SICK TiM781 Operating Instructions Manual

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TiM781

2D LiDAR sensors

O P E R A T I N G I N S T R U C T I O N S

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Product described

TiM781 (part number 1096807)

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.

Original document

This document is an original document of SICK AG.

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Subject to change without notice

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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 Further information................................................................................... 6

2 Safety information............................................................................ 7

2.1 Intended use............................................................................................. 7

2.2 Improper use............................................................................................. 7

2.3 Internet protocol (IP) technology.............................................................. 7

2.4 Limitation of liability................................................................................. 7

2.5 Modifications and conversions................................................................ 8

2.6 Requirements for skilled persons and operating personnel.................. 8

2.7 Operational safety and particular hazards.............................................. 9

3 Product description........................................................................... 10

3.1 Scope of delivery....................................................................................... 10

3.2 Setup and dimensions............................................................................. 11

3.3 Display and operating elements.............................................................. 12

3.4 Type code.................................................................................................. 12

3.5 Product identification............................................................................... 13

3.6 Principle of operation............................................................................... 13

3.6.1 Measurement principle........................................................... 13

3.6.2 Range finding........................................................................... 14

3.6.3 Direction measurement.......................................................... 14

3.6.4 Object sizes.............................................................................. 15

3.6.5 Impact of object surfaces on the measurement................... 16

3.6.6 Scanning range........................................................................ 18

3.6.7 Filter.......................................................................................... 19

3.6.8 Calculation of the field size for mobile applications.............. 21

3.6.9 Switching inputs/outputs........................................................ 23

4 Transport and storage....................................................................... 25

4.1 Transport................................................................................................... 25

4.2 Unpacking.................................................................................................. 25

4.3 Transport inspection................................................................................. 25

4.4 Storage...................................................................................................... 25

5 Mounting............................................................................................. 26

5.1 Mounting instructions............................................................................... 26

5.2 Mounting device....................................................................................... 26

5.3 Mutual interference.................................................................................. 26

6 Electrical installation........................................................................ 28

6.1 Prerequisites for safe operation of the device........................................ 28

6.2 Electrical block diagram for commissioning........................................... 31

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CONTENTS

6.3 Wiring notes.............................................................................................. 31

6.4 Connection diagram................................................................................. 31

6.4.1 TiMxxx-21xxxxx......................................................................... 32

6.4.2 USB interface........................................................................... 32

6.5 Connecting the device electrically........................................................... 33

7 Operation............................................................................................ 34

7.1 SOPAS ET................................................................................................... 34

7.1.1 Parameter - network................................................................ 34

7.1.2 Parameter - filters.................................................................... 35

7.2 Field evaluation......................................................................................... 35

7.2.1 Teach-in / Field set selection.................................................. 35

7.2.2 Monitor - field evaluation monitor........................................... 37

7.2.3 Parameter - evaluation cases................................................. 38

7.2.4 Parameter - fields.................................................................... 38

7.3 Measurement data output....................................................................... 40

7.3.1 Monitor - scan view pro........................................................... 40

7.3.2 Telegram................................................................................... 41

8 Maintenance...................................................................................... 43

8.1 Maintenance plan..................................................................................... 43

8.2 Cleaning..................................................................................................... 43

9 Troubleshooting................................................................................. 44

9.1 Detecting and displaying errors............................................................... 44

9.2 Repairs...................................................................................................... 44

9.3 Returns...................................................................................................... 44

9.4 Disposal..................................................................................................... 44

10 Technical data.................................................................................... 45

10.1 Features.................................................................................................... 45

10.2 Performance............................................................................................. 46

10.3 Interfaces.................................................................................................. 46

10.4 Mechanics/electronics............................................................................. 46

10.5 Ambient data............................................................................................. 47

11 Accessories........................................................................................ 48

12 Annex.................................................................................................. 49

12.1 EU declaration of conformity / Certificates............................................. 49

12.2 Licenses.................................................................................................... 49

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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 to familiarize yourself with the device and its functions before commencing any work.

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 Further information

NOTE

Further documentation for the device can be found on the online product page at:

www.sick.com/TiM7xx

•

There, additional information has been provided depending on the product, such as:

Model-specific online data sheets for device variants, containing technical data,

•

dimensional drawing, and specification diagrams EU declarations of conformity for the product family

•

Dimensional drawings and 3D CAD dimension models in various electronic for‐

•

mats This documentation, in English and German and other languages if applicable

•

Other publications related to the devices described here

•

Publications dealing with accessories

•

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2 Safety information

2.1 Intended use

The TiM781 2D LiDAR sensor features a scan plane and is designed for the following applications:

Detection of objects during continuous output of measurement data as required.

•

Field monitoring of freely defined areas with signaling of field breaches via switch‐

•

ing outputs.

It is suitable for applications which demand precise, non-contact optical measuring con‐ tours and dimensioning. Typical fields of application are, for example, stationary field protection, area monitoring, access control, mobile applications (navigation and anticollision of mobile platforms).

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.

SAFETY INFORMATION 2

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.

•

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 Internet protocol (IP) technology

NOTE

SICK uses standard IP technology in its products. The emphasis is placed on availability of products and services.

SICK always assumes the following prerequisites:

The customer ensures the integrity and confidentiality of the data and rights

•

affected by its own use of the aforementioned products. In all cases, the customer implements the appropriate security measures, such as

•

network separation, firewalls, virus protection, and patch management.

2.4 Limitation of liability

Relevant standards and regulations, the latest technological developments, and our many years of knowledge and experience have all been taken into account when com‐ piling the data and information contained in these operating instructions. The manufac‐ turer accepts no liability for damage caused by:

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2 SAFETY INFORMATION

■

Non-adherence to the product documentation (e.g., operating instructions)

■

Incorrect use

■

Use of untrained staff

■

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.

2.5 Modifications and conversions

NOTICE

Modifications and conversions to the device may result in unforeseeable dangers.

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.

2.6

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.

This product documentation refers to the following qualification requirements for the various activities associated with the device:

■

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

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

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Activities Qualification

Commissioning, configura‐ tion

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

■

Operation of the device for the particular application

Knowledge of the operation and control of the devices in their

■

particular application Knowledge of the software and hardware environment for the

■

particular application

2.7 Operational safety and particular hazards

Please observe the safety notes and the warnings listed here and in other chapters of this product documentation to reduce the possibility of risks to health and avoid dan‐ gerous situations.

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.

SAFETY INFORMATION 2

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.

WARNING Risk of injury and damage caused by potential equalization currents!

Improper grounding can lead to dangerous equipotential bonding currents, which may in turn lead to dangerous voltages on metallic surfaces, such as the housing. Electrical voltage can cause severe injury or death.

■

Work on electrical systems must only be performed by qualified electricians.

■

Follow the notes in the operating instructions.

■

Install the grounding for the product and the system in accordance with national and regional regulations.

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3 PRODUCT DESCRIPTION

3 Product description

3.1 Scope of delivery

The delivery of the device includes the following components:

Table 2: Scope of delivery

No. of units

1 Device in the version ordered,

1 Printed safety notes, multilin‐

Component Notes

2 mounting straps, 2 screws M3 x 4 mm

gual (no. 8021393)

Depending on version. Without connecting cables.

