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8024592/2019-08| SICK

O P E R A T I N G I N S T R U C T I O N S | NAV210

Subject to change without notice

ABOUT THIS DOCUMENT

1

1

About this document

Please read this chapter carefully before you begin working with this documentation and
the NAV210 2D LiDAR sensor.

1.1

Purpose of this document

These operating instructions are intended to allow the technical personnel to perform
assembly, electrical installation work, configuration, commissioning, and maintenance on
the laser positioning system in the following variants:

Important

For simplicity in this document, the variants are referred to as the “NAV210” for short,
unless a clear distinction needs to be made.

1.2

Target group

The target group for this document consists of people in the following roles:

Table 1: Target group

1.3

Information depth

These operating instructions contain the following information about the NAV210:

•

Product description

•

Mounting

•

Electrical installation

•

Commissioning and configuration

•

Maintenance

•

Troubleshooting

•

Ordering information

•

Conformity and approval

In addition, online support on operating the user interface and configuring the NAV210 is
included with the supplied SOPAS ET configuration software.

Additional information on the NAV210 is available from the SICK AG Identification &
Measuring Division and online at www.sick.com.

A detailed description of the different telegrams can be found in the document “Telegram
listing LMS1xx”, part no.: 8014631 with the accompanying “Supplement telegram listing
NAV210”, part no.: 8024593, English versions.

Activities

Target group

Mounting, electrical
installation, maintenance,
replacement

Qualified personnel, such as service technicians or industrial
electricians

Commissioning,
configuration

Qualified personnel, such as technicians or engineers

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Содержание NAV210

Страница 1: ...O PERATING INSTRU CTIO NS NAV210 2D LiDAR sensors ...

Страница 2: ...nformation This work is protected by copyright The associated rights are reserved by SICK AG Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of copyright law Any modification expurgation or translation of this document is prohibited without the express written permission of SICK AG The trademarks stated in this document are t...

Страница 3: ... 10 3 Product description 11 3 1 Scope of delivery 11 3 2 Structure of the NAV210 12 3 3 Operating and status indicators 13 3 3 1 Operator interface 13 3 3 2 Status indicators 13 3 4 Operating principle of the NAV210 15 3 4 1 Impact of objects on the measurement 16 3 4 2 Sensing range of the NAV210 17 3 4 3 Beam diameter and measuring point distance 18 3 4 4 Sensing range of the NAV210 19 3 5 Meas...

Страница 4: ...nting with mounting kit 2 and 3 35 4 4 Dismantling the NAV210 35 5 Electrical installation 36 5 1 Overview of the installation steps 36 5 2 NAV210 connections 36 5 3 Preparation for electrical installation 39 5 3 1 Supply voltage 39 5 3 2 Wire cross section 39 5 3 3 General requirements of the data interfaces 39 5 4 Carrying out the electrical installation on the NAV210 40 5 4 1 Auxiliary means 40...

Страница 5: ...bleshooting 49 8 1 Response to faults 49 8 2 Monitoring error and fault signals 49 8 3 Troubleshooting 50 8 4 Detailed fault analysis 50 8 5 SICK support 51 9 Technical data 52 9 1 NAV210 data sheet 52 9 2 Dimensional drawings 54 9 2 1 NAV210 dimensional drawing 54 9 2 2 Mounting kit dimensional drawings 55 9 3 Accessories 57 10 Appendix 58 10 1 Overview of the appendices 58 10 2 Ordering informat...

Страница 6: ...CONTENTS 6 8024592 2019 08 SICK O P ERA TI N G I NS TRU CT IO N S NAV210 Subject to change without notice ...

Страница 7: ...ormation depth These operating instructions contain the following information about the NAV210 Product description Mounting Electrical installation Commissioning and configuration Maintenance Troubleshooting Ordering information Conformity and approval In addition online support on operating the user interface and configuring the NAV210 is included with the supplied SOPAS ET configuration software...

Страница 8: ...hat action needs to be taken This symbol indicates an instruction which only contains one step or steps in warnings where you do not have to adhere to a certain order Instructions which have several steps that follow on from one another are numbered This symbol includes a reference to additional documentation available Software notes show where you can make the appropriate settings in the SOPAS ET...

Страница 9: ... vehicle s computer The vehicle computer can use this information to correct the course of the automated guided vehicle accordingly to keep it on track NOTE Repair work on the NAV210 may only be performed by qualified and authorized service personnel from SICK AG Activities Qualification Mounting and maintenance Basic practical technical training Knowledge of the current safety regulations in the ...

