PS Sensors

USER Manual

0203-000-200-BC

IBEO Laserprodukte Fahrenkrn 125 D-22179 Hamburg Tel.:+49 40 645 87-01 Fax: +49 40 645 87-101 E-Mail: [email protected] Homepage: www.ibeo.de

 Copyright IBEO LASERTECHNIK 2000 The information contained in these directions for use is protected by copyright. Copying or in any way reproducing the contents of these directions for use without the written consent of IBEO LASERTECHNIK is expressly prohibited. Illustrations and graphic work serve to provide better understanding with reference to operating, maintenance or service. Series equipment may differ in details. IBEO LASERTECHNIK reserves the right at any time to undertake modifications to the products described here which improve the operational reliability, the function and the design. IBEO by no means guarantees that these directions for use are fault-free. Any liability for direct or indirect loss or damage arising from the use of these directions for use is ruled out. IBEO does not accept any liability for direct or indirect loss or damage arising from the use of the sensor. This applies in particular outside the use named here to other use of the products described which is not in accordance with the purpose intended.
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1 INTRODUCTION ......................................................................................................................6 1.1 1.2 1.3 1.4 1.5 1.6 2 2.1 2.2 2.3 2.4 2.5 2.6 2.7 3 3.1 3.2 3.2.1 3.2.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 3.10 3.11 Copyright and Exclusion of Liability................................................................................7 What's Included...............................................................................................................7 Measurement Technique ................................................................................................7 Typical applications.........................................................................................................8 User Programming..........................................................................................................9 Maintenance....................................................................................................................9 SAFETY........................................................................................................................10 Laser classification........................................................................................................10 Purpose of the instructions ...........................................................................................10 The warning symbols ....................................................................................................11 Warnings .......................................................................................................................12 Improper use.................................................................................................................12 The laser .......................................................................................................................13 Labeling .........................................................................................................................13 BECOMING FAMILIAR WITH THE PS SENSORS ....................................................14 Overview .......................................................................................................................14 Display and Keyboard...................................................................................................15 LC Display ..............................................................................................................15 Keyboard ................................................................................................................16 First Test.......................................................................................................................16 Power Supply ................................................................................................................16 Start-up of the sensor ...................................................................................................17 Manual Measurement ...................................................................................................17 Measurement Accuracy................................................................................................18 Statistical Accuracy.......................................................................................................18 Dataprocessing / Intervall average ...............................................................................18 Data Output Rate ..........................................................................................................19 Measurement characteristic .........................................................................................20

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4 4.1 4.2 4.3 4.3.1 4.3.2 4.3.3 4.4 4.4.1 4.4.2 4.5 4.6 4.7 4.8 5 5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8 6 6.1 6.2 6.3 7 7.1 7.2 7.3

SETTINGS OF MEASUREMENT MODES..................................................................21 How to change sensor settings ....................................................................................21 PROG Menu..................................................................................................................22 Mode Selection..............................................................................................................23 Single Mode............................................................................................................24 Continuos Mode .....................................................................................................24 Sample Mode .........................................................................................................25 Timer / Quality Mode.....................................................................................................25 Timer Mode.............................................................................................................25 Quality Mode...........................................................................................................26 Surplus 25 % / 50 % /100 % / 200 %............................................................................26 TURBO ON / OFF.........................................................................................................26 Mode m / ft ....................................................................................................................26 Flow chart of Prog A.....................................................................................................27 Interf (Interface) Menu................................................................................................28 Interface on / off ............................................................................................................28 REMOTE ON/OFF........................................................................................................28 Selection of the baud rate .............................................................................................28 Selection of data bits and parity....................................................................................29 noECHO ON/OFF.........................................................................................................29 Output: ASCII / Binary...................................................................................................29 AUTOST ON/OFF.........................................................................................................29 Flow chart of Interface programming............................................................................30 INPUT Menu.................................................................................................................31 Sensor Offset (OFFs) ...................................................................................................32 UsrAV ............................................................................................................................33 Surpl. (Surplus Pulses )................................................................................................33 DATA OUTPUT FORMAT AND REMOTE CONTROL...............................................35 ASCII Format ................................................................................................................35 Binary Format................................................................................................................35 Remote Control.............................................................................................................36

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8 8.1 8.1.1 8.1.2 9 9.1 9.2 9.3 9.4 9.5 10 10.1 10.2 10.3 10.4 11 11.1 11.2 11.2.1 11.2.2 12 13 14 15 15.1 15.2 15.3 16

MOUNTING AND INSTALLATION..............................................................................38 Mounting........................................................................................................................38 Mechanical Adapter................................................................................................38 Yoke Mount.............................................................................................................39 REFLECTRORS...........................................................................................................40 Reflection foil.................................................................................................................40 Plastic reflectors ...........................................................................................................40 Prisms ...........................................................................................................................41 Lens reflector ................................................................................................................41 Combination of triple prism and reflection foil for long crane-tracks with wear out. ....42 AIMING AND AIMING DEVICES.................................................................................43 Telescope......................................................................................................................43 Red Laser Marker (RLM) ..............................................................................................44 High-Power Telescope..................................................................................................45 Alignment with no aiming aid ........................................................................................45 Connections for Power Supply and Interface .........................................................46 Power supply.................................................................................................................46 Interfacing......................................................................................................................47 Interface RS 232C..................................................................................................47 Interface RS 422 ....................................................................................................48 Procedure for tuning the FUEGO..............................................................................49 OPTIONS FOR THE PS SERIES ................................................................................50 ACCESSORIES............................................................................................................51 APPENDIX....................................................................................................................52 Outline drawing: PS-R, PS 50, PS 100 ........................................................................52 Outline drawing: PS 500 ...............................................................................................53 Outline drawing: PS FUEGO ........................................................................................54 TECHNICAL DATA......................................................................................................55

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1 INTRODUCTION
IBEO sensors Series PS are a family of pulsed infrared laser range sensors for dynamic and static distance measurement designed and manufactured by IBEO:

PS R PS 50 PS 100 PS 500 PS FUEGO

is designed for measuring only on retro-reflecting or plastic reflectors from 1.0 m up to 500 m. is designed for the range of 1.0 m up to 50 m onto 18% reflectivity, a beam divergence of 1 mrad for the range of 1.0 m up to 100 m and a beam divergence of 2.4 mrad (typ), both with 1 mm resolution. is designed for long range measurements (5m up to 500m onto white surfaces (90% reflectivity). Divergency is 1 mrad (typ.) is designed for measurements onto hot metals, refractory surfaces or liquid non- oxidized metals. Technical data on request.

