCon Positionsmesstechnik GmbH.