SICK TiM3 Series Operating Instructions Manual Download

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

TiM3xx

2D LiDAR sensors

Summary of Contents for TiM3 Series

Page 1: ...O P E R A T I N G I N S T R U C T I O N S TiM3xx 2D LiDAR sensors...

Page 2: ...ible 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 The trad...

Page 3: ...rinciple of operation 15 3 6 1 Measurement principle 15 3 6 2 Range finding 15 3 6 3 Direction measurement 15 3 6 4 Object sizes 16 3 6 5 Impact of object surfaces on the measurement 17 3 6 6 Scanning...

Page 4: ...on monitor 45 7 2 3 Parameter evaluation cases 45 7 2 4 Parameter fields 46 7 3 ROS driver 47 8 Maintenance 49 8 1 Maintenance plan 49 8 2 Cleaning 49 9 Troubleshooting 50 9 1 Detecting and displaying...

Page 5: ...ation on operating the machine or system in which the device is integrated For information about this refer to the operating instructions of the specific machine 1 2 Explanation of symbols Warnings an...

Page 6: ...ypes containing technical data dimensional drawing and specification diagrams EU declarations of conformity for the product family Dimensional drawings and 3D CAD dimension models of the device types...

Page 7: ...se 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 inform...

Page 8: ...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 s...

Page 9: ...e 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 produ...

Page 10: ...the type ordered 2 fastening clips 2 M3 x 5 mm screws TiMxx1 only TX6 screwdriver for the plastic cover of the micro USB female connector Without connecting cables 1 Printed safety notes multilin gua...

Page 11: ...d max tightening torque 0 8 Nm 3 Optics cover 4 Receiving range light inlet 5 Transmission range light emission 6 Red and green LED status indicators 7 Function button for teach in 8 Connecting cable...

Page 12: ...gure 2 Structure and dimensions unit mm inch decimal separator period 1 2x fastening clip with M3 x 5 mm countersunk screw self locking included in scope of delivery 2 M3 threaded mounting hole 2 8 mm...

Page 13: ...button Status indicators LED red LED green Description O Device ready monitoring mode O O Field breach if there are lots of field breaches in a short space of time the red LED lighting up might look l...

Page 14: ...up to 5 ns pulse rate 500 kHz 1 Pulse power up to 880 mW pulse width up to 5 ns pulse rate 1 500 kHz 9 Color 00 Blue NOTE Not all combinations are possible according to the type code The available de...

Page 15: ...lement 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...

Page 16: ...idth Light spot divergence mrad supplement mrad distance mm light spot size on the device cover mm light spot width mm Calculation example light spot width at a distance of 4 m with supplement 5 8 mra...

Page 17: ...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...

Page 18: ...es Figure 8 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 ener...

Page 19: ...t 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...

Page 20: ...lues It is not possible to recal culate the original measured values from the filtered output values For this reason certain combinations of filters might not be advisable A particularly effective way...

Page 21: ...n 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...

Page 22: ...at the braking force of the vehicle will diminish over time you may under certain circumstances need to increase the recommended supplement The width of the switching field should cover the vehicle wi...

Page 23: ...ding on the speed How to calculate the stopping distance SA SA SAnF SAnS SBr SAnF The distance covered during the vehicle control s response time which is speci fied in the vehicle documentation SAnS...

Page 24: ...ze 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...

Page 25: ...port 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 p...

Page 26: ...torage 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 I O N S TiM3xx 802485...

Page 27: ...icator 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 incl...

Page 28: ...he 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 recei...

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

Page 30: ...it 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 distribute...

Page 31: ...controller 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 t...

Page 32: ...T 3 10 OUT 4 13 IN 1 IN 2 IN 3 IN 4 33 43 30 SGND 12 31 USB USB 6 1 10 5 11 15 Figure 24 Power I O connection Cable with male connector D Sub HD 15 pin 1 Connection modules 2 Device 3 Configuration fi...

Page 33: ...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 When operating the device together with a conn...

Page 34: ...Ground Black N c Light blue N c Dark blue IN 1 Digital input 1 field set selection Turquoise light gray IN 2 Digital input 2 field set selection Green IN 3 Digital input 3 field set selection Gray IN...

