SICK TIM51 Series Technical Information

TIM51x

RANGING LASER SCANNER

Mounting and electrical installation

TECHNICAL INFORMATION

Described product

TiM51x

Technical Information

TiM51x ranging laser scanner

Manufacturer

SICK AG

Erwin-Sick-Str. 1

79183 Waldkirch,

Germany

Copyright

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 modification, expurgation
or translation of this document is prohibited without the express written permission of SICK
AG.

© SICK AG. All rights reserved.

Original document

This document is an original document of SICK AG.

The TiM is certified to IEC/EN/UL/CSA 61010-1:2007. These operating instructions may
contain passages of text in a foreign language.

1 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016425/YZK8/2016-07-07

Technical Information Chapter 1

NOTICE

WARNING

TiM51x

About this document

1 About this document

This document summarizes supplementary information on mounting and electrical instal-
lation as well as measured value output fomat of the TiM51x.

It is aimed at sufficiently qualified personnel for the purposes of installation, commissioning
and further data processing.

Notes on commissioning, configuration and maintenance can be found in the TiM51x oper­ating instructions.

Information on the TiM51x can be found on the Internet on the TiM51x product page at
www.sick.com/tim51x:

 Technical specifications in the online data sheet (PDF)

 Dimensional drawing and 3D CAD dimension models in various electronic formats

 Range diagram (PDF)

 EC Declaration of Conformity (PDF)

 Configuration software SOPAS ET (www.sick.com/SOPAS_ET)

 Product information with overview of available accessories (PDF)

 TiM51x operation instructions (PDF) in additional languages where applicable

 This technical information (PDF)

Support is also available from your sales partner, see www.sick.com/worldwide.

Symbols used

Certain information in this documentation is emphasized as follows to enable faster access
to the information:

Notice!

A notice indicates potentially damaging hazards or functional impairments to the TiM51x or
its connected devices.

Warning!

A warning indicates specific or potential dangers to the user's physical integrity. It is intend­ed to protect the user against accidents.

The safety symbol to the left of the warning indicates the type of accident hazard e.g. due
to electricity. Increasing warning levels (CAUTION, WARNING, DANGER) indicate the severity
of the possible hazard.

 Always reading warnings carefully and obey them meticulously.

Important This important notice informs you about special aspects.

This symbol refers to supplementary technical documentation.

8016425/YZK8/2016-07-07 © SICK AG · Germany · All rights reserved · Subject to change without notice 2

Chapter 1 Technical Information

About this document

TiM51x ranging laser scanner

Safety information

 Read the notes on mounting and electrical installation before carrying out these tasks.

 Read additionally the TiM51x operating instructions to familiarize yourself with the

device and its functions.

 The TiM51x complies with laser class 1, for laser warnings see the operating instruc-

tions.

 Only use the device in permissible ambient conditions (e.g. temperature, ground poten-

tial). Any applicable legal regulations or regulations of other authorities will have to be
observed during operation.

 Opening the screws of the TiM51x housing will invalidate any warranty claims against

SICK AG.

 Repairs may only be performed on the TiM51x by trained and authorized SICK AG ser-

vice personnel.

 The TiM51x does not constitute personal protection equipment in sense of the respec-

tive applicable safety standards for machines.

 The TiM51x must not come into contact with moisture and dust when the cover of the

USB port is open and/or the USB cable is connected. In this status, the TiM51x does
not correspond to any specified IP protection class.

 For CE conformity, the maximum length of all connecting cables on the TiM51x must

not exceed 3 m.