Страница 10: ...g technical inspections in particular The accident prevention regulations and work safety regulations Any other relevant safety regulations The manufacturer and operator of the system in which the NAV210 is installed are responsible for coordinating and complying with all applicable safety specifications and regulations in cooperation with the relevant authorities Through checks must be carried ou...

Страница 11: ...ted in normal operation is harmless to human skin and eyes Fig 1 Laser output aperture WARNING Laser radiation The NAV210 corresponds to laser class 1 eye safe according to EN IEC 60825 1 2014 Identical laser class for issue EN IEC 60825 1 2007 Complies with 21 CFR 1040 10 and 1040 11 except for deviations pursuant to Laser Notice No 50 The laser beam is not visible to the human eye Improper use c...

Страница 12: ...designed to minimize its impact on the environment It consumes only a minimum of energy Always act in an environmentally responsible manner at work For this reason please note the following information regarding disposal 2 5 1 Power consumption The NAV210 consumes a maximum of 20 W in operation The NAV210 also consumes a maximum of 40 W cyclically for heating 2 5 2 Disposal after final decommissio...

Страница 13: ...ning more information Additional information about the NAV210 and its optional accessories can be found in the following places Product web page for the NAV210 www sick com NAV2xx Detailed technical specifications online data sheet Technical information additional information e g for telegrams These operating instructions are available in German English and other languages if required Dimensional ...

Страница 14: ...2 2019 08 SICK O P ERA TI N G I NS TRU CT IO N S NAV210 Subject to change without notice 3 PRODUCT DESCRIPTION 3 2 Structure of the NAV210 Fig 2 View of the NAV210 LEDs and 7 segment display M12 round connector ...

Страница 15: ...the interfaces with the NAV210 Use the graphic scan view in SOPAS ET to verify the generated measured values and the measuring range online Please note that the field evaluation monitor cannot display the data in real time and therefore not all measured values are visualized 3 3 2 Status indicators The LEDs and 7 segment display signal the operational status of the NAV210 Fig 3 Status indicators I...

Страница 16: ...eport an event Red Motor failure configuration error Off OK measurement Optical cover is dirty Switching output is on Not assigned OK STOP Q1 Q2 Display Possible cause Rectification of the error Device in measurement mode No error IDLE mode Tthe outputs are in the OFF state the laser is switched off No error If the criteria for the IDLE mode are withdrawn readiness for operation is re established ...

Страница 17: ...o dimensional polar coordinates If a measuring beam strikes an object the position of that object is determined in terms of distance direction and remission Fig 4 Measurement principle of the NAV210 The NAV210 calculates the distance from the object using the elapsed time that the light requires between sending and receiving the reflection in the sensor The scanning sector is 270 The scanner head ...

Страница 18: ...an dark surfaces and can be detected by the NAV210 over greater distances Brilliant white plaster reflects approx 100 of the light while black foam rubber reflects approx 2 4 On very rough surfaces part of the energy is lost due to shadowing The sensing range of the NAV210 is therefore reduced Fig 5 Diffuse reflection of objects The angle of reflection corresponds to the angle of incidence If the ...

Страница 19: ...m fig 9 right cannot reflect the laser light s full energy The energy of the non reflected part of the laser light is lost This means the range is less than would theoretically be possible due to the reflective property of the object s surface 3 4 2 Sensing range of the NAV210 The sensing range of the NAV210 depends on the remission of the object to be detected The better a surface reflects the be...

Страница 20: ...s the individual measuring points also grow further apart from one another The graph in fig 10 shows the beam diameter and the measuring point distance depending on the distance from the NAV210 Fig 7 Beam diameter and measuring point distance at 0 to 50 m For an object to be detected reliably it must be completely hit by the beam once If it is only partially hit less energy will be reflected from ...

Страница 21: ...n of the target shows the relationship between remission and detectability for the NAV210 Fig 9 NAV210 sensing range depending on the remission of the target The NAV210 can detect objects with a remission of 3 or more up to a distance of 10 m Up to a distance of 20 m the NAV210 can only reliably detect objects with a remission greater than 13 The NAV210 detects a remission of 3 or more up to a dis...

Страница 22: ...ive Contamination measurement is not carried out High availability Contamination warnings and contamination errors are only output when the front screen is uniformly contaminated Available Contamination warnings and contamination errors are only output when the optical cover is partially contaminated Sensitive Contamination warnings and contamination errors are even output for isolated areas of co...

