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Laser Positioning Sensor

Navigating the Route to improved productivity

Initial commissioning

Summary of Contents for NAV350

Page 1: ...Laser Positioning Sensor Navigating the Route to improved productivity Initial commissioning ...

Page 2: ...ool Function Status NAV350 Firmware V 1 06 Device description NAV350 Devicespecificsoftwaremodule for SOPAS ET V 1 000 or higher SOPAS ET Configuration software V 02 38 or higher User level Password Authorised client client Copyright Copyright 2016 SICK AG Waldkirch Auto Ident Reute Plant Nimburger Straße 11 79276 Reute Germany Trademarks Windows 2000 Windows XP Windows Vista and Windows 7 are reg...

Page 3: ...in an AGV s control system 31 3 10 Planning 36 4 Mounting 43 4 1 Overview of the mounting steps 43 4 2 Preparations for mounting 43 4 3 Mounting and adjustment of the device 43 4 4 Dismantling the NAV350 44 5 Electrical installation 45 5 1 Overview of the installation steps 45 5 2 Connections of the NAV350 45 5 3 Preparing the electrical installation 46 5 4 Undertaking electrical installation on t...

Page 4: ...17 06 09 Software Stand Operating Instructions NAV350 Laser positioning sensor 9 Technical specifications 63 9 1 Data sheet NAV350 63 9 2 Dimensional drawings 65 10 Annex 66 10 1 Overview of the annexes 66 10 2 Ordering information 66 10 3 Glossary 67 10 4 EC declaration of conformity 68 ...

Page 5: ...SOPAS ET communication language ASCII CoLa A or binary CoLa B EEPROM Electrically Erasable Programmable Read only Memory AGV Automated guided vehicle LED Light Emitting Diode RAM Random Access Memory volatile memory with direct access ROM Read only Memory permanent SOPAS ET SICK OPEN PORTAL for APPLICATION and SYSTEMS ENGINEERING TOOL configuration software for the configuration of the NAV350 ...

Page 6: ...g ranges 22 Tab 7 Frame for the telegrams with ASCII coding 32 Tab 8 Beam diameter at different distances from the NAV350 37 Tab 9 Pin assignment of the Power connection on the NAV350 46 Tab 10 Pin assignment of the Ethernet connection on the NAV350 46 Tab 11 Pin assignment of the RS232 connection on the NAV350 46 Tab 12 Maximum cable lengths for the supply voltage 47 Tab 13 Maximum length of cabl...

Page 7: ...Fig 16 Minimum distance from reflectors to other reflecting objects 30 Fig 17 Output of measured values for truck loading 31 Fig 18 Requesting an absolute position or landmark positions 32 Fig 19 Integration of the NAV350 in a navigation system 33 Fig 20 Pulse for synchronisation 34 Fig 21 Increase in the size of the beam and safety supplement 37 Fig 22 Absolute and local coordinate system with an...

Page 8: ...ption Mounting Electrical installation Commissioning and configuration maintenance troubleshooting and rectification Ordering information conformity and approval Planning and using a laser positioning sensor such as the NAV350 also require specific technical skills which are not detailed in this documentation In addition an online help is available in the SOPAS ET configuration software supplied t...

Page 9: ...symbol indicates an instruction to perform an action that contains only one action or actions in warnings where a specific sequence does not need to be followed Instructions to perform actions that contain several steps in a specific se quence are numbered This symbol refers to additionally available documentation Software notes show where you can make the appropriate settings and adjustments in t...

Page 10: ... following qualifications are necessary for the various tasks Activities Qualification Mounting and maintenance Basic technical training Knowledge of the current safety regulations in the workplace Electrical installation and replace ment Practical electrical training Knowledge of current electrical safety regulations Knowledge on the use and operation of devices in the related application e g cra...

Page 11: ...ing on the operating mode selected the NAV350 outputs to the AGV s vehicle computer the position of the re flectors or its own position as well as the distance the angle and the remission of the sur rounding contour seen The vehicle computer can use this information to correct the course of the AGV as necessary to keep it to the route The NAV350 is a sensor for use indoors Important In case of any...

