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SICK NAV310 Operating Instructions Manual
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SICK NAV310 Operating Instructions Manual

SICK NAV310 Operating Instructions Manual

2d 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
NAV310
2D LiDAR sensor

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Summary of Contents for SICK NAV310

  • Page 1 O P E R A T I N G I N S T R U C T I O N S NAV310 2D LiDAR sensor...
  • Page 2 © SICK AG. All rights reserved. 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 | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 3 4.9.4 Reflectors................. Mounting..................... 25 Overview of the mounting steps.............. Preparation for mounting................. 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 4 10.1 Glossary..................... 10.2 Declarations of conformity and certificates..........10.3 Cybersecurity.................... 10.4 Telegram listing (EN)................. O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 5 SICK OPEN PORTAL for APPLICATION and SYSTEMS ENGINEERING TOOL = Configuration software for configuring the device Protocol for user-programmed evaluation 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 6 … indicates a potentially dangerous situation, which may lead to minor/slight injuries if not prevented. O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 7 • Certificates (e.g., declaration of conformity) • Other publications • Software • Accessories 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 8 General safety notes and protective measures Observe the following to ensure the safe use of the device as intended. O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 9 Do not open the housing. • Observe the current safety regulations when working on electrical systems. 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 10 Dispose of all electronic assemblies as hazardous waste. The electronic assem‐ ► blies can be easily removed. O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 11 Included in the device packaging nection diagram for preliminary informa‐ tion Lens cloth – 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 12 Laser output aperture Scanner head Threaded mounting hole, M6×12 Back LED yellow (1) O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 13 The LEDs are located on the front of the device. 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 14 System error in the device. For troubleshooting infor‐ mation, See "Troubleshoot‐ ing", Page 35 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 15 Automated guided vehicles in general • Profile measurement with high measurement accuracy • Deep stacking 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 16 The scanning range of the device is therefore reduced. O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 17 This means the scanning range is less than would theoretically be possible due to the reflective property of the object's surface. 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 18 For reliable measurement, in particular when using the device to output measured values, the laser needs to hit the object several times. O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 19 The following functions can be carried out with telegrams: 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 20 The internal time stamp in the device is a 32-bit counter which increases in increments of 1 every 1 ms. O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 21 For the contents of the individual telegrams, See "Telegram listing (EN)", Page 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 22 This is used as a reference plane for the distance that must be maintained from the wall. O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 23 1000 mm for a measuring distance of up to 70 m. Due to the sender lens. 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 24 Reflector diameter The recommended diameter of cylindrical reflectors is 80 mm. O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 25 Unscrew the screws for mounting the device on the bracket and remove the device. 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 26 Function Ethernet_TX+ Ethernet interface Ethernet_RX+ Ethernet interface Ethernet_TX– Ethernet interface Ethernet_RX– Ethernet interface O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 27 Table 3: Maximum cable lengths for the supply voltage Conductor cross section Length of cable 0.25 mm² 5 m 0.5 mm² 10 m 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 28 Observe the maximum cable length, See "General requirements on the data inter‐ face", Page 28 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 29 Blue = do not use Red = do not use Image 12: RS-232 connection 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 30 Serial communication COM1: Default: 115,200 Bd, 8 data bits, no parity, 1 stop bit O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 31 Configuring with a fixed IP address ADVICE Deactivate all programs on your computer/notebook which access Ethernet or TCP/IP. 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 32 Opened project file with current parameter set Saved project file with archived parameter set (*.spr) Hard drive O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 33 The device operates maintenance-free except for the care measures mentioned below. No maintenance is necessary to ensure compliance with laser class 1. 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 34 Open the project file (spr file with configuration data) using SOPAS ET and transfer the configuration to the device, See "Initial commissioning", Page O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 35 If the red LED is still lit, blocked. inform SICK Service. 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 36 Repair work on the device may only be performed by qualified and authorized service personnel from SICK AG. O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 37 You can use the monitor to view the measurement data, the detected reflectors, and the position of the device. SOPAS: Project tree, NAV310, Monitor, Scan view. 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 38 0.5 A at 24 V DC Supply voltage 24 V DC ± 15 %/IEC 60364-4-41 (VDE 0100 Part 410) O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 39 RS-232 connection (M12x4, male connector) Ethernet connection (M12x4, female device connector) Power connection (12x5, male connector) 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 40 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 41 Change output 1 logic state [sWN DO1Logic]......10.4.1.4.5.7 Change output 2 function [sWN DO2Fnc]......8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 42 SICK devices and SICK specific tools and services only. Please read this chapter carefully before beginning to use the telegram listing. O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 43 16 = 4,294,967,295 digit pairs (bytes). 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 44 53 65 74 41 63 63 65 73 73 4D 6F 64 65 30 33 46 34 37 32 34 37 34 34 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 45 FlexArray is transferred as a UInt preceeding the Array itself. The types can be of a BasicType, a Struct or an Array again (n- dimensional). 