SICK NAV310 User manual

NAV310
Laser Positioning Sensor
Precise Laser Navigation for Maximum Efficiency
Operating instructions

2© SICK AG · Germany · All rights reserved · Subject to change without notice 8016535/1D2F/2022-11-14
Software version Operating instructions
NAV310 Laser positioning sensor
Software version described
Software access to the NAV310 is password protected. The default factory setting for the
password is as follows:
The NAV310 laser positioning sensor is intended for use in industrial environments. When
used in residential areas, it can cause radio interferences.
Software/tool Function Status
NAV310 Firmware V 1.00
Device description NAV310 Device specific software module
for SOPAS ET
V 1.000 or higher
SOPAS ET Configuration software V 02.28 or higher
User level Password
Authorised client client
Copyright
Copyright © 2016
SICK AG Waldkirch
Auto Ident, Reute Plant
Nimburger Straße 11
79276 Reute
Germany
Trademarks
Windows 2000™, Windows XP™, Windows Vista™ and Windows 7™ are registered trade-
marks of Microsoft Corporation in the USA and other countries.
Adobe® Reader™ is a trademark of Adobe Systems Incorporated.
Version of the operating instructions
The latest version of these operating instructions can be obtained as PDF at www.sick.com.

8016535/1D2F/2022-11-14 © SICK AG · Germany · All rights reserved · Subject to change without notice 3
Operating instructions
NAV310
Content
Table of content
1 About this document .......................................................................................................8
1.1 Function of this document .......................................................................................... 8
1.2 Target group ................................................................................................................8
1.3 Depth of information ................................................................................................... 8
1.4 Symbology used .......................................................................................................... 8
2 For your safety .............................................................................................................. 10
2.1 Authorised personnel ................................................................................................ 10
2.2 Intended use ..............................................................................................................11
2.3 General safety notes and protective measures ...................................................... 12
2.4 Quick stop and Quick restart ....................................................................................13
2.5 Environmental protection ......................................................................................... 14
3 Product description ...................................................................................................... 15
3.1 Scope of delivery ....................................................................................................... 15
3.2 Construction of the NAV310 .....................................................................................16
3.3 Special features of the NAV310 ...............................................................................18
3.4 Applications ...............................................................................................................19
3.5 Operating principle of the NAV310 ..........................................................................19
3.6 Output of measured values ......................................................................................22
3.7 Integration of the NAV310 in an AGV’s control system .......................................... 22
3.8 Near field suppression ..............................................................................................25
3.9 Planning ..................................................................................................................... 26
4 Assembly ....................................................................................................................... 29
4.1 Overview of the mounting steps ...............................................................................29
4.2 Preparations for mounting ........................................................................................29
4.3 Mounting and adjustment of the device .................................................................29
4.4 Dismantling the NAV310 ..........................................................................................30
5 Electrical installation ................................................................................................... 31
5.1 Overview of the installation steps ............................................................................ 31
5.2 Connections of the NAV310 .....................................................................................31
5.3 Preparing the electrical installation ......................................................................... 32
5.4 Undertaking electrical installation on the NAV310 ................................................33
6 Commissioning and configuration ............................................................................. 36
6.1 Overview of the commissioning steps .....................................................................36
6.2 SOPAS ET configuration software ............................................................................ 36
6.3 Establish communication with the NAV310 ............................................................37
6.4 Initial start-up ............................................................................................................4
1
6.5 Connection and test measurement ......................................................................... 43
7 Maintenance ................................................................................................................. 44
7.1 Maintenance during operation ................................................................................. 44
7.2 Exchanging a NAV310 ..............................................................................................45
8 Troubleshooting ............................................................................................................ 46
8.1 In the event of fault ...................................................................................................46
8.2 Monitoring error and malfunction indications ......................................................... 46
8.3 Troubleshooting and rectification ............................................................................ 47
8.4 Detailed error analysis ..............................................................................................47
8.5 SICK support ..............................................................................................................47
9 Technical data ............................................................................................................... 49
9.1 Data sheet NAV310 ..................................................................................................49
9.2 Dimensional drawings .............................................................................................. 51

