Mounting and alignment

en MRS000 D LiDAR sensor Intended use QUICKSTART The MRS000 D LiDAR sensor features scan planes and is designed for the following applications: Detection of objects during continuous output of measured data as required Field monitoring of freely defined areas with signaling of field breaches via switching outputs It is suitable for applications which demand precise, non-contact optical measuring contours and dimensioning. Typical areas of application include property/ building protection, access monitoring, and collision protection. About this document The purpose of the Quickstart is to allow you to commission the product quickly and easily and to achieve initial measurement results. Scope of delivery LiDAR sensor in the version ordered. Protective caps included or possibly attached to the device. Without connecting cables and brackets. Printed Quickstart (this document): English (no. 8007), German (no. 80070), French (no. 8007) Safety notes for D/D LiDAR sensors in laser class (multiple languages: 80879) Safety information aa CAUTION Optical radiation: Laser class The accessible radiation does not pose a danger when viewed directly for up to 00 seconds. It may pose a danger to the eyes and skin in the event of incorrect use. ¾Do not open the housing. Opening the housing will not switch off the laser. Opening the housing may increase the level of risk. ¾Current national regulations regarding laser protection must be observed. Read these instructions before commissioning the product in order to familiarize yourself with the device and its functions. The LiDAR sensor corresponds to laser class. Mounting and electrical installation are to be performed only by qualified technicians. Electrical connections between the LiDAR sensor and other devices may only be made when there is no power to the system. Otherwise, the devices may be damaged. Wire cross-sections in the supply cable from the customer s power system should be designed in accordance with the applicable standards. Protect the LiDAR sensor with an external A slow-blow fuse at the start of the supply cable, from the perspective of the voltage supply. All electric circuits connected to the device must be configured as PELV or SELV circuits (PELV= protective extra-low voltage, SELV = safety extra-low voltage). In order to comply with the specified enclosure rating, non-contacted connections must be closed with protective caps. Use the device only under permitted ambient conditions (e.g., temperature) (see Technical specifications). Turn the rotating electrical connections max 70 from end position to end position. Opening the screws of the LiDAR sensor housing will invalidate any warranty claims against SICK AG. The LiDAR sensor does not constitute personal protection equipment in accordance with the respective applicable safety standards for machines. Commissioning and configuration Electrical installation. Connect the communication interface (Ethernet, -pin M female connector) of the LiDAR sensor directly to the PC.. Switch on and start the PC.. Supply the LiDAR sensor with voltage (-pin M male connector, supply voltage 0... 0 V). After successful initialization, the two status LEDs light up green. The device is ready for use. Mounting and alignment. Mount the LiDAR sensor on a prepared bracket. The device should be as free from shock and vibration as possible during operation. In applications with temperatures near the maximum ambient operating temperature, fasten the device firmly on a metal holder with the optional bracket to conduct heat away from the device.. Align the horizontal 0 axis of the LiDAR sensor s field of view with the center of the area to be monitored. The mark on the upper side of the optics cover serves as a bearing alignment aid (see Appendix, Device structure and dimensions). Scanning range in m 80 0 0 0 0 0 0 0 80 80 0 0 0 0 0 0 0 80 Scanning range in m Scanning range max. m 7 Scanning range for objects up to 90 % remission 0 m Scanning range for objects up to 0 % Remission m Abb. : Working area diagram, top view Height in m (ft) (9.9) (.) (.) (9.8) (.) (.8) 0 (.8) (.) ( 9.8) 0 0 (.) Typical scanning range Max. scanning range 90 % Remission 0 % Remission 0 (.) Abb. : Working area diagram, side view 0 (9.8) Layer Layer Layer Layer,,, 80 (.8) Radius in m (ft) 8007/ 07-0-07 Subject to change without notice SICK AG Waldkirch Germany www.sick.com D laser scanner SICK

