SICK TiM8 P Series User manual

OPERATING INSTRUCTIONS
TiM8xxP
2D LiDAR sensors

Product described
TiM8xxP
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 modifica‐
tion, abridgment or translation of this document is prohibited without the express writ‐
ten 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.
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Contents
1 About this document........................................................................ 5
1.1 Information on the operating instructions.............................................. 5
1.2 Explanation of symbols............................................................................ 5
2 Safety information............................................................................ 6
2.1 Intended use............................................................................................. 6
2.2 Improper use............................................................................................. 6
2.3 Internet protocol (IP) technology.............................................................. 6
2.4 Limitation of liability................................................................................. 7
2.4.1 Programmable device.............................................................. 7
2.5 Modifications and conversions................................................................ 7
2.6 Requirements for skilled persons and operating personnel.................. 7
2.7 Operational safety and particular hazards.............................................. 8
3 Product description........................................................................... 10
3.1 Scope of delivery....................................................................................... 10
3.2 Setup and dimensions............................................................................. 11
3.3 Display and operating elements.............................................................. 12
3.4 Type code.................................................................................................. 12
3.5 Product identification............................................................................... 12
3.6 SICK AppSpace......................................................................................... 13
3.7 Principle of operation............................................................................... 14
3.7.1 Measurement principle........................................................... 14
3.7.2 Range finding........................................................................... 14
3.7.3 Direction measurement.......................................................... 14
3.7.4 Object sizes.............................................................................. 15
3.7.5 Impact of object surfaces on the measurement................... 16
3.7.6 Scanning range........................................................................ 18
4 Transport and storage....................................................................... 20
4.1 Transport................................................................................................... 20
4.2 Unpacking.................................................................................................. 20
4.3 Transport inspection................................................................................. 20
4.4 Storage...................................................................................................... 20
5 Mounting............................................................................................. 21
5.1 Mounting instructions............................................................................... 21
5.2 Mounting device....................................................................................... 21
5.3 Mutual interference.................................................................................. 21
6 Electrical installation........................................................................ 23
6.1 Prerequisites for safe operation of the device........................................ 23
6.2 Electrical block diagram for commissioning........................................... 26
6.3 Wiring notes.............................................................................................. 26
6.4 Connection diagram................................................................................. 26
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6.4.1 TiMxxxP-21xxxxx....................................................................... 27
6.4.2 USB interface........................................................................... 27
6.5 Connecting the device electrically........................................................... 28
6.6 Wiring digital inputs / digital outputs...................................................... 28
7 Commissioning.................................................................................. 32
7.1 Programming device with AppStudio....................................................... 32
8 Maintenance...................................................................................... 33
8.1 Maintenance plan..................................................................................... 33
8.2 Cleaning..................................................................................................... 33
9 Troubleshooting................................................................................. 34
9.1 Repairs...................................................................................................... 34
9.2 Returns...................................................................................................... 34
9.3 Disposal..................................................................................................... 34
10 Technical data.................................................................................... 35
10.1 Features.................................................................................................... 35
10.2 Performance............................................................................................. 35
10.3 Interfaces.................................................................................................. 36
10.4 Mechanics/electronics............................................................................. 36
10.5 Ambient data............................................................................................. 36
11 Accessories........................................................................................ 38
12 Annex.................................................................................................. 39
12.1 EU declaration of conformity.................................................................... 39
12.2 Licenses.................................................................................................... 39
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 operating the machine or
system in which the device is integrated. For information about this, refer to the operat‐
ing instructions of the specific machine.
1.2 Explanation of symbols
Warnings and important information in this document are labeled with symbols. Signal
words introduce the instructions and indicate the extent of the hazard. To avoid acci‐
dents, damage, and personal injury, always comply with the instructions and act care‐
fully.
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.
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2 Safety information
2.1 Intended use
The TiM8xxP is a programmable 2D LiDAR sensor. It features one scan plane and is
suitable for applications which demand precise, non-contact optical contour measure‐
ment and environment perception.