The range of all IBEO sensors increases greatly when using reflectors i.e. reflecting foil, plastic reflectors or corner cubes (prisms). IBEO sensors except the PS R measure the reflection from virtually any surface including cloth, stone, and metal. The reflection of short laser light pulses emitted by the internal semiconductor laser diode is detected and the time of flight from sensor to the target and back is converted into a distance. The distance is a mean of a programmable amount of these single pulse measurements.

While many sensors are housed in plastic, IBEO sensors sturdy, aluminum investment casting ' provides excellent water and impact resistance. All IBEO sensors are precision instruments of solid construction, designed to withstand operation in rugged field and industrial environments.

Its unique design allows IBEO sensor users flexibility in a vast field of industrial applications. To facilitate measurements without reflectors, IBEO offers added versatility with its unique integrated RLM (red laser marker). This option is available on request.

Special measurement software delivers distance measurements in a synchronous mode, thus making IBEO sensors appropriate for velocity or acceleration measurement applications. Always read the complete manual before installation.

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1.1

Copyright and Exclusion of Liability

IBEO owns the copyright to this instruction manual. Any duplication of this manual or parts of it is prohibited. IBEO in no way warrants this instruction manual to be free of errors or to be suitable for any particular purpose. Any liability for direct and indirect damage resulting from the use of this instruction manual is excluded. Furthermore IBEO does not accept any liability for direct or indirect damage resulting from the use of a PS sensor.

1.2

What's Included
The IBEO sensor comes with: 1 protective cap 1 lens cleaning cloth 2 laser warning labels 1 user manual

1.3

Measurement Technique
IBEO sensors use the time of flight principle - converting the time it takes for laser pulses to reflect from a reflecting surface into measurement of distance. The method demands calculations in the 10 -10 sec. range, and the sensor incorporates extremely advanced calculation technology.

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1.4

Typical applications
IBEO sensors perform with high speed and accuracy. They are easy in operation through the various control options (manual and remote control). In the following are just a few standard applications listed: PS R (measuring on reflectors only) Positioning of cranes Automatic storage and retrieval systems

PS 10, PS 50 and PS 100 Positioning cranes, robots ... Measurements of long distances Quick profile measurements (container stacks) Velocity measurements Level measurements in tanks, silos ...

PS 500 Polar surveying in combination with an electronic theodolite Topographical profile measurements Open-cast mining

PS FUEGO Positioning hot slabs Level measurement of molten metal Width measurements of hot slabs

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1.5

User Programming
Prior to delivery the sensor is tested, calibrated and programmed with a default set-up of parameters to meet common demands in the area of crane automation. This means that the sensor, in most cases, is ready to use as it is. If special custom adaptation is needed, it is possible for the user to alter parameters, features and the dynamic properties of the sensor.

1.6

Maintenance
There is no special maintenance necessary, but please note the following:

Do not direct an IBEO sensor towards the sun Protect IBEO sensors from direct, continuous sunlight Prevent condensation by avoiding sudden temperature changes Use the cloth supplied to clean the coated lenses Do not expose an IBEO sensor to aggressive chemicals

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2 SAFETY

2.1

Laser classification
The IBEO sensors are Class 1 or Class 3a laser products according to the International Electrotechnical Commission Standard EN 60825 (1994) The accessible laser radiation for a Class 1 laser is harmless. Such laser devices (e.g. remote-control transmitters or CD players) may be operated by the general public. The laser class IIIa can be dangerous if you look into the beam by the help of a magnifier lens. The light source is a semiconductor pulse laser diode coupled to a multimode fibre. When used in accordance with this manual no special safety measures should be required. For safety reasons the sensor should not be opened, serviced or altered in any way without authorization by IBEO.

2.2

Purpose of the instructions

These instructions for use have been written for all users of the IBEO sensor who configure the unit, take it into operation and use it.

Careful! Please read these instructions for the IBEO sensor carefully before taking it into operation in order to guarantee proper and safe handling.

The instructions contain information on mounting, installation, commissioning, operation, performance and limits of the unit. Basic knowledge in handling electronic and laserbased technology is presumed.

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2.3

The warning symbols

The following safety symbols and signals mark points in the text where are warnings about danger and sources of danger. Please familiarize yourself with these expressions.

DANGER! This is a warning about imminent danger. If it is not avoided, it results in death or fatal injury.

CAREFULL! Marks a dangerous situation. If it is not avoided it can result in slight or minor injury. NOTE! Refers to a possibly damaging situation. If it is not avoided, the product or parts in the direct proximity of the unit could be damaged. IMPORTANT! Refers to hints on simple and efficient operation and other particularly useful information. It is not a signal of danger or a hazardous situation.

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2.4

Warnings Danger!
Danger of explosion. Do not operate the unit in areas with a risk of explosion.

Warning!
Danger of electronic accidents and faults in the unit. Do not place any containers containing liquid on the unit. Liquid can be spilled and penetrate the unit. Danger of electronic accidents and faults in the unit. Do not operate the unit when it has become damp due to condensation or spilling of liquid. Danger of electronic accidents. Do not open housing. All maintenance and repair work is to be carried out by authorized service staff.

Careful!
Danger of eye hazards. Do not look into the laser beam (transmitting lens) with optical instruments. The unit is a laser of class 1 or class 3a and emits invisible laser light.