3 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016425/YZK8/2016-07-07

Technical Information

TiM51x

Contents

Table of contents

1 About this document..................................................................................................... 3

2 Operating principle of the TiM51x ..............................................................................6

2.1 Distance measurement ............................................................................................. 6

2.2 Direction measurement.............................................................................................6

3 Mounting......................................................................................................................... 8

3.1 Notes on mounting..................................................................................................... 8

3.2 Optional accessories................................................................................................10

4 Electrical installation .................................................................................................. 12

4.1 Overview of all interfaces ........................................................................................12

4.2 Pin and wire color assignments ..............................................................................13

4.3 Notes on electrical installation................................................................................14

4.4 Prerequisites for safe operation of the TiM51x in a system .................................14

4.5 Installation steps......................................................................................................17

5 Measured value output...............................................................................................19

5.1 Telegrams .................................................................................................................19

5.2 Request measured values.......................................................................................20

5.3 Measured value output fomat.................................................................................22

6 License texts ................................................................................................................26

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Chapter 2 Technical Information

Operating principle of the TiM51x

TiM51x ranging laser scanner

2 Operating principle of the TiM51x

The TiM51x is an opto-electronic laser scanner that electro-sensitively scans the perimeter
of its surroundings at a single plane with the aid of laser beams. The TiM51x measures its
surroundings using two-dimensional polar coordinates based on its measurement origin.
This is marked on the hood in the centre using a circular indentation. If a laser beam hits
an object, its position in terms of distance and direction is determined.

Scanning is performed across a 270° sector. The maximum range of the TiM51x is 4 m on
light, natural surfaces with an object reflectivity > 50 % (e.g. a white house wall).

2.1 Distance measurement

The TiM51x emits pulsed laser beams using a laser diode. If one of these laser pulses hits
an object or a person, this is reflected at its surface. The reflection is detected in the
TiM51x's receiver by a photodiode. The TiM51x uses HDDM technology (High Definition
Distance Measurement), a SICK own-development. Using this measurement method, a
measured value is formed by the average value for several individual pulses. The TiM51x
calculates the distance to the object from the transit time required by the light from emis­sion of the beam to receipt of the reflection. This principle of "time-of-flight measurement"
is used by radar systems in a similar manner.

2.2 Direction measurement

The emitted laser beams are deflected by the TiM51x using a rotating mirror and its sur­roundings scanned in a circular form. The measurements are triggered internally at regular
angle increments using an angular encoder. One complete rotation represents one measur­ing process (scan).

The TiM51x works at a scanning frequency of 15 Hz, i.e. it performs 15 measuring process­es per second and makes the measurement results continuously available in real time via
an RS-232 interface.

The measurement method forms an average value from several pulses to determine indi­vidual measured values. A measuring point is the average value of 84 measurements com­bined.

5 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016425/YZK8/2016-07-07

Technical Information Chapter 2

Operating principle of the TiM51x

TiM51x

The measured values are output in 3°stages; in other words, only one in every three mea­sured values generated internally is output.

84 submeasuring points

TiM51x

Spot diameter (mm/in)

120

4.73

100

3.94

80

3.15

60

2.36

40

1.58

20

0.79

0

0 0,5 1 1,5 2,5 3,5234

1.64 3.28 4.92 8.20 11.486.56 9.84 13.12

Spot diameter of a submeasuring point.
Divergence 9.5 mrad, spot diameter on the front screen 6 mm (0.24 in)

Elongation of the 84 overlayed submeasuring points in direction
of deflection at angle step 1°.
Divergence 27 mrad, spot diameter on the front screen 6.5 mm (0.26 in)

Range (m/ft)

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Chapter 3 Technical Information

Crosswise placement of two TiM51x

Placement of two TiM51x opposed to each other

Mounting

TiM51x ranging laser scanner

3 Mounting

3.1 Notes on mounting

 The TiM51x can, depending on the application purpose, be mounted in any position.

 Install the TiM51x so it as unaffected by shocks and vibrations as possible.

 Install the TiM51x so it is not exposed to any direct sunlight (window, skylight) or any

other heat sources. This prevents impermissible temperature increases inside the
device.

 During insta llation make s ure there is no light or reflective surface behind the reference

target (see Figure ).

30°

90°

1

225°‒45°

180°0°

á

Using several TiM51x

The TiM51x is designed so that mutual interference of the same types of sensors is very un­likely. To preclude even the slightest of influences on the measuring accuracy, we recom­mend installing the TiM51x as in the examples below.