4© SICK AG · Germany · All rights reserved · Subject to change without notice 8016535/1D2F/2022-11-14
Content Operating instructions
NAV310 Laser positioning sensor
10 Annex ............................................................................................................................. 52
10.1 Overview of the annexes .......................................................................................... 52
10.2 Ordering information ................................................................................................ 52
10.3 Glossary ..................................................................................................................... 53
10.4 Declarations of conformity and certificates ........................................................... 54

8016535/1D2F/2022-11-14 © SICK AG · Germany · All rights reserved · Subject to change without notice 5
Operating instructions
NAV310
Indices
Abbreviations
CoLa Communication Language = proprietary SOPAS ET communication language
(ASCII = CoLa-A or binary = CoLa-B)
EEPROM Electrically Erasable Programmable Read-only Memory
AGV Automated guided vehicle
LED Light Emitting Diode
RAM Random Access Memory = volatile memory with direct access
ROM Read-only Memory (permanent)
SOPAS ET SICK OPEN PORTAL for APPLICATION and SYSTEMS ENGINEERING TOOL = configuration
software for the configuration of the NAV310
USP Protocol for user-programmed evaluation

6© SICK AG · Germany · All rights reserved · Subject to change without notice 8016535/1D2F/2022-11-14
Indices Operating instructions
NAV310 Laser positioning sensor
Tables
Tab. 1: Target groups of this document .............................................................................. 8
Tab. 2: Authorised personnel .............................................................................................10
Tab. 3: Scope of delivery ....................................................................................................15
Tab. 4: Meaning of the LED status indicators ..................................................................17
Tab. 5: Special features of the NAV310 ...........................................................................18
Tab. 6: Typical remissions and scanning ranges ..............................................................21
Tab. 7: Beam diameter at different distances from the NAV310 ...................................27
Tab. 8: Pin assignment of the “Power” connection on the NAV310 ...............................32
Tab. 9: Pin assignment of the “Ethernet” connection on the NAV310 ...........................32
Tab. 10: Pin assignment of the “RS232” connection on the NAV310 ..............................32
Tab. 11: Maximum cable lengths for the supply voltage ...................................................33
Tab. 12: Maximum length of cable for the data interface .................................................33
Tab. 13: SOPAS ET default setting .......................................................................................37
Tab. 14: Password NAV310 .................................................................................................42
Tab. 15: Troubleshooting and rectification .........................................................................47
Tab. 16: Data sheet NAV310 ...............................................................................................49
Tab. 17: Consumables ..........................................................................................................52

8016535/1D2F/2022-11-14 © SICK AG · Germany · All rights reserved · Subject to change without notice 7
Operating instructions
NAV310
Indices
Figures
Fig. 1: Laser output aperture on the NAV310 ................................................................ 13
Fig. 2: Views of device ...................................................................................................... 16
Fig. 3: Measuring principle of the NAV310 ..................................................................... 19
Fig. 4: Diffuse reflection from objects ............................................................................. 20
Fig. 5: Directional reflection from reflectors ................................................................... 20
Fig. 6: Possible sources of errors during the measurement .......................................... 20
Fig. 7: Beam diameter and distance between measured points at 0 to 100 m .......... 21
Fig. 8: Output of measured values for truck loading ...................................................... 22
Fig. 9: Requesting contour data ...................................................................................... 23
Fig. 10: Pulse for synchronisation ...................................................................................... 24
Fig. 11: Pulse on the head position ................................................................................... 24
Fig. 12: Increase in the size of the beam and safety supplement .................................. 27
Fig. 13: Reflector height as a function of the distance from 0 to 70 m .......................... 28
Fig. 14: Connections of the NAV310 ................................................................................. 31
Fig. 15: Connection of the voltage supply ......................................................................... 34
Fig. 16: Ethernet connection .............................................................................................. 34
Fig. 17: Wiring the RS232 interface .................................................................................. 34
Fig. 18: RS232 connection ................................................................................................. 35
Fig. 19: IP communication with fixed IP address .............................................................. 39
Fig. 20: Configuring with AutoIP ......................................................................................... 40
Fig. 21: Principle of data storage ....................................................................................... 41
Fig. 22: Window in the scanner head on the NAV310 ..................................................... 44
Fig. 23: Dimensions NAV310 ............................................................................................. 51