Страница 23: ...ime using the Ethernet interface 3 7 Integrating the NAV210 into the control system of an automated guided vehicle Recommendation Integrating a NAV210 into the control system of an automated guided vehicle requires in depth programming knowledge in the area of vehicle control You also need knowledge on exchanging data between a 2D LiDAR sensor like the NAV210 and the vehicle computer SICK AG offer...

Страница 24: ...and coding for the telegrams Table 7 Frame for the telegrams with ASCII coding A detailed description of the different telegrams can be found in Telegram listing NAV210 part no 8024593 Reply Landmark positions Request Landmark positions Frame Telegram Frame Designation STX Data see Telegram listing NAV210 part no 8024593 ETX Length byte 1 50 kB 1 Description Start of text character ASCII coded Thi...

Страница 25: ...n reflected by an actual object second reflective pulse Fig 12 Principle of operation for measuring the second reflective pulse Important After the first reflective pulse you must wait a certain period of time before you can measure with full accuracy again This depends on the target that the first reflective pulse reflected An application in the connected host can therefore observe the second ref...

Страница 26: ...member is that different light reflections can occur either from aspects directly on the pane e g from contamination or scratches or from reflections on the pane i e caused by objects behind or next to the NAV210 Reflections of objects on the pane must be shadowed Fig 13 Shadowing reflections 1st reflective pulse pane 2nd reflective pulse object Shadowed reflective pulse reflected object Shadowing...

Страница 27: ...vehicle computer as accurately as possible The measurement data from the NAV210 is provided with the time stamp of the NAV210 The internal time stamp in the NAV210 is a 32 bit counter which increases in increments of 1 every 1 μs The NAV210 has two options available for synchronizing the internal time of the NAV210 with the system time of the vehicle computer 1 Via telegram The vehicle computer re...

Страница 28: ...of scan time stamp in the measurement data The length of the pulse is approx 5 ms Important Program the vehicle computer so that it responds to the falling edge of the output pulse 3 7 6 Result Port The NAV210 features a Result Port a simplified telegramme with its own port The Result Port supplies scan data parallel to the CoLa dialect You can configure the Result Port via SOPAS GUI or alternativ...

Страница 29: ...data interfaces on page 39 if necessary use an RS 232 converter if the PC interface and the NAV210 interface do not correspond Protection of Supply Cables To ensure protection against short circuits or overload in the supply cables from the customer s power system the lead cross sections used have to be selected and protected according to the national standards Depending on the power supply concep...

Страница 30: ...they are hit by the laser beam Fig 16 Beam expansion and safety supplement The optical axis is located around 198 mm above the lower edge of the housing when the NAV210 is mounted vertically This is used as a reference plane for the distance that must be maintained from the wall The range dependent beam expansion can be calculated using this formula Beam diameter distance mm 15 0 mrad 8 mm The tab...

Страница 31: ...ge dependent distance between the measuring points corresponds to the tangent of the angular resolution distance Fig 18 Schematic diagram of the measuring point distance The graph in Fig Beam diameter and measuring point distance at 0 to 50 m shows the beam diameter and the measuring point distance depending on the distance to the NAV210 Important The beam diameter is always bigger than the measur...

Страница 32: ...er time Important If the temperature is over 0 C in the NAV210 during commissioning the device activates If the temperature is below 0 C in the NAV210 during commissioning the device must first be heated before it activates If the temperature in the device drops below 0 C during operation the device continues to run but sends a telegram indicating that the minimum operating temperature has been br...

Страница 33: ...erial ready Mounting kit s with mounting material not included with delivery or Alternatively if a mounting bracket is provided by the user Stable mounting device that provides adjustable alignment of the NAV210 on the X and Y axis 4 M5 screws for the NAV210 screw length dependent on the thickness of the mounting bracket used 4 2 3 Getting the tools ready 4 M5 screws for mounting the SICK mounting...

Страница 34: ...ss or stainless steel surfaces NOTE Please noted the following points in particular during mounting Mount the NAV210 so that it is protected from moisture dirt and damage Ensure that the entire field of view of the NAV210 is not restricted Mount the 2D LiDAR sensor so that the status indicators can be clearly seen Always mount the NAV210 so that there is still enough space for mounting and dismant...

