SICK TiM58x Manual

TECHNICAL INFORMATION
TiM55x/TiM56x/TiM57x/TiM58x
2D LIDAR SENSORS

Technical Information
TiM55x/56x/57x/58x | 2D LiDAR sensors
2©SICK AG · Germany · All rights reserved · Subject to change without notice 8015883/122G/2018-12-06
Described product
TiM55x/56x/57x/58x
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch,
Germany
Copyright
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 modification, expurgation
or translation of this document is prohibited without the express written permission of SICK
AG.
© SICK AG. All rights reserved.
Original document
This document is an original document of SICK AG.

Technical Information Chapter 1
TiM55x/56x/57x/58x
About this document
8015883/122G/2018-12-06 ©SICK AG · Germany · All rights reserved · Subject to change without notice 3
1About this document
This document summarizes supplementary information on mounting and electrical instal-
lation as well as measured value output fomat of the TiM55x/56x/57x/58x.
It is aimed at sufficiently qualified personnel for the purposes of installation, commissioning
and further data processing.
Notes on commissioning, configuration and maintenance can be found in the TiM55x/56x/
57x/58x operating instructions.
Information on the TiM55x/56x/57x/58x can be found on the Internet on the TiM5xx prod-
uct page at www.sick.com/tim5xx:
Technical specifications in the online data sheet (PDF)
Dimensional drawing and 3D CAD dimension models in various electronic formats
Range diagram (PDF)
EC Declaration of Conformity (PDF)
Configuration software SOPAS ET (www.sick.com/SOPAS_ET)
Product information with overview of available accessories (PDF)
TiM5xx operation instructions (PDF) in additional languages where applicable
This technical information (PDF)
Support is also available from your sales partner, see www.sick.com/worldwide.
In the following the TiM55x/56x/57x/58x is referred to in simplified form as "TiM5xx".
Symbols used
Certain information in this documentation is emphasized as follows to enable faster access
to the information:
NOTICE
Notice!
A notice indicates potentially damaging hazards or functional impairments to the TiM5xx or
its connected devices.
WARNING
Warning!
A warning indicates specific or potential dangers to the user's physical integrity. It is intend-
ed to protect the user against accidents.
The safety symbol to the left of the warning indicates the type of accident hazard e.g. due
to electricity. Increasing warning levels (CAUTION, WARNING, DANGER) indicate the severity
of the possible hazard.
Always reading warnings carefully and obey them meticulously.
Important This important notice informs you about special aspects.
This symbol refers to supplementary technical documentation.

Chapter 1Technical Information
TiM55x/56x/57x/58x | 2D LiDAR sensors
4©SICK AG · Germany · All rights reserved · Subject to change without notice 8015883/122G/2018-12-06
About this document
Safety information
Read the notes on mounting and electrical installation before carrying out these tasks.
Read additionally the TiM5xx operating instructions to familiarize yourself with the
device and its functions.
The TiM5xx complies with laser class 1, for laser warnings see the operating instruc-
tions.
Only use the device in permissible ambient conditions (e.g. temperature, ground poten-
tial). Any applicable legal regulations or regulations of other authorities will have to be
observed during operation.
Opening the screws of the TiM5xx housing will invalidate any warranty claims against
SICK AG.
Repairs may only be performed on the TiM5xx by trained and authorized SICK AG ser-
vice personnel.
The TiM5xx does not constitute personal protection equipment in sense of the respec-
tive applicable safety standards for machines.
The TiM5xx must not come into contact with moisture and dust when the cover of the
USB port is open and/or the USB cable is connected. In this status, the TiM5xx does not
correspond to any specified IP protection class.
For CE conformity, the maximum length of all connecting cables on the TiM5xx must not
exceed 3 m.
Turn the swivel connector with the electrical connections max 180° from end position
to end position.