7 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016425/YZK8/2016-07-07

Technical Information Chapter 3

Placement of two TiM51x with parallel offset

TiM51x

Mounting

Placement of two TiM51x with parallel offset, one of these upside down

Placement of two TiM51x upside down, parallel offset

Placement of two TiM51x with parallel offset, one of these upside down

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Chapter 3 Technical Information














Mounting

TiM51x ranging laser scanner

3.2 Optional accessories

3.2.1 Install mounting set 2 (part no. 2061776) on the TiM51x

The hanger-shaped mounting set 2 is used as skirting protection and as a bracket for mak­ing fine adjustments on the scan plane. The TiM51x can also be fastened directly onto the
bracket without the adapter plate (skirting protection only).

Mounting bracket
4.3 mm diameter hole for mounting the mounting bracket horizontally or vertically on a

surface, 2 x 2

Cheese-head screw M4 x 16 (hexagon socket) and compression spring for aligning the

TiM51x, 3 x

Set screw for locking the adapter plate after alignment, 2 x
Adapter plate
Cheese-head screw M3 x 8 in a 3.2 mm diameter hole for mounting the TiM51x to the

adapter plate, 2 x

3.2 mm diameter hole for mounting the TiM51x directly on the mounting bracket, 2 x

(alternatively, without option for making adjustments on the scan plane)

9 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016425/YZK8/2016-07-07

Technical Information Chapter 3

All measures of length in mm

68

89.4

70

51

92

68.8

26.4 4238.5

68.8

Ø 4.3 (2 x)

Ø 4.3 (2 x)

TiM51x

Mounting

Procedure for mounting the TiM51x

1. Mount the TiM51x to the adapter plate using the two screws M3 x 8 supplied. For this
purpose, insert the screws from below through the hole in the mounting bracket and
the hole in the adapter plate.

2. Align the scan plane of the TiM51x using the three cheese-head screws

3. After alignment, lock the adapter plate against the mounting bracket using both set
screws

.

.

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Chapter 4 Technical Information

SOPASSOPAS

„Power/Out“

„USB 2.0“

TiM51x

SYNC/

DEVICE READY

Connection

box

Configuration

Diagnosis

Driver for request of
measurement values
and further data
processing

DC 9 V ... 28 V

delay­action

fuse

0,8A/T

USBUSB

3

1

7

2

6

5

4

8

9

10

12

11

Electrical installation

TiM51x ranging laser scanner

4 Electrical installation

4.1 Overview of all interfaces

4.2 Pin and wire color assignments

"Power/Out" connection (plug, M12, 12-pin, A-coded)

Pin Signal Color of wire Function

1GND Black Ground

2 DC 9 V ...28 V Red Supply voltage

3N.c. – –

4N.c. – –

5N.c. – –

6N.c. – –

7N.c. – –

8 SYNC/DEVICE READY Red/black Synchronization output (SYNC/Device Ready)

9 reserved – –

10 reserved – –

11 TxD Yellow RS-232 (Transmitter)

12 RxD Purple RS-232 (Receiver)

– – Metal Shield

Do not connect reserved pins!

11 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016425/YZK8/2016-07-07

Technical Information Chapter 4

TiM51x

Electrical installation

4.3 Notes on electrical installation

 When the cover of the USB socket is open or the USB cable is connected, the TiM51x

must not come into contact with moisture and dust. In this status, the TiM51x does not
correspond to any specified IP enclosure rating.
Use the supplied seal for the USB connection to prevent contact with moisture and dirt.

 When operating the USB interface, ESD/EMC interferences can lead to an interruption

of the USB connection. To continue with the data transfer, disconnect the USB cable
from the TiM51x and reattach it to establish contact. To re-establish communication
between TiM51x and PC, select C
software.

 Electrical connections between the TiM51x and other devices may only be connected

or disconnected when the system is not live, otherwise the devices may be damaged.

 All connection cables on the TiM51x may not exceed a length of 3 m (9.84 ft) in order

to ensure that it conforms with the CE.

 Conducting cross sections of the supply cable from the customer's power system

should be selected and perform in accordance with the applicable standards.

 Protected the TiM51x with an external 0.8 A delay-action fuse at the start of the supply

cable from the point of view of the power supply.