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 46 See "Set frequency and angular sMN mLMPsetscancfg resolution/measurement sectors [sMN mLMPsetscancfg]", Page 50 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 47 "Log in [sMN SetAccessMode] ", Page 49 "Set frequency and angular resolution/measurement sectors [sMN mLMPsetscancfg]", Page 50 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 48 Copy example with framing (ASCII) CoLa A Copy example without framing (ASCII) Copy example with framing (Hex) O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 49 02 73 4D 4E 20 53 65 74 41 63 63 65 73 73 4D 6F 64 65 20 30 33 20 46 34 37 32 34 37 34 34 03 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 50 For more details on sector configuration see examples below. For complete workflow See "Parameterize the scan", Page O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 51 (not used). Example Image 15: Example - 1 measurement sector of 360° 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 52 DD DE 00 30 10 B0 00 00 13 88 00 00 00 00 00 00 00 00 00 00 13 88 00 00 00 00 00 00 00 00 00 00 13 88 00 00 00 00 00 00 00 00 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 53 09 C4 00 00 00 00 00 00 00 00 Example Image 18: Example - 4 measurement sectors 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 54 0° ... 360° 0h … 36EE80h 00 00 00 00 … 00 36 EE 80 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 55 4E2h … 2710h 00 00 04 E2 … resolution 00 00 27 10 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 56 73 4D 4E 20 6D 43 4C 73 65 74 73 63 61 6E 63 66 67 6C 69 73 74 20 01 O P E R A T I N G I N S T R U C T I O N S | NAV310...
  • Page 57 73 4D 4E 20 6D 45 45 77 72 69 74 65 61 6C 6C 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 58 String 52 75 6E Status Accepted when value is Bool_1 Error: code Success: O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 59 30 30 20 30 30 20 30 20 30 20 30 20 30 20 2B 31 03 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 60 String LMDscandata 4C 4D 44 73 63 61 6E 64 61 74 61 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 61 Values CoLa B part (ASCII) (Binary) Command Answer String 73 45 41 type 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 62 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 63 00 00 00 00 … tor offset measurement float FFFFFFFFh FF FF FF FF according IEEE754 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 64 Reserved - Enum_16 2 Always: 00 00 Reserved Reserved - Uint_16 Always: 00 00 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 65 … (00h … 17h) Minute Uint_8 +0d … +59d … (00h … 3Bh) 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 66 Activate time stamp in the output string format or on SOPAS page “data processing”. O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 67 (e.g. by trigger) changes. Compare sEN LIDinputstate 1 with chapter "Receive outputstate by event [sEN LIDoutputstate]", Page 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 68 Microsecond … 999999 00 00 00 00 … 00 0F 42 3F O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 69 Values CoLa B part (ASCII) (Binary) Command Event String 73 45 4E type 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 70 Time States code Uint_16 No time data: 00 00 Time data: 00 01 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 71 02 73 4D 4E 20 6D 44 4F 53 65 74 4F 75 74 70 75 74 20 31 20 31 03 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 72 CoLa A sWN DO1Fnc 2 73 57 4E 44 4F 31 46 6E 63 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 73 Command Output function String DO1Logic 44 4F 31 4C 6F 67 69 63 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 74 Change output 2 logic state [sWN DO2Logic] Specify the activation condition or behavior of digital output 2. O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 75 String DeviceIdent 44 65 76 69 63 65 49 64 65 6E 74 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 76 SCdevicestate 53 43 64 65 76 69 63 65 73 74 61 74 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 77 Motor blocked during operation → DEVICE_FAILURE • Motor blocked during spin up → CHECK_PARAMETER 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 78 4C 4D 43 6D state 65 61 73 73 74 61 74 65 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 79 45 4D 43 75 Info 73 74 6F 6D 65 72 49 6E 66 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 80 73 52 4E 20 4C 44 4D 53 65 6E 53 74 61 74 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 81 DIornr 02 73 52 4E 20 44 49 6F 72 6E 72 03 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 82 73 52 41 type Command Ask state String DItype 44 49 74 79 70 65 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 83 FF C9 11 80 … +3600000d 00 36 EE 80 (FFC91180h … 36EE80h) 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 84 Values CoLa B part (ASCII) (Binary) Command Write String 73 57 4E type O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 85 Command Read IP address String EIIpAddr 45 49 49 50 41 64 64 72 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 86 Command Set gateway adress String EIgate 45 49 67 61 74 65 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 87 Command Read gateway address String EIgate 45 49 67 61 74 65 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 88 Command Set IP mask String EImask 45 49 6D 61 73 6B O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 89 Command Read IP mask String EImask 45 49 6D 61 73 6B 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 90 19200: +6d (06h) 38400: +7d (07h) 57600: +8d (08h) 115200: +9d (09h) O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 91 02 73 57 4E 20 45 49 48 73 74 50 6F 72 74 20 2B 32 31 31 30 03 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 92 After switching the CoLa dialect by this telegram, you have to store the changes permanentely and reboot the sensor to activate the chosen CoLA dialect. O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 93 CoLa A 73 57 41 45 49 48 73 74 43 6F 6C 61 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 94 73 57 41 48 4D 49 66 70 46 63 6E 5F 59 31 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK...
  • Page 95 LED1 and LED2 must have been set to the right function ( sWN HMIfpFcn_ 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 96 6D 48 4D 49 53 65 74 4C 65 64 10.4.1.4.8 Application 10.4.1.5 Diagnostics 10.4.1.5.1 SOPAS error codes sFA ErrorCode O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 97 Sopas_Error_HubAddressCorrupted The Sopas Hubaddress is either too short or too long. 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 98 CoLa B 02 02 02 02 00 00 00 05 73 46 41 00 01 O P E R A T I N G I N S T R U C T I O N S | NAV310 8016535/1PCY/2024-09-17 | SICK Irrtuemer...
  • Page 99 ANNEX 8016535/1PCY/2024-09-17 | SICK O P E R A T I N G I N S T R U C T I O N S | NAV310 Irrtuemer...
  • Page 100 Phone +65 6744 3732 Phone +30 210 6825100 Phone +65 6744 3732 E-Mail sales.gsg@sick.com E-Mail office@sick.com.gr E-Mail sales.gsg@sick.com Hong Kong Slovakia Phone +852 2153 6300 Phone +421 482 901 201 E-Mail ghk@sick.com.hk E-Mail mail@sick-sk.sk Detailed addresses and further locations at www.sick.com SICK AG  |  Waldkirch  |  Germany  |  www.sick.com...