Technical Information
TiM55x/56x/57x/58x
Contents
8015883/122G/2018-12-06 ©SICK AG · Germany · All rights reserved · Subject to change without notice 5
Table of contents
1 About this document..................................................................................................... 3
2 Operating principle of the TiM5xx............................................................................... 6
2.1 Measurement principle.............................................................................................. 6
2.2 Distance measurement ............................................................................................. 6
2.3 Direction measurement ............................................................................................. 6
3 Mounting......................................................................................................................... 9
3.1 Notes on mounting..................................................................................................... 9
3.2 Optional accessories................................................................................................11
4 Electrical installation ..................................................................................................14
4.1 Overview of all interfaces ........................................................................................14
4.2 Pin and wire color assignments ..............................................................................14
4.3 Notes on electrical installation................................................................................15
4.4 Prerequisites for safe operation of the TiM5xx in a system..................................16
4.5 Installation steps......................................................................................................19
5 Measured value output...............................................................................................21
5.1 Telegrams .................................................................................................................21
5.2 Request measured values.......................................................................................22
5.3 Measured value output fomat.................................................................................24
6 License texts ................................................................................................................28

Chapter 2Technical Information
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6©SICK AG · Germany · All rights reserved · Subject to change without notice 8015883/122G/2018-12-06
Operating principle of the TiM5xx
2Operating principle of the TiM5xx
2.1 Measurement principle
The TiM5xx is an opto-electronic laser scanner that electro-sensitively scans the perimeter
of its surroundings at a single plane with the aid of laser beams. The TiM5xx measures its
surroundings using two-dimensional polar coordinates based on its measurement origin.
This is marked on the hood in the centre using a circular indentation. If a laser beam hits
an object, its position in terms of distance and direction is determined.
Scanning is performed across a 270° sector. The maximum range of the TiM5xx is max.
10 m (TiM55x/TiM56x) and 25 m (TiM57x/TiM58x) on light, natural surfaces with an object
reflectivity > 50 % (e.g. a white house wall).
The scanning range is 8 m in the case of dark surfaces with remission of > 10%.
2.2 Distance measurement
The TiM5xx emits pulsed laser beams using a laser diode. If one of these laser pulses hits
an object or a person, this is reflected at its surface. The reflection is detected in the
TiM5xx's receiver by a photodiode. The TiM5xx uses HDDM / HDDM+ technology (High Defi-
nition Distance Measurement), a SICK own-development. Using this measurement method,
a measured value is formed by the average value for several individual pulses. The TiM5xx
calculates the distance to the object from the transit time required by the light from emis-
sion of the beam to receipt of the reflection. This principle of "time-of-flight measurement"
is used by radar systems in a similar manner.
2.3 Direction measurement
The emitted laser beams are deflected by the TiM5xx using a rotating mirror and its sur-
roundings scanned in a circular form. The measurements are triggered internally at regular
angle increments using an angular encoder. One complete rotation represents one measur-
ing process (scan).
The TiM5xx works at a scanning frequency of 15 Hz, i.e. it performs 15 measuring processes
per second and makes the measurement results continuously available in real time via an
Ethernet interface.

Technical Information Chapter 2
TiM55x/56x/57x/58x
Operating principle of the TiM5xx
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The measurement method forms an average value from several pulses to determine indi-
vidual measured values.
At an angle resolution of 1°(TiM55x) and 0.33°(TiM56x/TiM57x/TiM58x), a measuring
point is formed from the average of 84 measurements.
TiM55x
84 submeasuring points
TiM5xx
0
40
80
120
160
200
240
01 23 5 7468
Range (m)
Spot diameter (mm)
Spot diameter of a submeasuring point.
Divergence 9.5 mrad, spot diameter on the front screen 6 mm
Elongation of the 84 overlayed submeasuring points in direction
of deflection at angle step 1°.
Divergence 27 mrad, spot diameter on the front screen 6.5 mm
910
280
320