 All electrical circuits connected to the TiM51x must be designed as SELV or PELV elec-

tric circuits (SELV = Safety Extra Low Voltage, PELV = Protective Extra Low Voltage).

 When setting up a startup device with a 12-pin M12 male connector, do not wire the

reserved pins (e.g. as solder post)!

 Do not switch on the supply voltage for the TiM51x until the connection work has been

completed and wiring work has been checked carefully.

OMMUNICATION > GO ONLINE in the SOPAS configuration

4.4 Prerequisites for safe operation of the TiM51x in a system

The TiM51x is designed and tested for electrical safety according to the standard
IEC 61010-1 (ed. 3):

It is connected to peripheral devices (power supply, control, actuators) via shielded cables.
The cable shield e.g. of the supply line is therefore flush with the metal housing of the
TiM51x. The device can either be grounded via the cable shield or via the two straight
plates.

If the peripheral devices also have metal housing and if the cable shields also flush with
their housing, it is assumed that all devices involved in installation have the same ground
potential.

This is achieved by observing the following conditions for instance:

 mounting of devices on conducting metal surfaces

 professional grounding of devices/metal surfaces in the system

 low-impedance and current-conducting equipotential bonding between areas with dif-

ferent ground potentials if necessary.

If these conditions are not met, e.g. on devices in a widely distributed system across several
buildings, equipotential bonding currents may, due to different ground potentials, flow via
the cable shields between the devices, which can lead to dangers.

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Chapter 4 Technical Information

DANGER

DANGER

closed current loop
with equalizing currents
via cable shields

grounding point 2

grounding point 1

grounding potential difference

Actuators for

switching outputs

Power

supply unit

I

U

= metal housing

= shielded electrical cable

TiM51x

Electrical installation

TiM51x ranging laser scanner

Insufficient ground potential equalization leads to voltage differences arising between
grounding points 1 and 2. The current loop closes via the shielded cables/metal housing.

Risk of injury/risk of damage due to electrical current!

Equipotential bonding currents between the TiM51x and other grounded devices in the sys­tem may have the following effects:

 dangerous currents on the metal housing e.g. of the TiM51x

 incorrect functioning or irreparable damage to the devices

 Damage/irreparable damage of the cable shield due to heating and cable fires

 Where local conditions are unfavorable and thus do not meet conditions for a safe

earthing method (same ground potential at all grounding points), carry out the mea­sures below.

Risque de blessure ou d’endommagement dû au courant électrique !

Des courants d’équipotentialité entre le TiM51x et les autres appareils mis à la terre de
l’installation peuvent avoir les effets suivants :

 tensions dangereuses sur le boîtier métallique du TiM51x par ex.

 comportement défectueux ou destruction des appareils

 endommagement ou destruction du blindage des câbles par échauffement et par

combustion des câbles

 Prendre des mesures selon les indications suivantes là où les caractéristiques locales

sont défavorables et ne permettent pas un concept de mise à la terre sûr (même
potentiel de terre dans tous les points de mise à la terre).

13 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016425/YZK8/2016-07-07

Technical Information Chapter 4

Actuators for

switching outputs

grounding point 1

Electro-

optical

signal

isolators

Electro-

optical

signal

isolators

grounding point 2

= metal housing

= shielded electrical cable

= fiber optic cable

grounding potential difference

U

TiM51x

Electrical installation

TiM51x

Remedial measures

The primary solution for avoiding equipotential bonding currents on the cable shields is to
guarantee low-impedance and current-conducting potential equalization. If this is not pos­sible, the following two solution approaches are intended as suggestions.

Important It is not advisable to open up the cable shields. This can cause compliance with EMC limit

values for the devices to be no longer guaranteed.

a) Measures for widely distributed system installations

On widely distributed system installations with correspondingly large potential differences,
we recommend setting up local islands and connecting them using commercially available
electro-optical signal isolators. This will attain maximum resistance to electromagnetic in­terference, while observing all requirements of EN 60950-1 at the same time.

The ground loop is isolated by using the electro-optical signal isolator between the islands.
Equalization currents are prevented on the cable shields within the islands by conductible
equipotential bonding.

b) Measures for small system installations

For smaller installations with only slight potential differences, insulated installation of the
TiM51x and of peripheral devices may be a sufficient solution.

