LASER DISTANCE SENSOR
FOR STACKER CRANE
SERIAL OUTPUT TYPE
Corresponding to SI unit SYMBOL CORRECTED REASON PAGES DATE CORRECTOR NO.
LASER DISTANCE SENSOR FOR STACKER CRANE APPROVED BY CHECKED BY DRAWN BY DESIGNED BY
TITLE PROVISIONAL SPECIFICATIONS
This is a laser type distance sensor with phase different measuring system.This sensor is mainly used for the detection of stacker crane position.
Power source24VDC±15%ripple10%or less
Measuring distance1m120m(using reflection sheet with300mm)
Distance measuring Continuous modulated frequency changeover/phase different measuring system system(absolute value measuring)
Absolute distance±5mm or less(at25℃)
Repeatability±1mm or less(at25℃)
Response speed When ordinary measuring continuous mode(RS-422I/F):20msec or less
When ordinary measuring(SSI I/F): 2.5msec or less
When calibration process:1sec or less
Detection object Reflection sheet with300mm(*1)
Light source Red-semiconductor laser diode(635670nm)JIS Class2
over by dip-switch)SSI I/F
Communication speed RS-422:4800/9600/19.2K/38.4Kbps
(change-over by dip-SSI:150Kbps(Clock frequency150KHz Max.)
Output(*2)Ready output…OFF when warning information
Trouble diagnosis output…OFF when device trouble
Level lowering output…OFF when level is lowered
Open-collector output…30VDC50mA(Max)Residue voltage1V or less
Input Home position input…Inner correction process is executed when down edge is
Calibration input…Calibration process is executed by connecting to
Display Distance data…6digits7-segment LED
Optical axis coincident lamp…Orange LED lights up when optical axis is
Ambient humidity85%RH or less(Not frozen)
Ambient illuminance10,000lux or less(by halogen&mercury lamp)
Vibration resistance1055Hz double amplitude 1.5mm,each2hour in X,Y&Z directions
Impact resistance490m/s(50G)each10time in X,Y&Z direction
Protective structure IP40
(*1)Measuring distance range is changed in accordance with reflection sheet.Make sure to ask us when other sheets except for specified sheet are used.
(*2)ON means output transistor is getting ON and OFF means output transistor is getting OFF.
Temperature correction process&3kinds of frequency are exchanged for time sharing and absolute value measuring(ordinarily1frequency is used)is executed because some errors by light-interruption or temperature fluctuation aren't caused in measuring distance data for current absolute distance.Once calibration process takes1sec and distance data during processing is held as distance data before calibration process.If calibration process isn't made for a long time,distance precision is getting worse.Execute calibration process as much as possible.
When distance measuring isn't normally executed by any factors such as light-interruption or noise,output(Tr)is getting OFF by deleting distance data.
When device was broken and it doesn't work well,output(Tr)is getting OFF.State of the other output such as distance data etc.during trouble is getting unstable.
(4)Level lowering output
When reception volume is lowered by dirt of optical axis&reflector or inferior light source, output Tr is getting ON.Even though this output is executed,distance measuring is working well till warning output is executed but when level is lowered around short distance, measuring is getting unstable around long distance.
(5)Home position correction
This function is to correct the discrepancy of measuring value by secular variation& circumstances.It corrects to be inner memorized distance value with down edge of home position input.Inner memorized distance value is registered by pushing switch in the rear after it is stopped at the point of home position input when system start-up&periodical inspection.In case of using home position input,make running speed slow extremely at input point.Error is getting bigger under the correction of high speed.
Serial interface can be changed by dip-switch(RS-422/SSI&communication speed).
ON Dip-switch Setting(O N)(OFF)
1Serial I/F changeover SSI RS-422
2SSI Binary/gray code changeover Gray code Binary 14(Note2)RS-422continuous/request changeover Request Continous
Baud rate(bps)Dip-switch3Dip-switch4(Note1)Baud rate setting is available only for 4800ON ON RS-422.
9600ON O F F(Note2)Setting of dip-switch2is depending on
19.2K O F F ON dip-switch 1.
38.4K O F F O F F
(1)Continuous output mode…Continuous output(measuring data)is executed for regular
STX(02H)Measuring data EOT(04H)
(2)Request mode…It is moved to request mode by receiving request code from host under
continuous output mode.Also,it can be set to request mode with dip-switch
1&2immediately after putting power source on.
STX(02H)Measuring data EOT(04H)
3-2-2.Common specification(communication part)
Synchronous system Start-stop synchronous system(stop bit=1bit)
Data code ASCII(7bits)
Error detection Vertical parity(even number)
MSB LSB ERR
Contents0Binary data of distance value(0.1mm unit)ERR
When CLK suspension time is getting specific time or more during1block transmission,ERR bit is regarded as"1".
(ERR judging time Terr)
Terr=(1/fclk)*128=32μsec(LCA clock frequency:fclk=4MHz)
|………………………(Inner counter value)
Data LSB ERR
When interval is getting250μsec or more,communication content is initialized and transmission re-start with first CLK input after reloading data.
4.External interface construction
(Note)It is electrically isolated between inner circuit&external interface circuit.
5.Arrangement(See from the rear side)
CN1:DSB15pins connector(female) 6.Connector diagrams
4Level lowering output
5Trouble diagnosis output
7Home position input