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SICK AG | Waldkirch | Germany | www.sick.com

Further locations at

www.sick.com

Australia

Phone +61 (3) 9457 0600

1800 33 48 02 – tollfree

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Содержание NAV245

Страница 1: ...O PERATING INSTRU CTIO NS NAV245 2D Laser scanner...

Страница 2: ...information 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 lega...

Страница 3: ...vironment 12 2 5 1 Power consumption 12 2 5 2 Disposal after final decommissioning 12 3 Product description 13 3 1 Scope of delivery 13 3 2 Structure of the NAV245 14 3 3 Operating and status indicato...

Страница 4: ...suring point distance 39 3 10 5 Reflectors 40 3 10 6 Heating 42 4 Alignment of the scan level 43 4 1 Introduction and Preparation 43 4 2 Preparation 44 4 3 Alignment of the NAV245 by SOPAS 46 4 4 Sear...

Страница 5: ...Installing SOPAS ET 64 7 2 2 SOPAS ET default settings 65 7 3 Establishing communication with the NAV245 65 7 3 1 Connecting data interfaces 65 7 3 2 Configuring the Ethernet connection 65 7 4 Initia...

Страница 6: ...6 8018478 YWL5 2018 06 SICK O P ERA TI N G I NS TRU CT IO N S NAV245 Subject to change without notice 11 2 Ordering information 79 11 2 1 Consumables 79 11 3 Glossary 79 11 4 EU declaration of confor...

Страница 7: ...3 Information depth These operating instructions contain the following information about the NAV245 Product description Mounting Electrical installation Commissioning and configuration Maintenance Tr...

Страница 8: ...that 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...

Страница 9: ...d 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 NAV245 may only be perf...

Страница 10: ...curring 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 t...

Страница 11: ...emitted in normal operation is harmless to human skin and eyes Fig 1 Laser output aperture WARNING Laser radiation The NAV245 corresponds to laser class 1 eye safe according to EN IEC 60825 1 2014 Id...

Страница 12: ...n 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 informat...

Страница 13: ...formation Additional information about the NAV245 and its optional accessories can be found in the following places Product web page for the NAV245 www sick com NAV2xx Detailed technical specification...

Страница 14: ...NAV245 Subject to change without notice 3 PRODUCT DESCRIPTION 3 2 Structure of the NAV245 Fig 2 View of the NAV245 LEDs and 7 segment display NAV245 M12 round connector System plug with PG connector...

Страница 15: ...ne of the interfaces with the NAV245 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 d...

Страница 16: ...t Red Motor failure configuration error Off OK measurement Optical cover is dirty Switching output is on Not assigned OK STOP Q1 Q2 Indicator Possible cause Remedy No error Device is in measuring mode...

Страница 17: ...wo 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 NAV245...

Страница 18: ...hich detects reflectors continuously The relative position can be displayed on the connected vehicle computer using the detected reflectors Fig 5 Principle of operation of the NAV245 In addition to la...

Страница 19: ...reflects approx 2 4 On very rough surfaces part of the energy is lost due to shadowing The sensing range of the NAV245 is therefore reduced Fig 6 Diffuse reflection of objects The angle of reflection...

Страница 20: ...am 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...

Страница 21: ...ses 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 NAV245 Fig...

Страница 22: ...on of the target shows the relationship between remission and detectability for the NAV245 Fig 11 NAV245 sensing range depending on the remission of the target The NAV245 can detect objects with a rem...

Страница 23: ...the output size Fig 12 Landmark detection In live mode the automated guided vehicle s computer imports the landmarks reflectors determined by the NAV245 and calculates its current position based on t...

Страница 24: ...m and rmax 15 000 mm in which the NAV245 detects five reflectors within a 270 scanning area Suppressing sectors sector muting In certain applications it may be necessary to suppress individual angle s...

Страница 25: ...longer possible to determine the positions of these reflectors clearly The NAV245 detects this type of situation and automatically suppresses the use of the reflectors covering one another depending o...

Страница 26: ...ct reflections occur when the measuring beam of the NAV245 meets these objects vertically Fig 16 Minimum distance between reflectors and other reflective surfaces To prevent these incorrect reflection...

Страница 27: ...ion measurement Inactive Contamination measurement is not carried out High availability Contamination warnings and contamination errors are only output when the front screen is uniformly contaminated...

Страница 28: ...oordinates Content of a rotation 270 e g starting angle of the scan increment time stamp for the start of the scan number of measured values value and direction of the measured distance remission valu...

Страница 29: ...incl the contour measured value if necessary via the automated guided vehicle s computer subsequent answer from the NAV245 Fig 18 Landmark position request The telegrams each comprise a frame see sec...