Configuration without PC Field evaluation Configuration is performed by teaching in (EasyTeach) of the surrounding contour in order to automatically generate the field with any shape, including more complex shapes. The teach-in phase is activated and deactivated using the wiring for input IN; see Fig.. Preparing EasyTeach Remove all objects that will not permanently be in the field of view in monitoring mode later on. Distance yourself sufficiently from the device during the teach-in phase and do not enter the monitored area, so that you are not detected as part of the field contour. Teaching in the field contour The device forms the field from the surrounding contour with a negative offset of 00 mm. The field shape to be formed can be defined by pacing out the limits during the teach-in phase. Wearing gray or colored work clothing is sufficient for this purpose. The device stores the shortest value measured during the teach-in phase as a field limit for each angle. Note: A parameter upload is required in order to display the newly taught-in field contour in SOPAS.. Install the device.. Carry out the EasyTeach wiring. Vs 0 0 V Reserved GND IN8/OUT8 Reserved IN/OUT IN/OUT IN/OUT 8 7 IN/OUT IN/OUT IN/OUT GND INx/OUTx IN7/OUT7 PWR I/O 7 8 Teach-In GND Vs GND Abb. : Wiring for EasyTeach (example). Teach-in via an external signaling device such as a pushbutton, at input IN/OUT in this example.. Feedback for field breach, at output IN/OUT in this example.. Set the EasyTeach input signal to start the teachin phase (active high).. Define the field (e.g., using the existing surrounding contour or by pacing out the field).. Remove the EasyTeach input signal to end the teach-in phase (active low). Configuration with PC Installing and launching the SOPAS configuration software The SOPAS ET configuration software (from Version..) is used as standard to display the surrounding contour (measuring line) recorded by the LiDAR sensor, as well as diagnostic information in the event of an error.. Download software from website www.sick.com/ SOPAS_ET, software type SOPAS ET, and install it on the PC. In this case, select the Complete option as selected by the installation wizard. Administrator rights may be required on the PC to install the software.. Start the SOPAS program option after completing the installation. Path: Start > Programs > SICK > SOPAS Engineering Tool > SOPAS. Vs SOPAS automatically starts searching for connected devices and displays connected devices in the Device search window.. Select the appropriate LiDAR sensor from the list of available devices: Use MRS000 (port ) to configure the device. Use MRS000 (port ) to view only measured data.. Click on Add to establish communication. SOPAS ET establishes communication with the LiDAR sensor, loads its current device description (parameters), and displays it in the New Project window. Abb. : SOPAS ET: Program window for MRS000 Logging into the device. In the project window, click Login to establish communication.. Select Userlevel Authorized Client and enter the password (default setting: client).. Click the Login button. Output of measured values via terminal program Two example commands for output of measured values are found in the appendix. If the LiDAR sensor receives one of the two commands by telegram through the Ethernet interface, it will start the output of measured values through this data interface. The detailed structure of the output telegram as well as the flow of requests and outputs is described in the Measurement output telegram chapter in the Telegram listing publication (English, no. 80). Activating the output of the measured values in SOPAS on a test basis:. Start the terminal emulator: Tools > Terminal menu.. In the dialog window in the Connections menu, select the Create new connection function.. In the connection wizard, select the communication interface (Ethernet) and connection settings (default IP address: 9.8.0.), and establish the connection (Finish button).. Enter one of the two telegrams in the input line as they appear (automatically framed by STX and ETX when sending in the default setting). Pay attention to blank characters in the string.. Use the button to transmit the telegram to the LiDAR sensor. The LiDAR sensor responds by providing the data as a one-off or continuously in the display area of the terminal emulator. The data is output in the following order: Layer,,, (see Fig. ). Abb. : SOPAS ET: Terminal program Data output format of the measured values The data output format per scan is comprised of the configuration information, measured values, radial distance, RSSI, layer assignment, device and status information, and time stamp. In the default settings, the distance is output as a measured value (in mm). To output the reflectance values in the telegram: Open the device window (Device > Open menu) and, in the Application view, select the RSSI check box under Output data format. 8007/ 07-0-07 Subject to change without notice SICK AG Waldkirch Germany www.sick.com D laser scanner SICK