Quick guide and safety notes for 2D-/3D-LiDAR sen‐ sors

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3.2 Setup and dimensions

4 5

2 2

225°

‒45°

180°0°

85.75 (3.38)

27.3

[24.4

62.46 (2.46)

60 (2.30)

0.7 (0.03)

[68.8 (2.71)]

[76.25 (3.00)]

61 (2.40)

46.71 (1.84)

74.39 (2.93)

101.12 (3.98)

17.37

(0.68)

51 (2.01)

30°

90°

2 x

51 (2.01)

44.79 (1.76)

16.79

(0.66)

33 (1.3)

[Ø 4.3

(0.17)

]

(0.96)]

(1.07)

(0.31)

24.4

(0.96)

PRODUCT DESCRIPTION 3

Figure 1: Structure and dimensions, unit: mm (inch), decimal separator: period

2 x fastening clip with M3 x 4 mm screw (included in scope of delivery)

M3 threaded mounting hole, 2.8 mm deep (blind hole thread)

Optics cover

3 4 5 6 7 8 9

Receiving range (light inlet)

Transmission range (light emission)

"Teach-in” pushbutton

Red and green LED (status indicators)

Swivel connector unit with electrical connections

Micro USB port, behind the black plaster cover (“Aux interface” connection for configura‐ tion with PC)

Voltage supply connection, digital in/outputs, 12-pin. M12 female connector

Marking for the position of the light emission level

Ethernet connection, 4-pin M12 female connector

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1 2

3 PRODUCT DESCRIPTION

Area in which no reflective surfaces are permitted when the device is mounted

Bearing marking to support alignment (90° axis)

270° aperture angle (visual range)

3.3 Display and operating elements

Figure 2: Display and operating elements

Red LED (status indicator)

Green LED (status indicator)

Teach-in pushbutton

Status indicators

LED (red) LED (green) Description

O O

- - Device without supply voltage

- Fault

Device ready/monitoring mode

Field breach (if there are lots of field breaches in a short space of time, the red LED lighting up might look like flashing)

Teach-in: start

Teach-in: End of advance warning phase, 60 seconds Teach-in level

Teach-in: End of teach-in phase

3.4 Type code

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O = illuminated; Ö = flashing

The devices of the product family are arranged according to the following type code:

TIM x y z ‒ a b c d e

1 2 3 4 5 6 7 8 9

Table 3: Type code

Position Description Characteristic

1 Device name TIM: Short range 2D-LiDAR sensor

2 Device type 7: Data supplier + field evaluation

3 Output 8: HDDM+, 25 m measuring range, 0.33° angular

resolution, performance professional

4 Housing 1: Housing IP67 without heating

5 Connection 21: Rotating connection unit, 1 x M12 male connec‐

tor, 12-pin, D-coded (Power + I/O); 1x M12 female connector, 4-pin, A-coded (Ethernet)

7 Application 74: Measurement data supplier and flexible field

evaluation with contour fields and particle filters

Subject to change without notice

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Position Description Characteristic

TIM781-2174101

1096807 1118 0001

March 2018

2 3

4 5

8 Laser type 1: Pulse power up to 880 mW, pulse width up to

9 Color 01: Gray

NOTE

Not all combinations are possible according to the type code. The available device vari‐ ants can be found online at:

www.sick.com/TiM7xx

•

3.5 Product identification

The type label gives information for identification of the product variant.

PRODUCT DESCRIPTION 3

5 ns, pulse rate 1,500 kHz

Type code

Part number, serial number

Voltage supply, maximum power consumption

MAC address

Conformity mark/certification mark, symbol: Observe the operating instructions!

Production date

DataMatrix code with product data (part number, serial number, MAC address)

Manufacturer/production location

Conformity mark/certification mark

3.6 Principle of operation

3.6.1 Measurement principle

The device is an opto-electronic LiDAR sensor (laser scanner) that uses laser beams for non-contact scanning of the outline of its surroundings on a plane. The device mea‐ sures its surroundings in two-dimensional polar coordinates, relative to its measure‐ ment 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 deter‐ mined in terms of distance and direction.

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3 PRODUCT DESCRIPTION

Figure 3: Measurement principle of the 2D laser scanner

3.6.2 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/HDDM+ (High Definition Distance Measurement) technology. With this measurement process, a measured value is formed by adding together 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.

3.6.3 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 measuring procedure uses the averaging from multiple pulses to determine individ‐ ual measured values. A measuring point is the average value of several measurements combined.

Device

Laser pulse

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3.6.4 Object sizes

PRODUCT DESCRIPTION 3

As the distance from the device increases, the laser beam expands. As a result, the diameter of the light spot on the surface of the object increases.

Figure 4: Beam expansion

Expanded laser beam

Optical axis

Values required to calculate the light spot size:

Light spot size on the device cover: 7 mm (rounded up)

•

Divergence of 1 light spot: 0.49 deg (8.6 mrad)

•

HDDM+ supplement (1 spot comprises several superimposed individual pulses):

•

0.33 deg (5.8 mrad)

Formula for calculating the light spot width:

(Light spot divergence [mrad] + HDDM+ supplement [mrad]) x distance [mm] + light spot size on the device cover [mm] = light spot width [mm]

Example calculation of the light spot width at a distance of 25 m (25,000 mm):

(8.6 mrad +5.8 mrad) * 25,000 mm +7 mm = 367 mm

Formula for calculating the height of the light spot:

Light spot divergence [mrad] x Distance [mm] + Light spot height at the n device cover [mm] = Light spot width [mm]

Example calculation of the light spot height at a distance of 25 m (25,000 mm):

8.6 mrad * 25,000 mm +7 mm = 222.0 mm

NOTE

For reliable measurement, in particular when using the device to output measured val‐ ues, the laser needs to hit the object several times. Therefore, the object either needs to be larger than the minimum object size, or both the LiDAR sensor and the object must not be moving.

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Size in mm (inch) 1

(16.4)

(65.6)25(82.0)

(32.8)

Distance in m (ft) 2

500

(19.7)

100

(3.9)

300

(11.8)

400

(15.7)

(49.2)

200

(7.9)

3 PRODUCT DESCRIPTION

3.6.5 Impact of object surfaces on the measurement

Figure 5: Minimum object size

Size in millimeters (inc)

Distance in meters (feet)

Minimum object size

Light spot width

Light spot height

Remission value

Remission is the ability of a material to reflect light. The remission value correlates with the amount of laser light emitted by the LiDAR sensor which is reflected by an object (see Lambert’s law).

Shiny surfaces have different remission values at the same distance with different angles of impact. In the case of shiny surfaces, maximum remission is achieved when the beam makes vertical impact.

Matt and dull surfaces have diffuse remission. Therefore, they exhibit similar relative remission values with the same angle of impact regardless of the distance from the zero point.

Table 4: Typical remission values of frequently used materials

Material Typ. relative remission value

Rubber tires (vulcanized, black) 2%

Foam rubber (black) 2.4%

Photographic board (black, matte) 10%

Cardboard (gray) 20%

Wood (untreated fir, soiled) 40%

PVC (gray) 50%

Paper (white, matte) 80%

Plaster (white) 100%

Aluminum (black anodized) 110 … 150%

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PRODUCT DESCRIPTION 3

Material Typ. relative remission value

Steel (stainless, shiny) 120 … 150%

Steel (high gloss) 140 … 200%

Reflection

Most surfaces produce a diffuse reflection of the laser beam in all directions. The struc‐ ture (smooth or rough), shape (flat or curved), and color (light or dark) of the surface determine how well the laser beam is reflected.

On very rough surfaces, part of the energy is lost due to shadowing. Curved surfaces produce a higher diffusion. Dark surfaces reflect the laser beam worse than light ones (brilliant white plaster reflects approx. 100% of the light, while black foam rubber reflects approx. 2.4%). The aforementioned surface characteristics can reduce the scanning range of the device, in particular for surfaces with low remission values.

Figure 6: Reflection of light on the surface of the object

Angle of reflection

The angle of reflection corresponds to the angle of incidence. If the laser beam hits a surface at right angles, the energy is optimally reflected. If the laser beam hits a sur‐ face at an oblique angle, energy and range are lost accordingly.

Figure 7: Angle of reflection

Retroreflection

If the reflective energy is greater than 100%, the beam is not reflected diffusely in all directions; instead it is reflected in a targeted way (retroreflection). Thus a large part of the emitted energy can be received by the laser distance measurer. Plastic reflectors (cat’s eyes), reflective tape, and triple prisms have these properties.

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3 PRODUCT DESCRIPTION

Figure 8: Retroreflection

Reflective surfaces

The laser beam is almost completely deflected on reflective surfaces. This means that an object hit by the deflected beam may be detected instead of the reflective surface.

Figure 9: Specular surfaces

Small objects

Objects that are smaller than the diameter of the laser beam cannot reflect the laser light’s full energy. The portion of the light beam that does not reach the object is lost. If all of the light reflected to the sensor is insufficient, the object may not be detected.

The portion of the light that does not reach the front object can be reflected by a larger object in the background. If all of the light reflected to the sensor is sufficient, this object is detected.

Figure 10: Object smaller than the laser beam diameter

3.6.6 Scanning range

The scanning range of the device depends on the remission of the object to be detected. The better a surface reflects the incident beam back to the device, the greater the scanning range of the device.