Page 12: ...talled are responsible for obtaining and observing all applicable safety regulations and rules The tests must be carried out by specialist personnel or specially qualified and author ised personnel and must be recorded and documented to ensure that the tests can be reconstructed and retraced at any time The operating instructions must be made available to the operator of the system where the NAV35...

Page 13: ...r safety regulations as per IEC 60825 1 valid version Important No maintenance is necessary to ensure compliance with laser class 1 Laser output aperture The laser output aperture is the view window on the scanner head of the NAV350 Fig 1 Laser output aperture on the NAV350 Laser power The laser operates at the wavelength λ 905 nm invisible infrared light The radiation emitted in correct use is no...

Page 14: ...entally responsible manner For this reason please note the following information on disposal 2 5 1 Power consumption The NAV350 consumes a maximum of 36 W in operation 2 5 2 Disposal after final de commissioning Always dispose of unserviceable or irreparable devices in compliance with local nation al rules and regulations on waste disposal Dispose of all electronic assemblies as hazardous waste Th...

Page 15: ...he NAV350 and its optional accessories can be found in the following places Product web page for the NAV350 www sick com NAV3xx Detailed technical specifications online data sheet Technical information supplementary information on telegrams for CoLa A B part no 8016855 and USP part no 8016687 These operating instructions are available in German English and other languages if re quired Dimensional ...

Page 16: ... NAV350 Laser positioning sensor Chapter 3 3 2 Construction of the NAV350 3 2 1 Views of device Fig 2 Views of device Fastening thread M6 12 Fastening thread M6 12 Laser output aperture LEDs Scanner head Supply voltage Ethernet LEDs Rear Device connections M12 plug connectors Bottom Yellow Yellow Green Red Alignment hole for locating pin ...

Page 17: ...in real time and therefore does not display all measured values Status indicators The LEDs signal the operational status of the NAV350 The NAV350 has four LEDs These visually signal the actual operational status and the sta tus of the continuous self check The LEDs are on the front of the device on the NAV350 tab 4 shows the function of the LEDs Yellow LED 1 Yellow LED 2 Green LED Red LED Meaning ...

Page 18: ... the surface driv en over overhead installation also possible Safety and convenience Robust compact metal housing max IP 65 CE marking Laser class 1 Maintenance free Configuration operation Configuration using SOPAS ET software for PC Alternatively using telegrams command strings Mapping teach in of reflector positions Result output Landmark detection Reflector measurement and output of the reflec...

Page 19: ...ns the contour of its surroundings in a plane with the aid of laser beams The NAV350 measures its surroundings in two dimensional polar coordinates If a measurement beam is incident on an object the position is determined in the form of distance direction and remission Fig 3 Measuring principle of the NAV350 From the propagation time that the light requires from emission to reception of the reflec...

Page 20: ...s the absolute position of the NAV350 section 3 7 Navigation on page 24 the relative position of the reflectors detected section 3 6 Land mark detection on page 23 or a combination of both can be output to the vehicle comput er connected Fig 4 Principle of operation of the NAV350 In addition to navigation and landmark detection the NAV350 can output the surrounding contour measured to the vehicle ...

Page 21: ... is optimally reflected on the left If the beam is inci dent at an angle a corresponding energy and scanning range loss is incurred on the right Fig 6 Directional reflection from reflectors The incident radiation is not reflected diffusely in all directions by reflectors but direction ally As a result a large portion of the energy emitted can be received by the NAV350 The NAV350 makes use of this ...

Page 22: ...distance be tween measured points as a function of the distance from the NAV350 Fig 8 Beam diameter and distance between measured points at 0 to 100 m To reliably detect an object a laser beam must be fully incident on it once If the beam is partially incident less energy will be reflected by an object than necessary in some circum stances see fig 7 on page 21 How to calculate the minimum object s...

Page 23: ...t dense reflectors from up to 250 measured reflectors are taken into account for positioning to limit the output size These can be output by means of a telegram The NAV350 calculates the exact position from the next four to eight reflectors in an asymmetric arrangement see fig 24 on page 40 The reflectors are selected adaptively Fig 9 Landmark detection This mode enables the AGV s vehicle computer...

Page 24: ... an absolute coordinate system with an origin must be defined as a rule in a corner of a building see section 3 10 4 Absolute coordinate system on page 38 reflectors must be fitted along the route see section 3 10 6 Reflector placements on page 40 These reflector are either measured and their coordinates saved in the NAV350 or they are taught in by the NAV350 mapping The NAV350 passes the position...

