SICK multiScan136 User manual

OPERATING INSTRUCTIONS
multiScan136
3D LiDAR sensor

Described product
multiScan136
NOTE
The functional scope of the multiScan depends on the selected configuration. Certain
functions are supported or not supported, depending on the configured variant. The
operating instructions describe the full functional scope of the multiScan.
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be
reserved for 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 modi‐
fication, abridgment or translation of this document is prohibited without the express
written permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.
Original document
This document is an original document of SICK AG.
2O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK
Subject to change without notice

Contents
1 About this document........................................................................ 6
1.1 Information on the operating instructions.............................................. 6
1.2 Explanation of symbols............................................................................ 6
1.3 Further information................................................................................... 7
2 Safety information............................................................................ 8
2.1 Intended use............................................................................................. 8
2.2 Improper use............................................................................................. 8
2.3 Cybersecurity............................................................................................ 8
2.4 Limitation of liability................................................................................. 9
2.5 Modifications and conversions................................................................ 9
2.6 Requirements for skilled persons and operating personnel.................. 9
2.7 Operational safety and specific hazards................................................. 10
3 Product description........................................................................... 11
3.1 Scope of delivery....................................................................................... 11
3.2 Status indicators....................................................................................... 11
3.3 Type label.................................................................................................. 12
3.4 Principle of operation............................................................................... 13
3.4.1 Measurement principle........................................................... 13
3.4.2 Range finding........................................................................... 17
3.4.3 Multi-echo analysis.................................................................. 17
3.4.4 Direction measurement.......................................................... 18
3.4.5 Multi-layer technology.............................................................. 18
3.4.6 Coordinate system................................................................... 19
3.4.7 Filter.......................................................................................... 21
3.4.7.1 Fog filter................................................................... 21
3.4.7.2 Echo filter................................................................ 22
3.4.7.3 Particle filter............................................................ 22
3.4.7.4 Moving average filter.............................................. 23
3.4.7.5 Data reduction filter................................................ 24
3.4.7.6 Region of interest................................................... 25
3.4.8 Measurement data output...................................................... 25
3.4.8.1 Data formats........................................................... 25
3.4.8.2 Scan layer address................................................. 25
3.4.8.3 Segmented data output......................................... 27
3.4.8.4 Data preparation..................................................... 28
3.4.8.5 ROS driver............................................................... 29
3.4.9 Object sizes.............................................................................. 29
3.4.10 Impact of object surfaces on the measurement................... 30
3.4.11 Scanning range........................................................................ 32
3.4.12 RSSI values.............................................................................. 33
4 Transport and storage....................................................................... 35
CONTENTS
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4.1 Transport................................................................................................... 35
4.2 Unpacking.................................................................................................. 35
4.3 Transport inspection................................................................................. 35
4.4 Storage...................................................................................................... 35
5 Mounting............................................................................................. 36
5.1 Mounting instructions............................................................................... 36
5.2 Mounting the system plug on the device................................................ 36
5.3 Mounting the device................................................................................. 37
5.4 Mounting multiple devices....................................................................... 38
6 Electrical installation........................................................................ 39
6.1 Wiring instructions.................................................................................... 39
6.2 Prerequisites for safe operation of the device........................................ 40
6.3 Calculation rule......................................................................................... 42
6.4 Cable reserve on system plug.................................................................. 43
6.5 Connection diagram................................................................................. 44
6.6 Connecting the device electrically........................................................... 44
7 Commissioning.................................................................................. 46
7.1 Operation using SOPASair........................................................................ 46
7.1.1 Opening user interface............................................................ 46
7.1.2 Overview................................................................................... 46
7.1.3 Navigating in the live image.................................................... 47
7.1.4 User levels................................................................................ 47
7.1.5 Displaying live data.................................................................. 48
7.1.5.1 Activating/deactivating filters................................ 48
7.1.6 Configuring interfaces............................................................. 48
7.2 Operation in SOPAS ET............................................................................. 48
7.2.1 Operation with SOPAS ET........................................................ 49
8 Maintenance...................................................................................... 50
8.1 Maintenance plan..................................................................................... 50
8.2 Cleaning..................................................................................................... 50
9 Troubleshooting................................................................................. 51
9.1 General faults, warnings, and errors....................................................... 51
9.2 Repairs...................................................................................................... 51
9.3 Returns...................................................................................................... 51
9.4 Disposal..................................................................................................... 52
10 Technical data.................................................................................... 53
10.1 Features.................................................................................................... 53
10.2 Mechanics/Electronics............................................................................. 55
10.3 Dimensional drawing................................................................................ 56
10.4 Performance............................................................................................. 56
10.5 Interfaces.................................................................................................. 57
CONTENTS
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10.6 Ambient data............................................................................................. 57
11 Accessories........................................................................................ 58
12 Annex.................................................................................................. 59
12.1 Declarations of conformity and certificates............................................ 59
12.2 Licenses.................................................................................................... 59
CONTENTS
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1 About this document
1.1 Information on the operating instructions
These operating instructions provide important information on how to use devices from
SICK AG.