Chapter 2Technical Information
TiM55x/56x/57x/58x | 2D LiDAR sensors
8©SICK AG · Germany · All rights reserved · Subject to change without notice 8015883/122G/2018-12-06
Operating principle of the TiM5xx
TiM56x
TiM57x/TiM58x
0
40
80
120
160
200
240
01 23 5 7468
Range (m)
Spot diameter (mm)
Spot diameter of a submeasuring point.
Divergence 9.5 mrad, spot diameter on the front screen 6 mm
Elongation of the 84 overlayed submeasuring points in direction
of deflection at angle step 0.3°.
Divergence 15 mrad, spot diameter on the front screen 6.5 mm
910
0
80
160
240
320
400
0 2 4 6 10 1481216
Range (m)
Spot diameter (mm)
Spot diameter of a submeasuring point.
Divergence 9.6 mrad, spot diameter on the front screen 6 mm
Elongation of the 84 overlayed submeasuring points in direction
of deflection at angle step 0.3°.
Divergence 15 mrad, spot diameter on the front screen 6.5 mm
18 20 22 24 26

Technical Information Chapter 3
TiM55x/56x/57x/58x
Mounting
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3Mounting
3.1 Notes on mounting
The TiM5xx can, depending on the application purpose, be mounted in any position.
Install the TiM5xx so it as unaffected by shocks and vibrations as possible.
Install the TiM5xx so it is not exposed to any direct sunlight (window, skylight) or any
other heat sources. This prevents impermissible temperature increases inside the
device.
During installation make sure there is no light or reflective surface behind the reference
target (see Figure ).
Using several TiM5xx
The TiM5xx is designed so that mutual interference of the same types of sensors is very un-
likely. To preclude even the slightest of influences on the measuring accuracy, we recom-
mend installing the TiM5xx as in the examples below.
225°
‒45°
180°0°
30°
90°
1
Crosswise placement of two TiM5xx
Placement of two TiM5xx opposed to each other

Chapter 3Technical Information
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Mounting
Placement of two TiM5xx with parallel offset
Placement of two TiM5xx with parallel offset, one of these upside down
Placement of two TiM5xx upside down, parallel offset
Placement of two TiM5xx with parallel offset, one of these upside down

Technical Information Chapter 3
TiM55x/56x/57x/58x
Mounting
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3.2 Optional accessories
3.2.1 Install mounting set 2 (part no. 2068398) on the TiM5xx
The hanger-shaped mounting set 2 is used as skirting protection and as a bracket for mak-
ing fine adjustments on the scan plane. The TiM5xx can also be fastened directly onto the
bracket without the adapter plate (skirting protection only).
Mounting bracket
Hole for mounting the weatherproof housing, 3 x
Holes for mounting the spacer (for mounting weatherproof housing), 3 x
Hole for horizontal or vertical mounting of the mounting bracket on a base, 2 x 2
M4 x 16 cylinder head screw (hexagon socket) and compression spring for aligning the
TiM5xx, 3 x
Stud for locking the adapter plate after alignment, 2 x
Adapter plate
M3 x 8 cylinder head screw in 3.2 mm hole for mounting the TiM5xx on the adapter
plate, 2 x
 Hole for mounting the TiM5xx directly on the mounting bracket, 2 x (alternatively,
without the option of adjusting the scan level)










Chapter 3Technical Information
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12 ©SICK AG · Germany · All rights reserved · Subject to change without notice 8015883/122G/2018-12-06
Mounting
Procedure for mounting the TiM5xx
1. Mount the TiM5xx on the adapter plate using the two M3 x 8 screws supplied. To do
this, insert the screws from below through the hole in the mounting bracket and the
hole in the adapter plate.
2. Align the scan level of the TiM5xx using the three cylinder head screws .
3. After adjusting the adapter plate using the two studs , lock against the mounting
bracket.
4. Mount the mounting bracket horizontally or vertically on a base using suitable screws
or mount weatherproof housing; see Chapter Procedure for mounting the weath-
erproof housing, Page 13.
Ø 4,3
51
42
70
68,8
26,4
12,1
92
68,8
39,1
2 x Ø 4,3
101,5
75
All dimensions in mm

Technical Information Chapter 3
TiM55x/56x/57x/58x
Mounting
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Weatherproof housing
NOTICE
Restricted scanning range!
Using the weatherproof housing restricts the field of vision of the TiM5xx to a full extent of
210°.
Procedure for mounting the weatherproof housing
1. Lock and mount the TiM5xx in the mounting kit as desired; see Chapter Procedure for
mounting the TiM5xx, Page 12.
2. Mount the spacer plate 3.
3. Slide the weatherproof housing 1over the TiM5xx in the mounting kit.
4. Secure the weatherproof housing to the TiM5xx using the fixing screws 2.
5. Mount the mounting bracket horizontally or vertically on a base using suitable
screws 4.
180
69,5 17,5
60
127
103
47,5
12
3
4
All dimensions in mm