Note
If the unit does not operate according to or deviates from the function described here, please switch off immediately and inform authorized service personal. The unit should not be exposed to temperatures below -20 C or above +70 C storage. Do not expose the unit to any aggressive chemicals. Do not expose the unit to direct sunlight. Do not direct the unit at the sun. Do not expose the unit to any high fluctuations in temperature as otherwise, condensation could form. Switch unit off before cleaning. Do not immerse the unit into liquids.

2.5

Improper use
- Using the PS sensor without having read the instructions or operating directions - Use beyond the limits defined without suitable protection measures - Conversion of the instrument without the approval of IBEO - Direct measuring or aiming to the sun - Removal of warning labels

Danger! PS sensors may not be used in areas susceptible to explosions without additional protective measures.

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2.6

The laser
The laser is a coherent source of light and differs from normal light as follows: the light has a very narrow spectrum of color, i.e. it contains only one color the light is highly concentrated and has only low diffusion over great distances.

There are various types of laser, the main ones being: the so-called continuous-wave laser and the pulsed laser depending on the method of operation and the source of the laser, and lasers with visible light and with invisible light depending on the wavelength used. Visible light has a wavelength of 400 nm to 750 nm; lasers with a wavelength of above or below this range are ones with invisible light. The laser used in the PS RSeriesis a pulsed laser and works on a wavelength of about 880 30 nm (typ.); it is thus in the invisible infrared range.

2.7

Labeling
The following self-adhesive stickers (supplied together with the sensor) should be installed on or near the sensor, so they can be clearly seen:

1. General Laser Beam Symbol 2. Identification label for laser class.

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3 BECOMING FAMILIAR WITH THE PS SENSORS

3.1 Overview
parts and operational elements of the PS sensors:

1 Telescope 2 ON/OFF switch 3 Keyboard 4 Battery pack (optional) 5 Display 9 Product ID label 10 Battery support, front (optional) Mounting holes, 4 x MS

11 Connector 12 Battery support, rear (optional) 14 Receiver lens 15 Transmitter lens 16 Telescope filter 17 Mounting bars

The sensor has two mounting bars facing downwards, with two M5 threading holes each

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3.2

Display and Keyboard

3.2.1 LC Display
The sensor, as well as change parameters and programmable set-up functions can all be operated via the display and keyboard. The actual measured distance is always displayed when active. The dot matrix LCD shows two lines, each with 16 digits, and has a wide viewing angle. It can be illuminated if the user changes the set-up.

Display during measurement:

Stop via <S> possible Intervall-mode

Timer-mode (also possible: Q (Quality))

Measurement-mode 1-4, U= user

Cursor proportional to received echo strength ( left - low, right - high ) Measurement stopped Start next measurement: <M> Leave measurement: <S>

Further messages: Echo high Echo low No Echo (Echo too high, attenuator is leveling) (Echo too low, attenuator is opened; signal strength is poor (Echo too low for measurement, no target noticed by the unit)

In the upper line, XXXXX.XXX temporarily appears where the exact measurement will be indicated. The detected echo amplitude is indicated continuously in the lower line. The far left cursor indicates a too small amplitude; the far right cursor indicates a too large amplitude. The amplitude will be accepted when the cursor appears in one of the center five positions. When taking measurements in a fluctuating atmosphere, the cursor will indicate varying amplitudes as the echo amplitude changes accordingly. IBEO sensor aborts too high or low echo amplitudes, which may lead to a longer measuring time (depending on the fluctuation). If, due to severe fluctuations, no measurement is possible. IBEO sensor must be reprogrammed to a lower accuracy. In this case, fewer valid measurements are necessary for a measurement cycle. An ECHO FREE programming may help, too.
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3.2.2 Keyboard
The keyboard is a membrane type and a small click is felt when a key is properly activated. Some of the keys have double functions.

3.3

First Test
The sensor is ready to use directly after unpacking. It is advised to conduct an operational check as soon as possible. Before making any program changes in the functional set-up, please read the complete manual.

3.4

Power Supply
Depending on the type of IBEO sensor the power supply has to be set at:
6 Volt Version +6(25%)VDC,6Watt Peak current for power up: 10A< 200usec 12 Volt Version +12(25%)VDC,6Watt Peak current for power up: 10A< 200usec 24 Volt Version +24 (25%) VDC, 6 Watt Peak current for power up: 10 A : 200usec

Please refer to the label on the bottom. Connect the cable to the sensor and the power supply (when the cable has double leads for the power, use both in parallel to avoid voltage drop in the cable), switch on the power supply and then the sensor unit.
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3.5

Start-up of the sensor

When power is supplied to the IBEO sensor, the following will temporarily (<1 sec.) appear:

Remark: Date and revision displayed in your sensor may differ from contents shown in this example.

3.6

Manual Measurement

To start measuring, press M on the keyboard. The PS R sensor needs a reflector to function. If there is no reflecting target there will be "No Echo" and the display will show:

Aim the sensor towards the reflector and the actual distance will automatically be displayed. The cursor is also active on the second row of the display. By pressing ESC once the last reading will be frozen on the display. Pressing M will continue measurement. Pressing ESC again will bring you back to the Main Menu.

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3.7

Measurement Accuracy

The sensor transmits about 1380 laser-pulses per sec. These pulses are reflected back to the sensor, and the distance to the target is calculated. This calculation is made by means of an averaging over a number of single-pulse measurements. The absolute measurement accuracy is a function of how many pulses are used for this averaging.

3.8

Statistical Accuracy

The output value is an averaged measurement calculated over a large number of single pulses. The accuracy of this value is statistically confident to a certain degree. This confidence is expressed as (sigma) value: in the table 3.7.3 1 means that 68% of all the internal single measurements are within the stated value.