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Object remission in % 1

Measuring range in m (ft) 2

0 20

(65.6)

100

(32.8)

(49.2)

(98.4)

(16.4)

(82.0)

PRODUCT DESCRIPTION 3

Figure 11: Scanning range rate as a function of object remission

Object remission in percent

Measuring range in meters (feet)

3.6.7 Filter

3.6.7.1 Particle filter

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The device has digital filters for pre-processing and optimizing the measured distance values. They enable the device to be adapted to meet the specific requirements of the respective application.

The filters can be combined without restrictions. If several filters are active, then the filters are applied sequentially to the results of the preceding filter. The processing sequence is as follows:

Particle filter

•

Median filter

•

Average filter

•

The active filter functions affect the output measured values. It is not possible to recal‐ culate the original measured values from the filtered output values. For this reason, cer‐ tain combinations of filters might not be advisable.

A particularly effective way to reduce the data in a scan (reduction of measurement points) is to restrict the scan range (“Data output” > “Output range”) or the media filter.

The particle filter blanks small, irrelevant reflection pulses in dusty environments and in rain or snow which are caused by dust particles, raindrops, snowflakes or the like. In doing so, successive scans are continuously evaluated in order to detect static objects.

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3 PRODUCT DESCRIPTION

3.6.7.2 Median filter

Figure 12: Without the particle filter: Violation of the contour due to dust particles in the vicinity of the object.

Figure 13: Using the particle filter: The response to dust particles in the field is delayed by one scan. Particles can thereby be blanked.

This filter is suitable for excluding individual outliers from the calculation of an average value.

The values included in the calculation are defined using a 1 x 3 matrix : 3 measured values,consisting of the distance values of a point and its two adjacent points in the scan, are sorted by size.

The measured value in the middle of this sequence is output as the distance value, along with its remission value.

The calculation and output of the media values are done statically.

By activating the media filter, 3 distance values within a scan can be reduced to one output value, which reduces the number of output values to 1/3 compared to the unfil‐ tered scan.

Table 5: Example: Median for scan 1 and 2

Angle (distance values in mm)

Scan 1 2 3 4 5 6 7 8 ...

1 850 852 851 849 850 850 851 850 ...

Scan 1 output value 850 | 851 | 852 849 | 850 | 850 ...

2 849 850 850 853 852 852 850 851 ...

Scan 2 output value 849 | 850 | 850 852 | 852 | 852 ...

... ... ... ... ... ... ... ... ... ...

3.6.7.3 Average filter

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The sliding average filter smooths the distance value. It does this by calculating the arithmetic mean from several scans of the same point. The number of scans can be configured (maximum 4 scans).

Table 6: Example: Average filter over 5 scans

Angle (distance values in mm)

Scan 1 2 3 4 5 6 7 8 9 …

1 0 0 1100 1100 1150 1150 1380 1380 0 …

2 0 0 1200 1200 1190 950 1500 1500 0 …

3 0 0 1150 1450 1200 1200 1450 1450 0 …

4 0 0 1170 1170 1220 1220 1470 1150 0 …

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PRODUCT DESCRIPTION 3

Angle (distance values in mm)

Scan 1 2 3 4 5 6 7 8 9 …

1 Output value (scan 1-4)

5 0 0 0 1110 1150 1150 1380 1380 0 …

2. Output value (scan 2-5)

6 0 0 1200 1210 1190 0 1500 1500 0 …

3. Output value (scan 3-6)

7 0 730 1150 0 1200 1200 1450 1450 0 …

4. Output value (4-7)

… … … … … … … … … … …

Individual outliers (shown in bold in the table) influence the average value.

Once the measured value telegram has been confirmed, the first measured value is not output until after the configured number of scans. Therefore, there is always a time delay equivalent to the number of scans configured for averaging. The digit of the first scan included in the averaging calculation is always output in the scan counter. Invalid distance values (= 0) are not included in the averaging calculation, so that in these places a smaller number of scans is used in the division calculation.

0 0 1155 1230 1190 1130 1450 1370 0 …

0 0 1173 1225 1190 1130 1450 1370 0

0 0 1173 1235 1190 1190 1450 1370 0

0 730 1173 1163 1190 1190 1450 1370 0

Based on a scanning frequency of 15 Hz, a measured value is generated every 67 ms . The time delay affecting data output results from this base value multiplied by the num‐ ber of averaging operations (e.g., 2 averagings = 134 ms, 10 averagings =670 ms).

3.6.8 Calculation of the field size for mobile applications

In order to prevent collisions between vehicles, and between vehicles and fixed objects, the switching field must have sufficient length and width.

To calculate the switching field length, you need to take into consideration the stopping distance of the vehicle. This comprises the following:

the braking distance, which can be found in the vehicle documentation

•

the distance covered during the vehicle control’s response time, which can be

•

found in the vehicle documentation The distance covered during the response time of the LiDAR sensor, "Technical

•

data", page 45.

NOTE

We recommend adding a supplement of at least 100 mm to the protective field

•

length in order to stop the vehicle before a possible collision. If retro-reflectors are situated in the path of the vehicles, or if you anticipate that

•

the braking force of the vehicle will diminish over time, you may, under certain cir‐ cumstances, need to increase the recommended supplement. The width of the switching field should cover the vehicle width. You should also

•

configure a supplement of at least 100 mm on every side.

Height of the scan plane

The recommended mounting height for mobile applications is at least 150 mm.

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PRODUCT DESCRIPTION

3.6.8.1 Switching field length

You must configure the switching field so that a minimum distance to the vehicle is maintained at all times. This ensures that a vehicle monitored by the LiDAR sensor stops before an object is reached. You can define multiple monitoring cases each with different switching fields. These can be switched over dynamically via static control inputs, for example to adjust the switching field size based on the vehicle speed.

In this kind of application, you must calculate the switching field sizes (in particular the switching field lengths) for all speeds.

The switching field length SL can be calculated using the following formula (guideline values based on a pixel calculation):

SL = SA + ZG + ZR + ZB

SA = Stopping distance

ZG = General safety supplement for the LiDAR sensor = 100 mm

ZR = Supplement for application-related influences or the selected application parame‐

ters

ZB = Supplement for the decreasing braking force of the vehicle. This can be obtained from the relevant vehicle documentation, or alternatively: 10% of the stopping distance.

Stopping distance SA

The stopping distance comprises the vehicle’s braking distance and the distance cov‐ ered during the response time of the LiDAR sensor and the vehicle control’s response time.

Figure 14: Stopping distance

AnF

AnS

NOTE

Please note that a vehicle’s braking distance does not increase linearly with increasing speed, but rather in a squared relationship. This is particularly important if you switch between different-sized switching fields depending on the speed.

How to calculate the stopping distance SA:

SA = S

AnF

+ S

AnS

+ S

AnF

= The distance covered during the vehicle control’s response time, which is speci‐

fied in the vehicle documentation

= The distance covered during the response time of the LiDAR sensor

AnS

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PRODUCT DESCRIPTION 3

SBr = The braking distance, found in the vehicle documentation

The distance S

the response time of the LiDAR sensor

•

the maximum speed of the vehicle in your mobile application

•

covered during the response time of the LiDAR sensor depends on:

AnS

For more information on the response time TS of the LiDAR sensor, see "Technical data",

page 45.

How to calculate the distance S

covered during the response time of the LiDAR sen‐

AnS

sor:

= TS × V

AnS

max

TS = Response time of the LiDAR sensor

Maximum speed of the vehicle, from the relevant vehicle documentation

max

The response time TS of the LiDAR sensor depends on:

the base response time of the LiDAR sensor

•

whether multiple sampling is set

•

the filter settings (e.g., particle filter).

•

ZR supplement

This supplement must be determined on an application-specific basis and taken into account appropriately. The following factors can make it necessary to use a supple‐ ment: reflectors or shiny objects on the scan plane, multi-echo analysis, blanking size, device filter (e.g., particle filter).

3.6.8.2 Switching field width

The width of the switching field must cover the width of the vehicle and take into account the supplements for the measurement error.

The switching field width SB can be calculated using the following formula (guideline values based on a pixel calculation):

SB = FB + 2 × (ZG + ZR)

FB = Vehicle width

ZG = General safety supplement for the LiDAR sensor = 100 mm

ZR = Supplement for application-related influences or the selected application parame‐

ters

3.6.9 Switching inputs/outputs

Switching inputs

The four digital switching inputs activate one of the 16 field sets in a binary combina‐ tion as an evaluation case. The inputs are decoupled from the supply voltage of the device. They have a common reference point (INGND), meaning they are not decoupled from one another.