Chapter 4Technical Information
TiM55x/56x/57x/58x | 2D LiDAR sensors
14 ©SICK AG · Germany · All rights reserved · Subject to change without notice 8015883/122G/2018-12-06
Electrical installation
4Electrical installation
4.1 Overview of all interfaces
4.2 Pin and wire color assignments
"Power/Out" connection (plug, M12, 5-pin, A-coded)
"Ethernet" connection (socket, M12, 4-pin, D-coded), for adapter cable No. 6034415
Pin Signal Color of wire Function
1 DC 9 V ...28 V Brown Supply voltage
2SYNC/DEVICE
READY
White Synchronization output (SYNC/Device Ready)
3GND
Blue
Ground
4N.c. – –
5N.c. –
– – Metal Shield
Do not connect reserved pins!
Pin Signal Funktion
1 TD+ (Ethernet) Transmitter+
2 RD+ (Ethernet) Receiver+
3 TD– (Ethernet) Transmitter–
4 RD– (Ethernet) Receiver–
–– Shield
SOPASSOPAS
"Power/Out"
"USB 2.0"
Configuration
Diagnosis
TiM
Connection
box
Driver for request of
measurement values
and further data
processing
SYNC/
Device Ready
"Ethernet"
DC 9 ... 28 V
delay-
action
fuse
0,8A/T
USBUSB EthernetEthernet
1
43
5
2
1
43
2

Technical Information Chapter 4
TiM55x/56x/57x/58x
Electrical installation
8015883/122G/2018-12-06 ©SICK AG · Germany · All rights reserved · Subject to change without notice 15
4.2.1 Optional accessory: adapter cabe No. 6036159 with socket, M12, 5-pin, A-
coded and open end
4.3 Notes on electrical installation
When the cover of the USB socket is open or the USB cable is connected, the TiM5xx
must not come into contact with moisture and dust. In this status, the TiM5xx does not
correspond to any specified IP enclosure rating.
Use the supplied seal for the USB connection to prevent contact with moisture and dirt.
When operating the USB interface, ESD/EMC interferences can lead to an interruption
of the USB connection. To continue with the data transfer, disconnect the USB cable
from the TiM5xx and reattach it to establish contact. To re-establish communication
between TiM5xx and PC, select COMMUNICATION > GOONLINE in the SOPAS configuration
software.
Electrical connections between the TiM5xx and other devices may only be connected
or disconnected when the system is not live, otherwise the devices may be damaged.
All connection cables on the TiM5xx may not exceed a length of 3 m (9.84 ft) in order
to ensure that it conforms with the CE.
Conducting cross sections of the supply cable from the customer's power system
should be selected and perform in accordance with the applicable standards.
Protected the TiM5xx with an external 0.8 A delay-action fuse at the start of the supply
cable from the point of view of the power supply.
All electrical circuits connected to the TiM5xx must be designed as SELV or PELV elec-
tric circuits (SELV = Safety Extra Low Voltage, PELV = Protective Extra Low Voltage).
When setting up a startup device with a 5-pin M12 male connector, do not wire the re-
served pins (e.g. as solder post)!
Do not switch on the supply voltage for the TiM5xx until the connection work has been
completed and wiring work has been checked carefully.
Pin Signal Color of wire Function
1 DC 9 V ... 28 V Brown Supply voltage
2 SYNC/DEVICE READY White Synchronization output (SYNC/Device Ready)
3GND Blue Ground
4N.c. – –
5N.c. – –
– – Metal Shield
Do not connect reserved pins!
Socket, M12, 5-pin, A-coded
(front view)
Illustration may differ
1
43
5
2