3.9

Dataprocessing / Intervall average

Theory of Average The average, or mean, of a set of numbers is the sum of all the numbers in the set divided by the total number of elements of the set. Taking as an example the set 50, 60, 65, 70, 75, 80, 80, 85, 92, the mean is 73 (657 divided by 9). The average should more precisely be called the arithmetic average to distinguish it from other, more specialized types of average, such as geometric, harmonic, and weighted average. The sensor executes with a high frequency single measurements. These single measurements are summed up in selectable packages. The selection is either done by Mode 1 -4 or may be selected in 22 steps as User Average in the Input menu. Thereby the single measurements are added up and the sum is divided by the amount of the measurements. The data will be transmitted when the pre-selected amount of single measurements, which is procured for the averaging, is reached. After the result has been given out, a new package will begin. This data processing is recommended at profile measurements or normal distance measurements. Also at speed measurements, at which a external computer uses the Timer Mode to divide the difference of two measurements is through the constant time between two output, is the Interval Average the right set-up. Consequences of Mode 1-4 or UsrAV The selection of a high mode (for example Mode 4) or entry of a small number of single measurements in User Average results in a high data output rate, which is joined by large variations in the data. The selection of a large values results in a very stable data, which is given out with slow output rate.

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3.10 Data Output Rate

PS-R, PS 10, PS 50, PS 100, PS FUEGO Standard measurement times (in ms), corresponding frequency (in Hz), and necessary minimum baud rates in "CONT " (continuous mode).
Timer-mode stat. error Mode 4 *) 20mm (40mm) AV=16 Mode3 *) 10mm (20mm) AV=64 Mode 2 *) 5mm (10mm) AV = 256 Mode l *) 3mm (5mm) AV=1024 Quality-mode 11.6ms 86.2Hz 19200bd 46.4ms 21.5Hz 4800bd 185.5ms 5.4Hz 1200bd 742ms 1.35Hz 300bd 25% 14.5ms 69Hz 9600bd 58ms 17.2Hz 2400bd 232ms 4.3Hz 600bd 928ms 1.1Hz 300bd 50% 17.5ms 57.5Hz 9600bd 70ms 14.3Hz 2400bd 279ms 3.6Hz 600bd 1113ms 0.9Hz 300bd ( ) = PS100 100% 23.3ms 43Hz 9600bd 93ms 10.75Hz 2400bd 371ms 2.7Hz 600bd 1484ms 0.67Hz 300bd 200% 34.8ms 28.7Hz 4800bd 140ms 7.1 Hz 1200bd 557ms 1.8Hz 300bd 2226ms 0.45Hz 75bd

PS-R, PS 50, PS 100, PS FUEGO

PS 500
Mode 4 *) 80mm AV=16 Mode 3 *) 40mm AV=64 Mode 2 *) 20mm AV = 256 Mode 1 *) 10mm AV=1024 20ms 50Hz 9600bd 80ms 12.5Hz 2400bd 320ms 3.125Hz 600bd 1280ms 0.78Hz 300bd 25ms 40Hz 9600bd 100ms 10Hz 2400bd 400ms 2.5Hz 600bd 1600ms 0.625Hz 300bd 30ms 33.3HZ 4800bd 120ms 8.3Hz 1200bd 480ms 2.08hz 600bd 1920ms 0.52Hz 75bd 40ms 25Hz 4800bd 160ms 6.25Hz 1200bd 640ms 1.56Hz 300bd 2560ms 0.39Hz 75bd 60ms 16.6Hz 2400bd 240ms 4.16Hz 600bd 960ms 1.04Hz 300bd 3840ms 0.26Hz 75bd

*) refer chapter Mode settings

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3.11 Measurement characteristic

IBEO sensor always measures exactly to the beams centre; thus the result remains correct for all angles of incidence to the target. Large angles, however, reduce the range. A: sensor B. Beam ( centre of laser beam, determined by the lens diameter ) C: Field of view ( diverted measurement beam ) d: Distance ( measured distance between reference point and target E: Laser beam on target F: Measured mean distance to target G: Laser beam deflected by mirror or mirror-acting (glossy) surface

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4
4.1

SETTINGS OF MEASUREMENT MODES

How to change sensor settings
The IBEO sensor has a parameter set-up programmed prior to delivery. All parameter settings can be changed and stored permanently in the sensor by the user. When starting the sensor the Main Menu will appear. Instead of activating distance measurement it is now possible to enter three different setup menus: PROG by pressing A programming of certain functions and parameters INPUT by pressing B setting of certain values INTERF by pressing F1 configuring of data interface The reading displayed is changed with DEL and entered with ENT. . ESC exits to the Main Menu. .

Comment:
Call "PROG" with A. Change with A or go on with B. "PROG" can always be exited with ESC, changes are not permanently stored then. To store the information permanently step up by pressing B until you reach "STORE PERMANENT?", then press M. Data is saved in a non-volatile memory even when IBEO sensor is turned off. The stored parameters are set as default when you power up the unit the next time. For an overview please refer to chapter below.

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4.2

PROG Menu
To enter this menu, press A. In this menu the following functions and parameters can be selected (factory set values underlined):
Parameter Illumination of LCD Selection of accuracy Mode Mode Surp 25% Mode Turbo Selection On/Off Mode 1 - 4, Mode user Cont. / Sample / Single Timer / Quality 25/50/100/200 % / User m/ft On/Off Remarks

Amount of Averaging Timer or Echo contr. Time frame Distance unit Sensitivity selection

To store the information permanently, select "STORE PERMANENT?" by pressing B (maybe several times), then press M. Data is saved in a non-volatile memory even when IBEO sensor is turned off. The stored parameters are set as default when you power up the unit the next time.