Switching behav‐ ior

Properties Opto-decoupled

Electrical values Low: Ue ≤ 2 V; Ie ≤ 0.3 mA

Current to the input starts the assigned function in the device. (Default: active high level, debounce 10 ms)

Switchable with an electronic switch (PNP output) or mechanical switch

High: 8 V ≤ Ue ≤ 32 V; 0.7 mA ≤ Ie ≤ 5 mA

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3 PRODUCT DESCRIPTION

Switching outputs

Switching behav‐ ior

Properties Short-circuit protected and temperature protected

Electrical values 0 V ≤ Ua ≤ U

PNP switching against supply voltage UV

OUT 1 ... OUT 3:

Resting level: High (no field breach), working level: Low (field breach) Response time: 134 ms ... 30 s (configurable via SOPAS ET ), holding time: 0 ms ... 10 s (configurable via SOPAS ET)

OUT 4:

Resting level: High (device ready), working level: Low (error), low pulse (15 Hz, index, corresponds to mea‐ surement at 90°)

Not electrically isolated from supply voltage U

(UV –1.5 V) ≤ Ua ≤ UV at Ia ≤ 100 mA

Longer connecting cables at the switching outputs of the device should be avoided due to the resulting fall in voltage. This is calculated as follows:

Δ U = (2 x length x current) : (conductance value x cross-section)

Conductance value for copper: 56 m/Ω mm2.

Assignment of infringed fields - switching outputs

Fields of a field set Switching outputs

OUT 1 OUT 2 OUT 3

Fields 1, 2, and 3 infringed Active Active Active

Fields 2 and 3 infringed Deactivated Active Active

Field 3 infringed Deactivated Deactivated Active

All fields free Deactivated Deactivated Deactivated

Field 1: inner, field 2: center, field 3: outer

Active: in working position; deactivated: in resting position

Output level: The level of the switching outputs OUT 1 ... OUT 3 is active low (in resting position: high, in working position: low (field infringed)).

All fields of a field set are also deemed to be infringed during switching on, booting, in the event of an error, and when the device is switched off.

The OUT 4 switching output works with the following levels:

Function Level

Device Ready High

Index signal (15 Hz), corresponds to measure‐

ment at 90°

Fault Low

Low peaks

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4 Transport and storage

4.1 Transport

For your own safety, please read and observe the following notes:

NOTICE Damage to the product due to improper transport.

■

The device must be packaged for transport with protection against shock and damp.

■

Recommendation: Use the original packaging as it provides the best protection.

■

Transport should be performed by trained specialist staff only.

■

The utmost care and attention is required at all times during unloading and trans‐ portation on company premises.

■

Note the symbols on the packaging.

■

Do not remove packaging until immediately before you start mounting.

TRANSPORT AND STORAGE 4

4.2

Unpacking

■

Before unpacking, it may be necessary to equalize the temperature to protect the device from condensation.

■

Handle the device with care and protect it from mechanical damage.

■

Remove the protective caps on the electrical connections immediately before con‐ necting the connecting cable to prevent dirt and water from entering.

4.3 Transport inspection

Immediately upon receipt in Goods-in, check the delivery for completeness and for any damage that may have occurred in transit. In the case of transit damage that is visible externally, proceed as follows:

■

Do not accept the delivery or only do so conditionally.

■

Note the scope of damage on the transport documents or on the transport com‐ pany's delivery note.

■

File a complaint.

NOTE

Complaints regarding defects should be filed as soon as these are detected. Damage claims are only valid before the applicable complaint deadlines.

4.4 Storage

Store the device under the following conditions:

■

Recommendation: Use the original packaging.

■

Do not store outdoors.

■

Store in a dry area that is protected from dust.

■

So that any residual damp can evaporate, do not package in airtight containers.

■

Do not expose to any aggressive substances.

■

Protect from sunlight.

■

Avoid mechanical shocks.

■

Storage temperature: see "Technical data", page 45.

■

Relative humidity: see "Technical data", page 45.

■

For storage periods of longer than 3 months, check the general condition of all components and packaging on a regular basis.

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5 MOUNTING

5 Mounting

5.1 Mounting instructions

Observe the technical data.

•

Protect the sensor from direct and indirect sunlight.

•

To prevent condensation, avoid exposing the device to rapid changes in tempera‐

•

ture. The mounting site has to be designed for the weight of the device.

•

The device can be mounted in any position.

•

It should be mounted so that it is exposed to as little shock and vibration as possi‐

•

ble. Optional mounting accessories are available, see "Accessories", page 48. During mounting, make sure there is no reflective surface behind the reference

•

target, see "Setup and dimensions", page 11. To avoid inaccurate measurements when installing multiple devices: Make sure

•

that the laser spot of one device is not in the visible range of another device, see

"Mutual interference", page 26.

Avoid having shiny or reflective surfaces in the scanning range, e.g., stainless

•

steel, aluminum, glass, reflectors, or surfaces with these types of coatings. Protect the device from moisture, contamination, and damage.

•

Make sure that the status indicator is clearly visible.

•

Do not subject the device to excessive shock or vibrations. In systems subjected to

•

heavy vibrations, secure the fixing screws with screw-locking devices.

5.2 Mounting device

1. Mount the LiDAR sensor using the designated fixing holes, see "Setup and dimen‐

sions", page 11.

2. Make the electrical connection. Attach and tighten a voltage-free cable, see "Con‐

necting the device electrically", page 33 .

3. Switch on the supply voltage.

✓

The green operating LED lights up.

4. Align the vertical center line of the field of view of the device with the center of the area to be monitored. The marking on the upper side of the optics cover serves as a bearing alignment aid.

5.3 Mutual interference

NOTE

Optical sensors and other IR light sources can influence the measurement and detec‐ tion capabilities of the device.

The device has been designed to minimize the probability of mutual interference with devices of the same type. To rule out even the slightest effects on the measurement accuracy, the devices should be arranged such the laser beams are not received by another device.

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Figure 15: Angle ≥ 6°

MOUNTING

Figure 16: Distance ≥ 200 mm

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SICK

Device

7 46

Power Supply

= 8 = 9

1 2 3

System

Controller

6 ELECTRICAL INSTALLATION

6 Electrical installation

6.1 Prerequisites for safe operation of the device

WARNING Risk of injury and damage caused by electrical current!

As a result of equipotential bonding currents between the device and other grounded devices in the system, faulty grounding of the device can give rise to the following dan‐ gers and faults:

■

Metal housings are vulnerable to dangerous currents.

■

Devices will behave incorrectly or be destroyed.

■

Cable shielding will be damaged by overheating and cause cable fires.

Remedial measures

■

Only skilled electricians should be permitted to carry out work on the electrical sys‐ tem.

■

If the cable insulation is damaged, disconnect the voltage supply immediately and have the damage repaired.

■

Ensure that the ground potential is the same at all grounding points.

■

Where local conditions do not meet the requirements for a safe earthing method, take appropriate measures (e.g., ensuring low-impedance and current-carrying equipotential bonding).

The device is connected to the peripheral devices (voltage supply, any local trigger sen‐ sor(s), system controller) via shielded cables. The cable shield – for the data cable, for example – rests against the metal housing of the device. The device can be grounded through the cable shield or through a blind tapped hole in the housing, for example.

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

This is achieved by complying with the following conditions:

■

Mounting the devices on conductive metal surfaces

■

Correctly grounding the devices and metal surfaces in the system

■

If necessary: low-impedance and current-carrying equipotential bonding between areas with different ground potentials

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Figure 17: Example: Occurrence of equipotential bonding currents in the system configuration

System controller

Device

Voltage supply

Subject to change without notice

Page 29

Electro-

optical

signal

isolator

Electro-

optical

signal

isolator

Power

Supply

SICK

Device

1 2 2 43

6 5

System

Controller

= 7

= 8

= 9

ELECTRICAL INSTALLATION 6

Grounding point 2

Closed current loop with equalizing currents via cable shield

Ground potential difference

Grounding point 1

Metal housing

Shielded electrical cable

If these conditions are not fulfilled, equipotential bonding currents can flow along the cable shielding between the devices due to differing ground potentials and cause the hazards specified. This is, for example, possible in cases where there are devices within a widely distributed system covering several buildings.