Actuators for

switching outputs

grounding point 1

grounding potential difference

U

TiM51x

electrically
insulated

grounding point 2 grounding point 3

= metal housing

= shielded electrical cable

Power

supply unit

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Chapter 4 Technical Information

Important The power supply for the TiM51x and the connected peripheral devices must also guarantee

Electrical installation

TiM51x ranging laser scanner

There is effective suppression of ground loops even at ground potential differentials of up
to 60 V RMS / 80 V DC maximum. As result, equalizing currents can no longer flow via the
cable shields and metal housing.

the required level of insulation.

Under certain circumstances, a tangible potential can develop between the insulated metal
housings and the local ground potential.

Special national regulations for Sweden and Norway

Varning och atjarder

Utrustning som ar kopplad till skyddsjord via jordat vagguttag och/eller via annan utrustning
och samtidigt ar kopplad till kabel-TV nat kan i vissa fall medfora risk for brand.

 For att undvika detta skall vid anslutning av utrustningen till kabel-TV nat galvanisk iso-

lator finnas mellan utrustningen och kabel-TV natet.

Advarsel og tiltaker

Utstyr som er koplet til beskyttelsesjord via nettplugg og/eller via annet jordtilkoplet utstyr

- og er tilkoplet et kabel - TV nett, kan forarsake brannfare.

 For a unnga dette skal det ved tilkopling av utstyret til kabel-TV nettet installeres en gal-

vanisk isolator mellom utstyret og kabel-TV nettet.

Corresponding English translation

Devices which are connected to the electrical system PE of the building via a mains connec­tion or other devices with a connection to the PE, and which are connected to a cable distri­bution system with coaxial cables, can under certain circumstances cause a risk of fire.

 Connections to a cable distribution system must therefore be made such that electrical

insulation is offered below a certain frequency range (galvanic separating link).

15 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016425/YZK8/2016-07-07

Technical Information Chapter 4

DANGER

DANGER

TiM51x

V

S

= DC 9 V ... 28 V

SYNC/
DEVICE
READY

Structure and wiring principle of output SYNC/DEVICE
READY (pin 8)

8

5

GND

V

out

Quenching circuit:
Install an anti-surge
diode directly at the
load!

For inductive load:

TiM51x

Electrical installation

4.5 Installation steps

4.5.1 Supply voltage connection

The TiM51x requires a supply voltage between DC 9 and 28 V (stabilized protective extra­low voltage [SELV or PELV] as per the IEC 60364-4-41 standard) .
The electricity source must be able to provide a power of 5 W at minimum.

Risk of injury due to electrical current!

If the supply voltage is generated by extracting and converting current from the alternating
current network using a stabilized power supply unit, insufficient electrical separation be­tween the input and output circuit may lead to an electric shock.

 Only use a power supply unit whose output circuit has reliable electrical separation due

to double insulation and a safety transformer as per IEC 742.

Risque de blessure dû au courant électrique !

Une séparation électrique insuffisante entre les circuits d’entrée et de sortie peut provo­quer une électrocution si la tension d’alimentation est générée par le prélèvement et la
conversion de courant du réseau alternatif à l’aide d’un bloc d’alimentation stabilisé.

 N’utiliser qu’un seul bloc d’alimentation dont le circuit de sortie, à l’opposé du circuit

d’entrée, possède une séparation électrique sécurisée par une double isolation et un
transformateur de sécurité selon CEI 742 (VDE 0551).

4.5.2 Wiring of output SYNC/DEVICE READY

The "SYNC/DEVICE READY" output is used to output the "Device Ready" signal, an error and
a regular index pulse.

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Chapter 4 Technical Information

Electrical installation

TiM51x ranging laser scanner

Switching behavior PNP-switching against supply voltage VS.

