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8

Synchronization

8021386/12G4 /2019-04-24 | SICK

OPERATING INSTRUCTIONS | NAV-LOC

49

Subject to change without notice

8

Synchronization

A very important aspect in the vehicle control is  the time synchronization between the AGV vehicle
controller and the internal time stamp of the NAV-LOCs controller called SIM.
The clock of the AGV vehicle controller and the clock of the SIM must be synchronized periodically. For
motion control, it is necessary that the AGV controller can assign its own time stamp to each position
produced by NAV-LOC.
The system latencies without this synchronization is described in chapter 12.2.
The internal time stamp of the embedded application increases in increments of 1 every 1 ms.

Additionally, the time stamp of the embedded application is synchronized internally by the SIM with the
time stamp of the connected 2D LiDAR sensor. Each result (measurement data and localization result)
from NAV-LOC is then provided with the internal time stamp of the embedded application.

NOTE
For synchronization, CoLa A commands are used for communication between the SIM module and the
vehicle controller or your service computer, which is described in the separate document “Telegram
Listing”

15

.

NOTE
This chapter elaborates about the synchronization of NAV-LOC and between the AGV vehicle controller.
The synchronization between the connected 2D LiDAR sensor and the NAV-LOC controller (SIM) is done
internally by the embedded application of and is described in chapter 2.5 of each of the device-specific
documents:



SIM2000, NAV310 operating instructions (German

, English



SIM2000, NAV245 operating instructions (German

, English

8.1

Synchronization options

NAV-LOC has three options available for synchronizing the internal time of embedded application with
the system time of the vehicle computer.

8.1.1

Synchronization via telegram request (polling)

The vehicle computer retrieves the internal time of the embedded application using the

NAVGet-

Timestamp

telegram.

The embedded application writes its internal time into a telegram and sends this to the vehicle com-
puter.
Sending may happen with a delay time of up to a few milliseconds, which results in some uncertainty.
This can be overcome with the 2nd synchronization method.
An example could be to request the time stamp from NAV-LOC every 10 seconds.

15

Open the page

and enter the part number of the NAV-LOC telegram listing

(English) into the search field.

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Содержание NAV-LOC

Страница 1: ...NAV LOC Laser positioning system O P E R A T I N G I N S T R U C T I O N S ...

Страница 2: ...eserved by SICK AG Reproduction of this document or parts of this document is only permissible within the limits of the legal provisions of copyright law Any modifica tion abridgment or translation of this document is prohibited without the express written permission of SICK AG The trademarks mentioned in this document are the property of their respective owners SICK AG All rights reserved Origina...

Страница 3: ...function of NAV LOC 11 3 3 Sensor Integration Machine SIM 12 3 4 Measurement accuracy 12 3 5 Telegram listing 12 3 6 Data interfaces 12 3 7 Diagnosis 12 3 7 1 Diagnostic via LED status indicators 13 3 7 2 Diagnostic via SOPAS AIR 14 3 7 3 Diagnostic via telegram 15 3 8 Reference map 15 3 9 Dynamic Environment Handling 17 3 10 Initial position 17 3 10 1 X Y position uncertainty 17 3 10 2 Yaw orient...

Страница 4: ...R via web browser 38 7 6 2 IDLE Data source settings 39 7 6 3 IDLE Mounting Position optional 40 7 6 4 IDLE Scan filter optional 41 7 6 5 READY Settings for localization 43 7 6 6 LOCALIZE Indication of contour and position 45 7 6 7 LOCALIZE Settings for the result port data output 46 8 Synchronization 49 8 1 Synchronization options 49 8 1 1 Synchronization via telegram request polling 49 8 1 2 Syn...

Страница 5: ...ent 8021386 12G4 2019 04 24 SICK OPERATING INSTRUCTIONS NAV LOC 5 Subject to change without notice 10 3 Storage 56 11 Service and maintenance 57 12 NAV LOC data sheet 58 12 1 NAV LOC features 58 12 2 System latencies 59 ...

Страница 6: ...ey describe the specific connection options and configuration for each sensor NAV LOC SIM2000 NAV310 operating instructions German 8023449 English 8023450 NAV LOC SIM2000 NAV245 operating instructions German 8023451 English 8023452 NAV LOC Telegram Listing English 8021387 1 2 Explanation of symbols All symbols used in this document and their meaning warnings and important information are marked wi...

Страница 7: ...o Operating instructions of the SIM2000 German 8020763 English 8020764 o Operating instructions of the NAV310 German 8016534 English 8016535 o Operating instructions of the NAV245 German 8018477 English 8018478 NAV LOC Telegram Listing English 8021387 EU declaration of conformity for the product family Dimensional drawings and 3D CAD dimension models in various electronic formats These operating i...