8© SICK AG · Germany · All rights reserved · Subject to change without notice 8016535/1D2F/2022-11-14
Indices Operating instructions
NAV310 Laser positioning sensor
1About this document
Please read this chapter carefully before working with this documentation and the laser po-
sitioning sensor NAV310.
1.1 Function of this document
These operating instructions are designed to address the technical personnel in regards to
safe mounting, electrical installation, configuration, commissioning and maintenance of the
following laser positioning sensor.
1.2 Target group
The intended target group for this document is people in the following positions:
1.3 Depth of information
These operating instructions contain the following information on the NAV310:
•Product description
•Assembly
•Electrical installation
•Commissioning and configuration
•Maintenance
•troubleshooting and rectification
•Ordering information
•conformity and approval
Planning and using a laser positioning sensor such as the NAV310 also require specific
technical skills which are not detailed in this documentation.
Further information on the NAV310 is available from SICK AG, Division Auto Ident, and in
the Internet at www.sick.com.
Important In the following the laser positioning sensor is referred to as NAV310 for short.
1.4 Symbology used
Recommendation Recommendations are designed to give you assistance in the decision-making process with
respect to a certain function or a technical measure.
Important Sections marked “Important” provide information about special features of the device.
Explanation Explanations provide background knowledge on technical relationships.
MENU COMMAND This typeface indicates a term in the SOPAS ET user interface.
Terminal output This typeface indicates messages that the NAV310 outputs via its interfaces.
Activities Target group
Mounting, electrical installation,
maintenance and replacement
Factory electricians and service engineers
Commissioning, operation and con-
figuration
Technicians and engineers
Tab. 1: Target groups of this document

Operating instructions
NAV310
About this document
8016535/1D2F/2022-11-14 © SICK AG · Germany · All rights reserved · Subject to change without notice 9
Chapter 1
Take action … Here you must do something. This symbol indicates an instruction to perform an action that
contains only one action or actions in warnings where a specific sequence does not need to
be followed. Instructions to perform actions that contain several steps in a specific se-
quence are numbered.
This symbol refers to additionally available documentation.
Software notes show where you can make the appropriate settings and adjustments in the
SOPAS ET configuration software.
Note!
A note provides indicates potential hazards that could involve damage or degradation of the
functionality of the NAV310 or other devices.
Warning!
A warning indicates an actual or potential hazard. They are designed to help you to prevent
accidents.
The safety symbol beside the warning indicates the nature of the risk of accident, e.g. due
to electricity. The warning category (DANGER, WARNING, CAUTION) indicates the severity of
the hazard.
Read carefully and follow the warning notices!

For your safety
10 © SICK AG · Germany · All rights reserved · Subject to change without notice 80165315/D2F/2022-11-14
Operating instructions
NAV310 Laser positioning sensor
Chapter 2
2For your safety
This chapter deals with your own safety and the safety of the equipment operators.
Please read this chapter carefully before working with the NAV310.
2.1 Authorised personnel
The NAV310 must only be installed, commissioned and serviced by adequately qualified
personnel.
Repairs to the NAV310 are only allowed to be undertaken by trained and authorised service
personnel from SICK AG.
The following qualifications are necessary for the various tasks:
Activities Qualification
Mounting and maintenance •Basic technical training
•Knowledge of the current safety regulations in the work-
place
Electrical installation and replace-
ment
•Practical electrical training
•Knowledge of current electrical safety regulations
•Knowledge on the use and operation of devices in the re-
lated application (e.g. crane, assembly system)
Commissioning, operation and con-
figuration
•Knowledge on the use and operation of devices in the re-
lated application (e.g. crane, assembly system)
•Knowledge on the software and hardware environment in
the related application (e.g. crane, assembly system)
•Basic knowledge of the Windows operating system
•Basic knowledge of data transmission
Tab. 2: Authorised personnel