Remedial measures

The most common solution to prevent equipotential bonding currents on cable shields is to ensure low-impedance and current-carrying equipotential bonding. If this equipo‐ tential bonding is not possible, the following solution approaches serve as a suggestion.

NOTICE

We expressly advise against opening up the cable shields. This would mean that the EMC limit values can no longer be complied with and that the safe operation of the device data interfaces can no longer be guaranteed.

Measures for widely distributed system installations

On widely distributed system installations with correspondingly large potential differ‐ ences, the setting up of local islands and connecting them using commercially available electro-optical signal isolators is recommended. This measure achieves a high degree of resistance to electromagnetic interference.

Figure 18: Example: Prevention of equipotential bonding currents in the system configuration by the use of electro-optical signal isolators

System controller

Electro-optical signal isolator

Device

Voltage supply

Grounding point 2

Grounding point 1

Metal housing

Shielded electrical cable

Optical fiber

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System

Controller

Power Supply

SICK

Device

8 6

21 3

= 9

= ß

6 ELECTRICAL INSTALLATION

The use of electro-optical signal isolators between the islands isolates the ground loop. Within the islands, a stable equipotential bonding prevents equalizing currents on the cable shields.

Measures for small system installations

For smaller installations with only slight potential differences, insulated mounting of the device and peripheral devices may be an adequate solution.

Figure 19: Example: Prevention of equipotential bonding currents in the system configuration by the insulated mounting of the device

System controller

Device

Voltage supply

Grounding point 3

Insulated mounting

Grounding point 2

Ground potential difference

Grounding point 1

Metal housing

Shielded electrical cable

Even in the event of large differences in the ground potential, ground loops are effec‐ tively prevented. As a result, equalizing currents can no longer flow via the cable shields and metal housing.

NOTICE

The voltage supply for the device and the connected peripheral devices must also guar‐ antee the required level of insulation.

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

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6.2 Electrical block diagram for commissioning

SOPASSOPAS

„Power/Out“

„USB 2.0“

Configuration

Diagnosis

TiM

Connection

box

USBUSB

Driver for request of measurement values and further data processing

SYNC/

Device Ready

„Ethernet“

EthernetEthernet

DC 9 ... 28 V

Fuse

0,8A/T

TiMxxx-21xxxxx

Figure 20: "Power, I/O” connection: With M12 male connector, 12-pin, A-coded; "Ethernet" con‐ nection: M12 female connector, 4-pin, D-coded

6.3 Wiring notes

NOTE

Preassembled cables can be found online at:

www.sick.com/TiM7xx

•

ELECTRICAL INSTALLATION 6

NOTICE Faults during operation and device or system defects!

Incorrect wiring may result in operational faults and defects.

■

Follow the wiring notes precisely.

All electrical connections of the device are configured as M12 round connectors.

The protection class stated in the technical data is achieved only with screwed plug con‐ nectors or cover caps.

Protect the device from dust and moisture when the USB cover flap is open.

All electrical circuits connected to the device must be configured as SELV or PELV cir‐ cuits (SELV = Safety Extra Low Voltage, PELV = Protective Extra Low Voltage).

Protect the device with an external 0.8 A slow-blow fuse at the beginning of the supply cable.

Connect the connecting cables in a de-energized state. Switch on the supply voltage only after complete installation/connection of all connecting cables to the device and control system.

Wire cross-sections in the supply cable from the customer’s power system should be designed in accordance with the applicable standards.

6.4 Connection diagram

NOTE

The recommended connecting cables and their associated technical data can be found online at:

www.sick.com/TiM7xx

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6 ELECTRICAL INSTALLATION

6.4.1 TiMxxx-21xxxxx

“Power/I/O” connection

Table 7: Male connector, M12, 12-pin, A-coded

Pin Signal Function Wire colors connecting

1 GND Ground Blue

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

3 IN 1 Switching input 1 (field set selection) Red

4 IN 2 Switching input 2 (field set selection) Green

5 OUT 1 Switching output 1 (field breach) Pink

6 OUT 2 Switching output 2 (field breach) Yellow

7 OUT 3 Switching output 3 (field breach) Black

8 OUT 4 Switching output 4 (index/error) Gray

9 INGND Common ground for all inputs White

10 IN 3 Switching input 3 (field set selection) Violet

11 IN 4 Switching input 4 (field set selection) Gray + pink

12 N.c. – Red + blue

– – Screen

Example values when using the specified connecting cable(s). Signal assignment and wire colors can vary when using other connecting cables.

cable part no. 6054974 (5 m), 6054973 (10 m), 6054972 (20 m)

"Ethernet" connection (only TiMxxx-21xxxxx)

Table 8: Female connector, 4-pin, D-coded

Contact Labeling Description

1 TX+ Sender+

2 RX+ Receiver+

3 TX- Sender-

4 RX- Receiver-

6.4.2 USB interface

The Ethernet interface is recommended as a communication interface.

If using the USB interface, please note:

Use a high-speed UBS cable, maximum length of cable 3 m.

•

The connection may be interrupted due to ESD/EMC influences. If necessary: Dis‐

•

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connect USB cable from the device, then reconnect it. Restart communication via SOPAS ET software (“Online” button).

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Page 33

6.5 Connecting the device electrically

NOTICE

Observe the wiring instructions, see "Wiring notes", page 31.

1. Ensure the voltage supply is not connected.

2. Connect the device according to the connection diagram, see "Connection dia‐

gram", page 31.

ELECTRICAL INSTALLATION 6

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7 OPERATION

7 Operation

7.1 SOPAS ET

The SOPAS configuration software is used by default to display the surrounding contour (measuring line) recorded by the device for the measured value output application, to adjust the 3 fields of a field set for the field evaluation application and to adjust the other device parameters to the application and to perform diagnostics in the event of an error.

To configure the device, you will require a PC with SOPAS ET installed and a free Ether‐ net connection (recommended) or, alternatively, a free USB interface.

NOTE

The most up-to-date version of the SOPAS ET software can be downloaded at

www.sick.com/SOPAS_ET. The respective system requirements for installing SOPAS ET

are also specified there.

1. Connect the communication interface of the device to the PC.

2. Switch on and start the PC.

3. Supply the device with voltage.

✓

Following successful initialization, the green status LED lights up. The device is ready for use.

NOTE

To use SOPAS ET with the device, you need a device description file (SDD) for this device. You can install this in SOPAS ET using the device catalog. The device description file is saved on the device and can be installed there. Alternatively, installation is possi‐ ble from the SICK website (Internet connection required). Use the wizard in SOPAS ET to do this.

Following installation of the device description file, the device can be selected from the device catalog and added to a project.

A connection to the device is established via the communication interface. The connec‐ tion must be activated for data transmission (online).

Certain functions (e.g., Edit parameters) require you to be logged in to the device:

> Device > Login > Select user level and enter password:

User levels Password

Maintenance staff Main

Authorized client Client

Service Service level

Information about the device is displayed in the device window (> Device > Open) and the device can also be configured here.

NOTE

Changes to parameters that are made in SOPAS ET are not saved automatically in the device. After you have completed the configuration, you must save it in the device per‐ manently by pressing the Save permanent button.

7.1.1 Parameter - network

The network area has input screens for configuring the Ethernet connection, the switch‐ ing inputs/outputs and the device.

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Page 35

For Ethernet configuration, note that the IP-Address / subnet-mask must correspond

Segmented,

free shape type

Rectangle

Field 1

Field 2

Field 3

0°180°

90°

with the address space of the subsequent application.

Table 9: IP-Address factory setting

Parameter Value

IP-Address

Subnet mask

7.1.2 Parameter - filters

When selecting the filter, consider filter mutual interference, see "Filter", page 19.

7.2 Field evaluation

If the field shape of field set 1 has been taught in without a PC using the teach-in push‐ button, SOPAS is generally used to continue the configuration.

This includes the following:

•

OPERATION

192.168.0.1

255.255.255.0

Setting of field shapes/sizes and, if applicable, non-programmable field sets based on the default setting and the setting of response time of the fields Setting of the blanking size and the holding time of the assigned switching outputs OUT 1 ... OUT 3

7.2.1 Teach-in / Field set selection

For the field evaluation application, it is possible to configure the device as follows rather than configuring it via SOPAS:

Selection of one of 16 field sets, each with 3 fields of the same size nested into

•

one another, by means of input wiring. Teach-in of the surrounding contour to automatically generate the outer field with

•

any shape, including more complex shapes, and to deduce the two inner fields.