Страница 8: ... to the AGV and continuously measures the surrounding contour NAV LOC determines its own position from the contour data and a previously created map related to the optical axis of the 2D LiDAR sensor used and the orientation The vehicle computer can use this to correct deviations from the course of the AGV in order to keep it on the planned route NAV LOC is intended for localizing indoors halls an...

Страница 9: ...ledge of the relevant regulations to be able to perform tasks assigned to them and to detect and avoid any potential dangers independently Electricians have the specialist training skills and experience as well as knowledge of the rele vant standards and provisions to be able to carry out work on electrical systems and to detect and avoid any potential dangers independently In Germany electricians...

Страница 10: ...luding embedded application for localization Please note Cables for the voltage supply and data lines are not included with delivery and can option ally be ordered as accessories No of units Additional accessories1 1 Power cabling for 2D LiDAR sensor M12 A coded 5 pin 1 Ethernet cabling for 2D LiDAR sensor RJ45 to M12 D coded 1 Power cabling for SIM2000 0A20A00 Ethernet for SIM2000 to vehicle cont...

Страница 11: ...our data and a previously created reference map This is transmitted to the vehicle controller as x y coordinates and a yaw angle together with a time stamp The vehicle computer controls the AGV along the programmed route and corrects any route deviation with the help of NAV LOC An absolute coordinate system with an origin must be defined for the use of NAV LOC for position out put For example the ...

Страница 12: ...and contour Degradation of measurement performance due to fog dust and like Evenness of the route e g uneven areas ramps and bumps Permanent changes to the surroundings e g newly built racks and walls doors NOTE The measurement accuracy specifications are listed in the data sheet in chapter 12 3 5 Telegram listing The specific CoLa A Command Language ASCII commands for communication between the SI...

Страница 13: ...LiDAR sensor 2D LiDAR sensor type Interfacing of 2D LiDAR sensor as type cable IP address 3 7 1 Diagnostic via LED status indicators When the device is operating the operational status is indicated visually by status LEDs Using these status indicators the operator can find out quickly and easily whether the device and the peripherals are working properly or whether any faults or errors have occurr...

Страница 14: ...re 3 States related to the system Figure 4 States related to the data source NDEV 2D LiDAR sensor Figure 5 States related to the application Figure 6 States related to the application 3 7 2 Diagnostic via SOPAS AIR A further analysis could be done via the SOPAS Air interface The logical states are shown in the visu alization For a working condition the simulated LEDs shall show a green light ...

Страница 15: ...r operation of the localization system Contact your SICK Service to create a reference map for your plant You will find a contact address for your country on the last page of this document When mapping the factory site is measured from the point of view of the 2D LiDAR sensor and entered in a reference map Either a movable frame with a battery can be used whereby the 2D LiDAR sensor must be aligne...

Страница 16: ... this coor dinate system can only be configured when creating the map and must therefore be defined for the respective plant before creating the reference map The reference map must be loaded on the SIM to operate NAV LOC This step is described in chapter 7 5 The map used must cover the entire vehicle operation area If needed for example when operating on different levels connected by an elevator ...

Страница 17: ...the current surroundings 3 10 Initial position When switching on localization mode the position in the coordinate system of the reference map must be provided to the system one time Required is the information about the current position x y and the orientation angle A value for uncertainty uncertainty range for all three coordinates has to be specified for the provided position 3 10 1 X Y position...

Страница 18: ...n with coordinate system and grid The specified position and orientation must correspond with the current position of the AGV in the map coordinate system and should be within a position uncertainty of 5 m and 15 from the actual po sition and orientation Depending on the environment it may be necessary to specify an initial position with a higher accuracy NOTE The following contains descriptions o...

Страница 19: ...n B is entered as the initial position incorrectly The measured contour of the 2D LiDAR sensor matches to the expectation from the map for position B The system is localized to the incorrectly specified initial position B A perfect match of the contour to the map is not necessary here Solution The initial position must be sufficiently accurate in surroundings with repetitive structures An initial ...

Страница 20: ...ating at a short distance The walls cannot be measured at the front and rear since they are outside of the range of the 2D LiDAR sensor The sensor only receives the contour located on the side as scan data The uncertainty range must not exceed the grid dimensions of the columns grid here uncertainty range column distance Example of factory hall with columns The vehicle is located at position A in ...

Страница 21: ...dimensions X 0 0 60 0 m Y 0 0 50 0 m Grid size 10 0 m Orientation angle Example for position output X coordinate 24 m Y coordinate 24 m Orientation angle 0 3 11 1 Pose quality In addition a quality assessment of the detected pose quality position is output which specifies the reliability of the pose result Its values are represented in a range of 0 to 100 NOTE The quality value does not show the a...

