SICK 1096807 Operating Instructions Manual Download Page 46 | Manualshive

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background image

display area of the terminal emulator.

7.4

ROS driver

Suitable drivers for integrating the device into the ROS (Robot Operating System) are
available for download on the product page:

www.sick.com/TiM7xx

7

OPERATION

46

O P E R A T I N G I N S T R U C T I O N S | TiM781

8024231/1G72/2022-05-27 | SICK

Subject to change without notice

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Summary of Contents for 1096807

Page 1: ...O P E R A T I N G I N S T R U C T I O N S TiM781 2D LiDAR sensors...

Page 2: ...permissible within the limits of the legal determination of Copyright Law Any modi fication abridgment or translation of this document is prohibited without the express written permission of SICK AG...

Page 3: ...iple 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 ran...

Page 4: ...ata output 44 7 3 1 Monitor scan view pro 44 7 3 2 Parameter data processing 44 7 3 3 Telegram 45 7 4 ROS driver 46 8 Maintenance 47 8 1 Maintenance plan 47 8 2 Cleaning 47 9 Troubleshooting 48 9 1 De...

Page 5: ...dling and safe operation of the machine or system in which the device is integrated Information on this can be found in the operating instructions for the machine or system 1 2 Explanation of symbols...

Page 6: ...aining technical data dimensional drawing and specification diagrams Declarations of conformity and certificates of the product family Dimensional drawings and 3D CAD dimension models of the device ty...

Page 7: ...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 a...

Page 8: ...ing Improper handling of the device may result in considerable personal injury and material damage All work must only ever be carried out by the stipulated persons The following qualifications are req...

Page 9: ...ment of color vision for example WARNING Electrical voltage Electrical voltage can cause severe injury or death Work on electrical systems must only be performed by qualified electricians The power su...

Page 10: ...of units Component Notes 1 Device in the version ordered 2x fastening clips 2x M3 x 5 mm screws Without connecting cables 1 Printed safety notes multilin gual Quick guide and general safety notes 3 P...

Page 11: ...ed in scope of delivery 2 M3 threaded mounting hole 2 8 mm deep blind hole thread max tightening torque 0 8 Nm 3 Optics cover 4 Receiving range light inlet 5 Transmission range light emission 6 Functi...

Page 12: ...ed LED lighting up might look like flashing Teach in start O O Teach in End of advance warning phase 60 seconds Teach in level Teach in End of teach in phase Fault Device without supply voltage O illu...

Page 13: ...er 3 Voltage supply maximum power consumption 4 MAC address 5 Conformity mark certification mark symbol Observe the operating instructions 6 Production date 7 Data Matrix code with product data part n...

Page 14: ...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 measur...

Page 15: ...rad 8 6 mrad 5 8 mrad 4 000 mm 7 mm 64 6 mm Formula for calculating the height of the light spot Light spot divergence mrad Distance mm Light spot size at the device cover mm Light spot width mm Examp...

Page 16: ...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 They therefore exhibit similar...

Page 17: ...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...

Page 18: ...ay 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 ob...

Page 19: ...a scan reduction of measurement points is to restrict the scan range Data output Output range or the media filter 3 6 7 1 Edge filter The edge filter eliminates erroneous or extreme distance values a...

Page 20: ...nse to dust particles in the field is delayed by one scan Particles can thereby be blanked 3 6 7 3 Median filter This filter is suitable for excluding individual outliers from the calculation of an av...

Page 21: ...0 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 numb...

Page 22: ...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 w...

Page 23: ...peed of the vehicle in your mobile application For more information on the response time TS of the LiDAR sensor see Technical data page 49 How to calculate the distance SAnS covered during the respons...

Page 24: ...n be calculated using the following formula guideline values based on a pixel calculation SB FB 2 ZG ZR FB Vehicle width ZG General supplement of the LiDAR sensor 100 mm ZR Supplement for application...

Page 25: ...the connecting cable 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 dama...

Page 26: ...al data page 49 For storage periods of longer than 3 months check the general condition of all components and packaging on a regular basis 4 TRANSPORT AND STORAGE 26 O P E R A T I N G I N S T R U C T...

Page 27: ...cator 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 The M3 x 5 screws inclu...

Page 28: ...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 receive...

Page 29: ...ding The device is connected to the peripheral devices any local trigger sensor s system controller via shielded cables The cable shield for the data cable for example rests against the metal housing...

Page 30: ...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...