Page 25: ...efined position and in this way restore the contact to the layer Continuous positioning After successful initial positioning the NAV350 automatically changes to the continuous po sitioning operational status Here the computationally intensive pattern comparison of the initial positioning is not required The NAV350can supply new position data with a repetition rate of approx 8 Hz During continuous ...

Page 26: ... point at distHigh can be at 70 m 229 66 ft The radius of the detection window can be set in the range from 100 2 000 mm 3 94 78 74 in Fig 12 Radius of the detection window as a function of the distance If position is lost due to disruptive factors e g simultaneous coverage of several re flectors the NAV350 initiates an initial positioning If the last position is still known using the software tel...

Page 27: ...heck the reflector placement and the velocity information as well as to limit the accel eration of the AGV if possible The measurement quality has an effect on the control loop in the vehicle computer Using this information the system integrator can determine to what extent the position data from the odometry need to be corrected by the position data from the NAV350 The influence of the position d...

Page 28: ...and therefore it is not possible to exactly determine the middle of the reflectors This situation can result in reduced accuracy during the position determination The NAV350 does not use any measurements from reflectors that are in completely or par tially muted sectors for the position determination The muted sectors are set in the NAVIGATION operating mode The sector muting is then active for th...

Page 29: ... point of view of the NAV350 The posi tions of these reflectors can then no longer be unambiguously defined and will make the position calculation by the NAV350 incorrect The NAV350 detects such a situation and au tomatically mutes the usage of the overlapping reflectors The situation of an overlapping reflector occurs if the angle between two reflectors from the point of view of the NAV350 is les...

Page 30: ...n from these objects If the minimum dis tance cannot be maintained for specific objects these objects are to be covered using a material with low reflection properties Subsequent movement of reflectors Movement of reflectors that are also still in the measurement area of the NAV350 after they have been moved will make the result of the measurement incorrect and must be correct ed For correction th...

Page 31: ...view in two dimensional polar coordinates contents of one revolution 360 among other data starting angle for the scan step width time stamp for start of the scan number of measured values value and direction of the measured distance remission value of the object measured Important It is only possible to output all measured values of a 360 scan in real time using the Ether net interface 3 9 Integra...

Page 32: ...bsequent answer NAV350 Fig 18 Requesting an absolute position or landmark positions Depending on the frequency of the data request from the vehicle computer the NAV350 transfers data to the vehicle computer up to eight times per second The telegrams each comprise a frame see section Frame and coding for the telegrams on page 32 and the data Frame and coding for the telegrams A detailed description...

Page 33: ...l system for an AGV The vehicle computer informs the NAV350 of the actual velocity and rate of turn of the AGV from its odometry see fig 18 on page 32 To optimise the control the vehicle computer transmits the velocity to the NAV350 several times between two position requests The NAV350 uses the velocity data for three calculations From the velocity data an expected position for reflectors in the ...

Page 34: ...le computer However there can be a delay of up to 3 ms on sending the data as a result there is certain amount of inaccuracy 2 via telegram and comparison with the digital output on the NAV350 The vehicle computer request the internal time from the NAV350 using a telegram The hardware output supplies a pulse of at least 10 ms in length as soon as the internal time stamp is written to the telegram ...

Page 35: ... notice 35 Chapter 3 3 9 6 Result Port The NAV350 features a Result Port a simplyfied telegramme with its own port The Result Port supplies landmark data and scan data parallely to the CoLa dialect The Result Port can be configured via the SOPAS user interface Alternatively the Result Port may also configured using the CoLa diagrammes ...

Page 36: ...00 MHz RAM minimum 256 MB 512 MB recommended operating system MS Windows 2000 XP VISTA or 7 monitor minimum 256 colours 65 536 colours recommended Screen resolution at least 800 600 hard disc minimum 220 MB free memory data interface RS232 or Ethernet see section 5 3 3 General conditions for the data interface on page 47 if necessary RS232 converter if PC interface and interface on the NAV350 do n...

