SICK TiM4 Series Operating Instructions Manual
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SICK TiM4 Series Operating Instructions Manual

SICK TiM4 Series Operating Instructions Manual

2d lidar sensors
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O P E R A T I N G I N S T R U C T I O N S
TiM4xx
2D LiDAR sensors

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Summary of Contents for SICK TiM4 Series

  • Page 1 O P E R A T I N G I N S T R U C T I O N S TiM4xx 2D LiDAR sensors...
  • Page 2 This work is protected by copyright. Any rights derived from the copyright shall be reserved for SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Any modi‐...

  • Page 3: Table Of Contents

    Electrical block diagram for commissioning........... Wiring instructions..................Connection diagram................. 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx Subject to change without notice...
  • Page 4 12.1 EU declaration of conformity/Certificates..........12.2 Licenses....................12.3 Cybersecurity.................... O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...

  • Page 5: About This Document

    … highlights useful tips and recommendations as well as information for efficient and trouble-free operation. 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx...

  • Page 6: Further Information

    Other publications related to the devices described here • Publications dealing with accessories O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...

  • Page 7: Safety Information

    (navigation and anti-collision of mobile platforms). SICK AG assumes no liability for losses or damage arising from the use of the product, either directly or indirectly. This applies in particular to use of the product that does not conform to its intended purpose and is not described in this documentation.

  • Page 8: Modifications And Conversions

    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.

  • Page 9: Operational Safety And Particular Hazards

    Install the grounding for the product and the system in accordance with national ■ and regional regulations. 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx Subject to change without notice...

  • Page 10: Product Description

    2x fastening clip with M3 x 5 mm countersunk screw, self-locking (optional) O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...

  • Page 11: Display And Operating Elements

    Housing 3: IP64 housing without heating “Empty”: standard 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx Subject to change without notice...

  • Page 12: Product Identification

    If a laser beam strikes an object, the position of that object is determined in terms of distance and direction. O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...

  • Page 13: Range Finding

    The reflec‐ tion is registered by a photosensitive element in the device receiver. The device uses SICK’s own HDDM/HDDM+ (High Definition Distance Measurement) technology. With this measurement process, a measured value is formed by adding together multiple single pulses.

  • Page 14: Object Sizes

    LiDAR sensor and the object must not be moving. O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...

  • Page 15: Impact Of Object Surfaces On The Measurement

    120 … 150% Steel (high gloss) 140 … 200% 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx Subject to change without notice...
  • Page 16 (cat’s eyes), reflective tape, and triple prisms have these properties. Figure 8: Retroreflection O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...

  • Page 17: Scanning Range

    (“Data output” > “Output range”) or the media filter. 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx...
  • Page 18 … 0 1100 1100 1150 1150 1380 1380 … O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...
  • Page 19 (e.g., 2 averagings = 134 ms, 10 averagings =670 ms). 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx...

  • Page 20: Transport And Storage

    For storage periods of longer than 3 months, check the general condition of all ■ components and packaging on a regular basis. O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...

  • Page 21: Mounting

    The marking (90° axis) on the upper side of the optics cover serves as a alignment aid. 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx...

  • Page 22: Mutual Interference

    Figure 13: Angle ≥ 6° Figure 14: Distance ≥ 200 mm O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...

  • Page 23: Electrical Installation

    Figure 15: Example: Occurrence of equipotential bonding currents in the system configuration System controller Device Voltage supply 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx Subject to change without notice...
  • Page 24 Grounding point 1 Metal housing Shielded electrical cable Optical fiber O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...
  • Page 25 Under certain circumstances, a tangible potential can develop between the insulated metal housings and the local ground potential. 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx...

  • Page 26: Electrical Block Diagram For Commissioning

    The recommended connecting cables and their associated technical data can be found online at: www.sick.com/TiM4xx 6.4.1 TiMxxx-20xxxxx Power connection O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...

  • Page 27: Connecting The Device Electrically

    The structure and wiring principle of the digital output are shown below. 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx Subject to change without notice...
  • Page 28 Δ U = (2 x length x current) : (conductance value x cross-section) Conductance value for copper: 56 m/Ω mm O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...

  • Page 29: Operation

    You can install this in SOPAS ET using the device catalog. The device description file is saved on the device and can be installed there. Alternatively, installation is possible from the SICK website (Internet connection required). Use the wizard in SOPAS ET to do this.

  • Page 30: Parameter - Network

    O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...

  • Page 31: Parameter - Data Processing

    Command Request data String LMDscandata 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx Subject to change without notice...

  • Page 32: Ros Driver

    Suitable drivers for integrating the device into the ROS (Robot Operating System) are available for download on the product page: www.sick.com/TiM4xx O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...

  • Page 33: Maintenance

    5600006). Rinse off coarse dirt first with water. The cleaning interval essentially depends on the ambient conditions. 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx...

  • Page 34: Troubleshooting

    (Complete view, Configuration tab, Start Diagnosis button). Repairs Repair work on the device may only be performed by qualified and authorized personnel from SICK AG. Interruptions or modifications to the device by the customer will invali‐ date any warranty claims against SICK AG. Returns Do not dispatch devices to the SICK Service department without consultation.

  • Page 35: Technical Data

    < -15 °C: 7.5 m (typical) 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx Subject to change without notice...

  • Page 36: Performance

    Optical indicators 2 LEDs (ON, Device Ready) O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...

  • Page 37: Mechanics/Electronics

    Contamination level 3 outside the housing tions (EN 61010-1:2011-07) 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx Subject to change without notice...
  • Page 38 -25 … +50 °C 10 cycles change (EN 60068-2-14: 2009) O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151//2020-11-15 | SICK Subject to change without notice...

  • Page 39: Accessories

    Accessories and where applicable mounting information can be found online at: • www.sick.com/TiM4xx 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx Subject to change without notice...

  • Page 40: Annex

    12.2 Licenses SICK uses open source software which is published by the rights holders under a free license. Among others, the following license types are used: GNU General Public License (GPL version 2, GPL version 3), GNU Lesser General Public License (LGPL), MIT license, zlib license and licenses derived from the BSD license.
  • Page 41 ANNEX 8026151//2020-11-15 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx Subject to change without notice...
  • Page 42 E-Mail office@sick.com.gr E-Mail info@sick.ru Vietnam Hong Kong Singapore Phone +65 6744 3732 Phone +852 2153 6300 Phone +65 6744 3732 E-Mail sales.gsg@sick.com E-Mail ghk@sick.com.hk E-Mail sales.gsg@sick.com Detailed addresses and further locations at www.sick.com SICK AG | Waldkirch | Germany | www.sick.com...

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