6
COMMISSIONING
116
8017768/12AX/2019-05-31|SICK
O P E R A T I N G I N S T R U C T I O N S | TIC
Subject to change without notice
Precisely adjusting components
Now define the exact positions of the 2D LiDAR sensor.
1. Go to the component level in the navigation tree and click the
Edit system component
position
icon.
The input lines appear. These already contain the position values defined during rough
alignment.
2. The position and angle can be defined using either the slide controls or by entering the
values manually.
Place the mouse pointer on a slide control and turn the mouse wheel. The values
increase/decrease in “standard” increments. To increase/decrease the zoom
increments, simultaneously press and hold the
Shift
key or the
Ctrl
key, respectively.
3. Where necessary, adapt the view so that the effects of your changes are clearly visible
in the GUI.
When entering the position, please observe the alignment of the coordinate system:
•
The X-axis lies straight across the width of the road. The first distance parameter X is
measured from the origin of the right-hand edge of the lane (when viewed in the
direction of travel).
•
The Y-axis defines the height at which the laser 2D LiDAR sensors is mounted. The
second distance parameter Y is measured from the surface of the road.
•
The Z-axis points in the direction of travel. The third distance value is measured in
relation to the measuring plane of the sensor components (when viewed in the
direction of travel).
Make sure that the LMS Axle is located exactly in the measuring plane of the other
sensor components.
Align the LMS Axle correctly on all three axes.
•
Rotation about the
X-axis
(first field): The signal must be output at an angle of 90° in
relation to the
road surface
.
•
Rotation about the
Y-axis
(second field): The signal must be output at an angle of 90°
in relation to the
direction of travel
.
•
Rotation about the
Z-axis
(third field): The device’s rear panel must be perpendicular to
the road surface.
A rotational error of ± 2° is tolerated for all axes.
Accurate entries for the position of the system components will help to improve
measurement accuracy later in the process.
Tip
Position
Rotation
Note