Страница 22: ...ed options Check show advanced to display more information Dynamic Object Ratio A filter reduces measurement noise to increase the stability of position determination The proportion of measuring beams that were filtered out is output A high value indicates a high ratio of dynamic changes in the surroundings Outlier Ratio Proportion of measuring beams which could not be assigned to the current refe...

Страница 23: ...s not yet made any changes to the map A value greater than zero means the DEH function has made changes to the map The changes from the DEH algorithm are not made in every localization step rather a number of changes are always grouped together and then entered in the map together Adaptive map adjustment is only performed if the following parameters remain within a defined range Local Map Modifica...

Страница 24: ...nt of individual movable objects protruding into the scan plane this should be the case only for a limited part of the scan data of the 2D LiDAR sensor for optimal accuracy at every point This means that 100 of the scan data does not necessarily have to match the map but rather that the system works even if the scan data deviates a bit from the contour for example due to small changes to the hall ...

Страница 25: ...ect to change without notice Alternatively the SICK Alignment Tool order no 2101720 may be used This device is operated by an internal rechargeable lithium ion battery and indicates the received laser beam depending on the beam size by one or more red LEDs Figure 8 SICK Alignment Tool order no 2101720 ...

Страница 26: ...e initial position can also be permanently saved and invoked for the initialization 5 1 IDLE mode The embedded application is started and all functions are ready for operation In this state at least the Dev RDY and Sys RDY LEDs are green and communication can be established with the SIM 5 2 READY mode After assigning a valid data source the embedded application switches to READY mode This will be ...

Страница 27: ...d is acquiring scan data After loading a map and setting the initial position the embedded application switches to LOCALIZE The embedded application cyclically runs a comparison of the contour data detected by the 2D LiDAR sensor and the previously stored and selected reference map The embedded application detects the global position based on this Overview IDLE mode READY mode LOCALIZE mode Applic...

Страница 28: ...ibes only the initial first set up and demonstration process For further information refer to chapter 7 6 1 Initial connection setup 1 Setting up connections for power supply like described in chapter 7 3 and for the network connec tions like described in chapter 7 4 2 Open the SOPAS AIR web GUI with a web browser Chrome is preferred e g with default setting http 192 168 0 1 for X9 1 from the conn...

Страница 29: ... demonstration purposes or for a test of the function of NAV LOC The surroundings are limited to a size of 50 x 50 m NOTE The created demo map is used for initial commissioning of NAV LOC and is not suitable for driving operation NOTE This map can only be created statically i e the sensor must not be moved and must be mounted so that its scan plane runs parallel to the ground when the map is being...

Страница 30: ...o to create a map of the current surroundings 2 Press Apply to use the automatically inserted configuration 3 If all indicators are green switch to the next tab Run Monitor 4 After switching to the Run Monitor page the currently measured contour is shown in black and the active map in yellow The position with a trace of recent locations is shown in orange color ...

Страница 31: ...iew are concealed The scan data of the facility has been recorded and a reference map has been created IMPORTANT NAV LOC must only be commissioned by adequately qualified personnel Before operating the plant fitted with NAV LOC for the first time make sure that it is first checked and released by qualified per sonnel NOTE In addition the following information must be taken into consideration to en...

Страница 32: ...Power supply The supply voltage for the SIM is 24 V DC 10 ES1 acc to EN 62368 1 or SELV acc to EN 60950 1 The power consumption is typically 20 W Figure 10 SIM connectors overview 1 X1 IO LINK MASTER 2 X2 POWER 3 X3 OUTPUT 4 X4 INPUT A 5 X5 INPUT B 6 X6 SERIAL A 7 X7 SERIAL B 8 X8 CAN 9 X9 X12 ETHERNET 10 X13 X14 FIELDBUS 7 E g The software Filezilla client not server is suitable for this purpose ...

Страница 33: ...ss is preconfigured However it can be changed using the SOPAS ET software as described below The factory settings of the SIM2000 0A20A00 are shown in the following figure A PC can be connected to an Ethernet interface for example to port X9 1 for setting the interface configuration The interface of the PC must be set to an IP address in the range 192 168 0 2 192 168 255 in order to reach the devic...

Страница 34: ...4 SICK OPERATING INSTRUCTIONS NAV LOC 34 Subject to change without notice The interfaces can be adjusted in the Network Interfaces Ethernet menu item When setting up the Ethernet interfaces make sure that subnet masks of the 4 Ethernet interfaces do not overlap ...