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4.3

Mode Selection
Mode 1, 2, 3, 4 indicates the statistical accuracy; therefore , the number of pulses per measurement. The accuracy is increased as the number of pulses is increased. The amount of pulses is multiplied by four to double the accuracy. Consequently, while the measurement time is longer, the statistical margin for error is smaller. In the set-up Mode User the amount of single measurement could be defined as a numerical value. Mode vs. sensor model vs. statistical accuracy (1 Sigma) ( typically )

Mode 1 PSR 3 mm

Mode 2 5 mm

Mode 3 10 mm

Mode 4 20mm

PS 100 PS 500 PS FUEGO

5 mm 10 mm 5 mm

10 mm 20 mm 10 mm

20mm 40 mm 20mm

40 mm 80 mm 40 mm

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4.3.1 Single Mode

The sensor executes a single measurement on demand through the interface-command 'M' or by pushing the key ,<M> and transmits the result by the interface ( if enabled ). Simultaneous the result will be given out on the LC display. Subsequent measurements have to be triggered the same way. After finishing one measurement the display shows a flashing "waiting" on the left side of the second row of the LC display, indicating 'measurement is ready and stopped, waiting for the next trigger'. The response time for the measurement result is approx. 1,5 seconds. This is caused by a start-up time for stabilization. The Single Mode is recommended, if in large intervals a result is needed or the instrument is supplied by batteries.

4.3.2 Continuos Mode

The sensor starts measurements continuously on demand through the interfacecommand ,'M' or by pushing the key ,<M>. The result is given out continuously over the interface ( if enabled ) and on the LC display. The first measurement will be output with a delay of approx. 1.5 seconds, due to a start-up time for stabilization, after approx. 1.5 second the next measurements then follows according to the table 3.10. The measurements can be stopped either through the interface-command ,'S' or by pushing the key ,<S>. When receiving the "S"-command via the interface the sensors returns to the main menu. When stopped by pressing the <S> key the LC display shows on the left side of the second row a flashing "waiting", indicating 'measurement is stopped, waiting for next trigger'. Care should be taken that the PC/PLC connected is able to handle the data output, especially when no hardware handshake is used. If the data rate is too high for the PC/PLC, then data output could be reduced by changing the measurement mode to one with an increased averaging or by reducing the baud rate at the sensor. In chart 3.10 , which indicates the relation between accuracy and data output, the minimum baud rate is indicated. If the minimum baud rate can not be programmed in the connected PC/PLC, then the maximum possible data output rate can not be reached. The PS sensor operates with two registers for the data output. One register is used for the actual output, one for the next value, filled periodically updated in the background. The output of the data could be stopped by hardware handshake anywhere within the transmission of one data string, e.g. after the third byte through a low - signal at the CTS input. If the CTS - signal rises to high - level, the remaining 8 byte are given out. In the mean time the second register will be permanently updated with new measurement data.

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4.3.3 Sample Mode

The sensor starts to measure continuously on demand through the command ,'M' by the interface or by pushing the key <M>.. After the first measurement cycle the result is output via interface and displayed on the LC display. This is similar to the single mode. But in sample mode the measurement continues in background! The internal buffers are continuously updated with new results. This is indicated on the display by flashing "measure" on the left side of the second row. The next measurement results can be requested by the command ,'M' via interface or by pushing the ,<M> key. The first measurement will be output after a delay of approx. 1,5 seconds, due to a start-up time for stabilization. Subsequent data could be requested instantly by "M" (interface or key). Measurement can be stopped through the interface command ,'S' or by pushing the key <S>. The Sample Mode is recommended for the binary output format, if the sensor is connected to a PLC. The sample mode is applicable, if the PLC is too slow to pick up data in continues mode or if asynchronous requests with instant replies are demanded. Depending on the operating mode it may happen that the same data is transferred on several successive requests. This will happen if the frequency of requests is higher than the internal update rate of the output results. If a new measurement is still in progress then the last data output is repeated.

4.4

Timer / Quality Mode

Each measurement needs a certain amount of appropriately sized echo amplitudes. IBEO sensor selects only the usable echoes. Fluctuations in reflectivity or atmospheric transmission may produce different echo amplitudes. To bypass this problem, the echo attenuation control attempts to keep the echo constant; this leveling may lead to incomplete or delayed measurements. In this case "NO ECHO" would be displayed.

4.4.1 Timer Mode

When measuring in "TIMER"-mode the measurements are forced in a constant time frame. In case of too many bad echoes in a time frame the output will show a ,,NO ECHO" message. To avoid this and increase the chances for a successful measurement, a selectable amount of surplus pulses can be added to the number of required echoes into the time frame. This is called "SURP" (surplus) and is indicated as a percentage of the required number of echoes. The time frame is stretched by additional surplus pulses.

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4.4.2 Quality Mode

In "QUALITY" mode, IBEO sensor collects usable echoes until the required number is sampled. If the counter of No Echo pulses reaches the by Surpl. 25% - 200% or by Surpl. User given number then, "noECHO" is displayed. When reflectivity changes are minimal, this mode brings up the highest measurement rate.

4.5

Surplus 25 % / 50 % /100 % / 200 %

Selection of surplus pulses for time frame in percentage. IBEO recommends 100% of surplus for standard measurement applications.

4.6

TURBO ON / OFF
Measurements can be disturbed when measuring with reflectors through obstructing objects such as bushes and trees. With "TURBO OFF" the maximum range is reduced by approximately a factor of four. For long range measurements on reflectors with no obstructing objects or onto natural targets use "TURBO ON".

4.7

Mode m / ft
Change of unit. 1 m = 3937/1200 ft

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4.8

Flow chart of Prog A

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5 Interf (Interface) Menu

To enter this menu, press F1. IBEO sensors are equipped with a configurable RS232 C or RS 422 with RS 232 protocol interface. The following definitions and parameters can be programmed (factory set values underlined):
Parameter Interf Remote Control Selection ON/OFF ON/OFF Remarks Indicates if data output via Interface is on or off. Indicates if data input via Interface is on or off (ON means IBEO sensor is controllable via the interface or not. Baud rate 9600 or higher is recommended.

Baudrate Byte format and parity NoECHO

600/1200/2400/ 4800/9600/19200 /38400 Bd 8 bit PN/7 bit PE/7 bit PO/ 7 bit PN ON/OFF

"noECHO ON": NO ECHO is sent instead of value if data is of bad quality or is missing. "noECHO OFF": nothing is sent if data is of bad quality or is missing Output format. Normally ASCII Indicates if IBEO sensor starts measuring automatically when switched on.