Operating instructions
NAV310
For your safety
8016535/1D2F/2022-11-14 © SICK AG · Germany · All rights reserved · Subject to change without notice 11
Chapter 2
2.2 Intended use
The NAV310 laser positioning sensor is intended for use in industrial environments. When
used in residential areas, it can cause radio interferences.
The NAV310 meets the requirements for the navigation of automated guided vehicles (AG-
Vs). As a product in the NAV range, the NAV310 provides the highest levels of flexibility for
use in modern positioning systems. The acquisition of accurate spatial data, the locating of
various reflector marks and the output of raw data support the user during the integration
of the scanner. With high levels of speed and accuracy, the NAV310 laser measurement
sensor delivers all the necessary spatial contour data through 360°, making it possible for
the vehicle computer to calculate the position of the vehicle, even when the environmental
conditions change.
The NAV310 is a sensor for use indoors.
Important In case of any other usage as well as in case of modifications to the NAV310, e.g. due to
opening the housing during mounting and electrical installation, or to the SICK software, any
claims against SICK AG under the warranty will be rendered void.
The NAV310 is only allowed to be operated in the ambient temperature range allowed (see
section 9.1 “Data sheet NAV310” on page 49).

For your safety
12 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016535/1D2F/2022-11-14
Operating instructions
NAV310 Laser positioning sensor
Chapter 2
2.3 General safety notes and protective measures
Safety instructions
Please observe the following items in order to ensure the correct and safe use of the
NAV310.
•The notices in these operating instructions (e.g. on use, mounting, installation or inte-
gration into the existing machine controller) must be observed.
•When operating the NAV310, the national, local and statutory rules and regulations
must be observed.
•National/international rules and regulations apply to the installation, commissioning,
use and periodic technical inspections of the NAV310, in particular
– the work safety regulations/safety rules
– other relevant health and safety regulations.
•Manufacturers and operators of the machine/system on which the NAV310 is installed
are responsible for obtaining and observing all applicable safety regulations and rules.
•The tests must be carried out by specialist personnel or specially qualified and author-
ised personnel and must be recorded and documented to ensure that the tests can be
reconstructed and retraced at any time.
•The operating instructions must be made available to the operator of the system where
the NAV310 is used. The operator of the system is to be instructed in the use of the de-
vice by specialist personnel and must be instructed to read the operating instructions.
•The NAV310 is not a device for the protection of people in the context of the related
safety standards for machinery.
2.3.1 Electrical installation work
•Only authorised personnel are allowed to perform the electrical installation work.
•Only make and disconnect electrical connections when the device is electrically isolat-
ed.
•Select and implement wire cross-sections and their correct fuse protection as per the
applicable standards.
Do not open the housing.
Observe the current safety regulations when working on electrical systems.

Operating instructions
NAV310
For your safety
8016535/1D2F/2022-11-14 © SICK AG · Germany · All rights reserved · Subject to change without notice 13
Chapter 2
2.3.2 Laser radiation of the NAV310
Laser radiation!
The NAV310 complies with laser class 1 (eye safe) in accordance with
EN/IEC 60825-1:2014 (identical laser class for issue EN/IEC 60825-1:2007). Complies
with 21 CFR 1040.10 and 1040.11 with the exception of the deviations as per Laser
Notice No. 50. The laser beam cannot be seen with the human eye.
•Incorrect usage can result in hazardous exposure to laser radiation.
Do not open the housing (opening the housing will not switch off the laser).
Pay attention to the laser safety regulations as per EN 60825-1 (latest version).
Important No maintenance is necessary to ensure compliance with laser class 1.
Laser output aperture
The laser output aperture is the view window on the scanner head of the NAV310.
Fig. 1: Laser output aperture on the NAV310
Laser power
The laser operates at the wavelength λ = 905 nm (invisible infrared light). The radiation
emitted in correct use is not harmful to the eyes and human skin.
2.4 Quick stop and Quick restart
2.4.1 Switch the NAV310 off
Switch off the voltage supply (power supply) for the NAV310.
The NAV310 retains parameters stored in the internal, non-volatile memory. Measured val-
ues in the memory are lost.
2.4.2 Switch on the NAV310
Switch on voltage supply (power supply) for the NAV310.
The NAV310 restarts operation with the last saved parameters.
Rotating scanner head Laser output aperture

For your safety
14 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016535/1D2F/2022-11-14
Operating instructions
NAV310 Laser positioning sensor
Chapter 2
2.5 Environmental protection
The NAV310 has been designed to minimise environmental impact. It uses only a minimum
of power.
While working, always act in an environmentally responsible manner. For this reason please
note the following information on disposal.
2.5.1 Power consumption
•The NAV310 consumes a maximum of 36 W in operation.
2.5.2 Disposal after final de-commissioning
Always dispose of unserviceable or irreparable devices in compliance with local/nation-
al rules and regulations on waste disposal.
Dispose of all electronic assemblies as hazardous waste. The electronic assemblies are
straightforward to dismantle.
Important SICK AG does not accept unusable or irreparable devices that are returned.

