SICK multiScan136 Operating Instructions Manual
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SICK multiScan136 Operating Instructions Manual

3d lidar sensor
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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
multiScan136
3D LiDAR sensor

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Summary of Contents for SICK multiScan136

  • Page 1 O P E R A T I N G I N S T R U C T I O N S multiScan136 3D LiDAR sensor...
  • 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 | multiScan136 8027119/0000/2022-11 | SICK Subject to change without notice...

  • Page 3: Table Of Contents

    Scanning range................ 3.4.12 RSSI values................Transport and storage............... 35 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 4 10.2 Mechanics/Electronics................10.3 Dimensional drawing................10.4 Performance..................... 10.5 Interfaces....................O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK Subject to change without notice...
  • Page 5 Annex....................59 12.1 Declarations of conformity and certificates..........12.2 Licenses....................8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...

  • Page 6: About This Document

    … highlights useful tips and recommendations as well as information for efficient and trouble-free operation. O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...

  • Page 7: Further Information

    Certificates (e.g., declaration of conformity) • Other publications • Software • Accessories 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...

  • Page 8: Safety Information

    Contact option for reporting vulnerabilities • Information on known vulnerabilities (security advisories) O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK Subject to change without notice...

  • Page 9: Limitation Of Liability

    Knowledge of the software and hardware environment for the ■ particular application 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...

  • Page 10: Operational Safety And Specific Hazards

    Install the grounding for the product and the system in accordance with national ■ and regional regulations. O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK Subject to change without notice...

  • Page 11: Product Description

    Figure 1: Position of the four status LEDs, front and top view LED1 LED2 LED3 LED4 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...

  • Page 12: Type Label

    Conformity mark/certification mark, protection class, symbol: Observe the operating instructions! O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK Subject to change without notice...

  • Page 13: Principle Of Operation

    8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 14 The scan layers are numbered in ascending order - starting with 1 - with descending elevation angle. O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...
  • Page 15 Scan layers with an elevation angle < 0° Scan layers with an elevation angle > 0° 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 16 Figure 8: Cone-shaped scan layer as the cause for a bent scan line O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...

  • Page 17: Range Finding

    8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...

  • Page 18: Direction Measurement

    This enables the device to reliably detect an object even, for example, when the vehicle accelerates or brakes. O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...

  • Page 19: Coordinate System

    8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 20 The data is always output in the device coordinate system, not in the world coordinate system. O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...

  • Page 21: Filter

    8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...

  • Page 22: Echo Filter

    If the particle filter is activated, measurement data output is delayed by one scan. O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...

  • Page 23: Moving Average Filter

    (e.g., 2 averaging operations = 100 ms, 10 averaging operations = 500 ms). 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...

  • Page 24: Data Reduction Filter

    The scan layer filter can be used to hide the measurement data of individual scan layers. O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...

  • Page 25: Region Of Interest

    8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 26 14 (high resolution) - 35.4° 35.4° - 37.2° 37.2° - 42.8° 42.8° O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK Subject to change without notice...

  • Page 27: Segmented Data Output

    [t_(i-1),t_i], which means the motor rotates by 30° during that time interval. 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...

  • Page 28: Data Preparation

    O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...

  • Page 29: Ros Driver

    The formula is only valid for objects larger than 13 mm. 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...

  • Page 30: Impact Of Object Surfaces On The Measurement

    Figure 25: Reflection of light on the surface of the object O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK Subject to change without notice...
  • Page 31 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...

  • Page 32: Scanning Range

    Figure 30: Scanning range as a function of the remission factor for various ambient light influen‐ ces (no filter activated; no influence from fog, rain or dust) O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...

  • Page 33: Rssi Values

    0 and 1 using a resolution specific to the data format (see "Data formats", page 25). 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 34 The RSSI values are sensor-specific, relative values that can vary slightly between different devices and during the service life of the device. O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...

  • Page 35: Transport And Storage

    For storage periods of longer than 3 months, check the general condition of all components and packaging on a regular basis. 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 36 The system plug, the seal on the device, and the entire connection area are free of contamination and moisture and show no signs of damage. O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...
  • Page 37 Perform a fine adjustment using a test target and, if necessary, use the alignment aid. 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 38 O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...
  • Page 39 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 40 Grounding point 2 Closed current loop with equalizing currents via cable shield O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK Subject to change without notice...
  • Page 41 Within the islands, a stable equipotential bonding prevents equalizing currents on the cable shields. 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 42 The following formulas can be used to estimate the required cable lengths or supply voltages. Other conditions of the system must be considered in detail. O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...
  • Page 43 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 44 NOTICE Observe the wiring instructions, see "Wiring instructions", page O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK Subject to change without notice...
  • Page 45 Connect the device according to the connection diagram, see "Connection dia‐ gram", page 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 46 Workspace with live image and menu panels Status indicators LED display Device connection status O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK Subject to change without notice...
  • Page 47 A higher user level can change the password of a lower user level. 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 48 The most up-to-date version of the SOPAS ET software can be downloaded from www.sick.com/software, category: Configuration software, software type: SOPAS ET. O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...
  • Page 49 Information about the device is displayed in the device window and the device can also be configured here (Device> Open menu). 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 50 ■ ately for safety reasons and have it repaired by SICK. O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK Subject to change without notice...
  • Page 51 Description of the application • Description of the fault that occurred 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 52 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 | multiScan136 8027119/0000/2022-11 | SICK Subject to change without notice...
  • Page 53 Scanning range for 90 % 15 m @ 100 kLux remission factor 30 m @ 10 kLux 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 54 Scanning range for object with up to 90 % remission: 30 m Scanning range for object with up to 10 % remission: 12 m O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...
  • Page 55 Cycle: 30 seconds per position • Rotational speed of test specimen: 5 rpm 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 56 Temperature drift: Typically ± 0.5 mm/K Statistical error ≤ 20 mm Integrated application Data output O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK Subject to change without notice...
  • Page 57 Max 90 % air humidity (non-condensing) humidity Ambient light immunity 100 klx 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 58 O P E R A T I N G I N S T R U C T I O N S | multiScan136 8027119/0000/2022-11 | SICK...
  • Page 59 Printed copies of the license texts are also available on request. 8027119/0000/2022-11 | SICK O P E R A T I N G I N S T R U C T I O N S | multiScan136 Subject to change without notice...
  • Page 60 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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