SICK TiM55 Series, TiM56 Series, TiM57 Series Mounting And Installation

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TiM55x/TiM56x/TiM57x

RANGING LASER SCANNER

Mounting and electrical installation

TECHNICAL INFORMATION

Technical Information

TiM55x/56x/57x ranging laser scanner

Described product

TiM55x/56x/57x

Manufacturer

SICK AG

Erwin-Sick-Str. 1

79183 Waldkirch,

Germany

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.

Original document

This document is an original document of SICK AG.

Technical Information Chapter 1

NOTICE

WARNING

TiM55x/56x/57x

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 TiM55x/56x/57x.

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 TiM55x/56x/ 57x operating instructions.

Information on the TiM55x/56x/57x can be found on the Internet on the TiM5xx product page at www.sick.com/tim5xx:

 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)

 TiM5xx 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.

In the following the TiM55x/56x/57x is referred to in simplified form as "TiM5xx".

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 TiM5xx 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.

Chapter 1 Technical Information

About this document

TiM55x/56x/57x ranging laser scanner

Safety information

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

 Read additionally the TiM5xx operating instructions to familiarize yourself with the

device and its functions.

 The TiM5xx 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 TiM5xx housing will invalidate any warranty claims against

SICK AG.

 Repairs may only be performed on the TiM5xx by trained and authorized SICK AG ser-

vice personnel.

 The TiM5xx does not constitute personal protection equipment in sense of the respec-

tive applicable safety standards for machines.

 The TiM5xx 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 TiM5xx does not correspond to any specified IP protection class.

 For CE conformity, the maximum length of all connecting cables on the TiM5xx must not

exceed 3 m.

 Turn the swivel connector with the electrical connections max 180° from end position

to end position.

Technical Information

TiM55x/56x/57x

Contents

Table of contents

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

2 Operating principle of the TiM5xx ............................................................................... 6

2.1 Measurement principle..............................................................................................6

2.2 Distance measurement .............................................................................................6

2.3 Direction measurement.............................................................................................6

3 Mounting......................................................................................................................... 9

3.1 Notes on mounting..................................................................................................... 9

3.2 Optional accessories................................................................................................11

4 Electrical installation .................................................................................................. 14

4.1 Overview of all interfaces ........................................................................................14

4.2 Pin and wire color assignments ..............................................................................14

4.3 Notes on electrical installation................................................................................15

4.4 Prerequisites for safe operation of the TiM5xx in a system..................................16

4.5 Installation steps......................................................................................................19

5 Measured value output...............................................................................................21

5.1 Telegrams .................................................................................................................21

5.2 Request measured values.......................................................................................22

5.3 Measured value output fomat.................................................................................24

6 License texts ................................................................................................................28

Chapter 2 Technical Information

Operating principle of the TiM5xx

TiM55x/56x/57x ranging laser scanner

2 Operating principle of the TiM5xx

2.1 Measurement principle

The TiM5xx 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 TiM5xx 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 TiM5xx is max. 10 m (TiM55x/TiM56x) and 25 m (TiM57x) on light, natural surfaces with an object reflectivity > 50 % (e.g. a white house wall).

The scanning range is 8 m in the case of dark surfaces with remission of > 10%.

2.2 Distance measurement

The TiM5xx 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 TiM5xx's receiver by a photodiode. The TiM5xx 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 TiM5xx 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.

2.3 Direction measurement

The emitted laser beams are deflected by the TiM5xx 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 TiM5xx 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 Ethernet interface.

Technical Information Chapter 2

84 submeasuring points

TiM5xx

Operating principle of the TiM5xx

TiM55x/56x/57x

The measurement method forms an average value from several pulses to determine individual measured values.

At an angle resolution of 1°(TiM55x) and 0.3°(TiM56x/TiM57x), a measuring point is formed from the average of 84 measurements.

TiM55x

Spot diameter (mm)

320

280

240

200

160

120

01 23 5 7468

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

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

910

Range (m)

Chapter 2 Technical Information

120

160

200

240

01 23 5 7468

Range (m)

Spot diameter (mm)

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

Elongation of the 84 overlayed submeasuring points in direction of deflection at angle step 0.3°. Divergence 15 mrad, spot diameter on the front screen 6.5 mm

910

160

240

320

400

0 2 4 6 10 1481216

Range (m)

Spot diameter (mm)

Spot diameter of a submeasuring point. Divergence 9.6 mrad, spot diameter on the front screen 6 mm

Elongation of the 84 overlayed submeasuring points in direction of deflection at angle step 0.3°. Divergence 15 mrad, spot diameter on the front screen 6.5 mm

18 20 22 24 26

Operating principle of the TiM5xx

TiM55x/56x/57x ranging laser scanner

TiM56x

TiM57x

Technical Information Chapter 3

Crosswise placement of two TiM5xx

Placement of two TiM5xx opposed to each other

TiM55x/56x/57x

Mounting

3 Mounting

3.1 Notes on mounting

 The TiM5xx can, depending on the application purpose, be mounted in any position.