Страница 35: ... the range 192 168 1 2 to 192 168 1 255 in this exemplary case The Ethernet interface of the PC has to be set to an IP address in the range 192 168 0 2 to 192 168 0 255 in this exemplary case Figure 12 Example connection set up for live view and configuration of NAV LOC via a PC Supplementary device specific documents for 2D LiDAR sensors which can be combined with the SIM2000 0A20A00 as a data so...

Страница 36: ...outing it through additional network switches When using a network switch all components must be set in the same IP number range In this config uration access is possible from the PC and vehicle computer to the SIM and the 2D LiDAR sensor The IP address of the connected 2D LiDAR sensor must be configured accordingly Figure 13 Example connection for switch usage with same address room IP addresses ...

Страница 37: ...ing values via its result port data interface Position in X and Y coordinates Yaw angle Time stamp Quality indicator for localization 7 5 Transfering the reference map Requirements A reference map from the current surroundings is available and the map is stored as an smap file on the PC or a USB stick More than one map file may be used in a facility Contact your SICK Service to create a reference ...

Страница 38: ...e methods for operation and configuration can also be run directly from the vehicle control via the CoLa A protocol which is described in the telegram listing12 The following shows how the embedded application is configured in the SIM using the SOPAS AIR web based interface The Chrome web browser is recommend for this purpose The web interface is invoked by entering the current IP address of the S...

Страница 39: ... entered when Apply is pressed Figure 15 Source configuration settings for the data source interface after successful connection to the sensor If the data is valid a sensor is connected and ready for use NAV LOC will be initialized and started The state of NAV LOC changes from IDLE to READY mode SIM LED INDICATOR In IDLE mode at least the Dev RDY and Sys RDY LEDs are green and communication can be...

Страница 40: ... necessary 7 6 3 IDLE Mounting Position optional The navigation point of an AGV where all position and path planning is related to depends on the kinematics of the vehicle Typically the position of the 2D LiDAR is not located exactly above this navi gation point By entering the deviation from the positon of the sensor axis to the navigation point of the vehicle by the parameters Mounting Pose X Mo...

Страница 41: ... Scan filter optional If there are parts of the vehicle visible in the field of view of the sensor the corresponding measure ments will lead to bad localization stability The filter should be used to mute these scan sector areas One has to consider that the more the field of view of the sensor is restricted the more difficult it is for NAV LOC to localize itself The function therefore depends on t...

Страница 42: ... definition within the NAV LOC system to handle all LiDAR sensors All data is transformed internally to match the specific sensor system NOTE The scan filter does also effect the output scan data via the result port Figure 19 Unique coordinate system for all LiDAR Sensors angle in mathematical positive direction counterclockwise Example 1 Distance Begin 500 mm Distance End 200 000 mm Angle Begin 1...

Страница 43: ... Begin 45 000 mdeg Angle End 45 000 mdeg 7 6 5 READY Settings for localization A map suitable for the current surroundings must be selected and set for NAV LOC for localization In addition NAV LOC needs a start range consisting of the initial position and uncertainty range for more information see chapter 3 10 NOTE Use only integer values in the GUI no floating point numbers are allowed Map Name e...

Страница 44: ...ocalization is started Requirements for successful initial localization are The vehicle is stationary The surroundings are sufficiently visible and not occluded The initial position data specified by the operator via GUI or by the vehicle computer via tele gram consisting of X and Y coordinates and orientation match the actual position of the AGV NOTE If the settings are correct all LEDs turn gree...

Страница 45: ...the corresponding command NAVSavePermanent 7 6 6 LOCALIZE Indication of contour and position Requirements All status messages on the Run Monitor page have a green status indicator After switching to the Run Monitor page the currently measured contour is shown in black and the active map in yellow The position with a trace of recent locations is shown in orange color For the Position options refer ...

Страница 46: ...mpler The contour display can be zoomed in or out either by using the mouse wheel or the or pushbuttons 7 6 7 LOCALIZE Settings for the result port data output To use the position data in the vehicle control computer it can be connected to Ethernet port X9 1 or a free port on a switch Port X9 1 has IP number 192 168 0 1 as a default setting i e either the vehicle computer is set suitably to e g 19...

Страница 47: ... to LOCALIZE mode Combine Telegrams The data for the pose and the scans are transferred via the result port by default in separate telegram Some vehicle controllers have input buffers where the second received message may overwrite the first received message In this case the telegrams of pose and scans message could be combined to a common telegram Scan Result Enabled Enables the output of the sca...

