FAQ LRS4xxx

Der LRS4xxx is supporting these commands, which are available  in the userlevel "Authorized client":

sMN mSCreboot

( Method executes a software reset on the device )

and

sMN mSCsoftreset 0

( Method shuts the device down but saves the parameter before shutdown is executed )

The first method executes only a reset, while the second method will save the current parameter before executing the reset.

Yes, the LRS4000 is supported since the LLS release 1.5.

The operation of the LRS4000 is limited to these angular resolutions:

In 8 Bit setting the remission is compressed to 256 steps.  The LRS4000 has a very long range, the RSSI = 0 will only be reached at a longer distance.  At a setting of 16Bit the range should be from 0 to a typical maximal on a reflector of 50000.

The formular for the conversion  is:

8Bit->16Bit so :  RSSI (16Bit) = (65535/256)* RSSI 8(Bit) 
 

The center of gravity is shown below

We recommend the encoder 1056977 DFS60B-BBAC05000 to take 3D data. This encoder offer 5000 pulses per rotation..

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

360 000 Milligrad /5000 ticks = 72 Milligrad/ tick

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. 

We are facing a limitation of the UDP standard by exceeding the maximum transfer of 65 KB.
In the next firmware V1.30 we will show a warning.

There are following solutions possible :

If all 3 echoes necessary the 2 highest resolution setting are not possible -> reduce the resolution.

If a high resolution is necessary select first echo or last echo ( recommended for most applications).

If all 3 echo are necessary and the highest resolution is needed then only the TCP protocol is working.

When the syncronization is for the NTP time is activated, the LRS4000 tries to receive valid NTP information from a NTP server in the network. Therefore it is important to assign a valid adress where a NTP server is reachable:

If no NTP server is reachable, the DEV LED starts blinking and entry of an error message may be found.

We have prepared a document how to work offline in the download section below.

You can find a document with possible accessorie combinations in the download section below.

Natural target are usually detectable until close to the cover. Bright targets are detectable until 1 cm in front of the cover.
Reflecting surfaces as reflector are good detectable beginning from 0,5 m.
It is recommended to test it.

Remark: The accuracy is specified from a minimum distance of 0,2 m.

The LRS4000 is a LiDAR where the protocol LMDScandata is coming to its limits.
A transmission with highest resolution and all 3 echoes is not possible using Cola ASCII, therefore it has been disabled and Cola Binary is recommended.

If a customer want to use Cola ASCII, maybe to replace an other scanner and limitations ( lower resolution and only 1 echo ( e.g. last echo ) are acceptable then the event output may be enabled within SOPAS AIR.

The command to enable the Cola ASCII Event Output by telegram is

sWN EtherCoLaAEventsEnable 1     ( User level : Authorized client )

In addition the parameterization has to be saved and a reboot is necessary:

sMN mEEwriteall

sMN mSCreboot

Due to new security regulations, device search for newer LiDAR and Radar works only over CoLa 2 port 2122 and not CoLa A and CoLa B port 2111 or 2112 anymore. CoLa 2 port can be found even if "webserver" and "Legacy protocols" are disabled. 

The majority of MEDICI based devices are able to disable their webserver, when disabled, device configuration is not possible over REST API or Webserver.

Some devices are able to disable Legacy protocols which will disable the communication via CoLa A and CoLa B.

Even if SOPAS ET shows only Port 2122, the functionality is not limited compared to previous FW versions. 