The device is programmed on a PC by using the SICK AppSpace development environ‐
ment software and the SICK AppStudio software program.
Depending on the application, a browser-based, graphical user interface (HMI) can be
created, which provides opportunities defined by the application developer to influence
an application at operator level.
The device offers various interfaces and operating elements for controlling, program‐
ming, and operating purposes, which can be activated as necessary via development
environments, control systems (programmable logic controllers), or applications. How‐
ever, configuration, programming, and control requires various technical skills, depend‐
ing on how the device is connected and used.
The devices are primarily designed for use in industrial and logistics areas, and they
meet the requirements for industrial ruggedness, interfaces and data processing.
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.
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:
■Device should be used only in accordance with its intended use.
■All information in these operating instructions must be strictly observed.
2.3 Internet protocol (IP) technology
NOTE
SICK uses standard IP technology in its products. The emphasis is placed on availability
of products and services.
SICK always assumes the following prerequisites:
•The customer ensures the integrity and confidentiality of the data and rights
affected by its own use of the aforementioned products.
•In all cases, the customer implements the appropriate security measures, such as
network separation, firewalls, virus protection, and patch management.
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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 com‐
piling the data and information contained in these operating instructions. The manufac‐
turer 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
■Technical modifications
■Use of unauthorized spare parts, consumables, and accessories
With special variants, where optional extras have been ordered, or owing to the latest
technical changes, the actual scope of delivery may vary from the features and illustra‐
tions shown here.
2.4.1 Programmable device
The TiM8xxP is a programmable device.
Therefore, the respective programmer is responsible for his/her programming perfor‐
mance and the resulting operating principle of the device.
The liability and warranty of SICK AG is limited to the device specification (hardware
functionality and any programming interfaces) according to the agreed conditions.
Therefore, SICK AG is not liable, among other things, for damages that are caused by
programming of the customer or third parties.
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.
This product documentation refers to the following qualification requirements for the
various activities associated with the device:
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■Instructed personnel have been briefed by the operator about the tasks assigned
to them and about potential dangers arising from improper action.
■Skilled personnel have the specialist training, skills, and experience, as well as
knowledge of the relevant regulations, to be able to perform tasks delegated to
them and to detect and avoid any potential dangers independently.
■Electricians have the specialist training, skills, and experience, as well as knowl‐
edge of the relevant standards and provisions to be able to carry out work on elec‐
trical systems and to detect and avoid any potential dangers independently. In Ger‐
many, electricians must meet the specifications of the BGV A3 Work Safety Regu‐
lations (e.g. Master Electrician). Other relevant regulations applicable in other
countries must be observed.
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, programming
■Basic knowledge of the WindowsTM operating system in use
■Basic knowledge of the design and setup of the described con‐
nections and interfaces
■Basic knowledge of data transmission
■Knowledge of the programming of systems and network com‐
ponents
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
2.7 Operational safety and particular hazards
Please observe the safety notes and the warnings listed here and in other chapters of
this product documentation to reduce the possibility of risks to health and avoid dan‐
gerous situations.
CAUTION
Optical radiation: Laser class 1
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.
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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.
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3 Product description
3.1 Scope of delivery
The delivery of the device includes the following components:
Table 2: Scope of delivery
No. of
units
Component Notes
1 Device in the version ordered,
2 mounting straps, 2 screws
M3 x 4 mm
Without connecting cables.
