Angle (distance values in mm)
Scan
1
2
3
4
5
6
7
8
...
Scan 1 output value
850 |
851
| 852
849 |
850
| 850
...
2
849
850
850
853
852
852
850
851
...
Scan 2 output value
849 |
850
| 850
852 |
852
| 852
...
...
...
...
...
...
...
...
...
...
...
3.6.7.4
Average filter
The sliding average filter smooths the distance value. It does this by calculating the
arithmetic mean from several scans of the same point. The number of scans can be
configured (maximum 4 scans).
Table 7: Example: Average filter over 5 scans
Angle (distance values in mm)
Scan
1
2
3
4
5
6
7
8
9
…
1
0
0 1100 1100 1150 1150 1380 1380
0
…
2
0
0 1200 1200 1190
950
1500 1500
0
…
3
0
0 1150
1450
1200 1200 1450 1450
0
…
4
0
0 1170 1170 1220 1220 1470
1150
0
…
1 Output value
(scan 1-4)
0
0 1155 1230 1190 1130 1450 1370
0
…
5
0
0
0
1110 1150 1150 1380 1380
0
…
2. Output value
(scan 2-5)
0
0 1173 1225 1190 1130 1450 1370
0
6
0
0 1200 1210 1190
0
1500 1500
0
…
3. Output value
(scan 3-6)
0
0 1173 1235 1190 1190 1450 1370
0
7
0
730
1150
0
1200 1200 1450 1450
0
…
4. Output value
(4-7)
0
730 1173 1163 1190 1190 1450 1370
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 number of scans. Therefore, there is always a time
delay equivalent to the number of scans configured for averaging. The digit of the first
scan included in the averaging calculation is always output in the scan counter. Invalid
distance values (= 0) are not included in the averaging calculation, so that in these
places a smaller number of scans is used in the division calculation.
Based on the scanning frequency of 15 Hz, a measured value is generated every
67 s. The time delay affecting data output results from this base value multiplied
by the number of averaging operations (e.g., 2 averaging operations = 134 ms,
10 averaging operations = 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 have sufficient length and width.
PRODUCT DESCRIPTION
3
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
21
Subject to change without notice