Output mode AUTOST

ASCII / Binary ON/OFF

5.1

Interface on / off
Indicates if data transfer by the interface is on or off. The normal set-up is interface on. If the interface is switched off then the output of the measurement results is only onto the LC display. This function is used e.g. at the starting up phase and for the development software.

5.2

REMOTE ON/OFF
Indicates if IBEO sensor is controllable via interface or not. If the Remote is set to ON then many functions of the sensors could be remote controlled via the serial interface. When set to OFF the measurement results are exclusively output via the serial interface, while the reception of commands is switched off. This function is recommended in conjunction with the ,,Autostart" - function, if there are disturbances on the data cables in an electrically contaminated environment.

5.3

Selection of the baud rate

Possible settings: 600/1200/2400/ 4800/9600/19200/38400 Baud

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5.4

Selection of data bits and parity

Possible Settings: 8 bit PN2 / 7 bit PE2 / 7 bit P02 / 7 bit PN2 / 8 bit PN1

5.5

noECHO ON/OFF
Indicates if ,,No Echo" is displayed via the interface while the messages No Echo", ,,Echo low" or ,,Echo high" appear on the LC display.

5.6

Output: ASCII / Binary

Indicates, if the output is 11 Byte ASCII or 4 Byte Binary

5.7

AUTOST ON/OFF
Indicates if IBEO sensor starts measuring automatically when switched on. To store the information permanently, select "STORE PERMANENT", then press M. Data are saved even when IBEO sensor is turned off.

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5.8

Flow chart of Interface programming

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6 INPUT Menu
To enter this menu, press B. The instrument will only accept numerical inputs when the flashing cursor appears. In this menu the value for different parameters can be altered (the values listed are factory set):
Parameter Distance Offset UsrAV Selection 0 mm 4 - 4096 Remarks Factory set default value Only in Mode User available: Numbers of single measurement for averaging Surpl. 1 -10.000 Only in Mode User available: Timer Mode: Surplus pulses for of No timeframe Quality Mode: Number

Echo's pulses before No Echo message.

Data entry always follows the same procedure: value is displayed if available value will remain as it is in case of a faulty input, erase using DEL and enter desired value new value is entered

To store the information permanently, select "STORE PERMANENT", then press M. Data are saved even when the IBEO sensor is turned off.

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6.1

Sensor Offset (OFFs)

All IBEO sensors have a default factory set offset = 0. There can be entered a value in the unit [mm] in the range - 9,999 to + 9,999 directly by the keyboard. The entered value is added to the measurement result. The overall result is given out by the serial interface and by the LC display. The offset value can be entered for the calibration and/or correction of the measurement result. Also at a displaced installation the reference point could be corrected. The appropriate offset must be entered according to your complete measurement system. Remark: If by entry of a negative offsets the reference point is put before the sensor and the position of the measurement target is below the reference point, a negative output results.

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6.2

UsrAV
If in the PROG A menu the Mode USER is selected there can be a numerical value entered a for the number of single measurements taken into account for a averaging. The input range is, depending on the sensor model, 4 to 4096. Formula for data output rate or output timing while manual input of UsrAV:

Quality Mode:
Output frequency = PRF / UsrAV; Output time = 1 / ( PRF / UsrAV)

Timer Mode
Output frequency = PRF / ( UsrAV + X); Output time = 1 / ( PRF / (UsrAV + X))

X = Percentage of quantity of single measurement for averaging in Mode 1 ;2;3;4 or UsrAV) For example: Mode 4 (AV) =16 and Surpl. 25% => X = 16 + 4 => 20 or if Suplus is manual selected then X = Surplus

PRF = Pulse repetition frequency ( Emitted laser pulses per second ) ( PS-R, PS50, PS100 = 1380 Hz, PS 500 = 800 Hz)

6.3

Surpl. (Surplus Pulses )

The input range is 0 - 10000 .

Timer Mode If in the PROG A menu the mode SURPL. USER is selected, then a value for the amount of surplus pulses for the timeframe in the Timer Mode may be entered.

Quality Mode Number of No Echo's pulses are allowed before No Echo message.

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If Mode USER is selected

If Mode 1 - 4 is selected

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7 DATA OUTPUT FORMAT AND REMOTE CONTROL

Data output requires an enabled interface by "Interf ON" to be set in Interf-menu.

7.1

ASCII Format
All output data are in ASCII-code format. After each completed measurement the distance is transferred in a constant format of 11 ASCII-characters with no suppression of leading zeros:
DDDDD.DDD [CR][LF]

DDDDD DDD [CR] [LF]

integer part decimal point mm carriage return line feed

Meters Millimeters
[OD HEX] [OA HEX]

If measurement has failed, the following string is sent: [space]NO[space]ECHO[space][CR][LF] HEX code for space = 20

7.2

Binary Format
The binary output is carried by 4 Bytes binary in the format IEE 754 dated 1985. This is the internal format of the INTEL 8087 numerical co-processor. The LSB ( Least Significant Byte ) will be transmitted out first. The ,No Echo" will be given out as 0000.

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7.3

Remote Control
Commands for changing IBEO sensors measurement modes via the interface: Command Start Stop SINGLE CONT HEX 4D 53 (62) (63) Char. M S b c d e f g h i j k l m n 0 r u Remarks Start measurement Stop measurement Single measurement Continuous measurement Echo amplitude is limited Echo amplitude is not limited 1 sigma statistical error / minimum average statistical error 1 sigma 1 sigma statistical error 1 sigma statistical error / maximum average frame for measurements No time Constant time frame Surplus pulses in TIMER-mode Surplus pulses in TIMER-mode Surplus pulses in TIMER-mode Surplus pulses in TIMER-mode Activates sample mode Activates user mode

ECHO LIMIT (64) ECHO FREE (65) Mode 4 Mode 3 Mode 2 Mode 1 QUALITY TIMER SURP 25% SURP 50% (66) (67) (68) (69) (6A) (6B) (6C) (6D)

SURP 100% (6E) SURP 200% (6F) Sample Mode User Mode

If the optional RLM (red laser marker) is integrated Marker on (50) P Marker on Marker off (4F) 0 Marker off

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When measuring continuously, M restarts the measurement. The actual measurement or data output is interrupted and started again. S is used for aborting the measurement only.