1 Printed safety notes, multilin‐
gual (no. 8021393)
Quick guide and safety notes for 2D-/3D-LiDAR sen‐
sors
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3.2 Setup and dimensions
4
5
3
ß
7
9
2 2
225°
‒45°
180°0°
ä
ã
85.75 (3.38)
27.3
[24.4
62.46 (2.46)
60 (2.30)
0.7 (0.03)
[68.8 (2.71)]
[76.25 (3.00)]
61 (2.40)
46.71 (1.84)
74.39 (2.93)
101.12 (3.98)
17.37
(0.68)
51 (2.01)
30°
90°
6á
8
â
2
1
2 x
51 (2.01)
44.79 (1.76)
16.79
(0.66)
33 (1.3)
[Ø 4.3
(0.17)]
(0.96)](1.07)
8
(0.31)
24.4
(0.96)
Figure 1: Structure and dimensions, unit: mm (inch), decimal separator: period
12 x fastening clip with M3 x 4 mm screw (included in scope of delivery)
2Threaded mounting hole M3: blind hole thread; max. installation depth 2.8 mm; max.
tightening torque: 0.8 Nm
3Optics cover
4Receiving range (light inlet)
5Transmission range (light emission)
6Pushbutton
7Red and green LED (status indicators)
8Swivel connector unit with electrical connections
9Micro USB port behind black plastic cover
ßVoltage supply connection, digital in/outputs, 12-pin. M12 female connector
àMarking for the position of the light emission level
áEthernet connection, 4-pin M12 female connector
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âArea in which no reflective surfaces are permitted when the device is mounted
ãBearing marking to support alignment (90° axis)
ä270° aperture angle (visual range)
3.3 Display and operating elements
1 2 3
Figure 2: TiM8xxP display and operating elements
1Red LED
2Green LED
3Pushbutton
Status indicators
The LEDs can display the off, flashing or permanently illuminated status depending on
the programming of the device. Which functions are triggered when the pushbutton is
actuated can also be programmed.
3.4 Type code
The devices of the product family are arranged according to the following type code:
TIM x y z ‒ aa bb c dd
1 2 3 4 5 6 7 8 9
Table 3: Type code
Position Description Characteristic
1 Device name TIM: Short range 2D-LiDAR sensor
2 Device type 8. AppSpace device
3 Performed by 8: 25 m measuring range, 0.33° angular resolution,
performance professional, HDDM+
4 Housing 1: Housing IP67 without heating
5 P: Programmable
6 Connection 21: Rotating connection unit, 1 x M12 male connec‐
tor, 12-pin, D-coded (Power + I/O); 1x M12 female
connector, 4-pin, A-coded (Ethernet)
7 Application 00: AppSpace standard
8 Laser type 1: Pulse power up to 880 mW, pulse width up to
5 ns, pulse rate 1,500 kHz
9 Color 01: Gray
3.5 Product identification
The type label gives information for identification of the product variant.
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TIM881P-2100101
1090292
1916 0001
April 2019
1
2
3
4
5
6
8
79
25
1Type code
2Part number, serial number
3Voltage supply, maximum power consumption
4MAC address
5Conformity mark/certification mark, symbol: Observe the operating instructions!
6Production date
7DataMatrix code with product data (part number, serial number, MAC address)
8Manufacturer/production location
9Conformity mark/certification mark
3.6 SICK AppSpace
The SICK AppSpace eco-system reveals new paths leading to solutions for customer-
specific applications and consists of software tools and programmable sensors or
devices. The SICK AppStudio SDK is used for developing sensor apps on programmable
SICK devices. Its user interface for machine operators can be created individually as a
web GUI. The SICK AppManager software tool supports the service in the field in the
simple distribution and management of sensor apps.
Figure 3: SICK AppSpace
Detailed instructions on the SICK AppStudio as well as programming the device can be
found at supportportal.sick.com.
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3.7 Principle of operation
3.7.1 Measurement principle
The device is an opto-electronic LiDAR sensor (laser scanner) that uses laser beams for
non-contact scanning of the outline of its surroundings on a plane. The device mea‐
sures its surroundings in two-dimensional polar coordinates, relative to its measure‐
ment origin. Its measurement origin is marked by a circular indentation in the center of
the optics cover. If a laser beam strikes an object, the position of that object is deter‐
mined in terms of distance and direction.