Chapter 4Technical Information
TiM55x/56x/57x/58x | 2D LiDAR sensors
16 ©SICK AG · Germany · All rights reserved · Subject to change without notice 8015883/122G/2018-12-06
Electrical installation
4.4 Prerequisites for safe operation of the TiM5xx in a system
The TiM5xx is designed and tested for electrical safety according to the standard
IEC 61010-1 (ed. 3):
It is connected to peripheral devices (power supply, control, actuators) via shielded cables.
The cable shield e.g. of the supply line is therefore flush with the metal housing of the
TiM5xx. The device can either be grounded via the cable shield or via the two straight plates.
If the peripheral devices also have metal housing and if the cable shields also flush with
their housing, it is assumed that all devices involved in installation have the same ground
potential.
This is achieved by observing the following conditions for instance:
mounting of devices on conducting metal surfaces
professional grounding of devices/metal surfaces in the system
low-impedance and current-conducting equipotential bonding between areas with dif-
ferent ground potentials if necessary.
If these conditions are not met, e.g. on devices in a widely distributed system across several
buildings, equipotential bonding currents may, due to different ground potentials, flow via
the cable shields between the devices, which can lead to dangers.
Insufficient ground potential equalization leads to voltage differences arising between
grounding points 1 and 2. The current loop closes via the shielded cables/metal housing.
DANGER
Risk of injury/risk of damage due to electrical current!
Equipotential bonding currents between the TiM5xx and other grounded devices in the sys-
tem may have the following effects:
dangerous currents on the metal housing e.g. of the TiM5xx
incorrect functioning or irreparable damage to the devices
Damage/irreparable damage of the cable shield due to heating and cable fires
Where local conditions are unfavorable and thus do not meet conditions for a safe
earthing method (same ground potential at all grounding points), carry out the mea-
sures below.
closed current loop
with equalizing currents
via cable shields
grounding point 2
grounding point 1
grounding potential difference
Actuators for
switching outputs
Power
supply unit
I
U
= metal housing
= shielded electrical cable
TiM5xx

Technical Information Chapter 4
TiM55x/56x/57x/58x
Electrical installation
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DANGER
Risque de blessure ou d’endommagement dû au courant électrique !
Des courants d’équipotentialité entre le TiM5xx et les autres appareils mis à la terre de
l’installation peuvent avoir les effets suivants :
tensions dangereuses sur le boîtier métallique du TiM5xx par ex.
comportement défectueux ou destruction des appareils
endommagement ou destruction du blindage des câbles par échauffement et par
combustion des câbles
Prendre des mesures selon les indications suivantes là où les caractéristiques locales
sont défavorables et ne permettent pas un concept de mise à la terre sûr (même
potentiel de terre dans tous les points de mise à la terre).
Remedial measures
The primary solution for avoiding equipotential bonding currents on the cable shields is to
guarantee low-impedance and current-conducting potential equalization. If this is not pos-
sible, the following two solution approaches are intended as suggestions.
Important It is not advisable to open up the cable shields. This can cause compliance with EMC limit
values for the devices to be no longer guaranteed.
a) Measures for widely distributed system installations
On widely distributed system installations with correspondingly large potential differences,
we recommend setting up local islands and connecting them using commercially available
electro-optical signal isolators. This will attain maximum resistance to electromagnetic in-
terference, while observing all requirements of EN 60950-1 at the same time.
The ground loop is isolated by using the electro-optical signal isolator between the islands.
Equalization currents are prevented on the cable shields within the islands by conductible
equipotential bonding.
b) Measures for small system installations
For smaller installations with only slight potential differences, insulated installation of the
TiM5xx and of peripheral devices may be a sufficient solution.
Actuators for
switching outputs
grounding point 1
Electro-
optical
signal
isolators
Electro-
optical
signal
isolators
grounding point 2
= metal housing
= shielded electrical cable
= fiber optic cable
grounding potential difference
U
TiM5xx