Страница 30: ...reflected by an actual object second reflective pulse Fig 19 Principle of operation for measuring the second reflective pulse Important After the first reflective pulse you must wait a certain period...

Страница 31: ...remember 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...

Страница 32: ...pdate rate The vehicle computer can calcu late the position of the vehicle from this data However the relative position calculation is prone to errors The error develops as more and more distance is c...

Страница 33: ...n the vehicle computer as accurately as possible The measurement data from the NAV245 is provided with the time stamp of the NAV245 The internal time stamp in the NAV245 is a 32 bit counter which incr...

Страница 34: ...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 8 7 Result Port The...

Страница 35: ...determined which could influence the measurement accuracy the affected landmarks are filtered out You can set the sensitivity using the parameter NLMDDetectionMode You can set the detection mode via S...

Страница 36: ...5 3 3 General requirements of the data interfaces on page 59 if necessary use an RS 232 converter if the PC interface and the NAV245 interface do not correspond Protection of Supply Cables To ensure...

Страница 37: ...ut notice PRODUCT DESCRIPTION 3 3 10 2 Mounting requirements The NAV245 must be mounted securely Different mounting kits with suitable mounting material are available for the NAV245 to ensure secure m...

Страница 38: ...wer edge of the housing when the NAV245 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 calcula...

Страница 39: ...15 rad 8 mm Fig 26 Beam expansion Similarly as the distance from the NAV245 increases the individual measuring points also grow further apart from one another The range dependent distance between the...

Страница 40: ...lindrical reflectors Cylindrical reflector marks can be detected from any angle Reflector height The height and vertical position of the reflectors is to be selected such that the measuring beam hits...

Страница 41: ...reflector vertically detection angle 0 a flat reflector acts like a mirror The special 983 10 diamond grade reflective tape reflects the measuring beam but then also reflects it back to the scanner h...

Страница 42: ...rter time Important If the temperature is over 0 C in the NAV245 during commissioning the device activates If the temperature is below 0 C in the NAV245 during commissioning the device must first be h...

Страница 43: ...to perform a horizontal levelling of the scanner on the vehicle It is recommend to install the scanner by the mouting sets 1b 2 and 3 or by the mounting sets 1a 2 und 3 which is described in details...

Страница 44: ...stalled referred to the coordinate system of the scanner The allowed tolerance is 10 Abb 30 topview left sideview right The horizontal centre of the target boards must be installed in the same height...

Страница 45: ...rds are depending on the distance and are listed in the table Abb 32 target boards for distances from 1 25 to 15m Abb 33 correct mounting of target boards For the reflector material we recommend the f...

Страница 46: ...n level will be available after the Log In as Authorized client and the passwort Client Abb 35 menu Abb 36 start to Alignment Scan level By clicking on Start the seach and verify procedure will be sta...

Страница 47: ...ting the qualty of the detection Is the percentage of the quality is above 80 then the quality is sufficient for the usage as a target board for the alignment of the scanner In the center of the page...

Страница 48: ...isualization is changing to the align ment page On this page the actual alignment of the scanner will measured and presented The correct alignment for the rolling and the pitch angle is succeded if th...

Страница 49: ...the rolling angle graphic on the right side Therefore the hexagon socket screws 1 and 2 have to be loosened the scanner care fully turned and finally the screws have to be fixed hand tight again Abb...

Страница 50: ...ration the hexagon socket screws 1 and 3 has to loosened to be used as a tur ning axis After loosening the screws 2 and 4 the scanner has to be turned carefully and fixed by tightening the screws agai...

Страница 51: ...aterial 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...

Страница 52: ...ainless steel surfaces NOTE Please noted the following points in particular during mounting Mount the NAV245 so that it is protected from moisture dirt and damage Ensure that the entire field of view...

Страница 53: ...third support point if necessary 1 Fig 45 Direct mounting Important Please observe the dimensional drawings during mounting see NAV245 dimensional drawing page 74 5 3 2 Mounting with mounting kit 1a...

Страница 54: ...with mounting kit 1b Fig 47 Mounting with mounting kit 1b 1 Mount mounting kit 1a or 1b on the mounting surface 2 Then mount the NAV245 on mounting kit 1a or 1b Important Please observe the dimension...

Страница 55: ...nting kit 3 and mount using two M4 10 fixing screws 5 Then mount the NAV245 on mounting kit 2 using the threaded holes in mounting kit 1a 6 Adjust the NAV245 along the longitudinal and transversal axi...

Страница 56: ...o connect to the RS 232 interface of a PC Important This interface is only used for configuration and must not be wired permanently M12 5 Power connection male connector NOTE Only authorized personnel...