There are two possibilities to communicate with the LRS4000

 

1. Use CoLa 2 protocol as defined in appended PDF "CoLa2_SopasEt_Terminal_Instruction"
2. Create CoLa A/B connection when legacy protocols are enabled in MEDICI and follow the instructions in the appended PDF "CoLa_AB_Terminal_activation_LRS4xxx_SOPAS_ET"

Protocol	Purpose	Port	Note
CoLa A	Configuration | Data Stream	2111 (TCP)	Not recommended for Data Stream. Requires CoLa A Events enabled. Easy to understand for configuration
CoLa B	Configuration | Data Stream	2112 (TCP) 2113 (UDP)	Well known data and configuration protocol
Compact*	Data Stream	2115 (TCP)	New efficient data transmission protocol on TCP
REST API	Configuration	80 (TCP)	New easy to use configuration protocol

 

*Starting with FW V1.6.0 

Devices delivered with FW V1.7.0 (01.11.24) and later support two operation modes for individual application needs. Both modes support the same features and differ only in the following points:

 

Normal Mode

• 40m @10%
• 130m max
• 0.02°/12.5Hz or 0.04°/25Hz without interlacing
• no interlacing required
• small spot

 

Extended Range Mode

• 80 m @10%
• 300 m max
• 0.08°/12.5Hz or 0.16°/25 Hz without interlacing
• 0.04°/12.5Hz or 0.08°/25Hz with 2x interlacing
• larger spot (comparable with LD-LRS)

Yes, you can always apply the newest firmware to your LRS4000 and benefit of all our new interface, security and feature update.

 

Our firmware is designed in a way that all new features run on normal and extended range mode. This means a firmware upgrade will allow you to use all features on your 40m device. 

 

Please note that a firmware upgrade will not add the extended range mode to your device, since this step requires additional calibration which can only be done in production line.

 

Please get in contact with your device responsible Product Manager or Application Engineer in case calibration of existing devices is required.

The Motor Synchronization can be used to synchronize multiple LRS4xxx via either PTP protocol or by wire. BY combining multiple LRS4000, the total scan frequency can be increased as described in the appended PDF "LRS4000 Motor Synchronization"

From time to time its required to reduce the data output of the LiDAR e.g. when processing the measurement data with a PLC. To provide our customers the best flexibility, the LRS4000 provides different methods for data reduction besides the selection of a higher scan resolution.

 

1) Changing the data transmission protocol

 

LRS4000 provides three different protocols for data transmission. The simplest way for data reduction is to reduce the overhead transmitted together with measurement data. You can find the order of required bandwith capacity below.

 

High Bandwith | CoLa A > CoLa B > Compact | Low Bandwith

 

2) Reduce the data output interval

 

For CoLa A and CoLa B the output intervall can be reduced in a way that not each scan is forwarded instead every N-scan. The value N can be selected by the user. Note that all other scans are discarded and not stored. This kind of filter can be used when a very slow process should be tracked and not each scan is required. 

This method does not effect the Compact protocol.

 

3) Use the Scanning range filter

 

In case only a specific range is interesting for the application e.g. 100 m to 200 m, the Scan range filter can be applied. This filter can be used for CoLa A, CoLa B and Compact data format and limits the forwareded measurmeent data to signals within the selected range.

 

The reason for missing measurement data is often based on the device configuration. A first sign for a incorrect device configuration could be the response sEA LMDscandata 1 to the request sEN LMDscandata 1 without measurement data.

 

To enable the measurment output the following configurations need to be checked:

 

1) Measurement is active

 

Ensure that measurment is active, shown by a green symbol in the top right corner of the GUI and in the Status window. In case the symbol is grayed out, you can activate the measurement by pressing the gray scanner symbol and it will immediately turn into green.

2) The output format is set properly

 

When using LMDscandata with CoLa A/B, the protocol needs to be selected. When using compact, ensure that a TCP connection is established to port 2115, where the measurement stream is provided at.

3) Legacy Protocols are enabled

 

When CoLa A/B should be used for data transmission, ensure that legacy protocols are enabled. Please note that CoLa A is not available for data transmission on high scan configurations and should therefore not be used for data transmission. If you want to use CoLa, CoLa ASCII event output needs to be enabled manually.

4) Region of interest and Output range are set properly

 

Ensure that the Scan range filter and Output range is configured to ensure that the interesting area is always covered and in range or disabled.