 SYNC/DEVICE READY:

Idle level: High (Device Ready),
Working level: Low (error), low pulse (15 Hz, index, corresponds to
measurement at 90°)

Properties – Short-circuit resistant and temperature-protected

– Not electrically isolated from the supply voltage V

Electrical values 0 V V

(VS – 1.5 V)V

out

 V

S

 VS at I

out

100 mA

out

S

Important Longer connecting cables at the switching outputs of the TiM51x should be avoided due to

the resultant voltage drop. This is calculated as follows:

2 x length x current

D V = -------------------------------------------------------------

Conductance value x cross section

Conductance value for copper: 56 m/W mm

2

.

17 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016425/YZK8/2016-07-07

Technical Information Chapter 5

TiM51x

Measured value output

5 Measured value output

5.1 Telegrams

Notation

The individual sections in the syntax of the telegrams from the TiM51x are each separated
by a space (ASCII code 32, 20h) as also neccessary in the request to the TiM51x.

The TiM51x sends measured values conditioned as followed:

 Values with a leading “+” or “–” as a decimal value (ASCII notation).

 Values without a leading “+” or “–” as a hexadecimal value (ASCII notation).

 The different notations can be mixed within the telegram.

 All following telegram examples refer to the CoLa-A protocol

Variable types

The variable types are the given in the syntax of the measuring data output telegram.
The following variable types are possible:

Variable type Length (byte) Value range Sign

uint_8 1 0 … 255 No

uint_16 2 0 … 65,535 No

uint_32 4 0 … 4,294,967, 295 No

int_32 4 –2,147, 483,648 … +2,147,483,647 Yes

float_32 4

string Context-dependent Important: strings are not terminated by zeroes

–10

–44.85

... +10

38.53

Yes

Important  The information in the “Length” column of the table refers to the binary transfer of the

numeric parameters.

 The information in the “Value range” column in the table refers to the value range math-

ematically possible for the variable type. The actual value ranges for the parameters
may be different see also Chapter 5.3 Measured value output fomat, Page 21.

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Chapter 5 Technical Information

Measured value request

Output of one measured value telegram

Measured value output

TiM51x ranging laser scanner

5.2 Request measured values

After switching on the supply voltage, the TiM51x initializes and the green LED will light
up to indicate its readiness for operation.

The TiM51x begins its readiness to measure automatically. It continuously scans the sur­rounding contour in its field of vision at a frequency of 15 Hz. It continuously saves the val­ues determined in each measuring process (scan) in its measured value memory by
overwriting the previous values.

5.2.1 Single measured value output

If the data from a measuring process are required, the TiM51x sends the measured values
from the most recent scan.

Example of single measured value output

Request:

<STX>sRN LMDscandata<ETX>

Answer of TiM51x:

<STX>sRA LMDscandata (contents see Chapter 5.3 Measured value output fomat,

Page 21) <ETX>

Telegram structure: sRN LMDscandata

Telegram part Description Variable type Length (byte) Value range

Type of command Request (SOPAS read by name) string 3 sRN

Command Data request string 11 LMDscandata

19 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016425/YZK8/2016-07-07

Technical Information Chapter 5

Measured value request

Output of the measured value telegrams

Stop the output

TiM51x

Measured value output

5.2.2 Continuous measured value output

If the data from ongoing measuring processes are required, the TiM51x sends measured
values from successive scans until the output of measured values is stopped again using
the same telegram.

Example of continuous measured value output

1. Start measured value output

Request:

<STX>sEN LMDscandata 1<ETX>

Answer of TiM51x (acknowledgement of request):

<STX>sEA LMDscandata 1<ETX>

Answer of TiM51x (measured value output):

<STX>sSN LMDscandata (contents see Chapter 5.3 Measured value output fomat,

Page 21) <ETX>

2. Stop measured value output

Request:

<STX>sEN LMDscandata 0<ETX>

Answer of TiM51x (acknowledgement of request):

<STX>sEA LMDscandata 0<ETX>

Telegram structure: sEN LMDscandata MeasurementStartStop

Telegram part Description Variable type Length (byte) Value range

Type of command Request (SOPAS event by name) string 3 sEN

Command Data request string 11 LMDscandata

MeasurementStartStop Enum8 1 0 Stop measured value output

1 Start measured value output

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Chapter 5 Technical Information

Measured value output

TiM51x ranging laser scanner

5.3 Measured value output fomat

Important Information that is grayed out in the following table is not output by the TiM51x.