The field sets are organized by groups into segmented field shapes. The shapes can be modified, with the default being a rectangle. In the factory setting, the 3 origin-oriented fields of a set are nested inside one another.

Figure 21: Structure of the fields of a field set and possible field shapes

The size of field 2 corresponds to field 1 plus 25%. The size of field 3 corresponds to field 1 plus 52%.

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7 OPERATION

7.2.1.1 Teach-in

Preparation

Remove all objects that will not permanently be in the field of view in monitoring

•

mode later on. Distance yourself sufficiently from the device during the advance warning phase of

•

the teach-in so that you are not detected as part of the field contour.

Teaching in the field contour

The device uses field set 1 (segmented, initial shape: rectangle) to adjust the field shape and size to the surrounding contour that was detected. The switching inputs may not be supplied with current during this process.

The device forms the outer field 3 from the surrounding contour with a negative offset of 100 mm, and deduces the limits of the two inner fields from this so that field 2 = field 1 plus 25% and field 3 = field 1 plus 52%.

The device stores the shortest value measured during the teach-in phase as a field limit for each angle.

A parameter upload is required in order to display the newly taught-in field contour in SOPAS.

1. Press and hold the Teach-in pushbutton for 3 s to start the teach-in process.

2. The field shape to be formed can be defined by pacing out the limits during the teach-in phase. Do not wear black clothing during this process!

The LEDs display the individual phases of the teach-in process:

LED (red) LED (green) Phase

O O

O = illuminated; Ö = flashing

Teach-in pre-warning:

LED flashes slowly at first (0.5 Hz)

LED flashes increasingly rapidly within 15 s

Teach-in:

Duration 60 seconds

Teach-in completion:

LED flashes increasingly rapidly within 15 s

Monitoring mode:

Automated return after teach-in com‐ plete All fields free

Monitoring mode:

If a field violation has occurred

The taught-in field contour is automatically and permanently saved as new field set 1.

7.2.1.2 Field set selection via input wiring

One of the predefined field sets can be activated by wiring the switching inputs.

Field set factory settings – switching inputs

Field set Switching inputs Field shape

IN 1 IN 2 IN 3 IN 4

1 0 0 0 0 Rectangle, segmented L: 1 m, W: 2 m

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Default size of field 1

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Page 37

OPERATION

Field set Switching inputs Field shape

IN 1 IN 2 IN 3 IN 4

2 1 0 0 0 Rectangle, segmented L: 1.25 m, W: 2 m

3 0 1 0 0 Rectangle, segmented L: 1.5 m, W: 2 m

4 1 1 0 0 Rectangle, segmented L: 1.75 m, W: 2 m

5 0 0 1 0 Rectangle, segmented L: 1 m, W: 2 m

6 1 0 1 0 Rectangle, segmented L: 1.25 m, W: 2 m

7 0 1 1 0 Rectangle, segmented L: 1.5 m, W: 2 m

8 1 1 1 0 Rectangle, segmented L: 1.75 m, W: 2 m

9 0 0 0 1 Rectangle, segmented L: 1 m, W: 2 m

10 1 0 0 1 Rectangle, segmented L: 1.25 m, W: 2 m

11 0 1 0 1 Rectangle, segmented L: 1.5 m, W: 2 m

12 1 1 0 1 Rectangle, segmented L: 1.75 m, W: 2 m

13 0 0 1 1 Rectangle, segmented L: 1 m, W: 2 m

14 1 0 1 1 Rectangle, segmented L: 1.25 m, W: 2 m

15 0 1 1 1 Rectangle, segmented L: 1.5 m, W: 2 m

16 1 1 1 1 Rectangle, segmented L: 1.75 m, W: 2 m

Output form (rectangle), can be changed as desired, L = length, W = width

Default size of field 1

Input level: Low (in resting position): ≤ 2 V, high (in working position): ≥ 8 V

7.2.2 Monitor - field evaluation monitor

Figure 22: Device window: Monitor - field evaluation monitor

In the Field evaluation monitor window, SOPAS displays the field contour (scan line) cur‐ rently seen by the device through ambient reflection in blue.

If the 4 switching inputs are not supplied with current, SOPAS also displays the three fields (segmented rectangles) for the field set 1 according to the device default setting, or the field shape generated using the teach-in function along with its dimensions, the status of the switching inputs/outputs, and the position of the mouse pointer.

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OPERATION

SOPAS displays the fields as green if no field breach is present. If objects of a certain size are located for a certain duration in the part of the visual range that is covered by fields, the device will recognize this as a field breach. SOPAS displays this separately in yellow for the individual fields.

Click the Reset button to make SOPAS reset the switching output counters.

7.2.3 Parameter - evaluation cases

Response time, blanking size and switching output holding time

The blanking size is the smallest size from which an object can be detected in a field by the device and lead to a field breach. All objects that are smaller than the minimum size are blanked out.

Like the response time and the holding time, the blanking size applies to all field sets and their fields.

Parameter Factory setting

Blanking size Cross-section 200 mm

Response time of the fields 335 ms (5 scans)

Holding time of the switching outputs 335 ms (5 scans)

When selecting the response time, note that the device internal reaction time must also be added (max. 67 ms).

To test the effects of the changed settings, change to the “Field evaluation monitor” view.

If the changed fields have been transferred to the device as described, SOPAS will also display these in the monitor, displaying the infringed fields in yellow. If you wish to observe another field set, it must first be activated accordingly using the switching inputs.

7.2.4 Parameter - fields

Figure 23: Device window: Parameter - fields

The user can change parameters in the right part of the window. SOPAS immediately transfers these changes to the device (default setting).

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Contour as reference field

Field start point

TiM

Field end point

Scan line

OPERATION 7

However, fields that have been changed in size and shape must always be manually transferred to the device using the button. All changed parameters are only tem‐

porarily stored in the device for the time being and are not stored on the computer.

In order to optimize the dimensions of the monitoring fields:

1. Under Field selection, for example, select field set 1.

2. Select the field to be configured.

3. Make the required optimizations, see description in the following section.

Shifting field positions

Button .

2. Click on the green marking rectangle of the desired field position in the outer field.

✓

The color of the marking rectangle changes to blue.

3. Re-click the rectangle and drag it to the desired position, then release the push‐ button.

✓

SOPAS controls the available positioning area during shifting.

Inserting additional field positions

Button .

2. Click on the desired position on the limits of the outer field.

✓

SOPAS inserts a new green marker square. This can also be shifted.

Deleting field points

Button .

2. Click on the green marking rectangle of the field position to be deleted in the outer field.

✓

The color of the marking rectangle changes to red.

3. Re-click the marking rectangle.

✓

SOPAS removes the marker square and instead connects the two nearest marker squares with a new line.

Rotating the field pair and device around the central axis

In order to align the position of the field pair in SOPAS to the conditions on site

from the user´s perspective, enter and confirm the desired angle of rotation in the

0.0° input. A negative “-” sign sets the turning direction to the right.

Setting up the contour as reference field

In each field set, any field can be selected as a contour as reference field. The contour as reference field is used to monitor contours. This makes it possible to recognize when the background is no longer detected in the required field – for example, as a result of covering or rotating the device.

The same evaluation strategy is used for all contour as reference fields (evaluation time and blanking size).

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1. Select the required field in the field set.

2. Select the contour as reference field check mark under Field selection.

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7 OPERATION

3. Delete the two field positions closest to the device.

4. Mark the two remaining field positions and shift them outside of the required ref‐ erence contour area.

The button can switch to the configuration for the contour as reference field start points. The field starting points must lie between the scan line and the scanner so that the scan line passes between the start and end points of the contour as reference field.

6. Depending on the required shape of the contour as reference field, create addi‐ tional field points between the sensor and the contour as reference field. The dis‐ tance between the start and end points of the contour as reference field should be approximately 20 cm.

The button can be used to switch between the start and end points of the contour as reference field for editing purposes. The active points are highlighted in light green while the deactivated points are dark green.

