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
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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
8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 3
Subject to change without notice

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
4O 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

10.6 Ambient data............................................................................................. 57
11 Accessories........................................................................................ 58
12 Annex.................................................................................................. 59
12.1 Declarations of conformity and certificates............................................ 59
12.2 Licenses.................................................................................................... 59
CONTENTS
8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 5
Subject to change without notice