 Install the TiM5xx so it as unaffected by shocks and vibrations as possible.

 Install the TiM5xx 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 install ation make sure t here is no light or reflective surface behind the reference

target (see Figure ).

30°

‒45°

90°

225°

180°0°

Using several TiM5xx

The TiM5xx 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 TiM5xx as in the examples below.

Chapter 3 Technical Information

Placement of two TiM5xx with parallel offset

Mounting

TiM55x/56x/57x ranging laser scanner

Placement of two TiM5xx with parallel offset, one of these upside down

Placement of two TiM5xx upside down, parallel offset

Placement of two TiM5xx with parallel offset, one of these upside down

Technical Information Chapter 3



















TiM55x/56x/57x

Mounting

3.2 Optional accessories

3.2.1 Install mounting set 2 (part no. 2068398) on the TiM5xx

The hanger-shaped mounting set 2 is used as skirting protection and as a bracket for making fine adjustments on the scan plane. The TiM5xx can also be fastened directly onto the bracket without the adapter plate (skirting protection only).

Mounting bracket Hole for mounting the weatherproof housing, 3 x Holes for mounting the spacer (for mounting weatherproof housing), 3 x Hole for horizontal or vertical mounting of the mounting bracket on a base, 2 x 2

M4 x 16 cylinder head screw (hexagon socket) and compression spring for aligning the

TiM5xx, 3 x

Stud for locking the adapter plate after alignment, 2 x Adapter plate M3 x 8 cylinder head screw in  3.2 mm hole for mounting the TiM5xx on the adapter

plate, 2 x

 Hole for mounting the TiM5xx directly on the mounting bracket, 2 x (alternatively,

without the option of adjusting the scan level)

Chapter 3 Technical Information

Ø 4,3

68,8

26,4

12,1

68,8

39,1

2 x Ø 4,3

101,5

All dimensions in mm

Mounting

TiM55x/56x/57x ranging laser scanner

Procedure for mounting the TiM5xx

1. Mount the TiM5xx on the adapter plate using the two M3 x 8 screws supplied. To do this, insert the screws from below through the hole in the mounting bracket and the hole in the adapter plate.

2. Align the scan level of the TiM5xx using the three cylinder head screws

3. After adjusting the adapter plate using the two studs bracket.

, lock against the mounting

.

4. Mount the mounting bracket horizontally or vertically on a base using suitable screws

 or mount weatherproof housing; see Chapter Procedure for mounting the weath-

erproof housing, Page 13.

Technical Information Chapter 3

NOTICE

All dimensions in mm

TiM55x/56x/57x

Mounting

Weatherproof housing

69,5

17,5

180

103

127

47,5

Restricted scanning range!

Using the weatherproof housing restricts the field of vision of the TiM5xx to a full extent of 210°.

Procedure for mounting the weatherproof housing

1. Lock and mount the TiM5xx in the mounting kit as desired; see Chapter Procedure for

mounting the TiM5xx, Page 12.

2. Mount the spacer plate 3.

3. Slide the weatherproof housing 1 over the TiM5xx in the mounting kit.

4. Secure the weatherproof housing to the TiM5xx using the fixing screws 2.

5. Mount the mounting bracket horizontally or vertically on a base using suitable

screws 4.

Chapter 4 Technical Information

SOPASSOPAS

"Power/Out"

"USB 2.0"

Configuration

Diagnosis

TiM

Connection

box

Driver for request of measurement values and further data processing

SYNC/

Device Ready

"Ethernet"

DC 9 ... 28 V

delayaction

fuse

0,8A/T

USBUSB

EthernetEthernet

Electrical installation

TiM55x/56x/57x ranging laser scanner

4 Electrical installation

4.1 Overview of all interfaces

4.2 Pin and wire color assignments

"Power/Out" connection (plug, M12, 5-pin, A-coded)

Pin Signal Color of wire Function

1 DC 9 V ...28 V Brown Supply voltage

2SYNC/DEVICE

White Synchronization output (SYNC/Device Ready)

READY

3GND

Ground

Blue

4N.c. – –

5N.c. –

– – Metal Shield

Do not connect reserved pins!

