SICK TiM1 Series Operating Instructions Manual
TiM1xx
2D LiDAR sensors
O P E R A T I N G I N S T R U C T I O N S
Described product
25
TiM1xx
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be
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
This document is an original document of SICK AG.
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Contents
CONTENTS
1 About this document........................................................................ 5
1.1 Information on the operating instructions.............................................. 5
1.2 Explanation of symbols............................................................................ 5
1.3 Scope of delivery....................................................................................... 6
2 Safety information............................................................................ 7
2.1 Intended use............................................................................................. 7
2.2 Improper use............................................................................................. 7
2.3 Limitation of liability................................................................................. 7
2.4 Modifications and conversions................................................................ 7
2.5 Requirements for skilled persons and operating personnel.................. 8
2.6 Operational safety and particular hazards.............................................. 8
3 Product description........................................................................... 10
3.1 Product characteristics............................................................................ 10
3.2 Setup and dimensions............................................................................. 12
3.3 Status indicators....................................................................................... 13
3.4 Product ID.................................................................................................. 13
4 Transport and storage....................................................................... 15
4.1 Transport................................................................................................... 15
4.2 Unpacking.................................................................................................. 15
4.3 Transport inspection................................................................................. 15
4.4 Storage...................................................................................................... 15
5 Mounting............................................................................................. 16
5.1 Mounting instructions............................................................................... 16
5.2 Mounting device....................................................................................... 16
5.3 Mounting multiple devices....................................................................... 16
6 Electrical installation........................................................................ 17
6.1 Safety......................................................................................................... 17
6.2 Electrical connection of the sensor......................................................... 17
7 Operation............................................................................................ 20
7.1 Operation via SOPAS ET........................................................................... 20
7.2 Operation via IO-Link................................................................................ 22
7.2.1 Process data............................................................................ 23
7.2.2 Device data.............................................................................. 23
8 Maintenance...................................................................................... 24
8.1 Cleaning..................................................................................................... 24
8.2 Maintenance............................................................................................. 24
9 Troubleshooting................................................................................. 25
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CONTENTS
9.1 Errors......................................................................................................... 25
9.2 Detecting and displaying errors............................................................... 25
9.3 Information for the service case.............................................................. 25
9.4 Returns...................................................................................................... 25
9.5 Repairs...................................................................................................... 26
9.6 Disposal..................................................................................................... 26
10 Technical data.................................................................................... 27
10.1 Features.................................................................................................... 27
10.2 Performance............................................................................................. 27
10.3 Interfaces.................................................................................................. 28
10.4 Mechanics/electronics............................................................................. 28
10.5 Ambient data............................................................................................. 28
11 Accessories........................................................................................ 29
12 Annex.................................................................................................. 30
12.1 EU declaration of conformity / Certificates............................................. 30
12.2 Licenses.................................................................................................... 30
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1 About this document
1.1 Information on the operating instructions
These operating instructions provide important information on how to use devices from
SICK AG.
Prerequisites for safe work are:
Compliance with all safety notes and handling instructions supplied.
•
Compliance with local work safety regulations and general safety regulations for
•
device applications
The operating instructions are intended to be used by qualified personnel and electrical
specialists.
NOTE
Read these operating instructions carefully before starting any work on the device, in
order to familiarize yourself with the device and its functions.
The instructions constitute an integral part of the product and are to be stored in the
immediate vicinity of the device so they remain accessible to staff at all times. Should
the device be passed on to a third party, these operating instructions should be handed
over with it.
ABOUT THIS DOCUMENT 1
These operating instructions do not provide information on operating the machine or
system in which the device is integrated. For information about this, refer to the operat‐
ing instructions of the specific machine.
1.2 Explanation of symbols
Warnings and important information in this document are labeled with symbols. The
warnings are introduced by signal words that indicate the extent of the danger. These
warnings must be observed at all times and care must be taken to avoid accidents, per‐
sonal injury, and material damage.
DANGER
… indicates a situation of imminent danger, which will lead to a fatality or serious
injuries if not prevented.
WARNING
… indicates a potentially dangerous situation, which may lead to a fatality or serious
injuries if not prevented.
CAUTION
… indicates a potentially dangerous situation, which may lead to minor/slight injuries if
not prevented.
NOTICE
… indicates a potentially harmful situation, which may lead to material damage if not
prevented.
NOTE
… highlights useful tips and recommendations as well as information for efficient and
trouble-free operation.
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1 ABOUT THIS DOCUMENT
1.3 Scope of delivery
Included with delivery:
■
2D LiDAR sensor
■
Optional: Accessories
Supplied documentation:
■
SafetyNotes
NOTE
All available documentation can be found online at
www.sick.com/TiM1xx
b
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2 Safety information
2.1 Intended use
The 2D TiM1xx LiDAR sensor is an intelligent sensor for invisibly detecting objects in
areas (fields) to be monitored. It is designed for mobile or stationary use indoors in
standalone operation, with a scanning range of up to 3 m (TiM10x) or 10 m (TiM15x).
The device features a configurable detection field, the shape of which can be freely
defined. If the device detects that the field has been breached, it signals this at the
switching output.
SICK AG assumes no liability for losses or damage arising from the use of the product,
either directly or indirectly. This applies in particular to use of the product that does not
conform to its intended purpose and is not described in this documentation.
2.2 Improper use
Any use outside of the stated areas, in particular use outside of the technical specifica‐
tions and the requirements for intended use, will be deemed to be incorrect use.
