SICK TiM781 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

TiM781

2D LiDAR sensors

Summary of Contents for TiM781

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: ...ly 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...

Page 3: ...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 Sca...

Page 4: ...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...

Page 5: ...g 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 info...

Page 6: ...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 documentat...

Page 7: ...sed 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...

Page 8: ...e 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...

Page 9: ...tions regarding laser protection must be observed WARNING Electrical voltage Electrical voltage can cause severe injury or death Work on electrical systems must only be performed by qualified electric...

Page 10: ...otes 1 Device in the version ordered 2 mounting straps 2 screws M3 x 4 mm Depending on version Without connecting cables 1 Printed safety notes multilin gual no 8021393 Quick guide and safety notes fo...

Page 11: ...ting hole 2 8 mm deep blind hole thread 3 Optics cover 4 Receiving range light inlet 5 Transmission range light emission 6 Teach in pushbutton 7 Red and green LED status indicators 8 Swivel connector...

Page 12: ...vice without supply voltage O illuminated flashing 3 4 Type code 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...

Page 13: ...6 Production date 7 DataMatrix code with product data part number serial number MAC address 8 Manufacturer production location 9 Conformity mark certification mark 3 6 Principle of operation 3 6 1 Mea...

Page 14: ...n 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 m...

Page 15: ...m 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 spo...

Page 16: ...s 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 The...

Page 17: ...e 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 th...

Page 18: ...o 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 refl...

Page 19: ...ws 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 v...

Page 20: ...stance 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...

Page 21: ...4 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 ha...

Page 22: ...tion 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 distan...

Page 23: ...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 c...

Page 24: ...ignment 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 Acti...

Page 25: ...oods 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...

Page 26: ...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 devic...

Page 27: ...Figure 15 Angle 6 Figure 16 Distance 200 mm MOUNTING 5 8024231 2019 03 29 SICK O P E R A T I N G I N S T R U C T I O N S TiM781 27 Subject to change without notice...

Page 28: ...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 h...

Page 29: ...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 30: ...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 31: ...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 a...

Page 32: ...field set selection Gray pink 12 N c Red blue Screen 1 Example values when using the specified connecting cable s Signal assignment and wire colors can vary when using other connecting cables Etherne...

Page 33: ...ng 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 8024231 2019 03 29 SICK...

Page 34: ...evice 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 thi...

Page 35: ...ld 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...

Page 36: ...old 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 thi...

Page 37: ...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 Input level Low in resting position 2 V high in working position 8 V 7 2 2 Mo...

Page 38: ...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 respon...

Page 39: ...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 wi...

Page 40: ...urposes 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 Figure 24 Device window Monitor scan view p...

Page 41: ...candata Telegram part Description Variable type Length Byte Value range Command type Request SOPAS read by name String 3 sRN Command Request data String 11 LMDscandata Example Telegram type Command AS...

Page 42: ...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 atte...

Page 43: ...t the unused connections are sealed with blind plugs Interval depends on ambient condi tions and climate Recommended At least every 6 months Specialist 8 2 Cleaning NOTICE Equipment damage due to impr...

Page 44: ...riginal 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 co...

Page 45: ...e 270 horizontal Scanning fre quency 15 Hz Angular resolu tion 0 33 Working range 0 05 m 25 m Scanning range with 10 remis sion 8 m typical 1 1 at ambient temperature 15 C typ 7 5 m Working range diag...

Page 46: ...30 000 ms can be configured Holding time 67 ms 10 000 ms can be configured Optical indicators 2 LEDs on device ready 10 4 Mechanics electronics Variant TiM781 Electrical connec tion 1 x Ethernet conn...

Page 47: ...200 Hz 5 grms 120 min Shock resistance In accordance with IEC 60068 2 27 2008 15 g 11 ms 6 shocks axis 10 g 16 ms 1 000 shocks axis Ambient temper ature Commissioning Switching on 10 C 50 C Operation...

Page 48: ...Accessories and where applicable mounting information can be found online at www sick com TiM7xx 11 ACCESSORIES 48 O P E R A T I N G I N S T R U C T I O N S TiM781 8024231 2019 03 29 SICK Subject to c...

Page 49: ...icense 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 exten...

Page 50: ...exico 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 Ph...

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SICK TiM781, Operating Instructions Manual

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