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The NAV-LOC consists of one 2D LiDAR sensor and one SIM2000-0A20A00.
Operation of the SIM2000-0A20A00 and its connection and integration in a vehicle are described in
document 8021385 (German) and document 8021386 (English).
The purpose of this document is to explain the special features that must be considered in terms of
voltage supply, interfacing, and synchronization when using a NAV310.
Additional information on the NAV310 with notes on mounting, installation, and commissioning can
be found online in the operating instructions (SICK document no.: 8016534 (German) and 8016535
(English)) and in the additional information on the product page of the NAV310 (www.sick.com
You can find technical information for NAV310 telegrams for CoLa A/B under part number 8016855
and for the USP protocol under part number 8016687.
The NAV310 should be installed according to the description in the operating instructions (see document at: www.sick.com/NAV310
It should be possible to tilt the scanner in all directions in order to be able to align the scanner horizontally so that the scan plane of the sensor runs parallel to the floor surface.
The sensor must be fixed to a vehicle so that the alignment of the sensor cannot be changed on accident.
The sensor must be mounted in such a way that the contour of the vehicle itself is not within the
measurement area of the LiDAR sensor. When using a NAV3xx scanner, the scanner must be
mounted on the underside!
Ideally, alignment is done in an area with an even floor area intended for service work.
Alignment, at least, should be carried out with a spirit level, which can be placed on the motor crown
(if the scanner does not rotate).
Use the scan visualization in SOPAS ET to verify the generated measured values and the measuring
range online.
1. Select NAV310, MONITOR, SCAN DISPLAY in the project tree.
2. To start the measurement, click the PLAY button.
3. Compare the measurement line with the required result.
Important! The SCAN VIEW on the MONITOR depends on the available processing power of the PC
and is not output in real time. For this reason not all measured values are displayed.
The connection of the voltage supply for the SIM2000-0A20A00 is described in chapter 7.3 of the
NAV-LOC operating instructions.
The Ethernet interface of the SIM can be used for direct connection of the scanner and the PC.
The connection variant for vehicle integration using a switch is described in chapter 5.
The connections shown here are based on the default settings of the SIM (192.168.0.1) and the
NAV310 (192.168.1.10). The Ethernet interface of the PC is set to an IP address in the range
5 Integration and commissioning of the NAV-LOC in a vehicle
5 Integration and commissioning of the NAV-LOC in a
vehicle
5.1 Connecting the NAV310 voltage supply
Connecting the voltage supply for the NAV310 is described in detail in the operating instructions (BANAV310en_8016534) in chapter 5. Here is a short summary:
Supply voltage:
24 V DC ± 15% acc. to IEC 60364441
(observe permissible lengths of cable in table 11 on page 33 of the BANAV310en_8016534 manual)
The NAV310 consumes the following:
• Maximum 36 W when switching on without wired switching outputs
• Typically 12 W during operation, additional maximum 12 W with wired switching output
The voltage supply/the external power supply unit for voltage supply must be able to continuously
provide at least 40 W, or continuously provide at least 48 W when the switching output is wired.
Connections of the NAV310
Pin assignment of the “Power” connection on the NAV310
For example, a cable with a length of 5 m with part number 6043440 and open ends is available for
supplying the NAV310; it can be shortened if necessary.
5 Integration and commissioning of the NAV-LOC in a vehicle
5.2 Connecting the components with connection to the network in
the AGV using a switch
The vehicle control must have at least one Ethernet interface in order to communicate with the NAVLOC.
When using a switch, all components must be set in the same IP number range or a DHCP server
must be available. In this configuration, access is possible from the PC and vehicle computer to the
SIM and the laser scanner.
Integrating the NAV-LOC into an AGV
5.3 Synchronization of the NAV310 2D LiDAR sensor with the
navigation control
The navigation control synchronizes with the timer of the connected NAV310 scanner for precise assignment of the current scan.
The synchronization described below is essential for trouble-free operation.
The NAV310 outputs a signal depending on the position of the scanner head.
This signal is used to synchronize the scans and balance out different run times via the Ethernet interface.
5 Integration and commissioning of the NAV-LOC in a vehicle
A pulse on pin 4 (digital output 1) of the NAV310 is selected for synchronization.
In order to access this pin, a 5-wire cable, such as with part number 6043440 (5 m length, open
ends) must be used without fail; it can be shortened if necessary.
NOTE
For navigation control to be able to evaluate the hardware signal of the scanner, it is important to
connect switching output OUT 1 from the scanner, which is available on the black wire of the 5-pin
supply cable, to input X4-1 (IN1+) of the SIM.
Wiring example of a voltage supply of the SIM2000-0A20A00 and NAV310
NOTE
Monitor LED 1 sends a common signal when sync signals are received by the connected scanner.