Страница 48: ...data result telegrams are output for each measurement cycle When 2 is entered the scan data result telegrams are only output every second scan measurement cycle The default value is 1 Localization Result Interval Determines the output cycle of the output position data telegrams When 1 is entered the localization result telegrams are output for each measurement cycle When 2 is entered the localizat...

Страница 49: ... computer which is described in the separate document Telegram Listing 15 NOTE This chapter elaborates about the synchronization of NAV LOC and between the AGV vehicle controller The synchronization between the connected 2D LiDAR sensor and the NAV LOC controller SIM is done internally by the embedded application of and is described in chapter 2 5 of each of the device specific documents SIM2000 N...

Страница 50: ...n example could be to request the time stamp from NAV LOC every 10 seconds NOTE The vehicle computer is to be configured such that it responds to the risings edge of the output pulse After the vehicle computer has received the telegram the AGV computer can correct the time difference between the pulse and the reception of the time stamp included in the telegram As a result the AGV computer can det...

Страница 51: ...specified interval depending on the parameter The specific hardware port is set with NAVSyncClockPort Using the hardware port gives the option to calculate the delay for processing the request command and the following response time Examples NAVSyncClockInterval Interval time 10 1 024 ms 12 4 096 ms 15 32 768 ms Configuration of e g 15 bits creates an output pulse every 32 768 ms The cyclical sync...

Страница 52: ... of these outputs of X3 can be selected with the commands NAVSyncGet TimestampPort17 or NAVSyncClockPort The command NAVSyncGetTimestampPort is used to set the output port for the pulse when receiving the time stamp request NAVGetTimestamp and NAVSyncClockPort is used for the selection for the output of the cyclical pulse Once the setting for the port is done the output is triggered in each state ...

Страница 53: ...dy flashing when the output X3 is configured the outputs of the SIM must be supplied with an additional 24 V DC since the outputs are galvanically separated from the input Either the voltage supply of the outputs can be connected together with the supply of the SIM or if galvanic separation of the outputs is required it can be supplied separately ...

Страница 54: ...nection to SOPAS ET and corrected if necessary More detailed information can be found in chapter 7 4 9 2 Hints to initialization If the mode is not changed from READY mode to LOCALIZE during initialization the following settings should be checked If one or several LEDs do not light up the following should be analyzed NOTE Depending on which 2D LiDAR sensor is connected it may take some time after ...

Страница 55: ... 9 3 Localization hints Changes of the facility surroundings can cause that the map can no longer be used for the localization Please check whether moveable objects which were placed in the area of operation after the map creation can be removed in order to recreate the original contour If this is not possible please contact SICK Service for a change of the map 9 3 1 Localization does not start Wa...

Страница 56: ...y 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 or only do so conditionally Note the scope of damage on the transport documents or on the transport company s delivery note File a complaint NOTE Complaints regarding defects should be filed as soon as these are detected Damage claims are only valid befo...

Страница 57: ...ange without notice 11 Service and maintenance The housing screws of the SIM2000 0A20A00 and 2D LiDAR sensors are sealed Claims under the warranty against SICK AG will be rendered void if the seals are damaged or the de vices are opened The housing must only be opened by authorized SICK service personnel ...

Страница 58: ...locity 45 s Accuracies 2D LiDAR sensor 2D LiDAR sensor Supported device NAV310 3211 NAV340 3232 NAV350 3232 NAV245 10100 Aperture angle 360 270 Distance Range 10 35m 90 120 m 10 18m 90 50 m Update rate Typical 8 Hz Typical 8 33 Hz Accuracy20 position measurement Typical 30 mm Typical 35 mm Accuracy21 yaw angle Typical 0 1 0 4 Typical 0 1 0 4 Repeatability22 Typical 4 mm 17 mm Typical 6 mm 22 mm 18...

Страница 59: ...ion 5 ms23 and with Network wired synchronization 10 ms 2D LiDAR sensor Maximum latency after start of scan 24 NAV245 typ below 170 ms network transfer time25 NAV310 typ below 260 ms network transfer time 23 This value is reached only if one uses the additional digital synchronization port of the NAV310 and NAV245 If not used or for all other 2D LiDAR sensors the value for Network wired synchroniz...

Страница 60: ...E mail enquiry my sick com Mexico Phone 52 472 748 9451 E mail mexico sick com Netherlands Phone 31 30 2044 000 E mail info sick nl New Zealand Phone 64 9 415 0459 0800 222 278 toll free E mail sales sick co nz Norway Phone 47 67 81 50 00 E mail sick sick no Poland Phone 48 22 539 41 00 E mail info sick pl Romania Phone 40 356 171 120 E mail office sick ro Russia Phone 7 495 775 05 30 E mail info ...

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