Figure 4: The 2D LiDAR sensor measurement principle
3.7.2 Range finding
The device emits beams pulsed by a laser diode. If a laser pulse hits an object or per‐
son, it is reflected on the surface of the object or person in question. The reflection is
registered by a photosensitive element in the device receiver. The device uses SICK’s
own HDDM+ (High Definition Distance Measurement) technology. With this measure‐
ment process, a measured value is formed by adding together multiple single pulses.
The device calculates the distance from the object based on the elapsed time that the
light requires between emitting the beam and receiving the reflection. Radar systems
apply this “pulse time-of-flight measurement” principle in a similar way.
3.7.3 Direction measurement
The device uses a rotating mirror to deflect the emitted laser beams, thereby scanning
its surroundings in a circular pattern. The measurements are triggered internally by an
encoder in regular angle increments.
The measuring procedure uses the averaging from multiple pulses to determine individ‐
ual measured values. A measuring point is the average value of several measurements
combined.
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1
2
1Device
2Laser pulse
3.7.4 Object sizes
As the distance from the device increases, the laser beam expands. As a result, the
diameter of the light spot on the surface of the object increases.
1
2
Figure 5: Beam expansion
1Expanded laser beam
2Optical axis
Values required to calculate the light spot size:
•Light spot size on the device cover: 7 mm (rounded up)
•Divergence of 1 light spot: 0.49 deg (8.6 mrad)
•HDDM+ supplement (1 spot consists of several overlapping individual pulses):
0.33 deg (5.8 mrad)
Formula for calculating the light spot width:
(Light spot divergence [mrad] + supplement [mrad]) x distance [mm] + light spot size on
the device cover [mm] = light spot width [mm]
Calculation example light spot width at a distance of 4 m, with supplement 5.8 mrad:
(8.6 mrad +5.8 mrad) * 4,000 mm +7 mm = 64.6 mm
Formula for calculating the height of the light spot:
Light spot divergence [mrad] x Distance [mm] + Light spot height at the n device cover
[mm] = Light spot width [mm]
Example calculation of the light spot height at a distance of 4 m:
8.6 mrad * 4,000 mm +7 mm = 41.4 mm
NOTE
For reliable measurement, in particular when using the device to output measured val‐
ues, the laser needs to hit the object several times. Therefore, the object either needs
to be larger than the minimum object size, or both the LiDAR sensor and the object
must not be moving.
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Size in mm (inch) 1
0
5
(16.4)
20
(65.6)
25
(82.0)
10
(32.8)
Distance in m (ft) 2
500
(19.7)
0
100
(3.9)
300
(11.8)
400
(15.7)
15
(49.2)
200
(7.9)
3
4
5
Figure 6: Minimum object size
1Size in millimeters (inc)
2Distance in meters (feet)
3Minimum object size
4Light spot width
5Light spot height
3.7.5 Impact of object surfaces on the measurement
Remission value
Remission is the ability of a material to reflect light. The remission value correlates with
the amount of laser light emitted by the LiDAR sensor which is reflected by an object
(see Lambert’s law).
Shiny surfaces have different remission values at the same distance with different
angles of impact. In the case of shiny surfaces, maximum remission is achieved when
the beam makes vertical impact.
Matt and dull surfaces have diffuse remission. Therefore, they exhibit similar relative
remission values with the same angle of impact regardless of the distance from the
zero point.
Table 4: Typical remission values of frequently used materials
Material Typ. relative remission value
Rubber tires (vulcanized, black) 2%
Foam rubber (black) 2.4%
Photographic board (black, matte) 10%
Cardboard (gray) 20%
Wood (untreated fir, soiled) 40%
PVC (gray) 50%
Paper (white, matte) 80%
Plaster (white) 100%
Aluminum (black anodized) 110 … 150%
Steel (stainless, shiny) 120 … 150%
Steel (high gloss) 140 … 200%
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Reflection
Most surfaces produce a diffuse reflection of the laser beam in all directions. The struc‐
ture (smooth or rough), shape (flat or curved), and color (light or dark) of the surface
determine how well the laser beam is reflected.