Page 35: ...able 9 Male connector M12 12 pin A coded Pin Signal Function Wire colors of connecting cable with flying leads1 1 GND Ground Blue 2 VS Supply voltage Brown 3 IN 1 Digital input 1 field set selection R...

Page 36: ...g the device electrically NOTICE Observe the wiring instructions see Wiring instructions page 33 1 Ensure the voltage supply is not connected 2 Connect the device according to the connection diagram s...

Page 37: ...3xx 11xxxx TiM3xx 21xxxx 12 pin M12 male connector PIN A VS Red 1 2 D GND Black 5 1 C INGND White black 15 9 B1 IN 1 Turquoise or light gray 8 3 B2 IN 2 Green 9 4 B3 IN 3 Gray 10 10 B4 IN 4 Pink 11 11...

Page 38: ...nation the digital outputs OUT 1 to OUT 3 signal the breach of the individual fields of a field set The digital output OUT 4 is used to issue an error and a regular index pulse The structure and wirin...

Page 39: ...1 Brown 12 5 Y2 OUT 2 Orange 13 6 Y3 OUT 3 White 14 7 Y4 OUT 4 Red black 4 8 Z GND Black 5 1 Switching behav ior PNP switching against supply voltage UV OUT 1 OUT 3 Resting level High no field breach...

Page 40: ...nged Deactivated Deactivated Active No field infringed Deactivated Deactivated Deactivated Example 2 3 fields rectangular overlapping The overlapping fields create areas that can be used as additional...

Page 41: ...n the device and can be installed there Alternatively installation is possible from the SICK website Internet connection required Use the wizard in SOPAS ET to do this Following installation of the de...

Page 42: ...the configuration This includes the following 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 S...

Page 43: ...ng 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 me...

Page 44: ...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 s...

Page 45: ...SOPAS displays this separately in yellow for the individual fields Click the Reset button to make SOPAS reset the digital output counters 7 2 3 Parameter evaluation cases Response time blanking size...

Page 46: ...s 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 Shiftin...

Page 47: ...ntour 1 Select the required field in the field set 2 Select the contour as reference field check mark under Field selection 3 Delete the two field positions closest to the device 4 Mark the two remain...

Page 48: ...7 OPERATION 48 O P E R A T I N G I N S T R U C T I O N S TiM3xx 8024851 2021 07 21 SICK Subject to change without notice...

Page 49: ...sed Depends 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 blind plugs Depends on a...

Page 50: ...iginal 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 con...

Page 51: ...ngth 850 nm max pulse power 880 mW max pulse width 5 ns pulse frequency 550 kHz Infrared wave length 850 nm max pulse power 880 mW max pulse width 5 ns pulse frequency 1 500 kHz Laser class 1 IEC 6082...

Page 52: ...e Typ 1 scan 67 ms Max 2 scans 134 ms 1 Detectable object shape Almost any Measurement errors Statistical 1 30 mm 1 Systematic 40 mm 1 Temperature drift 0 5 mm K Statistical 1 20 mm 1 10 mm 2 Systemat...

Page 53: ...to IEC 60364 4 41 2005 12 Power consump tion Typ 4 W 16 W with 4 max loaded digital outputs Housing color Light blue RAL 5012 Gray RAL 7032 Enclosure rating IP65 IEC 60529 1989 AMD1 1999 AMD2 2013 IP...

Page 54: ...3 ms 10 000 shocks axis IEC 60068 2 27 2008 Ambient temper ature Operation 10 C 50 C Storage 30 C 70 C IEC 60068 2 14 2009 Commissioning switching on 10 C 50 C Operation 25 C 50 C Storage 40 C 75 C IE...

Page 55: ...Accessories and where applicable mounting information can be found online at www sick com TiM3xx ACCESSORIES 11 8024851 2021 07 21 SICK O P E R A T I N G I N S T R U C T I O N S TiM3xx 55 Subject to c...

Page 56: ...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 t...

Page 57: ...ANNEX 12 8024851 2021 07 21 SICK O P E R A T I N G I N S T R U C T I O N S TiM3xx 57 Subject to change without notice...

Page 58: ...8080 7425 E Mail enquiry my sick com Mexico 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...

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SICK TiM3 Series, Operating Instructions Manual

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