Measured value display and configuration via device window ¾Open the device window: Device > Open menu. The Start view with information on the device, device status, and the graphic scan view opens. Abb. : SOPAS ET: Device window for MRS000 Selecting the application. Open the Basic settings view.. In the application configuration area, select the Field evaluation or Ranging application. Field evaluation application Creating a new evaluation ¾Click the button. Entering evaluation parameters ¾Click the button and enter evaluation parameters. Inserting field points. Click the button.. Insert field points by clicking.. Double-click to close the field. Editing field points The Edit field points tool ( ) can be used to customize the field geometry with the assistance of the mouse pointer. Alternatively, the field vertices can also be customized by entering the coordinate values in the Field coordinates mask. Function Scale field Rotate field Customize field shape Add field vertices Delete field vertices Delete field Procedure Drag square red handle. Drag round black handle. Drag square green handle. Double-click in required position. Click to select square green handle and press the [del] key. Press the [del] key without first selecting a green handle. Important information about fields It is possible to define up to fields and evaluations. In the default settings, fields are projected into all levels. If you do not want this to happen, you can deactivate the option in Field properties. Configuring inputs/outputs Four outputs and four inputs are available. to are assigned as inputs, while to 8 are set as outputs. A multifunctional I/O option is being planned for future versions. The inputs may switch on, switch off, and switch over analysis cases, for example. The inputs can also be used to activate other functions, such as EasyTeach or measured data output triggering. The outputs can be used as digital switching outputs to ground, for example, as volt-free outputs, or as resistance-monitored outputs (depending on the device type). For each output, it is necessary to define whether it is to be switched by the field evaluation application or by means of SOPAS ET telegrams, or whether it is being used to signal device readiness. If the field evaluation application is being used to switch an output, the sensor may signal evaluation field breaches or contour breaches. In SOPAS ET, you can configure which evaluation affects which output. Some useful functions button: Resets scan display to default view. and button: Displays measured values as points or lines. button: Freely rotates scan display. Perspective cube LiDAR sensor. : Changes the perspective of the Configuring the device. Set the desired configuration data in the Basic settings and Interfaces views (buttons under the menu bar).. Finally, permanently save the configuration in the Finish view: Click the Save permanent button to save the parameter set in the device. Click the Export button to save the parameter set on the PC. Device description Device structure and dimensions See Appendix, Device structure and dimensions. Status indicators LED (left) LED (right) Status O O Start up, configuration Off O O Field breached O O Field free Fatal error O O On / Ready for operation O Waiting for restart (output) Standby O Restart after time Easy teach-in O = illuminated; = flashing Technical specifications Features Application MRSxxxx-0xxxxxxx: indoor MRSxxxx-xxxxxxx: outdoor Light source Infrared (wavelength 80 nm, max. output power. W, pulse length ns, average power. mw) Laser class Laser class (EN/IEC 08-:0) Horizontal aperture angle 7 Vertical aperture 7. (over measurement levels) angle Scanning frequency 0 Hz (x. Hz) Angular resolution 0. Working range 0. m... m Scanning range m with 0% remission Scanning range 0 m with 90% remission Spot size 0. x 8.7 mrad Number of echoes evaluated Performance Response time Systematic error Statistical error Integrated application Number of field sets Simultaneous analysis cases Filters Interfaces Ethernet Optical indicators Configuration software 0 ms ± 0 mm 0 mm Integrated field evaluation with flexible fields on levels, data output Up to fields Fog, particle filter, average distance value l, TCP/IP, UDP/IP Function: HOST, OPC, NTP Data transmission rate: 0/00 Mbit/s LEDs SOPAS ET, web server 8007/ 07-0-07 Subject to change without notice SICK AG Waldkirch Germany www.sick.com D laser scanner SICK