7.3 Measurement data output

7.3.1 Monitor - scan view pro

Parameter - data processing

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Figure 24: Device window: Monitor - scan view pro

In the Pro scan display window, SOPAS displays the field contour (scan line) currently seen by the device through ambient reflection in blue.

The user can change parameters in the right part of the program window under Set‐ tings & Device Status. SOPAS immediately transfers these changes to the device (default setting).

Data output format of the measured values

The data output format per scan is comprised of the measured values (radial distance, RSSI signal level), device and status information and time stamp.

In the default settings, the distance is output as a measured value (in mm).

In order to output remission values in the telegram, select the RSSI checkbox.

Subject to change without notice

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7.3.2 Telegram

OPERATION 7

To display the remission values in the scan as well, select the RSSI... checkbox under "Monitor" > "scan view pro”.

Output range of the measured values

The device scans an angle range of 270° (-45° to 225°) and outputs 271 measured values per scan in the default setting.

The angle range for which measured values can be output can be set via Output range (resolution 0.33°).

If the device receives one of the two following commands by telegram over the Ethernet or USB interface, it will start the output of measured values in real time over these data interfaces.

The detailed construction of the output telegram as well as the flow of requests and outputs is described in the Technical Information publication (no. 8015882).

One-off output of measured values:

Telegram structure: sRN LMDscandata

Telegram part

Command type

Command Request data String 11 LMDscandata

Description Variable

type

Request (SOPAS read by name)

String 3 sRN

Length (Byte)

Value range

Example:

Telegram type

ASCII <STX>sRN{SPC}LMDscandata<ETX>

HEX 02 73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 03

Binary 02 02 02 02 00 00 00 0F 73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61

Command

Continuous output of measured values:

Telegram structure: sEN LMDscandata measurement start/stop

Telegram part

Command type

Command Request data String 11 LMDscandata

StartStop measure‐ ment

Description Variable

type

Request (SOPAS event by name)

String 3 sEN

Enum8 1

Length (Byte)

Value range

Stop of output of measured val‐

•

ues Start of output of measured val‐

•

ues

Example:

Telegram type

ASCII <STX>sEN{SPC}LMDscandata{SPC}1<ETX>

HEX 02 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 31 03

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Command

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7 OPERATION

Telegram type

Binary 02 02 02 02 00 00 00 11 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61

Command

20 01 33

Activating the output of the measured values in SOPAS on a trial basis:

1. Start the terminal emulator with the button.

2. Select the Connect... command in the Connections menu in the dialog window and establish communication with the TiM over the Ethernet or USB interface.

3. Enter one of the two telegrams in the "Send telegram" input line as they appear (automatically framed by STX and ETX when sending in the default setting). Pay attention to blank characters in the string.

4. Use the button to transmit the telegram to the device.

✓

The device responds by providing the data as a one-off or continuously in the dis‐ play area of the terminal emulator.

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8 Maintenance

8.1 Maintenance plan

Depending on the assignment location, the following preventive maintenance tasks may be required for the device at regular intervals:

Table 10: Maintenance plan

Maintenance work Interval To be carried out

Cleaning the housing and optics cover

Check screw connections and plug connectors

Check that the unused connections are sealed with blind plugs

8.2 Cleaning

MAINTENANCE 8

Cleaning interval depends on ambi‐ ent conditions and climate.

Interval depends on the place of use, ambient conditions, or operational regulations. Recommended: At least every 6 months.

Interval depends on ambient condi‐ tions and climate. Recommended: At least every 6 months.

Specialist

NOTICE Equipment damage due to improper cleaning.

Improper cleaning may result in equipment damage.

■

Only use recommended cleaning agents.

■

Never use sharp objects for cleaning.

Clean the optics hood at regular intervals and in the event of contamination using

a lint-free lens cloth (part no. 4003353) and plastic cleaning agent (part no.

5600006). Rinse off coarse dirt first with water. The cleaning interval essentially depends on the ambient conditions.

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9 TROUBLESHOOTING

9 Troubleshooting

9.1 Detecting and displaying errors

Error memory

The device has an error memory where its internal error states are recorded. The con‐ tent of the error memory is retained when the device is switched off and when the “Restore Factory Settings” function is used.

The SOPAS ET software can be used to create a diagnostics report containing error information (Complete view, Configuration tab, Start Diagnosis button).

9.2

Repairs

9.3 Returns

9.4 Disposal

Repair work on the device may only be performed by qualified and authorized person‐ nel from SICK AG. Interruptions or modifications to the device by the customer will inval‐ idate any warranty claims against SICK AG.

Do not dispatch devices to the SICK Service department without consultation.

The device must be sent in the original packaging or an equivalent padded pack‐

aging.

NOTE

To enable efficient processing and allow us to determine the cause quickly, please include the following when making a return:

■

Details of the contact person

■

Description of the application

■

Description of the fault that occurred

If a device can no longer be used, dispose of it in an environmentally friendly manner in accordance with the applicable country-specific waste disposal regulations. Do not dis‐ pose of the product along with household waste.

NOTICE Danger to the environment due to improper disposal of the device.

Disposing of devices improperly may cause damage to the environment.

Therefore, observe the following information:

■

Always observe the valid regulations on environmental protection.

■

Separate the recyclable materials by type and place them in recycling containers.

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10 Technical data

Scanning range in m (feet)

Scanning range max. 25 m (82.02 feet)

Scanning range typical 8 m (26.25 feet) for objects up to 10 % remission

180°

‒45°

225°

270°

90°

0°

(65.62)

(32.81)

(98.43)

(65.62)

(32.81)

(98.43)

NOTE

The relevant online data sheet for your product, including technical data, dimensional drawing, and connection diagrams can be downloaded, saved, and printed from the Internet:

www.sick.com/TiM7xx

•

10.1 Features

Variant TiM781

Measurement principle

Application Outdoor

Light source Infrared (wavelength 850 nm, max. pulse power 880 mW, max. pulse width

Laser class 1 (IEC 60825-1:2014, EN 60825-1:2014)

Aperture angle 270° (horizontal)

Scanning fre‐ quency

Angular resolu‐ tion

Working range 0.05 m ... 25 m

Scanning range with 10% remis‐ sion

at ambient temperature < -15 °C: typ. 7.5 m

HDDM+

5 ns, pulse rate 1,500 kHz)

15 Hz

0.33°

8 m (typical)

TECHNICAL DATA 10

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Working range diagram

Figure 25: TiM781 working range diagram

Page 46

10 TECHNICAL DATA

10.2 Performance

10.3 Interfaces

Variant TiM781

Response time Typ. 67 ms

Detectable object shape

Measurement errors

Integrated appli‐ cation

Number of field sets

Simultaneous evaluation cases

Variant TiM781

Ethernet TCP/IP

USB Type: Micro-USB

Switching inputs 4 (PNP, for field switching)

Switching out‐ puts

Delay time 67 ms … 30,000 ms (can be configured)

Holding time 67 ms … 10,000 ms (can be configured)

Optical indicators 2 LEDs (on, "device ready")

Almost any

Systematic: ± 60 mm (at room temperature) Static: 20 mm (at room temperature) Temperature drift: 0.5 mm/K

Field evaluation with flexible fields, measurement data output

16 triple fields, (of 1 triple (3 fields) can be configured directly at the scan‐ ner)

1 (3 fields) 2 (2 fields for detection and 1 field for contour as reference)

Max. data transmission rate: 10 Mbit and 100 Mbit Length of cable: max. 100 m

Function: AUX, configuration

3 (PNP, additional 1x "device ready")

10.4 Mechanics/electronics

Variant TiM781

Electrical connec‐ tion

Supply voltage 9 V DC ... 28 V DC

Power consump‐ tion

Housing Lower part: Aluminum die cast

Housing color Gray (RAL 7032)

Screw tightening torque

Enclosure rating IP67 (IEC 60529:1989+AMD1:1999+AMD2:2013), only valid with closed

Protection class III (IEC 61140:2016-1)

Weight 250 g, without connecting cables

Dimensions (L x W x H)

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1 x Ethernet connection, 4-pin M12 female connector 1 x voltage supply connection, 12-pin M12 male connector 1 x micro USB female connector, type B

Typical 4 W with unloaded switching outputs Max. 16 W with max. four loaded switching outputs