If the IBEO sensor receives an ASCII-character not currently defined as a valid command the display shows an error message, the HEX-value (HH) and the ASCII-representation (x) of the unknown command received for approximatly 2 seconds: DATA-INPUT-ERROR CODE-> HH ='x' INPUT

If IBEO sensor could not read the incoming data, the display will show:

UART-ERROR $HH XXX XXX XXX

HH as hexadecimal bit combination representing the UART-Status(only for developers). In the second row mnemonics are displayed to specify the error for the user:

PAR:

parity fault

FRM: framing error, e.g. stop bit not found OVR: interface receiver overrun, too many command bytes or too fast

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8 MOUNTING AND INSTALLATION

8.1 Mounting
A proper installation of sensor and reflector is essential for a working system. Four metric M3 thread holes are used for attaching IBEO sensor to the desired mounting Support Bars There are two support bars on the lower surface of the sensor. Each of these has two M5 holes for mounting. The sensor has to be mounted in such a way that a fine tuning of the beam angle is possible. This is especially important when larger distances are going to be measured.

8.1.1 Mechanical Adapter

Adjustable adapter for top side fixing (a) Adjustable in horizontal and vertical direction Adjustable adapter for bottom fixing (b) Adjustable in horizontal and vertical direction

EDM SUPPORT S1

EDM SUPPORT H2

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8.1.2 Yoke Mount

The yoke mount can be used with a turntable/tribrach on a tripod, with the battery pack for the 6V version attached at IBEO sensors underside.

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9 REFLECTRORS
Most types of reflectors are suitable for the PS sensors

9.1

Reflection foil
Reflection foil is self adhesive and is appropriate for distances up to 300 m. It has a large angle acceptance range.

9.2

Plastic reflectors
Plastic reflectors are appropriate for distances up to 500 m. Since they lack a back metal reflection layer, the useful acceptance angle is minimal.

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9.3

Prisms
Prisms are more distinct and powerful than plastic reflectors and should in some cases be considered especially for outdoor applications. When choosing and dimensioning the reflector for your application, the beam divergency as well as any possible tilting due to any flexing in the supporting structure during operation has to be considered. It is important that enough energy is always reflected to the sensor. Therefore it is recommended, especially for longer distances, that the complete beam always hits the reflecting surface.

9.4

Lens reflector
Lens reflectors are appropriate for distances up to 300 m.

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9.5

Combination of triple prism and reflection foil for long crane-tracks with wear out.
The combination gives a large area by the foil and a high reflectivity by the prism.

Sideview

Frontview

railways

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10 AIMING AND AIMING DEVICES

10.1 Telescope All IBEO sensors can be equipped with an integrated telescope 8 x 22 which has a cross-hair reticule and is adjusted parallel to the measuring beam. The crosshair can be focused at the eye-piece. The parallax between scope and measuring beam is 36 mm. The end glass is a laser protection filter. The telescope is focused for a range of 5 meters and upwards. Be aware of the separation of the telescope optical axis and measurement beam.

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10.2 Red Laser Marker (RLM)

For measurements without reflectors a target marker is recommended since the target point is not always visible through the integrated scope. For this purpose, most IBEO sensors can be equipped with a RLM (red laser marker, HeNe-laser) in the place of the scope. The laser marker is aligned by 26mm parallel to the infrared measurement laser beam. The RLM produces an rectangular red beam with a beamsize of 1 x 4.5 mm. The divergence of the RLM is 0,3 / 0,6 mrad. The wavelength is 670 nm and output power of < 1,2 mW. The laser-class is 3 A. In sunlight, the RLM can be seen at about 10m; otherwise, this distance increases to about 20 m. In tunnels with dimmed illumination the working range increases to 30 m. RLM is activated with : F 4 to point F 5 to switch on F 6 to switch off Remark: The display is flashing "Ptr F4"

RLM can be remote controlled via the interface. ( refer 4.8 )

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10.3 High-Power Telescope

A high-power 25 x 30 telescope, focusing up to 2 m by a rotary knob (1) is adaptable to the IBEO sensors. This is recommended when these IBEO sensors contain RLM instead of an internal telescope. Due to the telescope's high power, it is equipped with a diopter (2). The crosshair can be focused at the eye-piece (3).

10.4 Alignment with no aiming aid

1. Move a target (i.e. a long stick) across the beam. The distance reading will indicate when IBEO sensor starts and stops measuring to this target. Do this in x and y.

2. Take an IR-viewer and point IBEO sensor to a reflection foil. Program IBEO sensor for continuous measurement. The IR-laser spot is visible through most IR-scopes. The IRscope should be sensitive at 905 nm. 3. By the means of the IBEO Laserdetector (Order No.:1949-000-000-A) you could find the position where the infrared Laser beam is. As soon as the laser hits the sensitive area the Laserdetector will give an indication by a beep and a LED.

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11 Connections for Power Supply and Interface

The DB9 connector on the lower surface of the sensor is used for power supply and for the RS 232 or RS 422 data communication. Be sure to consider parameters like transmission distances and voltage drop.

11.1 Power supply

DB-9 1 2 3 4 5 Signal DC-in + DC-in + nc GNDi DC-in In/Out In In Description Positive input for power supply Connected to Pin 1 Not connected Signal ground Ground for power supply

In

6 Volt Version +6 (25%) VDC, 6 Watt Peak current for power up: 10 A 200 usec.

A 6V Unit also can be powered by IBEO Pb-Accumulator pack.