Telegram part Description Variable type Length (byte) Value range

Type of command Request (SOPAS read

answer/SOPAS sent event)

Command Data request string 11 LMDscandata

Version number Firmware version information uint_16 2 0000h ... FFFFh

Device number Device ID as configured in

SOPAS ET

Serial number Factory serial number uint_32 4 00000000h ... FFFFFFFFh

Device status Status of the TiM51x uint_x 2 x 1 00 00h Device OK

Device information

Telegram counter Counter, starting at the first

measured value telegram
(cyclic data) after confirma­tion of the measured value
request.
When the upper limit is
reached, the counter starts
again at 0 (= 1st telegram).

Scan counter Counter, starting with the first

scan after confirmation of the
measured value request.
When the upper limit is
reached, the counter starts
again at 0 (= 1. scan).

Time since startup Time since the TiM51x was

switched on and the end
point of the scan in micro
seconds (μs)

Time of transmission Time since the TiM51x was

Status information

Input status The least significant byte

Output status The least significant byte

Checksum 8Bit Checksum XOROperation uint_8 1 00h ... FFh

Reserved byte A Reserved uint_16 2 –

switched on and the transfer
of the measured values in
micro seconds (μs)

reflects the state of the digital
switching inputs by bit.
The least significant bit corre­sponds to input 1.

reflects the state of the digital
switching outputs by bit.
The least significant bit corre­sponds to output 1.

string 3 sRA/sSN

uint_16 2 0000h ... FFFFh

00 01h Device error

uint_16 2 0000h 0

FFFFFh 65,535

uint_16 2 0000h 0

FFFFFh 65,535

uint_32 4 00000000h 0

FFFFFFFFFh 4,294,967,295

uint_32 4 00000000h 0

FFFFFFFFFh 4,294,967,295

uint_x 2 x 1 00 00h all switching inputs inactive

uint_x 2 x 1 00 00h all switching outputs inactive

00 0Bh all switching outputs active

21 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016425/YZK8/2016-07-07

Technical Information Chapter 5

TiM51x

Telegram part Description Variable type Length (byte) Value range

Scanning frequency Information in 1/100 Hz uint_32 4 1500 15 Hz

Measurement
frequency

Measurement parameters

Number of encoders Defines the number of encod-

Encoder position Information in ticks uint_32 4 00000000h ... FFFFFFFFh

Encoder speed Information in mm/s uint_16 2 0000h ... FFFFh

Encoder

Number of 16 bit channels Defines the number of 16-bit

Measured data con­tents

Scaling factor Multiplier for the values in the

Scaling offset For the TiM51x always 0 float_32 4 00000000h ... FFFFFFFFh

Starting angle Information 1/10,000 degree Int_32 4 –450,000 ... + 2,250,000

Angular step width Information 1/10,000 degree uint_16 2 30,000

Number of data Defines the number mea-

Data_1 ... Data_n Output of the measured val-

Output channels 1 ... 4 (16 bit)

Number of 8 bit channels Defines the number of 8-bit

(contd.)

Measured value output

Frequency between two sepa­rate measurements in 100 Hz

ers from which data are out­put

output channels on which the
TiM51x outputs measured
data.
If “0 output channels” are
selected, no data is output.

The telegram part defines the
contents of the output chan­nel.

telegram parts Data_1 to
Data_n

sured values the TiM51x out­puts

ues 1 to n. The contents and
the unit depend on the tele­gram part “Measured data
contents”. DIST in mm

output channels on which the
TiM51x outputs measured
data.
If “0 output channels” are
selected, no data is output.

uint_32 4 00000000h ... FFFFFFFFh

uint_16 2 0 No encoder data

(can not be changed)

uint_16 2 1 The TiM51x sends the distance

data as 16 bit value via one
channel

string 5 DIST1 Radial distance for the first echo

float_32 4 00000000h ... FFFFFFFFh

uint_16 2 91

uint_16 2 0000h ... FFFFh

uint_16 2 1 The TiM51x sends the RSSI data

as 8 bit value via one channel

8016425/YZK8/2016-07-07 © SICK AG · Germany · All rights reserved · Subject to change without notice 22