Prerequisites for safe work are:
•Compliance with all safety notes and handling instructions supplied.
•Compliance with local work safety regulations and general safety regulations for
device applications
The operating instructions are intended to be used by qualified personnel and electrical
specialists.
NOTE
Read these operating instructions carefully to familiarize yourself with the device and its
functions before commencing any work.
The operating instructions are an integral part of the product. Store the instructions
in the immediate vicinity of the device so they remain accessible to staff at all times.
Should the device be passed on to a third party, these operating instructions should be
handed over with it.
These operating instructions do not provide information on the handling and safe
operation of the machine or system in which the device is integrated. Information on
this can be found in the operating instructions for the machine or system.
1.2 Explanation of symbols
Warnings and important information in this document are labeled with symbols. Sig‐
nal words introduce the instructions and indicate the extent of the hazard. To avoid
accidents, damage, and personal injury, always comply with the instructions and act
carefully.
DANGER
…indicates a situation of imminent danger, which will lead to a fatality or serious
injuries if not prevented.
WARNING
…indicates a potentially dangerous situation, which may lead to a fatality or serious
injuries if not prevented.
CAUTION
…indicates a potentially dangerous situation, which may lead to minor/slight injuries if
not prevented.
NOTICE
…indicates a potentially harmful situation, which may lead to material damage if not
prevented.
NOTE
…highlights useful tips and recommendations as well as information for efficient and
trouble-free operation.
1 ABOUT THIS DOCUMENT
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1.3 Further information
More information can be found on the product page. It can be called up via SICK
ProductID: pid.sick.com/{P/N}/{S/N}
{P/N} corresponds to the part number of the product (see type label).
{S/N} corresponds to the serial number of the product (see type label).
The following information is available depending on the product:
•Data sheets
•This document in all available language versions
•CAD files and dimensional drawings
•Certificates (e.g., declaration of conformity)
•Other publications
•Software
•Accessories
ABOUT THIS DOCUMENT 1
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2 Safety information
2.1 Intended use
The multiScan 3D LiDAR sensor is an intelligent sensor for invisibly detecting objects
in areas to be monitored. It has been designed for indoor or outdoor and mobile or
stationary use in stand-alone operation.
Typical application areas are, for example, anti-collision monitoring and rear area moni‐
toring in industrial (autonomous) vehicles, person counts at access gates, monitoring of
land and buildings, volume monitoring, automated guided vehicle systems for outdoors,
robot area, traffic and park management systems.
NOTE
The functional scope of the multiScan depends on the selected configuration. Certain
functions are supported or not supported, depending on the configured variant. The
operating instructions describe the full functional scope of the multiScan.
SICK AG assumes no liability for losses or damage arising from the use of the product,
either directly or indirectly. This applies in particular to use of the product that does not
conform to its intended purpose and is not described in this documentation.