"Ethernet" connection (socket, M12, 4-pin, D-coded), for adapter cable No. 6034415

Pin Signal Funktion

1 TD+ (Ethernet) Transmitter+

2 RD+ (Ethernet) Receiver+

3 TD– (Ethernet) Transmitter–

4 RD– (Ethernet) Receiver–

–– Shield

Technical Information Chapter 4

Socket, M12, 5-pin, A-coded (front view)

Illustration may differ



TiM55x/56x/57x

Electrical installation

4.2.1 Optional accessory: adapter cabe No. 6036159 with socket, M12, 5-pin, Acoded and open end

Pin Signal Color of wire Function

1 DC 9 V ... 28 V Brown Supply voltage

2 SYNC/DEVICE READY White Synchronization output (SYNC/Device Ready)

3GND Blue Ground

4N.c. – –

5N.c. – –

– – Metal Shield

Do not connect reserved pins!

4.3 Notes on electrical installation

 When the cover of the USB socket is open or the USB cable is connected, the TiM5xx

must not come into contact with moisture and dust. In this status, the TiM5xx 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 TiM5xx and reattach it to establish contact. To re-establish communication between TiM5xx and PC, select C software.

 Electrical connections between the TiM5xx 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 TiM5xx 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 TiM5xx 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 TiM5xx 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 5-pin M12 male connector, do not wire the re-

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

 Do not switch on the supply voltage for the TiM5xx until the connection work has been

completed and wiring work has been checked carefully.

OMMUNICATION > GO ONLINE in the SOPAS configuration

Chapter 4 Technical Information

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

= metal housing

= shielded electrical cable

TiM5xx

Electrical installation

TiM55x/56x/57x ranging laser scanner

4.4 Prerequisites for safe operation of the TiM5xx in a system

The TiM5xx 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 TiM5xx. 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.

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 TiM5xx and other grounded devices in the system may have the following effects:

 dangerous currents on the metal housing e.g. of the TiM5xx

 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.

Technical Information Chapter 4

DANGER

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

TiM5xx

TiM55x/56x/57x

Electrical installation

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

Des courants d’équipotentialité entre le TiM5xx et les autres appareils mis à la terre de l’installation peuvent avoir les effets suivants :

 tensions dangereuses sur le boîtier métallique du TiM5xx 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).

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 TiM5xx and of peripheral devices may be a sufficient solution.

Chapter 4 Technical Information

Electrical installation

TiM55x/56x/57x ranging laser scanner

Actuators for

switching outputs

grounding point 1

grounding potential difference

TiM5xx

electrically insulated

grounding point 2 grounding point 3

= metal housing

= shielded electrical cable

Power

supply unit

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.

Important The power supply for the TiM5xx and the connected peripheral devices must also guarantee

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).

Technical Information Chapter 4

DANGER

TiM5xx

= DC 9 V ... 28 V

SYNC/ DEVICE

READY

Structure and wiring principle of output SYNC/DEVICE READY (pin 2)

GND

out

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

For inductive load:

TiM55x/56x/57x

Electrical installation

4.5 Installation steps

4.5.1 Supply voltage connection

The TiM5xx requires a supply voltage between DC 9 and 28 V (stabilized protective extralow voltage [SELV] 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

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

Chapter 4 Technical Information

Electrical installation

TiM55x/56x/57x 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

Guaranteed: (VS – 1.5 V)V

out

 V

 VS at I

out

100 mA

out

Important A longer connecting cable at the switching output of the TiM5xx 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

Technical Information Chapter 5

TiM55x/56x/57x

Measured value output

5 Measured value output

5.1 Telegrams

Notation

The individual sections in the syntax of the telegrams from the TiM5xx are each separated by a space (ASCII code 32, 20h) as also neccessary in the request to the TiM5xx.

The TiM5xx 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 24.

Chapter 5 Technical Information

Measured value request

Output of one measured value telegram

Measured value output

TiM55x/56x/57x ranging laser scanner

5.2 Request measured values

After switching on the supply voltage, the TiM5xx initializes and the green LED will light up to indicate its readiness for operation.

The TiM5xx 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 TiM5xx sends the measured values from the most recent scan.