Страница 57: ...erface sender 3 Do not use 4 Do not use 5 Do not use 6 IN1 Digital input 1 7 IN2 Digital input 2 8 IN GND Ground for digital inputs 2 1 8 7 6 5 4 3 Pin Signal Funktion 1 VS heat Heating supply voltage...

Страница 58: ...tice 6 ELECTRICAL INSTALLATION M12 4 Ethernet connection female connector Table 13 Pin assignment of the Ethernet connection on the NAV245 Pin Signal Function 1 Ethernet_TX Ethernet interface 2 Ethern...

Страница 59: ...m at 0 5 mm Data interface at least 0 25 mm With the NAV245 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 s...

Страница 60: ...49 NAV245 Ethernet connection with the Ethernet cable 6 4 3 Wiring the M12 round connector on the NAV245 Pre assembled cables can be ordered as accessories for connection to the M12 round connectors T...

Страница 61: ...AV245 Fig 51 NAV245 RS 232 connection I O connection on the NAV245 Important Different PIN assignment for variant NAV245 10100S01 see chapter 6 2 NAV245 connections on page 56 Fig 52 NAV245 I O connec...

Страница 62: ...e NAV245 to a PLC non floating Fig 53 Connecting the outputs to a PLC non floating active high Fig 54 Connecting the outputs to a PLC non floating active low Connecting the outputs of the NAV245 to a...

Страница 63: ...g 56 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 G...

Страница 64: ...iguration 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...

Страница 65: ...ory setting for the Ethernet interface of the NAV245 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...

Страница 66: ...SOPAS ET creates an application specific parameter set The parameter set is then loaded into the NAV245 download This either happens immediately SOPAS ET option IMMEDIATE DOWNLOAD or manually SOPAS E...

Страница 67: ...nd and log into the system using the password client as AUTHORIZED CLIENT 2 Configure the NAV245 for the required application using the parameters in SOPAS ET Help on using the program user interface...

Страница 68: ...brush to remove dust from the optical cover Then wipe the inspection window of the optical cover with a clean damp cloth 8 2 Replacing a NAV245 As all external cable connections terminate in the syst...

Страница 69: ...toring error and fault signals During operation the NAV245 monitors itself After the supply voltage has been switched on the NAV245 runs a self test before initialization loading the parameters and in...

Страница 70: ...t switched on PC not connected to the NAV245 Incorrect interface selected Another application on the PC is already accessing the interface Order when switching on the NAV245 and the connected PC not a...

Страница 71: ...fault 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...

Страница 72: ...ution distance 1 mm Systematic error distance Typically 30 mm Maximum 50 mm Statistical distance error 1 Sigma Typically 12 mm Temperature drift Minimum 0 mm K Maximum 0 32 mm K General data Beam dive...

Страница 73: ...spot fully on the target warm up time 0 5 h Target distance and remission are within the limits of the sensing range definition see fig 10 and 11 3 905 nm max pulse rate 37 8 KHz max power 65 W max p...

Страница 74: ...IO N S NAV245 Subject to change without notice 10 TECHNICAL DATA 10 2 Dimensional drawings 10 2 1 NAV245 dimensional drawing Fig 59 NAV245 dimensional drawing Min 15 116 23 8 Max 200 270 105 8 10 5 4...

Страница 75: ...C TI ON S NAV245 Subject to change without notice TECHNICAL DATA 10 10 2 2 NAV245 10100S01 dimensional drawing Abb 60 NAV245 10100S01 dimensional drawing Min 15 116 23 8 Max 200 270 124 9 54 5 10 5 49...

Страница 76: ...10 2 3 Mounting kit dimensional drawings Fig 61 Mounting kit 1a dimensional drawing Fig 62 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 nu...

Страница 77: ...hange without notice TECHNICAL DATA 10 Fig 63 Mounting kit 2 dimensional drawing Fig 64 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 Pa...

Страница 78: ...1a 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 connec...

Страница 79: ...ameter set Data set which is used to initialize and activate the implemented functions in the NAV245 It is transferred from the NAV245 to SOPAS ET and vice versa by uploading or downloading Remission...

Страница 80: ...06 SICK O P ERA TI N G I NS TRU CT IO N S NAV245 Subject to change without notice 11 APPENDIX 11 4 EU declaration of conformity You can find the complete EU declaration of conformity at the following...

Страница 81: ...81 8018478 YWL5 2018 06 SICK O P ER ATI N G I N S TRU C TI ON S NAV245 Subject to change without notice APPENDIX 11...

Страница 82: ...ail 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 Zealan...

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