The device does not constitute a safety component in accordance with the respec‐
•
tive applicable safety standards for machines.
The device must not be used in explosion-hazardous areas, in corrosive environ‐
•
ments or under extreme environmental conditions.
Any use of accessories not specifically approved by SICK AG is at your own risk.
•
SAFETY INFORMATION 2
WARNING
Danger due to improper use!
Any improper use can result in dangerous situations.
Therefore, observe the following information:
■
Device should be used only in accordance with its intended use.
■
All information in these operating instructions must be strictly observed.
2.3 Limitation of liability
Applicable standards and regulations, the latest state of technological development,
and our many years of knowledge and experience have all been taken into account
when assembling the data and information contained in these operating instructions.
The manufacturer accepts no liability for damage caused by:
■
Failing to observe the operating instructions
■
Incorrect use
■
Use by untrained personnel
■
Unauthorized conversions
■
Technical modifications
■
Use of unauthorized spare parts, consumables, and accessories
With special variants, where optional extras have been ordered, or owing to the latest
technical changes, the actual scope of delivery may vary from the features and illustra‐
tions shown here.
2.4 Modifications and conversions
NOTICE
Modifications and conversions to the device may result in unforeseeable dangers.
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2 SAFETY INFORMATION
Interrupting or modifying the device or SICK software will invalidate any warranty claims
against SICK AG. This applies in particular to opening the housing, even as part of
mounting and electrical installation.
2.5 Requirements for skilled persons and operating personnel
WARNING
Risk of injury due to insufficient training.
Improper handling of the device may result in considerable personal injury and material
damage.
■
All work must only ever be carried out by the stipulated persons.
The operating instructions state the following qualification requirements for the various
areas of work:
■
Instructed personnel have been briefed by the operator about the tasks assigned
to them and about potential dangers arising from improper action.
■
Skilled personnel have the specialist training, skills, and experience, as well as
knowledge of the relevant regulations, to be able to perform tasks delegated to
them and to detect and avoid any potential dangers independently.
■
Electricians have the specialist training, skills, and experience, as well as knowl‐
edge of the relevant standards and provisions to be able to carry out work on elec‐
trical systems and to detect and avoid any potential dangers independently. In Ger‐
many, electricians must meet the specifications of the BGV A3 Work Safety Regu‐
lations (e.g. Master Electrician). Other relevant regulations applicable in other
countries must be observed.
The following qualifications are required for various activities:
Table 1: Activities and technical requirements
Activities Qualification
Mounting, maintenance
Electrical installation,
device replacement
Commissioning, configura‐
tion
Operation of the device for
the particular application
Basic practical technical training
■
Knowledge of the current safety regulations in the workplace
■
Practical electrical training
■
Knowledge of current electrical safety regulations
■
Knowledge of the operation and control of the devices in their
■
particular application
Basic knowledge of the WindowsTM operating system in use
■
Basic knowledge of the design and setup of the described con‐
■
nections and interfaces
Basic knowledge of data transmission
■
Knowledge of the operation and control of the devices in their
■
particular application
Knowledge of the software and hardware environment for the
■
particular application
2.6 Operational safety and particular hazards
Please observe the safety notes and the warnings listed here and in other chapters of
these operating instructions to reduce the possibility of risks to health and avoid dan‐
gerous situations.
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SAFETY INFORMATION 2
CAUTION
Optical radiation: Laser class 1
The accessible radiation does not pose a danger when viewed directly for up to 100
seconds. It may pose a danger to the eyes and skin in the event of incorrect use.
■
Do not open the housing. Opening the housing may increase the level of risk.
■
Current national regulations regarding laser protection must be observed.
WARNING
Electrical voltage!
Electrical voltage can cause severe injury or death.
■
Work on electrical systems must only be performed by qualified electricians.
■
The power supply must be disconnected when attaching and detaching electrical
connections.
■
The product must only be connected to a voltage supply as set out in the require‐
ments in the operating instructions.
■
National and regional regulations must be complied with.
■
Safety requirements relating to work on electrical systems must be complied with.
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3 PRODUCT DESCRIPTION
3 Product description
3.1 Product characteristics
Measurement principle
The device is an opto-electronic LiDAR sensor that uses laser beams for non-contact
scanning of the outline of its surroundings on a plane. The device measures its sur‐
roundings in two-dimensional polar coordinates, relative to its measurement origin. Its
measurement origin is marked by a circular indentation in the center of the optics
cover. If a laser beam strikes an object, the position of that object is determined in
terms of distance and direction.
Figure 1: The 2D LiDAR sensor measurement principle
Range finding
The device emits beams pulsed by a laser diode. If a laser pulse hits an object or per‐
son, it is reflected on the surface of the object or person in question. The reflection is
registered by a photosensitive element in the device receiver. The device uses SICK’s
own HDDM+ (High Definition Distance Measurement plus) technology. With this mea‐
surement process, a measured value is formed by evaluating multiple single pulses.
The device calculates the distance from the object based on the elapsed time that the
light requires between emitting the beam and receiving the reflection. Radar systems
apply this “pulse time-of-flight measurement” principle in a similar way.
Direction measurement
The device uses a rotating mirror to deflect the emitted laser beams, thereby scanning
its surroundings in a circular pattern. The measurements are triggered internally by an
encoder in regular angle increments. The device has a scanning frequency of 14.5 Hz.
The measuring procedure uses a histogram of multiple pulses to determine individual
measured values.
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