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This Article describes how to use all LRS4000 related Encoder functions.
Related Products
LRS4000
Table of Contents
Overview
The LRS4000 offers multiple options to use an directly connected Encoder to IN 1 & IN 2.
The device offers an option to:
Visualize the rotation Speed of the Encoder
Integrate the Encoder ticks to the related measurement data telegram
Use the Encoder as an input for the 3D point cloud generation within the device
All configurations can be set using the Webserver (192.168.0.1 per default) or Telegram. This article sets a focus to the Webserver configuration, please follow the link here to find the related command in the operation manual.
1. Visualize the rotation Speed of the Encoder
Required Actions
Open the Webserver and login with user level "service"
Connect the Encoder to either IN 1 only or IN 1 & IN 2 depending on the mode, the Encoder should be operated
Open the Configuration > Inputs and outputs tab (you may want to configure one of the I/Os 3-8 as output to provide VCC for the Encoder)
Open the Encoder section on the right side and select one of the "Encoder settings" that corresponds to your Encoder.
Enter the "Encoder resolution" in unit "inc/mm" or "m°/tick"
The current speed and Counter will change when rotating the Encoder
The CoLa parameter encoder resolution is defined in mm/tick or Milligrad/tick
If you have a rotation to take 3D scans and an encoder with 5000 ticks / revolution as the SICK encoder 1056977 DFS60B-BBAC05000 you have to calculate as
If you have a linear movement and the same encoder with a gearbox to translate the linear movement to a rotation with a wheel :
1000mm/5000 tick = 0,2 mm / tick
The scanner calculates ticks * resolution/1000 * sec and delivers in the CoLa Parameter EncoderSpeed: m/sec bzw Grad/sec as Real-value and in the Scandata telegramm mm/sec bzw Milligrad/sec as uint16.
2. Integrate the Encoder ticks to the related measurement data telegram
Follow the previous chapter from step 1-5
Switch to Application > Data output
Set LMDscandata as data output format in the "Measurement data output" section
Switch on "Encoder" data to be transmitted via LMDscandata in the "Output data format" section
When now receiving measurement data via CoLa A/B, Encoder ticks will be integrated into LMDscandata.
3. Use the Encoder as an input for the 3D point cloud generation within the device
Follow Step 1-4 of the first chapter
Go to Application > 3D scan recording
Enable " 3D scan recording"
Set source to Encoder
Set Motion to either Rotation or Desplacement depending of your Encoder
Set the Roll, Pitch or Yaw / X, Y or Z values according to the real movement of the sensor in unit 1/10000 deg per tick or mm per tick
e.g. When the sensor is rotated in Pitch direction only this value needs to be adjusted
The number of ticks are based on the Encoder settings and its resolution
When the point cloud should be generated with a relative offset the "Offset settings can be adjusted accordingly"