Optics cover: Polycarbonate with scratch-resistant coating

8 Nm

“Aux interface” plastic cover

60 mm x 60 mm x 86 mm

Subject to change without notice

Page 47

Variant TiM781

Service life MTTFD (mean time to dangerous failure): 100 years, according to EN ISO

10.5 Ambient data

Variant TiM781

Object remission 4% ... > 1,000% (reflectors)

Electromagnetic compatibility (EMC)

Vibration resis‐ tance

Shock resistance In accordance with IEC 60068-2-27:2008:

Ambient temper‐ ature

Ambient humid‐ ity

Ambient light immunity

Altitude < 5,000 m above sea level

Ambient condi‐ tions

Moisture, heat In accordance with EN 60068-2-30:2005-12

Temperature change

TECHNICAL DATA 10

13849-1:2015 (at 25 °C ambient temperature) MT (period of use): 10 years

IEC 61000-6-3:2006+AMD1:2010, IEC 61000-6-2:2005

In accordance with IEC 60068-2-6:2007: Sine resonance scan 10 Hz to 1,000 Hz; 1 g Sine test 10 Hz to 150 Hz; 5 g; 20 frequency cycles In accordance with IEC 60068-2-64:2008 Noise test 10 at 200 Hz, 5 g

15 g, 11 ms; 6 shocks/axis 10 g, 16 ms; 1,000 shocks/axis

Commissioning/Switching on: –10 °C ... +50 °C Operation: –25 °C ... +50 °C Storage: –40 °C ... +75 °C

Operation: Max. 80% rF (non-condensing) Storage: Max. 90% rF (non-condensing)

80,000 lx

In accordance with EN 61010-1:2011-07, Contamination degree 3 outside housing

In accordance with EN 60068-2-14:2009-07

, 120 min

rms

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11 ACCESSORIES

11 Accessories

NOTE

Accessories and where applicable mounting information can be found online at:

•

www.sick.com/TiM7xx

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12 Annex

12.1 EU declaration of conformity / Certificates

The EU declaration of conformity and other certificates can be downloaded from the Internet at:

www.sick.com/TiM7xx

•

12.2 Licenses

SICK uses open-source software. 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 provided for general use, but WITHOUT ANY WARRANTY OF ANY KIND. This warranty disclaimer also extends to the implicit assurance of marketability or suit‐ ability of the program for a particular purpose.

More details can be found in the GNU General Public License. View the complete license texts here: www.sick.com/licensetexts. Printed copies of the license texts are also available on request.

ANNEX 12

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Further locations at www.sick.com

Australia

Phone +61 (3) 9457 0600 1800 33 48 02 – tollfree E-Mail sales@sick.com.au

Austria

Phone +43 (0) 2236 62288-0 E-Mail office@sick.at

Belgium/Luxembourg

Phone +32 (0) 2 466 55 66 E-Mail info@sick.be

Brazil

Phone +55 11 3215-4900 E-Mail comercial@sick.com.br

Canada

Phone +1 905.771.1444 E-Mail cs.canada@sick.com

Czech Republic

Phone +420 2 57 91 18 50 E-Mail sick@sick.cz

Chile

Phone +56 (2) 2274 7430 E-Mail chile@sick.com

China

Phone +86 20 2882 3600 E-Mail info.china@sick.net.cn

Denmark

Phone +45 45 82 64 00 E-Mail sick@sick.dk

Finland

Phone +358-9-25 15 800 E-Mail sick@sick.fi

France

Phone +33 1 64 62 35 00 E-Mail info@sick.fr

Germany

Phone +49 (0) 2 11 53 01 E-Mail info@sick.de

Hong Kong

Phone +852 2153 6300 E-Mail ghk@sick.com.hk

Hungary

Phone +36 1 371 2680 E-Mail ertekesites@sick.hu

India

Phone +91-22-6119 8900 E-Mail info@sick-india.com

Israel

Phone +972-4-6881000 E-Mail info@sick-sensors.com

Italy

Phone +39 02 27 43 41 E-Mail info@sick.it

Japan

Phone +81 3 5309 2112 E-Mail support@sick.jp

Malaysia

Phone +603-8080 7425 E-Mail enquiry.my@sick.com

Mexico

Phone +52 (472) 748 9451 E-Mail mario.garcia@sick.com

Netherlands

Phone +31 (0) 30 229 25 44 E-Mail info@sick.nl

New Zealand

Phone +64 9 415 0459 0800 222 278 – tollfree E-Mail sales@sick.co.nz

Norway

Phone +47 67 81 50 00 E-Mail sick@sick.no

Poland

Phone +48 22 539 41 00 E-Mail info@sick.pl

Romania

Phone +40 356-17 11 20 E-Mail office@sick.ro

Russia

Phone +7 495 283 09 90 E-Mail info@sick.ru

Singapore

Phone +65 6744 3732 E-Mail sales.gsg@sick.com

Slovakia

Phone +421 482 901 201 E-Mail mail@sick-sk.sk

Slovenia

Phone +386 591 78849 E-Mail office@sick.si

South Africa

Phone +27 (0)11 472 3733 E-Mail info@sickautomation.co.za

South Korea

Phone +82 2 786 6321 E-Mail info@sickkorea.net

Spain

Phone +34 93 480 31 00 E-Mail info@sick.es

Sweden

Phone +46 10 110 10 00 E-Mail info@sick.se

Switzerland

Phone +41 41 619 29 39 E-Mail contact@sick.ch

Taiwan

Phone +886-2-2375-6288 E-Mail sales@sick.com.tw

Thailand

Phone +66 2 645 0009 E-Mail marcom.th@sick.com

Turkey

Phone +90 (216) 528 50 00 E-Mail info@sick.com.tr

United Arab Emirates

Phone +971 (0) 4 88 65 878 E-Mail info@sick.ae

United Kingdom

Phone +44 (0)17278 31121 E-Mail info@sick.co.uk

USA

Phone +1 800.325.7425 E-Mail info@sick.com

Vietnam

Phone +65 6744 3732 E-Mail sales.gsg@sick.com

8024231//2019-03-29/en

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

SICK TiM781 Operating Instructions Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 About this document

1.1 Information on the operating instructions

1.2 Explanation of symbols

1.3 Further information

2 Safety information

2.1 Intended use

2.2 Improper use

2.3 Internet protocol (IP) technology

2.4 Limitation of liability

2.5 Modifications and conversions

Requirements for skilled persons and operating personnel

2.7 Operational safety and particular hazards

3 PRODUCT DESCRIPTION

3.1 Scope of delivery

3.2 Setup and dimensions

3.3 Display and operating elements

3.4 Type code

3.5 Product identification

3.6 Principle of operation

3.6.1 Measurement principle

3.6.2 Range finding

3.6.3 Direction measurement

3.6.4 Object sizes

3.6.5 Impact of object surfaces on the measurement

3.6.6 Scanning range

3.6.7 Filter

3.6.7.1 Particle filter

3.6.7.2 Median filter

3.6.7.3 Average filter

3.6.8 Calculation of the field size for mobile applications

3.6.8.1 Switching field length

3.6.8.2 Switching field width

3.6.9 Switching inputs/outputs

4 Transport and storage

4.1 Transport

Unpacking

4.3 Transport inspection

4.4 Storage

5 MOUNTING

5.1 Mounting instructions

5.2 Mounting device

5.3 Mutual interference

6 ELECTRICAL INSTALLATION

6.1 Prerequisites for safe operation of the device

6.2 Electrical block diagram for commissioning

6.3 Wiring notes

6.4 Connection diagram

6.4.1 TiMxxx-21xxxxx

6.4.2 USB interface

6.5 Connecting the device electrically

7 OPERATION

7.1 SOPAS ET

7.1.1 Parameter - network

7.1.2 Parameter - filters

7.2 Field evaluation

7.2.1 Teach-in / Field set selection

7.2.1.1 Teach-in

7.2.1.2 Field set selection via input wiring

7.2.2 Monitor - field evaluation monitor

7.2.3 Parameter - evaluation cases

7.2.4 Parameter - fields

7.3 Measurement data output

7.3.1 Monitor - scan view pro

7.3.2 Telegram

8 Maintenance

8.1 Maintenance plan

8.2 Cleaning

9 TROUBLESHOOTING

9.1 Detecting and displaying errors

Repairs

9.3 Returns

9.4 Disposal

10 Technical data

10.1 Features

10.2 Performance

10.3 Interfaces