Operating instructions
NAV310
Product description
8016535/1D2F/2022-11-14 © SICK AG · Germany · All rights reserved · Subject to change without notice 15
Chapter 3
3Product description
This chapter provides information on the special features and properties of the NAV310. It
describes the construction and the operating principle of the device, in particular the differ-
ent operating modes.
Please read this chapter before mounting, installing and commissioning the device.
3.1 Scope of delivery
The NAV310 delivery includes the following components:
Source for obtaining additional information
Additional information about the NAV310 and its optional accessories can be found in the
following places:
Product web page for the NAV310
(www.sick.com/NAV3xx)
•Detailed technical specifications (online data sheet)
•Technical information (supplementary information on telegrams for CoLa A/B, part no.:
8016855 and USP, part no.:8016687)
•These operating instructions are available in German, English and other languages if
required.
•Dimensional drawing and 3D CAD dimension models in various electronic formats
•Declarations of conformity and certificates
•SOPAS configuration software updates
Support is also available from your sales partner: www.sick.com/worldwide.
Piece(s) Component Remark
1NAV310 Laser positioning sensor –
1 Device instructions with electrical circuit di-
agram for getting started
Is included in the NAV310 packaging
1Lens cloth –
Tab. 3: Scope of delivery

Product description
16 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016535/1D2F/2022-11-14
Operating instructions
NAV310 Laser positioning sensor
Chapter 3
3.2 Construction of the NAV310
3.2.1 Views of device
Fig. 2: Views of device
Fastening thread
M6 × 12
Laser output aperture
LEDs
Fastening thread
M6 × 12
Device connections
(M12 plug connectors)
Rear
Bottom
Scanner head
LEDs
Supply voltage
Ethernet
RS-232
yellow
yellow
green
Red
Alignment hole for locating
pin

Operating instructions
NAV310
Product description
8016535/1D2F/2022-11-14 © SICK AG · Germany · All rights reserved · Subject to change without notice 17
Chapter 3
3.2.2 Operating and display elements
User interface
The NAV310 operates fully automatically in normal operation without the intervention of an
operator.
The interactive configuration is carried out using the provided SOPAS ET configuration soft-
ware. The software used for this purpose runs on a PC with the operating system Windows
that is connected to the NAV310 via one of the interfaces.
Use the graphic scan view in SOPAS ET to verify the generated measured values and to ver-
ify the measurement area online. During this process, note that SOPAS ET cannot display
the data in real-time and therefore does not display all measured values.
Display elements
The LEDs signal the operational status of the NAV310.
The NAV310 has four LEDs. These visually signal the actual operational status and the sta--
tus of the continuous self-check. The LEDs are on the front of the device on the NAV310.
tab. 4 shows the function of the LEDs.
Yellow
LED (1)
Yellow
LED (2)
Green LED Red
LED
Meaning
Off Off Off Off Device switched off.
No supply voltage.
On On On On LED test for 5 s after switching on.
The output signal switching device is active.
On Any Flashing
1 Hz/2.5 Hz
Off SOPAS Command and USP Command
Any On Flashing
1 Hz/2.5 Hz
Off SOPAS Command and USP Command
Any Any Flashing
1 Hz
Off Stand by
Any Any Flashing
2.5 Hz
Off Measurement mode
Flash-
ing 4 Hz
Any Flashing
1 Hz
Off Firmware Update
Any Any Any Flash-
ing
1 kHz
Flashing 1 Hz => Scanner booting (Device not
ready)
Any Any Any On System error in the device
Troubleshooting => Device not ready
see section 8.3 “Troubleshooting and rectifica-
tion” on page 47
Tab. 4: Meaning of the LED status indicators
Yellow (1)
Yellow (2)
Green
Red