Page 37: ... mounted NAV350 this axis is approx 198 mm 7 8 in above the bot tom edge of the housing The distance dependent increase in the size of the beam can be calculated using the formula beam diameter distance mm in 5 0 mrad 20 mm 0 79 in 1 The following table shows a few values as examples For the assessment of whether the laser beam can be incident on an object the distance of half the beam diameter fr...

Page 38: ...s are mathematically positive in the counterclockwise direction Fig 22 Absolute and local coordinate system with angular position of the NAV350 X Y Absolute coordinate system of the machine system x y Local coordinate system of the NAV350 α Direction of the NAV350 in the absolute coordinate system The coordinate origin for the NAV350 is on the axis of the scanner head 3 10 5 Reflectors The NAV350 ...

Page 39: ...rement distance up to 46 m 150 92 ft and 1000 mm 39 37 in for a measurement distance up to 70 m 229 66 ft Fig 23 Reflector height as a function of the distance from 0 to 70 m Important The values stated in fig 23 apply without taking into account unevenness on the ground and tipping of the AGV by the load reflector diameter The recommended diameter of cylindrical reflectors is 80 mm 3 15 in If the...

Page 40: ...ctor placement by allocating individual reflector position measurements to the reflector coordinates saved Specific requirements must be taken into account for the reflector placement for the initial positioning So that the NAV350 can clearly unambiguously identify a reflector placement during the initial positioning see Ini tial positioning on page 25 it needs a certain pattern in the placement I...

Page 41: ... must be planned as well as possible in relation to these recommenda tions 3 10 7 Measurement and entry of the reflector coordinates After planning and installation of the reflectors the reflector coordinates must be measured precisely The NAV350 requires these coordinates for the determination of the position in real time The coordinates of the reflectors used are saved in the non volatile reflec...

Page 42: ...witching over between the layers is undertaken by the vehicle computer depending on the location Division into layers is used to keep the NAV350 downward compatible with the NAV200 configure a large route more clearly A layer must be setup such that the NAV350 can detect as many reflectors as possible in this layer but as few reflectors as possible in other layers Fig 25 Common usage of the reflec...

Page 43: ...hickness of the fix ing bracket used 4 3 Mounting and adjustment of the device Risk of damage to the device The maximum screw length in the M6 blind threaded hole is 12 mm 0 47 in Longer screws will damage the NAV350 Use screws of suitable length The NAV350 has three M6 blind thread holes and is fastened using 3 M6 screws see section 9 2 1 Dimensional drawing NAV350 on page 65 For secure mounting ...

Page 44: ...e without notice 8013889 ZML0 2017 06 09 Operating Instructions NAV350 Laser positioning sensor Chapter 4 4 4 Dismantling the NAV350 1 Switch off the supply voltage 2 Remove the connection cables 3 Undo screws for mounting the NAV350 to the fixing and remove device ...

Page 45: ... machine system could inadvertently start up while you are connecting the device Ensure that the entire machine system is disconnected during the electrical installa tion 5 1 Overview of the installation steps 1 Wire switching outputs application dependent 2 Temporarily connect PC configuration 3 Wire data interface for operation 4 Connect supply voltage to the NAV350 5 2 Connections of the NAV350...

Page 46: ... external power supply for the supply of power must be able to provide at least 40 W continuous power if the switching output is wired at least 48 W continuous power Pin Signal Function 1 VS Supply voltage NAV350 2 VS Supply voltage NAV350 3 GND Ground 4 OUT 24 V Digital output 1 5 GND Ground Tab 9 Pin assignment of the Power connection on the NAV350 4 2 3 5 1 Pin Signal Function 1 Ethernet_TX Eth...

Page 47: ...ables are protected against damage On the usage of a typical power supply with a nominal voltage of DC 24 V 5 the following maximum cable lengths are allowed for the supply of the operating voltage 5 3 3 General conditions for the data interface The table below shows the recommended maximum length of cable Important Use screened cable twisted pair with at least 0 25 mm 0 01 in To prevent interfere...

Page 48: ... Pre assembled cables are available to configure the NAV350 via the Ethernet interface Fig 28 Ethernet connection 5 4 4 Connection at the RS 232 interface A screened cable is required for the wiring of the RS232 interface Pay attention to max cable length as per section 5 3 3 General conditions for the data interface on page 47 Fig 29 Wiring the RS232 interface SICK AG Waldkirch Germany www sick c...

