SICK LiDAR Technical Information
T E C H N I C A L I N F O R M A T I O N
LiDAR Localization Hardware Integration
LiDAR localization
Described product
L
iDAR Localization Hardware Integration
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
his work is protected by copyright. Any rights derived from the copyright shall be
T
reserved for SICK AG. Reproduction of this document or parts of this document is only
permissible within the limits of the legal determination of Copyright Law. Any modifica‐
tion, abridgment or translation of this document is prohibited without the express writ‐
ten permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.
Original document
T
his document is an original document of SICK AG.
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T EC H NI C AL IN F OR M AT I ON | LiDAR Localization Hardware Integration 8024819/2019-09-02 | SICK
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Contents
CONTENTS
1 About this document........................................................................ 4
1.1 Purpose of this document........................................................................ 4
1.2 Scope......................................................................................................... 4
1.3 Target groups............................................................................................ 4
1.4 Symbols and document conventions...................................................... 4
2 Safety information............................................................................ 5
2.1 General safety notes................................................................................ 5
3 Supported hardware......................................................................... 6
3.1 2D LiDAR sensors..................................................................................... 6
3.2 Localization controllers............................................................................ 6
4 Device overview................................................................................. 8
4.1 Device overview microScan3................................................................... 8
4.2 Device overview SIM1000 FXA................................................................ 9
5 Electrical installation........................................................................ 10
5.1 Important notes........................................................................................ 10
5.2 MicroScan3............................................................................................... 10
5.2.1 Electrical setup........................................................................ 10
5.3 SIM1000 FXA............................................................................................ 11
5.3.1 Preparations and overview...................................................... 12
5.3.2 Pin allocations of the connections......................................... 12
5.3.3 Network setup.......................................................................... 13
6 MicroScan3 configuration of the data output............................... 17
6.1 Important notes........................................................................................ 17
6.2 Overview.................................................................................................... 17
6.3 Activating and configuring data output................................................... 17
6.4 Single receiver of measurement data..................................................... 18
6.4.1 Configuring with the Safety Designer..................................... 18
6.5 Multiple receivers of measurement data via broadcast........................ 19
7 Operation............................................................................................ 21
7.1 Status LEDs SIM1000 FXA...................................................................... 21
8 List of figures..................................................................................... 23
9 List of tables....................................................................................... 24
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1 A
BOUT THIS DOCUMENT
1 About this document
1.1 Purpose of this document
This additional technical note describes the hardware integration and how to enable the
asurement data of the 2D LiDAR sensor.
me
The full operating instructions of the used 2D LiDAR sensor must be made available to
all people who work with the device.
1.2 Scope
This document is included with the following SICK part numbers (this document in all
a
vailable language versions):
8024819
•
1.3 Target groups
This document is written for system specialists working in the field of hardware development int
ending to integrate the LiDAR localization system in their application.
1.4 Symbols and document conventions
The following symbols and conventions are used in this document:
Safety notes and other notes
DANGER
Indic
ates a situation presenting imminent danger, which will lead to death or serious
injuries if not prevented.
WARNING
Indicates a situation presenting possible danger, which may lead to death or serious
injuries if not prevented.
CAUTION
ates a situation presenting possible danger, which may lead to moderate or minor
Indic
injuries if not prevented.
NOTICE
Indic
ates a situation presenting possible danger, which may lead to property damage if
not prevented.
NOTE
Indic
ates useful tips and recommendations.
Instructions to action
he arrow denotes instructions to action.
T
b
1. The sequence of instructions for action is numbered.
2. Follow the order in which the numbered instructions are given.
✓
The check mark denotes the result of an instruction.
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2 Safety information
2.1 General safety notes
DANGER
D
anger of using data output for safety function
Data output may only be used for general monitoring and control tasks.
Do not use data output for safety-related applications.
b
DANGER
Danger of using CoLa2 for safety function
CoLa2 may only be used for general monitoring and control tasks.
Do not use CoLa2 for safety-related applications.
b
SAFETY INFORMATION 2
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3 SUP
PORTED HARDWARE
3 Supported hardware
3.1 2D LiDAR sensors
LiDAR-LOC is qualified for the SICK sensor family microScan3.
NOTICE
SIC
K does not guarantee that the system functions with other sensors.
Table 1: Supported sensor data
Supported sensor
ata
d
Supported device (pro‐
tective field range)
Aperture angle 275°
Distance range 1.8 %: 4 m
Scan cycle time 30 ms
2D LiDAR sensor
microScan3
4.0 m
100 %: 40 m
40 ms
microScan3
5.5 m
1.8 %: 5.5 m
100 %: 40 m
microScan3
9.0 m
1.8 %: 9 m
100 %: 64 m
40 ms
50 ms
For additional information, consult the operation instructions of the corresponding sen‐
.
sor
For high quality of the localization, we recommend to consider the following information
about the sensors.
microScan3
Protective field range 9 m (64 m warning field range)
•
The sensors with 64 m measurement range are preferred over the ones with 40 m
me
asurement range. They can be used in both configurations, 50 ms and 40 ms
scan cycle time. Smaller scan cycle times allow potentially higher velocities, how‐
ever, are primarily dependent on your risk assessment.
Pr
otective field range 4 m and 5.5 m (40 m warning field range)
•
When using the sensors with 40 m measurement range, they can be used in both
igurations, 40 ms and 30 ms scan cycle time, with corresponding 0.39° and
conf
0.51° resolution. A smaller scan cycle time allows potentially higher velocities. A
higher resolution allows the detection of smaller objects. However, the configura‐
tion is primarily dependent on your risk assessment.
Complementary information
ou can find additional information of the microScan3 in the operating instructions:
Y
8020198 microScan3 EtherNet/IP
•
8021217 microScan3 PROFINET
•
8021911 microScan3 EFI-pro
•
TM
3.2 Localization controllers
Localization controllers
iDAR-LOC uses the SIM1000-FXA. For quick integration, some information is provided
L
in this document.
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SUPPORTED HARDWARE 3
NOTICE
y default, the localization controller is a programmable device. When using the local‐
B
ization controller with the application software LiDAR-LOC, the controller is converted
into an application device. This means that the device cannot be programmed any
longer; it is locked for any additional application and cannot be unlocked.
Complementary information
Y
ou can find additional information of the localization controller in the operating instruc‐
tions 8023299.
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4 DEVICE OVERVIEW
4 Device overview
4.1 Device overview microScan3
Figure 1: microScan3 – overview
Optics cover
1
Display
2
Keypad
3
USB port
4
Status LEDs
5
Additional LEDs for ON state and OFF state
6
Network LEDs
7
Safety laser scanner without system plug
8
System plug
9
Cover plate
ß
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