Chapter 4Technical Information
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Electrical installation
There is effective suppression of ground loops even at ground potential differentials of up
to 60 V RMS / 80 V DC maximum. As result, equalizing currents can no longer flow via the
cable shields and metal housing.
Important The power supply for the TiM5xx and the connected peripheral devices must also guarantee
the required level of insulation.
Under certain circumstances, a tangible potential can develop between the insulated metal
housings and the local ground potential.
Special national regulations for Sweden and Norway
Varning och atjarder
Utrustning som ar kopplad till skyddsjord via jordat vagguttag och/eller via annan utrustning
och samtidigt ar kopplad till kabel-TV nat kan i vissa fall medfora risk for brand.
For att undvika detta skall vid anslutning av utrustningen till kabel-TV nat galvanisk iso-
lator finnas mellan utrustningen och kabel-TV natet.
Advarsel og tiltaker
Utstyr som er koplet til beskyttelsesjord via nettplugg og/eller via annet jordtilkoplet utstyr
- og er tilkoplet et kabel - TV nett, kan forarsake brannfare.
For a unnga dette skal det ved tilkopling av utstyret til kabel-TV nettet installeres en gal-
vanisk isolator mellom utstyret og kabel-TV nettet.
Corresponding English translation
Devices which are connected to the electrical system PE of the building via a mains connec-
tion or other devices with a connection to the PE, and which are connected to a cable distri-
bution system with coaxial cables, can under certain circumstances cause a risk of fire.
Connections to a cable distribution system must therefore be made such that electrical
insulation is offered below a certain frequency range (galvanic separating link).
Actuators for
switching outputs
grounding point 2 grounding point 3
grounding point 1
Power
supply unit
= metal housing
= shielded electrical cable
electrically
insulated
U
grounding potential difference
TiM5xx

Technical Information Chapter 4
TiM55x/56x/57x/58x
Electrical installation
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4.5 Installation steps
4.5.1 Supply voltage connection
The TiM5xx requires a supply voltage between DC 9 and 28 V (stabilized protective extra-
low voltage [SELV] as per the IEC 60364-4-41 standard) .
The electricity source must be able to provide a power of 5 W at minimum.
DANGER
Risk of injury due to electrical current!
If the supply voltage is generated by extracting and converting current from the alternating
current network using a stabilized power supply unit, insufficient electrical separation be-
tween the input and output circuit may lead to an electric shock.
Only use a power supply unit whose output circuit has reliable electrical separation due
to double insulation and a safety transformer as per IEC 742.
DANGER
Risque de blessure dû au courant électrique !
Une séparation électrique insuffisante entre les circuits d’entrée et de sortie peut provo-
quer une électrocution si la tension d’alimentation est générée par le prélèvement et la
conversion de courant du réseau alternatif à l’aide d’un bloc d’alimentation stabilisé.
N’utiliser qu’un seul bloc d’alimentation dont le circuit de sortie, à l’opposé du circuit
d’entrée, possède une séparation électrique sécurisée par une double isolation et un
transformateur de sécurité selon CEI 742 (VDE 0551).
4.5.2 Wiring of output SYNC/DEVICE READY
Output SYNC/DEVICE READY is used to output the Device Ready signal, an error and a reg-
ular index pulse.
TiM5xx
V
S
= DC 9 V ... 28 V
SYNC/
DEVICE
READY
Structure and wiring principle of output SYNC/DEVICE
READY (pin 2)
2
5
GND
V
out
Quenching circuit:
Install an anti-surge
diode directly at the
load!
For inductive load:

Chapter 4Technical Information
TiM55x/56x/57x/58x | 2D LiDAR sensors
20 ©SICK AG · Germany · All rights reserved · Subject to change without notice 8015883/122G/2018-12-06
Electrical installation
Important A longer connecting cable at the switching output of the TiM5xx should be avoided due to
the resultant voltage drop. This is calculated as follows:
2 x length x current
D V= -------------------------------------------------------------
Conductance value x cross section
Conductance value for copper: 56 m/W mm2.
Switching behavior PNP-switching against supply voltage VS.
SYNC/DEVICE READY:
Idle level: High (Device Ready),
Working level: Low (error), low pulse (15 Hz, index, corresponds to
measurement at 90°)
Properties – Short-circuit resistant and temperature-protected
– Not electrically isolated from the supply voltage VS
Electrical values 0 V Vout VS
Guaranteed: (VS– 1.5 V)Vout VSat Iout 100 mA