Page 31: ...ontroller 2 Device 3 Voltage supply 4 Grounding point 3 5 Insulated mounting 6 Grounding point 2 7 Ground potential difference 8 Grounding point 1 9 Metal housing Shielded electrical cable Even in the...

Page 32: ...ective caps Protect the device from dust and moisture when the plastic USB cover is open The USB interface is only for parameterization Remove the USB cable for problem free operation of the device Al...

Page 33: ...o not wire this PIN Rot and blue Screen 1 Example values when using the connecting cables part numbers 6054974 5 m 6054973 10 m 6054972 20 m Signal assignment and wire colors can vary when using other...

Page 34: ...re not decoupled from one another The structure and wiring principle of the digital inputs are shown below IN X 4 INGND GND GND VS C B A D Vin 5 VS 6 64 K 3 32 K Device 3 VS 2 VS ext 1 GND GND Figure...

Page 35: ...digital output Attach a freewheeling diode directly to the load for this purpose Posi tion Signal TiM7xx 21xxxx male connector M12 12 pin PIN X1 OUT 1 5 X2 OUT 2 6 X3 OUT 3 7 X4 OUT 4 8 Y GND 1 Switc...

Page 36: ...d 3 infringed Active Active Active Fields 2 and 3 infringed Deactivated Active Active Field 3 infringed Deactivated Deactivated Active No field infringed Deactivated Deactivated Deactivated Example 2...

Page 37: ...tion 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 poss...

Page 38: ...g the teach in pushbutton SOPAS is generally used to continue the configuration This includes the following Setting of field shapes sizes and if applicable non programmable field sets based on the def...

Page 39: ...ing contour with a negative offset of 100 mm and derives from this the limits of the two inner fields field 1 field 3 minus 33 and field 2 field 3 minus 17 The device stores the shortest value measure...

Page 40: ...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 Recta...

Page 41: ...Position of the mouse pointer SOPAS displays the fields as green if no object detection is present If objects of a certain size are located for a certain duration in the part of the visual range that...

Page 42: ...changes to the device default setting However evaluation fields that have been changed in size and shape must always be manually transferred to the device using the button All changed parameters are o...

Page 43: ...se possible reasons are that the device is covered or rotated The same evaluation strategy is used for all contour as reference fields evaluation time and blanking size Contour as reference field 1 Fi...

Page 44: ...asured 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...

Page 45: ...nge Command type Request SOPAS event by name String 3 sEN Command Request data String 11 LMDscandata StartStop measure ment Starting stopping the output of measured values Enum8 1 0 Stop 1 Start Examp...

Page 46: ...rivers for integrating the device into the ROS Robot Operating System are available for download on the product page www sick com TiM7xx 7 OPERATION 46 O P E R A T I N G I N S T R U C T I O N S TiM781...

Page 47: ...ds on the place of use ambi ent conditions or operating require ments Recommended At least every 6 months Specialist Check that all unused connections are sealed with protective caps Depends on ambien...

Page 48: ...ng 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 De...

Page 49: ...1 2014 Complies with 21 CFR 1040 10 and 1040 11 except for conform ance with IEC 60825 1 Ed 3 as described in Laser Notice No 56 dated 8 May 2019 Aperture angle 270 horizontal Scan field flatness Typ...

Page 50: ...mm 2 Temperature drift 0 5 mm K Integrated application Field evaluation with flexible fields Measurement data output radial distance RSSI signal level device and status information time stamp Number...

Page 51: ...4 W typical with unloaded digital outputs incl start up current Max 16 W with 4 loaded digital outputs Input voltage Low Vin 2 V Iin 0 3 mA High 8 V Vin 32 V 0 7 mA Iin 5 mA Output voltage Low 0 V Vo...

Page 52: ...oning switching on 10 C 50 C Operation 25 C 50 C Storage 40 C 75 C Ambient humidity Operation 80 non condensing 95 non condensing EN 60068 2 30 2005 Ambient light immunity 80 000 lx indirect exposure...

Page 53: ...ccessories and if applicable mounting information can be found online at www sick com TiM7xx ACCESSORIES 11 8024231 1G72 2022 05 27 SICK O P E R A T I N G I N S T R U C T I O N S TiM781 53 Subject to...

Page 54: ...al Public License LGPL MIT license zlib license and licenses derived from the BSD license This program is provided for general use without warranty of any kind This warranty disclaimer also extends to...

Page 55: ...ANNEX 12 8024231 1G72 2022 05 27 SICK O P E R A T I N G I N S T R U C T I O N S TiM781 55 Subject to change without notice...

Page 56: ...Phone 52 472 748 9451 E Mail mexico 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...

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