On very rough surfaces, part of the energy is lost due to shadowing. Curved surfaces
produce a higher diffusion. Dark surfaces reflect the laser beam worse than light ones
(brilliant white plaster reflects approx. 100% of the light, while black foam rubber
reflects approx. 2.4%). The aforementioned surface characteristics can reduce the
scanning range of the device, in particular for surfaces with low remission values.
Figure 7: Reflection of light on the surface of the object
Angle of reflection
The angle of reflection corresponds to the angle of incidence. If the laser beam hits a
surface at right angles, the energy is optimally reflected. If the laser beam hits a sur‐
face at an oblique angle, energy and range are lost accordingly.
Figure 8: Angle of reflection
Retroreflection
If the reflective energy is greater than 100%, the beam is not reflected diffusely in all
directions; instead it is reflected in a targeted way (retroreflection). Thus a large part of
the emitted energy can be received by the laser distance measurer. Plastic reflectors
(cat’s eyes), reflective tape, and triple prisms have these properties.
Figure 9: Retroreflection
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Reflective surfaces
The laser beam is almost completely deflected on reflective surfaces. This means that
an object hit by the deflected beam may be detected instead of the reflective surface.
Figure 10: Specular surfaces
Small objects
Objects that are smaller than the diameter of the laser beam cannot reflect the laser
light’s full energy. The portion of the light beam that does not reach the object is lost. If
all of the light reflected to the sensor is insufficient, the object may not be detected.
The portion of the light that does not reach the front object can be reflected by a larger
object in the background. If all of the light reflected to the sensor is sufficient, this
object is detected.
Figure 11: Object smaller than the laser beam diameter
3.7.6 Scanning range
The scanning range of the device depends on the remission of the object to be
detected. The better a surface reflects the incident beam back to the device, the
greater the scanning range of the device.
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0
10
20
30
50
60
40
Object remission in % 1
Measuring range in m (ft) 2
0 20
(65.6)
70
90
100
80
10
(32.8)
15
(49.2)
30
(98.4)
5
(16.4)
25
(82.0)
Figure 12: Scanning range rate as a function of object remission
1Object remission in percent
2Measuring range in meters (feet)
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4 Transport and storage
4.1 Transport
For your own safety, please read and observe the following notes:
NOTICE
Damage to the product due to improper transport.
■The device must be packaged for transport with protection against shock and
damp.
■Recommendation: Use the original packaging as it provides the best protection.
■Transport should be performed by trained specialist staff only.
■The utmost care and attention is required at all times during unloading and trans‐
portation on company premises.
■Note the symbols on the packaging.
■Do not remove packaging until immediately before you start mounting.
4.2 Unpacking
■Before unpacking, it may be necessary to equalize the temperature to protect the
device from condensation.
■Handle the device with care and protect it from mechanical damage.
4.3 Transport inspection
Immediately upon receipt in Goods-in, check the delivery for completeness and for any
damage that may have occurred in transit. In the case of transit damage that is visible
externally, proceed as follows:
■Do not accept the delivery or only do so conditionally.
■Note the scope of damage on the transport documents or on the transport com‐
pany's delivery note.
■File a complaint.
NOTE
Complaints regarding defects should be filed as soon as these are detected. Damage
claims are only valid before the applicable complaint deadlines.
4.4 Storage
Store the device under the following conditions:
■Recommendation: Use the original packaging.
■Do not store outdoors.
■Store in a dry area that is protected from dust.
■So that any residual damp can evaporate, do not package in airtight containers.
■Do not expose to any aggressive substances.
■Protect from sunlight.
■Avoid mechanical shocks.
■Storage temperature: see "Technical data".
■Relative humidity: see "Technical data".
■For storage periods of longer than 3 months, check the general condition of all
components and packaging on a regular basis.
4 TRANSPORT AND STORAGE
20 O P E R A T I N G I N S T R U C T I O N S | TiM8xxP 8024355/15I9/2019-09-30 | SICK
Subject to change without notice