12 Volt Version +12 (25%) VDC, 6 Watt Peak current for power up: 10 A 24 Volt Version +24 (25%) VDC, 6 Watt Peak current for power up: 10 A 200 usec 200 usec

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11.2 Interfacing 11.2.1 Interface RS 232C

DB-9 1 2 3 4 5 6 7 8 9 Remark: GNDi is the signal ground for the interface signals. The signal ground of the interface is completely isolated from the housing and power supply . If ground isolation is unnecessary or the cabling is not possible, then pin 4 and 5 of the D-Sub - 9 connectors must be tied together, otherwise the remaining signals of the interface have no respect to ground and proper function is not guaranteed ! The sensor operates the RTS signal to control the flow of incoming data. This signal may connected to the CTS signal of a PC or PLC. The signal RTS with a level between +3. .. +12V indicates that the PS-R is ready to receive data. If the sensor is not ready to receive data, then the level is between -3. .. -12V. The signal CTS is an input of the sensor that may be connected to an RTS or DTR signal of an PC or PLC. This signal is operated by the connected PC or PLC. The level between +3... +12V enables the sensors data output to . If the level is between -3. .. -12V, then the sensor will stop transmission. If no hardware - handshake is required, then the RTS and CTS - terminals can be left open, the CTS-signal is internally activated through a weak pullup-resistor. So with no external connection to the CTS terminal data output is always active. When the RTS signal is not used it may be possible in some rare cases that on high input data rates some commands from PC/PLC to the sensor are skipped by the sensor due to an inactive RTS signal. Signal DC-in + DC-in + nc GNDi DC-in RxD RTS CTS TxD In/Out In In In In In Out In Out Decription Positive input for the power supply connected to Pin 1 Not connected Signal ground for RS 232C signals Ground for power supply Receive data Handshake signal "Request to send" Handshake signal "Clear to send" Transmit data

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11.2.2 Interface RS 422

DB9 1 2 3 4 5 6 7 8 9 Remark: The cable GNDi is the ground reference for the interface signals. The signal ground of the interface is completely isolated from housing and power supply . If ground isolation is unnecessary or cabling is not possible, then pin 4 and 5 of the D-Sub - 9 connectors must be tied together, otherwise the remaining signals of the interface have no respect to ground and the function is not guaranteed ! At these interface version a hardware handshake is not available! Signal DC-in + DC-in + nc GNDi DC-in TxD+ RxDRxD+ TxDIn/Out In In In In Out In In Out Description Positiv input for powersupply connected to Pin 1 Not connected Signal ground for RS422 signals Ground for powersupply Transmit data Receive data (inverted) Receive data Transmit data (inverted)

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12 Procedure for tuning the FUEGO

Please do not push the stopper into the top case before adjustment Install the instrument and supply the unit Switch the instrument on and setup as followed: Max. data output / less accuracy ( = 40 mm or = 20 mm) Continue Echo Limit Aim the instrument to the hot surface you want to measure, when the highest temperature is reached. Start the measurement Only if distances much more than the estimate distance appears on the display, tune the unit as followed: Remove the stopper ( The stopper is either on the left side or on the back, left of the display ) Turn the screw of the potentiometer by a small flat screwdriver CCW (contra clock wise ) until the instrument measures the right distance.

Note: Turning the potentiometer towards the lens decreases the sensitivity of the unit. Turning to much, reduces the range of the instrument!

- Insert the stopper and press it to case

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13 OPTIONS FOR THE PS SERIES

Option EL H Pointer

Description with electronical attenuator and link interface, no display or keyboard function enhanced sensitivity Red laser Marker

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14 ACCESSORIES
Article No. Accessories Description 1 Set (2 units)

0823-000-000-A SUPPORT BARS

0819-000-000-A EDM SUPPORT H1 small /downwards hor.(5)/ver.(10) 0837-000-000-A EDM SUPPORT H2 downwards hor.(10)/ver.(10) 0818-000-000-A EDM SUPPORT S1 small /upright hor.(5)/ver.(10) 0836-000-000-A EDM SUPPORT S2 upright hor.(10)/ver.(10) 1949-000-000-A LASER0000-081-208-0 DETECTOR Link adapter 1977-000-000-A TTY-POWER CONVERTER 1835-000-000-A ANALOG INTERFACE 0201-070-010/A WINDOW, COATED 400246 COOLING HOUSING alignment tool for sensors PC card, 8Bit Slot, 10Mbit 230 VAC/24VDC/RS232C <>TTY incl. sensor power supply. 230VAC/12Bit4-20mA incl. sensor power supply. Suitable to 6V Sensors only! 126x57x3 mm Water-cooled Housing / Adjustment Holder

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15 APPENDIX
15.1 Outline drawing: PS-R, PS 50, PS 100

reference point

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15.2 Outline drawing: PS 500

reference point

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15.3 Outline drawing: PS FUEGO

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16 TECHNICAL DATA
Specification Laser-Classification Light source Wavelength: Measurement: Signal attenuation: Selection of stat. error Telescope:
Class 1 / Class 3a EN 60825 (1994)

laser diode, fibre coupled 880nm 30nm at 20C continuously or triggered Automatic Mode 1 - 4, User defined ( UsrAV) 8 x 22, integrated, adjusted parallel to beam, laser filter type KG 3

Display: Keyboard: Power consumption: Input voltage range:

LCD dot matrix, 16 digits, alphanumeric 16 keys, membrane switch, foil type 6W max. 6V, 12V, 24V (25 %) VDC, refer to type label

Peak current during Powering up Interface Temperature range

10A<200usec

RS 232C or RS 422 function: 0C to + 45 C storage : - 20 to + 70 C

Humidity range Protection class IBEO sensor dimensions Weight: PS R ...PS 500

max. 95 %. no condensing IP 64 195 x 115 x 98 mm, Eyepiece 30 mm 1,7kg typ.

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