Страница 35: ...third support point if necessary 1 Fig 20 Direct mounting Important Please observe the dimensional drawings during mounting see NAV210 dimensional drawing page 52 4 3 2 Mounting with mounting kit 1a You can use mounting kit 1 to mount the NAV210 on a mounting surface wall machine The mounting kit is available as mounting kit 1a without a protective device for the optical cover and as mounting kit ...

Страница 36: ...with mounting kit 1b Fig 22 Mounting with mounting kit 1b 1 Mount mounting kit 1a or 1b on the mounting surface 2 Then mount the NAV210 on mounting kit 1a or 1b Important Please observe the dimensional drawings during mounting see Dimensional drawings on page 52 M5 8 threaded holes Fixing screws Fixing screws Mounting kit 1b ...

Страница 37: ...ing kit 3 and mount using two M4 10 fixing screws 5 Then mount the NAV210 on mounting kit 2 using the threaded holes in mounting kit 1a 6 Adjust the NAV210 along the longitudinal and transversal axis and then tighten the six fixing screws on the mounting kits Important Please observe the dimensional drawings during mounting see Dimensional drawings on page 52 4 4 Dismantling the NAV210 1 Switch of...

Страница 38: ...r I O connection on the NAV210 M12 4 Ethernet connection female connector Table 10 Pin assignment of the Ethernet connection on the NAV210 NOTE Only authorized personnel are allowed to perform electrical installation work Do not open the housing Observe the current safety regulations when working on electrical systems Disconnect the power to the system The system could inadvertently start while yo...

Страница 39: ... at 0 5 mm Data interface at least 0 25 mm With the NAV210 the external diameter of the joint cable must not exceed 9 mm due to the cable entry Important If you use flexible connecting cables with strands to connect to the terminals of the NAV210 then you do not have to use ferrules 5 3 3 General requirements of the data interfaces The following table shows the maximum recommended lengths of cable...

Страница 40: ...connector These cables consist of the round connector and a 5 10 or 20 m cable with an open end see Accessories page 55 Power I O connection on the NAV210 WARNING Lay all cables so that there is no risk of tripping and all cables are protected against damage NOTE Only connect the NAV210 to the designated M12 round connector Pin Signal Function Color of lead 1 VS heat Heating supply voltage White 2...

Страница 41: ...nnecting the outputs to a PLC floating active high Fig 25 Connecting the outputs to a PLC floating active low Wiring the RS 232 interface A shielded cable is required for connecting the RS 232 interface Observe the maximum length of cable according to General requirements of the data interfaces on page 39 Fig 26 Wiring the RS 232 interface NAV210 OUT1_A PLC IN OUT1_B 24 V DC NAV210 PLC IN 24 V DC ...

Страница 42: ...uration data is stored and archived as a parameter set project file on the PC Help on using the program user interface as well as for the different options can be found in SOPAS ET Help menu help F1 Detailed online help on the program user interface and the individual options Help window at the bottom left in the program user interface Context sensitive help for the visible dialog Tool tips Move t...

Страница 43: ...ace of the NAV210 is IP address 192 168 0 1 Subnet mask 255 255 255 0 TCP IP port for SOPAS ET 2111 Using the SOPAS tool there are several different ways to find the NAV210 You can select these in the search settings Search by device family recommended Search by communication interface When searching by communication interface the scanner can be found with an automatic IP address search or the IP ...

Страница 44: ...SOPAS ET creates an application specific parameter set The parameter set is then loaded into the NAV210 download This either happens immediately SOPAS ET option IMMEDIATE DOWNLOAD or manually SOPAS ET command DOWNLOAD ALL PARAMETERS to the device Important After you have completed the configuration you must load the parameter set into the NAV210 permanently You must also save the parameter set on ...

Страница 45: ... and log into the system using the password client as AUTHORIZED CLIENT 2 Configure the NAV210 for the required application using the parameters in SOPAS ET Help on using the program user interface as well as for the different options can be found in SOPAS ET 6 5 Connecting and performing a test measurement Use the graphic scan view in SOPAS ET to verify the generated measured values and the measu...

Страница 46: ...brush to remove dust from the optical cover Then wipe the inspection window of the optical cover with a clean damp cloth 7 2 Replacing a NAV210 As all external cable connections terminate in the system plug or the plug connectors there is no need to repeat the electrical installation when the device is replaced The replacement device can simply be connected If the NAV210 is replaced proceed as fol...