Example of single measured value output

Request:

<STX>sRN LMDscandata<ETX>

Answer of TiM5xx:

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

Page 24) <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

Technical Information Chapter 5

Measured value request

Output of the measured value telegrams

Stop the output

TiM55x/56x/57x

Measured value output

5.2.2 Continuous measured value output

If the data from ongoing measuring processes are required, the TiM5xx 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 TiM5xx (acknowledgement of request):

<STX>sEA LMDscandata 1<ETX>

Answer of TiM5xx (measured value output):

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

Page 24) <ETX>

2. Stop measured value output

Request:

<STX>sEN LMDscandata 0<ETX>

Answer of TiM5xx (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

Chapter 5 Technical Information

Measured value output

TiM55x/56x/57x ranging laser scanner

5.3 Measured value output fomat

Important Information that is grayed out in the following table is not output by the TiM5xx.

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 TiM5xx uint_x 2 x 2 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 TiM5xx was

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

Time of transmission Time since the TiM5xx was

Status information

Input status The least significant byte

Output status The least significant byte

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–FFFFFh

uint_16 2 0000h 0

FFFFFh 65,535

uint_32 4 00000000h 0

FFFFFFFFFh 68.719.476.735

uint_32 4 00000000h–FFFFFFFFh

uint_x 2 x 2 00 00h all inputs inactive

uint_x 2 x 2 00 00h all outputs inactive

00 01h Device ready

Technical Information Chapter 5

TiM55x/56x/57x

Telegram part Description Variable type Length (byte) Value range

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

Measurement frequency

Measured value output

Frequency between two separate measurements in 100 Hz

Spot to spot frequency. At a scan frequency of 15 Hz and angular resolution of 1° (TiM55x), the spot-to-spot frequency can be calculated as follows: 15 Hz * 360° = 5.4 kHz

uint_32 4 00000000h ... FFFFFFFFh

5.4 kHz (TiM55x) / 16.2 kHz (TiM56x/ TiM57x)

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 TiM5xx always 0 Real 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 10,000

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.)

At a scan frequency of 15 Hz and angular resolution of

0.3° (TiM56x/TiM57x), the spot-to-spot frequency can be calculated as follows: 15 Hz * 3 *360° = 16.2 kHz

ers from which data are output

output channels on which the TiM5xx 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 TiM5xx 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 TiM5xx outputs measured data. If “0 output channels” are selected, no data is output.

uint_16 2 0 No encoder data

(can not be changed)

uint_16 2 1 The TiM5xx sends the distance

data as 16 bit value via one channel

string 5 DIST1 Radial distance for the first echo

Real 4 00000000h ... FFFFFFFFh

uint_16 2 91

uint_16 2 0000h ... FFFFh

uint_16 2 1 The TiM5xx sends the RSSI data

as 8 bit value via one channel

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

coordinate system

TiM55x/56x/57x ranging laser scanner

uint_16 2 0 No position data

(can not be changed)

Real 4 00000000h ... FFFFFFFFh

1 Pitching

2 Rolling

3 Free rotation

Name Defines whether the TiM5xx

outputs the device name configured with SOPAS ET

Device name Flexible range from 0 to

16 characters (20h … FFh)

Comment Defines whether the TiM5xx

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 TiM5xx

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

1 Device name

(can 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

Technical Information Chapter 5

TiM55x/56x/57x

Telegram part Description Variable type Length (byte) Value range

Event information Defines whether the TiM5xx

Type of event Fast digital input event string 4 FDIN

Encoder position Encoder position at the time

Event time Time since the TiM5xx 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)

TiM5xx 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

Chapter 6 Technical Information

License texts

TiM55x/56x/57x ranging laser scanner

6 License texts

SICK uses open source software in its TiM5xx sensors. Thi s software is lice nsed 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.

Technical Information Chapter 6

TiM55x/56x/57x

License texts

8015883/YZK8/2016-07-07 ∙ TM_8M ∙ A4 4c int46

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Further locations at www.sick.com

SICK AG | Waldkirch | Germany | www.sick.com

SICK TiM55 Series, TiM56 Series, TiM57 Series Mounting And Installation

Specifications and Main Features

Frequently Asked Questions

User Manual

1 About this document

2 Operating principle of the TiM5xx

2.1 Measurement principle

2.2 Distance measurement

2.3 Direction measurement

3 Mounting

3.1 Notes on mounting

3.2 Optional accessories

4 Electrical installation

4.1 Overview of all interfaces

4.2 Pin and wire color assignments

4.3 Notes on electrical installation

4.4 Prerequisites for safe operation of the TiM5xx in a system

4.5 Installation steps

5 Measured value output

5.1 Telegrams

5.2 Request measured values

5.3 Measured value output fomat

6 License texts