Mechanics/electronics Electrical connection Supply voltage M round connector 0... 0 V Typically W Start-up phase max. 0 W for s ALSi Housing color MRSxxxx-xxxxxxx0: light blue (RAL 0) MRSxxxx-xxxxxxx: gray (RAL 70) Enclosure rating MRSxxxx-0xxxxxxx (indoor): IP MRSxxxx-xxxxxxx (outdoor): IP7 Protection class III Weight. kg Dimensions.9 x 0 x 9. mm (L x W x H) Ambient data Power consumption Housing Object remission Electromagnetic compatibility (EMC) Vibration resistance %... >,000% (reflector) EN 000--:007-0 EN 000--:00-08 EN 000--:007+A:0 EN 008--:007 Shock resistance EN 008--7:008 Ambient operating 0 C +0 C temperature Storage temperature 0 C +7 C Ambient light 80 klx immunity General notes The sensor does not constitute a safety component in accordance with the respective applicable safety standards for machines. For further technical specifications, see the Online data sheet on the product page on the Internet (www.sick.com/mrs000). Connections PWR connection (supply voltage) Abb. 7: PWR, M male connector, -pin, A-coded. Vs 0... 0 V. Reserved. GND. IN8/OUT8. Reserved Ethernet connection Abb. 8: Ethernet, M female connector, -pin, D-coded. TX+. RX+. TX-. RX- I/O connection 8 7 Abb. 9: I/O, M female connector, 8-pin, A-coded. IN/OUT. IN/OUT. IN/OUT. IN/OUT. IN/OUT. IN/OUT 7. GND INx/OUTx 8. IN7/OUT7 Appendix Example commands for output of measured values Request for output of measured values: Telegram structure: srn LMDscandata Telegram part Description Variable type Length range (byte) Command type Request (SOPAS read by name) string srn Command Request data string LMDscandata Example: Telegram type ASCII Command <STX>sRN{SPC}LMDscandata<ETX> HEX 0 7 E 0 C D 7 E 7 0 Binary 0 0 0 0 00 00 00 0F 7 E 0 C D 7 E 7 0 Request for continuous output of measured values: Telegram structure: sen LMDscandata measurement start/stop Telegram part Description Variable type Length range (byte) Command type Request (SOPAS event by name) string sen Command Request data string LMDscandata StartStop measurement Example: Telegram type ASCII Command <STX>sEN{SPC}LMDscandata{SPC}<ETX> HEX 0 7 E 0 C D 7 E 7 0 0 Enum8 0 Stop output of measured values Start output of measured values Binary 0 0 0 0 00 00 00 7 E 0 C D 7 E 7 0 0 Note For the content of the response telegram for the measured value request, see the telegram listing (no. 80) under Send Data Permanently in Chapter. The telegram consists of one part with information on the configuration of the device and the time stamp, one part with measured data, and a status part with information on the device status and the statuses of the inputs/outputs. After starting the measurement mode, the device needs some time to reach status 7 ( measurement ). That is why you should request the status of the device with the srn STIms telegram. Then request measured data via telegram at the data interface from which you want to receive measured data. There are two options here: The request of exactly one measured value with the srn LMDscandata telegram the last measured scan is transmitted. Continuous request of measured data with the sen LMDscandata telegram measured data is transmitted until the output of measured values is stopped with the sen LMDscandata telegram. 8007/ 07-0-07 Subject to change without notice SICK AG Waldkirch Germany www.sick.com D laser scanner SICK

Device structure and dimensions + +.. 0 Ø 7.9 (.9) Ø 7 (0.8) (0.) (0.) (0.87).8 (.7) 9. (.) (0.87) 0.7 (.). (0.). (0.). (0.8) 9. (0.8) 9 (.9) (0.8).8 (0.). (0.) 0 (.8) (.77) (.7) (0.9) 0 (.8) 7 (.9) 8.9 (.98) 8.7(0.) 0 (.). (.). (.) 8.7(0.) 8 9 ß 7. (.89) 78. (.09). (.80) 8.9 (.) (.7) à 7 7 0 á â ã < 0. (7.87) 0. 0. (7.87.7) < 0. (.7) Abb. 0: MRS000 device structure and dimensions, dimensions in mm [inch]. Receiver 8. Ethernet connection. Laser aperture angle, layers to 9. I/O connection. Status LEDs ß PWR connection (supply voltage). Sender à Mx7. fixing holes. Mx7. fixing holes á Close range (no detection or measurement possible). Blind spot â Detection zone 7. Field of view ã Measuring range 8007/ 07-0-07 Subject to change without notice SICK AG Waldkirch Germany www.sick.com D laser scanner SICK

(Blank page) 8007/ 07-0-07 Subject to change without notice SICK AG Waldkirch Germany www.sick.com D laser scanner SICK

(Blank page) 8007/ 07-0-07 Subject to change without notice SICK AG Waldkirch Germany www.sick.com D laser scanner SICK 7

(Blank page) 8007/ 07-0-07 8M_DR/ITL (07-0) All rights reserved Subject to change without notice 8007/ 07-0-07 Subject to change without notice SICK AG Waldkirch Germany www.sick.com D laser scanner SICK 8