Chapter 5 Technical Information

Telegram part Description Variable type Length (byte) Value range

Position Defines the output of position

X position XN coordinate of the sensor in

Y position YN coordinate of the sensor in

Z position ZN coordinate of the sensor in

X rotation XN rotation of the sensor in a

Y rotation YN rotation of the sensor in a

Z rotation ZN rotation of the sensor in a

Position information

Type of rotation Kind of rotation Enum8 1 0 No rotation

Measured value output

data

a coordinate system

a coordinate system

a coordinate system

coordinate system

coordinate system

coordinate system

TiM51x ranging laser scanner

uint_16 2 0 No position data

(can not be changed)

Real 4 00000000h ... FFFFFFFFh

Real 4 00000000h ... FFFFFFFFh

Real 4 00000000h ... FFFFFFFFh

Real 4 00000000h ... FFFFFFFFh

Real 4 00000000h ... FFFFFFFFh

Real 4 00000000h ... FFFFFFFFh

1 Pitching

2 Rolling

3 Free rotation

Name Defines whether the TiM51x

outputs the device name con­figured with SOPAS ET

Device name Flexible range from 0 to

16 characters (20h … FFh)

Comment Defines whether the TiM51x

outputs the comment config­ured with SOPAS ET

Contents of comment Configured comment string 0 ... 128 ..........

RSSI = Received Signal Strength Indicator

Time information Defines whether the TiM51x

outputs time information

Year Year (4 digits) uint_16 2 0000h ... 270Fh

Month Month from 1 to 12 uint_8 1 00h ... 0Ch

Day Day of the month from 1 to 31uint_8 1 00h ... 1Fh

uint_16 2 0 No device name

(can not be changed))

string 0 ... 16 ..........

uint_16 2 0 No comment

(can not be changed)

uint_16 2 0 No time information

(can not be changed)

Hour Hour from 0 to 23 uint_8 1 00h ... 17h

Minute Minute from 0 to 59 uint_8 1 00h ... 3Bh

Second Second from 0 to 59 uint_8 1 00h ... 3Bh

Time information

Micro second Micro seconds from 0 to

999,999

(contd.)

uint_32 4 00000000h ... 000F423Fh

23 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016425/YZK8/2016-07-07

Technical Information Chapter 5

TiM51x

Telegram part Description Variable type Length (byte) Value range

Event information Defines whether the TiM51x

Type of event Fast digital input event string 4 FDIN

Encoder position Encoder position at the time

Event time Time since the TiM51x was

Angular position Angular position of the

Event information

(contd.)

Measured value output

outputs event information

of the event.
Information in ticks

switched on up to the time of
the event in micro second
(μs)

TiM51x at the time of the
event.
Information in 1/10,000
degree

unit_16 2 0 No event information

(can not be changed)

uint_32 4 00000000h ... FFFFFFFFh

uint_32 4 00000000h 0

FFFFFFFFFh 68,719,476,735

int_32 4 –450,000 ... + 2,250,000

8016425/YZK8/2016-07-07 © SICK AG · Germany · All rights reserved · Subject to change without notice 24

Chapter 6 Technical Information

License texts

TiM51x ranging laser scanner

6 License texts

SICK uses open source software in its TiM sensors. This software is licensed by the rights
holders using the following licenses among others: the free licenses GNU General Public Li­cense (GPL Version2, GPL Version3) and GNU Lesser General Public License (LGPL), the MIT
license, zLib license, and the licenses derived from the BSD license.

This Program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
without even the implied warranty for merchantability or fitness for a particular purpose.

See the GNU General Public License for more details.

View the complete license texts here: www.sick.com/licensetexts.

A printed copy of the license texts is also available on request.s

25 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016425/YZK8/2016-07-07

Technical Information Chapter 6

TiM51x

License texts

8016425/YZK8/2016-07-07 © SICK AG · Germany · All rights reserved · Subject to change without notice 26

8016425/YZK8/2016-07-07 ∙ TM_8M ∙ A4 4c int46

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