Product description
18 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016535/1D2F/2022-11-14
Operating instructions
NAV310 Laser positioning sensor
Chapter 3
3.3 Special features of the NAV310
Special features Specific form
High performance •contact-free, active measurement method
•scanning range up to 250 m on reflectors
•resolution of angular step width: max. 1/8°
•max. pulse frequency of laser diode 14.4 kHz
•flexible system configurations
•configurable scanning areas (sectors)
Output of measured values (raw data)
•profile of the field of view in two-dimensional polar coordinates as hex
values
•contents of one revolution (360°): incl. number of the profile emitted, pro-
file counter, sector numbers, step width, number of points per sector,
time stamp for start/end of each sector, direction at the start/end of each
sector, value and direction of the distances measured, status
User Service Protocol (USP) via Ethernet
•Configuration/measurement request via User Service Protocol (command
strings)
•USP Ethernet Port: 49152
Near field filter (digital)
•Suppression of near field (2.5 m) interference
Synchronisation
•Via telegram
•Via telegram and digital output on the NAV310
•Via Sync pulse on hardware output
Angular compensation
•Query for compensation data saved on the device to correct the angular
measurement externally
Safety and
convenience
•Robust, compact metal housing (max. IP 65), CE marking
•Laser class 1
•Maintenance-free
Configuration/
operation
•Configuration using SOPAS ET software for PC
•Alternatively using telegrams CoLa-A (ASCII) or CoLa-B (binary) (command
strings)
Electrical interfaces •Supply voltage DC 24 V
•Data interfaces: Ethernet, RS-232 serial
•1 x output signal switching device for synchronisation
Tab. 5: Special features of the NAV310

Operating instructions
NAV310
Product description
8016535/1D2F/2022-11-14 © SICK AG · Germany · All rights reserved · Subject to change without notice 19
Chapter 3
3.4 Applications
AGV line guidance based on contour and reflector measurements (mixed mode navigation):
•shuttle systems
•freely moving forklift
•truck loading
•general automated guided vehicles
•extremely accurate profile measurement
•deep stacking
3.5 Operating principle of the NAV310
The NAV310 has an opto-electronic laser measurement system that electro-sensitively
scans the contour of its surroundings in a plane with the aid of laser beams. The NAV310
measures its surroundings in two-dimensional polar coordinates. If a measurement beam
is incident on an object, the position is determined in the form of distance, direction and
remission.
Fig. 3: Measuring principle of the NAV310
From the propagation time that the light requires from emission to reception of the reflec--
tion at the sensor the NAV310 calculates the distance to the object.

Product description
20 © SICK AG · Germany · All rights reserved · Subject to change without notice 8016535/1D2F/2022-11-14
Operating instructions
NAV310 Laser positioning sensor
Chapter 3
3.5.1 Influences of objects on the measurement
The majority of surfaces reflect the laser beam diffusely in all directions. The reflection of
the laser beam will vary as a function of the surface structure and colour. Light surfaces re--
flect the laser beam better than dark surfaces and can be detected by the NAV310 over
larger distances. Brilliant white plaster reflects approx. 100 % of the incident light, black
foam rubber approx. 2.4 %. On very rough surfaces, part of the energy is lost due to shading.
The scanning range of the NAV310 will be reduced as a result.
Fig. 4: Diffuse reflection from objects
The reflection angle is the same as the angle of incidence. If the laser beam is incident per--
pendicularly on a surface, the energy is optimally reflected (on the left). If the beam is inci--
dent at an angle, a corresponding energy and scanning range loss is incurred (on the right).
Fig. 5: Directional reflection from reflectors
The incident radiation is not reflected diffusely in all directions by reflectors, but direction--
ally. As a result a large portion of the energy emitted can be received by the NAV310. The
NAV310 makes use of this situation to be able to exactly measure the positions of reflec--
tors.
Possible sources of errors
Fig. 6: Possible sources of errors during the measurement
At mirror surfaces (fig. 6, on the left) the laser beam is almost entirely deflected. Instead of
the surface of the mirror, it is possible that the object on which the deflected laser beam is
incident may be detected.
Objects that are smaller than the diameter of the laser beam (fig. 6, on the right) cannot re--
flect all the energy of the laser light. The energy in the portion of the laser light that is not
reflected is lost. This means that the scanning range is less than would be possible theoret--
ically based on the surface of the object.