2.2 Improper use
Any use outside of the stated areas, in particular use outside of the technical specifica‐
tions and the requirements for intended use, will be deemed to be incorrect use.
•The device does not constitute a safety component in accordance with the respec‐
tive applicable safety standards for machines.
•The device must not be used 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 to improper use!
Any improper use can result in dangerous situations.
Therefore, observe the following information:
■Product should be used only in accordance with its intended use.
■All information in the documentation must be strictly observed.
■Shut down the product immediately in case of damage.
2.3 Cybersecurity
Overview
To protect against cybersecurity threats, it is necessary to continuously monitor and
maintain a comprehensive cybersecurity concept. A suitable concept consists of organi‐
zational, technical, procedural, electronic, and physical levels of defense and considers
suitable measures for different types of risks. The measures implemented in this
product can only support protection against cybersecurity threats if the product is used
as part of such a concept.
You will find further information at www.sick.com/psirt, e.g.:
•General information on cybersecurity
•Contact option for reporting vulnerabilities
•Information on known vulnerabilities (security advisories)
2 SAFETY INFORMATION
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2.4 Limitation of liability
Relevant standards and regulations, the latest technological developments, and our
many years of knowledge and experience have all been taken into account when
compiling the data and information contained in these operating instructions. The
manufacturer accepts no liability for damage caused by:
■Non-adherence to the product documentation (e.g., operating instructions)
■Incorrect use
■Use of untrained staff
■Unauthorized conversions or repair
■Technical modifications
■Use of unauthorized spare parts, consumables, and accessories
2.5 Modifications and conversions
NOTICE
Modifications and conversions to the device may result in unforeseeable dangers.
Interrupting or modifying the device or SICK software will invalidate any warranty claims
against SICK AG. This applies in particular to opening the housing, even as part of
mounting and electrical installation.
2.6 Requirements for skilled persons and operating personnel
WARNING
Risk of injury due to insufficient training.
Improper handling of the device may result in considerable personal injury and material
damage.
■All work must only ever be carried out by the stipulated persons.
The following qualifications are required for various activities:
Table 1: Activities and technical requirements
Activities Qualification
Mounting, maintenance ■Basic practical technical training
■Knowledge of the current safety regulations in the workplace
Electrical installation,
device replacement
■Practical electrical training
■Knowledge of current electrical safety regulations
■Knowledge of the operation and control of the devices in their
particular application
Commissioning, configura‐
tion
■Basic knowledge of the computer operating system used
■Basic knowledge of the design and setup of the described
connections and interfaces
■Basic knowledge of data transmission
Operation of the device for
the particular application
■Knowledge of the operation and control of the devices in their
particular application
■Knowledge of the software and hardware environment for the
particular application
SAFETY INFORMATION 2
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2.7 Operational safety and specific hazards
Please observe the safety notes and the warnings listed here and in other sections
of this product documentation to reduce the possibility of risks to health and avoid
dangerous situations.
CAUTION
Optical radiation: Class 1 Laser Product
The accessible radiation does not pose a danger when viewed directly for up to 100
seconds. It may pose a danger to the eyes and skin in the event of incorrect use.
■Do not open the housing. Opening the housing may increase the level of risk.
■Current national regulations 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 electricians.
■The power supply must be disconnected when attaching and detaching electrical
connections.
■The product must only be connected to a voltage supply as set out in the require‐
ments in the operating instructions.
■National and regional regulations must be complied with.
■Safety requirements relating to work on electrical systems must be complied with.
WARNING
Risk of injury and damage caused by potential equalization currents!
Improper grounding can lead to dangerous equipotential bonding currents, which may
in turn lead to dangerous voltages on metallic surfaces, such as the housing. Electrical
voltage can cause severe injury or death.
■Work on electrical systems must only be performed by qualified electricians.
■Follow the notes in the operating instructions.
■Install the grounding for the product and the system in accordance with national
and regional regulations.
2 SAFETY INFORMATION
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