Page 49: ...without notice 49 Chapter 5 Pre assembled cables are available for the configuration of the NAV350 via the RS 232 in terface Fig 30 RS232 connection M12 8 Yellow Do not use Brown TxD Part no 6036153 5 m Part no 6028420 10 m Part no 6036154 20 m Socket Grey GND White RxD Green Do not use Pink Do not use Red Do not use Blue Do not use ...

Page 50: ...ation and diagnostics are undertaken using the SOPAS ET config uration software supplied 6 1 Overview of the commissioning steps Mounting and electrical installation must be undertaken Install SOPAS ET configuration software Establish communication with the NAV350 Create a custom parameter set using SOPAS ET and save in non volatile memory in the NAV350 Test NAV350 for correct function On usage fo...

Page 51: ...he communication with the NAV350 password protected configuration with different operating levels diagnostics of the NAV350 6 2 1 Installation of SOPAS ET Download the latest SOPAS ET software on the internet www sick com The download s size is about 150MB It includes the setup exe installing the SOPAS Engineering Tool To complete the installation follow the instructions 6 2 2 SOPAS ET default set...

Page 52: ... 3 3 Configuring the serial connection 1 In the SCAN ASSISTANT dialog box under SERIAL CONNECTION STANDARD PROTOCOL activate the ACTIVATE SERIAL COMMUNICATION checkbox 2 Click ADVANCED button 3 In COLA DIALECT choose the ASCII option 4 Choose following PORT SETTINGS 8 data bits even parity 1 stop bit 5 Confirm the settings with OK The ADVANCED SCAN SETTINGS dialog box is closed 6 Confirm the setti...

Page 53: ...TWORK SCAN ASSISTANT dialog box under INTERNET PROTOCOL INTERNET PROTOCOL activate the ENABLE IP COMMUNICATION checkbox and deactivate ENABLE AUTOIP checkbox 2 Click ADD button 3 Enter in SINGLE ADRESS 192 168 1 10 4 In the SCAN ASSTSTANT dialog confirm the settings with OK The ADD ADRESS dialog box is closed Fig 31 IP communication with fixed IP address 5 Click ADVANCED button 6 Under TCP PORT S ...

Page 54: ...ONFIGURATION Button 3 Click SEARCHING FOR SENSORS Button to verify that the device is CONNECTABLE 4 If the status is NOT CONNECTABLE highlight the device and follow instructions 5 7 If the status is CONNECTABLE close the dialog box with OK and start the NETWORK SCAN 5 Click CHANGE IP CONFIGURATION Fig 32 Configuring with AutoIP 6 Enter the IP ADRESS of your PC NETWORK ADAPTER incremented by one in...

Page 55: ...ustom parameter set is created using SOPAS ET The parameter set is then loaded into the NAV350 download This action is performed ei ther immediately SOPAS ET option IMMEDIATE DOWNLOAD or manually SOPAS ET command DOWNLOAD ALL PARAMETERS to the device Important Once the configuration has been completed the parameter set must be saved in non vola tile memory in the NAV350 In addition the parameter s...

Page 56: ...tant Software access to the NAV350 is password protected using screws of the are sealed Claims under the warranty against SICK AG will be rendered void if the seals are damaged Use the project tree in SOPAS ET to configure the parameters necessary for your applica tion Do not switch off the voltage supply during configuration Switching off the voltage supply during configuration causes all paramet...

Page 57: ...mple text file with reflector data The text file is divided into the following elements from top to bottom The header lines provide version information They are marked as comment lines with a hash at the start of the line The lines with the actual coordinates contain 9 columns from left to right global identification number X coordinate mm Y coordinate mm landmark type 1 reflector fixed defined la...

Page 58: ... the window in the scanner head of the NAV350 should be regularly checked for contamination This applies particularly in harsh operating environments dust powder moisture Damage to the optics in the NAV350 The window in the scanner head on the NAV350 is made of glass The optical power is re duced by scratches and smearing on the front screen Do not use aggressive detergents Do not use abrasive cle...

Page 59: ...ratched or damaged crack fracture the optics must be replaced Con tact SICK service 7 2 Exchanging a NAV350 As all external cable connections end in the plug connectors it is not necessary to re install the device electrically on a device replacement The replacement unit can then be simply connected If the NAV350 is to be replaced proceed as follows 1 Switch off the voltage supply for the NAV350 2...