Страница 47: ...ring error and fault signals During operation the NAV210 monitors itself After the supply voltage has been switched on the NAV210 runs a self test before initialization loading the parameters and initializing the device functions During this test it checks important hardware components During operation the NAV210 constantly monitors whether the scanner head is functioning i e rotating correctly If...

Страница 48: ...switched on PC not connected to the NAV210 Incorrect interface selected Another application on the PC is already accessing the interface Order when switching on the NAV210 and the connected PC not adhered to See fault 1 2 and 3 Connect the PC to the NAV210 use the corresponding data cable depending on the type of interface Select the interface in SOPAS ET in accordance with the connection made on ...

Страница 49: ...ault cannot be rectified please contact the SICK Service department In Germany SICK Vertriebs GmbH technical hotline Phone 49 211 5301 301 Fax 49 211 5301 302 E mail kundenservice sick de If you are an overseas customer please contact the responsible SICK subsidiary For telephone numbers and e mail addresses please see the back page of these operating instructions See www sick com for postal addre...

Страница 50: ...uant to Laser Notice 50 dated June 24 2007 RS 232 data interface 9 600 to 115 200 Bd default 115 200 Bd Data format Variable default 8 data bits 1 stop bit even parity Ethernet data interface 10 100 Mbit s TCP IP Digital switching outputs Potential free semiconductor output see chapter 5 4 4 I max 100 mA at 11 to 30 V DC Current limit 100 to 200 mA Operating voltage 10 8 V DC to 30 V DC Protection...

Страница 51: ...ensor SELV or PELV as per IEC 60364 4 41 2005 12 10 8 V 24 V 30 V Permissible residual ripple 5 Power Supply Heating SELV or PELV as per IEC 60364 4 41 2005 12 19 2 V 24 V 28 8 V Switch on current 2 A Operating current Sensor 0 33 A 0 4 A at 24 V 1 0 A at 9 V Power consumption Sensor 8 W 10 W Power consumption Heating 35 W 45 W Operating current Sensor Heating with max heating performance 1 8 A 2 ...

Страница 52: ... N S NAV210 Subject to change without notice 9 TECHNICAL DATA 9 2 Dimensional drawings 9 2 1 NAV210 dimensional drawing Abb 28 NAV210 dimensional drawing Min 15 116 23 8 Max 200 270 124 9 54 5 10 5 49 79 3 M5 7 5 73 94 151 3 79 3 All dimensions in mm 102 ...

Страница 53: ...9 2 2 Mounting kit dimensional drawings Fig 29 Mounting kit 1a dimensional drawing Fig 30 Mounting kit 1b dimensional drawing 73 4 DIN 74F5 120 21 9 16 74 7 49 15 7 15 9 All dimensions in mm Part number 2034324 21 9 16 74 7 49 15 7 15 9 73 4 DIN 74F5 120 78 102 5 109 6 100 48 All dimensions in mm Part number 2034325 ...

Страница 54: ...ange without notice 9 TECHNICAL DATA Fig 31 Mounting kit 2 dimensional drawing Fig 32 Mounting kit 3 dimensional drawing 4 18 33 4 37 7 139 4 118 5 18 19 7 19 7 78 2 130 40 7 All dimensions in mm Part number 2039302 158 8 150 130 20 5 5 41 All dimensions in mm Part number 2039303 ...

Страница 55: ... or 1b lateral axis adjustment possible 2039303 Mounting kit 3 Holding plate only in conjunction with mounting bracket 2 longitudinal axis adjustment possible 6034415 6030928 6036158 Ethernet connection cable M12 4 RJ 45 5 m 10 m 20 m 6036159 6036160 6036161 Supply cable M12 5 4 open ends 5 m 10 m 20 m 6036155 6036156 6036157 I O cable M12 8 8 open ends 5 m 10 m 20 m 6036153 6028420 6036154 RS 232...

Страница 56: ...eter set Data set which is used to initialize and activate the implemented functions in the NAV210 It is transferred from the NAV210 to SOPAS ET and vice versa by uploading or downloading Remission Remission is the reflective quality of a surface The basis for this is the Kodak standard which is well known globally in various applications including photography Scan A scan covers all established me...

Страница 57: ... SICK O P ER ATI N G I N S TRU C TI ON S NAV210 Subject to change without notice APPENDIX 10 10 4 EU declaration of conformity You can find the complete EU declaration of conformity at the following address www sick com ...

Страница 58: ...il support sick jp Malaysia Phone 603 8080 7425 E Mail enquiry my sick com Mexico 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 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 17 11 20 E Mail...

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