SICK TiM781 Operating Instructions Manual
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SICK TiM781 Operating Instructions Manual

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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
TiM781
2D LiDAR sensors

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  • Page 1 O P E R A T I N G I N S T R U C T I O N S TiM781 2D LiDAR sensors...
  • Page 2 Original document This document is an original document of SICK AG. O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 3: Table Of Contents

    Prerequisites for safe operation of the device........Electrical block diagram for commissioning........... Wiring instructions..................8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...
  • Page 4 Annex....................54 12.1 Declarations of conformity and certificates..........12.2 Licenses....................O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | 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. 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • 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 | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 7: Safety Information

    Contact option for reporting vulnerabilities • Information on known vulnerabilities (security advisories) 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 8: Limitation Of Liability

    Knowledge of the software and hardware environment for the ■ particular application O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 9: Operational Safety And Specific Hazards

    Install the grounding for the product and the system in accordance with national ■ and regional regulations. 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 10: Product Description

    Printed safety notes, multilin‐ Quick guide and general safety notes gual O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 11: Setup And Dimensions

    Connection for power supply, digital inputs/outputs, 12-pin M12 female connector. ß 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 12: Display And Operating Elements

    HDDM+ Housing 1: Housing IP67 without heating O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 13: Product Identification

    8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 14: Range Finding

    A measuring point is the average value of several measurements combined. Device Laser pulse O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 15: Object Sizes

    LiDAR sensor and the object must not be moving. 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 16: Impact Of Object Surfaces On The Measurement

    120 … 150% Steel (high gloss) 140 … 200% O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...
  • Page 17 (cat’s eyes), reflective tape, and triple prisms have these properties. Figure 8: Retroreflection 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 18: Scanning Range

    The better a surface reflects the incident beam back to the device, the greater the scanning range of the device. O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK...

  • Page 19: Filter

    8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...
  • Page 20 Scan For the variants TiM310 / TiM320, the maximum distance can be set to 4,000 mm. O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 21: Calculation Of The Field Size For Mobile Applications

    8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...
  • Page 22 LiDAR sensor and the vehicle control’s response time. O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK...
  • Page 23 (e.g., particle filter). 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...
  • Page 24 ZR = Supplement for application-related influences or the selected application parame‐ ters O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 25: Transport And Storage

    Do not expose to any aggressive substances. • Protect from sunlight. • Avoid mechanical shocks. 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...
  • Page 26 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 | TiM781 8024231/1G72/2022-05-27 | SICK...

  • Page 27: Mounting

    The marking (90° axis) on the upper side of the optics cover serves as a alignment aid. 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 28: Mutual Interference

    Figure 15: Angle ≥ 6° Figure 16: Distance ≥ 200 mm O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 29: Electrical Installation

    Figure 17: Example: Occurrence of equipotential bonding currents in the system configuration System controller Device Voltage supply 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...
  • Page 30 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 | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...
  • Page 31 Under certain circumstances, a tangible potential can develop between the insulated metal housings and the local ground potential. 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 32: Electrical Block Diagram For Commissioning

    The recommended connecting cables and their associated technical data can be found online at: www.sick.com/TiM7xx O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 33: Timxxx-21Xxxxx

    Disconnect USB cable from the device, then reconnect it. Restart communication via SOPAS ET software (“Online” button). 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 34: Connecting The Device Electrically

    Current to the input starts the assigned function in the device. Default: Active high level, debounce 10 ms O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK...
  • Page 35 Not electrically isolated from supply voltage U Electrical values see "Mechanics/electronics", page 51 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...
  • Page 36 Deactivated Deactivated Active - (no field infringed) Deactivated Deactivated Deactivated O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 37: Operation

    After you have completed the configuration, you must save it in the device permanently by pressing the Save permanent button. 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 38: Parameter - Network

    The size of field 2 corresponds to field 1 plus 25%. The size of field 3 corresponds to field 1 plus 52%. O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK...
  • Page 39 Teach-in completion: Ö LED flashes increasingly rapidly within 15 s 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...
  • Page 40 Read the field set selection method ( sRN FieldSetSelectionMethod O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 41: Monitor - Field Evaluation Monitor

    Like the response time and the holding time, the blanking size applies to all field sets and their fields. 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 42: Parameter - Fields

    ✓ SOPAS controls the available positioning area during shifting. O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...
  • Page 43 20 cm. 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 44: Measurement Data Output

    The angle range for which measured values can be output can be set using the Output range input field (resolution corresponds to the angular resolution of the device). O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK...

  • Page 45: Telegram

    The device responds by providing the data as a one-off or continuously in the 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 46: 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/TiM7xx O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 47: Maintenance

    5600006). Rinse off coarse dirt first with water. The cleaning interval essentially depends on the ambient conditions. 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 48: Troubleshooting

    Separate the recyclable materials by type and place them in recycling containers. ■ O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 49: Technical Data

    12195 measurement point(s) at ambient temperature < -15 °C: typ. 7.5 m 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 50: Performance

    Typical value at room temperature and up to a sensing range of 10 m at 90% remission, real value depends on ambient conditions, temperature drift: 0.5 mm/K O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK...

  • Page 51: Interfaces

    4% ... 1,000% (reflectors) Electromagnetic compati‐ IEC 61000-6-3:2006+AMD1:2010, IEC 61000-6-2:2005 bility (EMC) 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...
  • Page 52 Temperature change -25 °C… +50 °C, 10 cycles (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 | TiM781 8024231/1G72/2022-05-27 | SICK Subject to change without notice...

  • Page 53: Accessories

    Accessories and, if applicable, mounting information can be found online at: • www.sick.com/TiM7xx 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...

  • Page 54: Annex

    For license texts see www.sick.com/licensetexts. Printed copies of the license texts are also available on request. O P E R A T I N G I N S T R U C T I O N S | TiM781 8024231/1G72/2022-05-27 | SICK...
  • Page 55 ANNEX 8024231/1G72/2022-05-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM781 Subject to change without notice...
  • Page 56 Phone +7 495 283 09 90 E-Mail info@sick.com 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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