Page 60: ...d if the seals are damaged or the device opened The housing is only allowed to be opened by authorised service personnel This chapter describes how to identify and rectify errors and malfunctions during the oper ation of the NAV350 8 1 In the event of fault Cease operation if the cause of the malfunction has not been clearly identified Stop the machine system if you cannot clearly identify or allo...

Page 61: ... illuminated The scanner head only ro tates briefly Excessively low supply volt age Increase wire cross section 3 Red LED is illuminated Scanner head does not ro tate and is locked Disconnect supply voltage and re connect If the red LED is still illuminated inform SICK 4 SOPAS ET cannot commu nicate with the NAV350 Supply voltage for the NAV350 not switched on See fault 1 2 and 3 PC not connected ...

Page 62: ...s subject see chapter 7 2 Exchanging a NAV350 on page 59 In case of a fault that cannot be rectified please contact SICK service Please contact your SICK subsidiary For telephone number and e mail addresses see rear of these operating instructions For postal addresses see also www sick com Do not send device without consultation with SICK service Important Repairs to the NAV350 are only allowed to...

Page 63: ... 64 229 66 ft on reflectors Angular resolution step width 360 Angular resolution 0 1 Systematic error of the dis tance measurement 10 mm 0 39 in 25 C on reflectors Statistical error of the dis tance measurement 1 sigma 10 mm 0 39 in on reflectors Systematic error5 of the an gular measurement 0 10 at reflector distance up to 10m 0 15 at reflector distance up to 30m 0 25 at reflector distance 30m St...

Page 64: ...5 according to EN 60529 1991 10 A1 2002 02 Vibration test According to IEC 60068 2 6 table 2c frequency range 10 150 Hz amplitude 0 35 mm or 5 g Weight Approx 2 4 kg Ambient operating tempera ture storage temperature 0 50 C 20 80 C Max relative air humidity 5 85 non condensing 1 The technical data are typical values at 25 C for operation in industrial environments for standing AGV and when using c...

Page 65: ...ow green red Fastening bore M6x12 Rotational diameter Adjustment bore RS232 connection M12x4 plug Ethernet connection M12x4 device socket Power connection 12x5 plug 8 1 2 3 4 7 7 6 5 8 9 9 Ø 40 1 57 41 1 61 224 1 8 82 199 6 1 7 86 10 0 39 10 0 39 3 0 12 3 0 12 166 4 6 55 1 0 04 40 5 1 59 28 1 10 51 2 01 135 5 31 13 4 0 53 88 3 46 1 0 04 3 x M6 x 12 2 x M6 x 12 3 x M6 x 12 Ø 4 x 6 0 16 x 0 24 58 5 ...

Page 66: ...view of the annexes The annex contains the following supplementary information Ordering information Glossary illustration containing the EU declaration of conformity 10 2 Ordering information 10 2 1 Consumables Part number Type 4Description 4003353 Lens cloth Special cloth for correctly cleaning the window 5600006 Plastic detergent Antistatic mild detergent solution Tab 18 Consumables ...

Page 67: ...tions implemented in the NAV350 are initialised and activat ed Is transmitted from the NAV350 to SOPAS ET and in the reverse direction using UPLOAD or DOWNLOAD respectively Remission Remission is the quality of reflection at a surface The basis is the Kodak standard known worldwide in among other areas photography The surface related magnitude of the remis sion is the remission value Scan A scan i...

Page 68: ...er 10 10 4 EC declaration of conformity fig 37 shows page 1 of the EC declaration of conformity size reduced If necessary download the complete EC declaration of conformity with list of the device var iants and the standards met as a PDF from the related product page on the SICK website www sick com Fig 37 Illustration containing the EU declaration of conformity ...

Page 70: ...il information sick com Czech Republic Phone 420 2 57 91 18 50 E Mail sick sick cz Chile Phone 56 2 2274 7430 E Mail info schadler 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 2515 800 E Mail sick sick fi France Phone 33 1 64 62 35 00 E Mail info sick fr Germany Phone 49 211 5301 301 E Mail info sick de Hong Kong...

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SICK NAV350, Operating Instructions Manual

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