SICK TiM4 Series Operating Instructions Manual

2d lidar sensors

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Operating instructions manual (42 pages)

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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
Prerequisites for safe operation of the device........Electrical block diagram for commissioning........... 8026151/1LM2/2024-03-27 | 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 Annex....................48 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 | TiM4xx 8026151/1LM2/2024-03-27 | 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. 8026151/1LM2/2024-03-27 | 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
Further information More information can be found on the product page. The product page can be accessed via the SICK Product ID: pid.sick.com/{P/N}/{S/N} {P/N} corresponds to the part number of the product, see type label. {S/N} corresponds to the serial number of the product, see type label (if indicated).
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 Install the grounding for the product and the system in accordance with national ■ and regional regulations. 8026151/1LM2/2024-03-27 | 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
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 | TiM4xx 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 11: Setup And Dimensions
Marking for the position of the light emission level ß Ethernet connection, 4-pin M12 female connector à 8026151/1LM2/2024-03-27 | 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 Bearing marking to support alignment (90° axis) â 240° aperture angle (field of vision) ã O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 13 Area in which no reflective surfaces are permitted when the device is mounted á 8026151/1LM2/2024-03-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx...
Page 14: Display And Operating Elements
1: Pulse power up to 880 mW, pulse width up to 5 ns, pulse rate 1,500 kHz Color 06: Non-coated O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 15: Product Identification
Product ID with part number (P/N) and serial number (S/N) Voltage supply, maximum power consumption Production date MAC address Manufacturer/production location QR code with product data (part number, serial number), example: pid.sick.com/ 1090608/23000000 Conformity mark/certification mark Principle of operation 3.6.1...
Page 16: Distance Measurement
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 17 Minimum object size Light spot width Light spot height 8026151/1LM2/2024-03-27 | 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 18: Scan Field Flatness (Conical Error And Tilt)
Photographic board (black, matte) Cardboard (gray) Wood (untreated fir, soiled) O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 19 Plastic reflectors (cat’s eyes), reflective tape, and triple prisms have these properties. 8026151/1LM2/2024-03-27 | 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: 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 | TiM4xx 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 21: Rssi Values
(“Data output” > “Output range”) or the media filter. 8026151/1LM2/2024-03-27 | 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 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 | TiM4xx 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 23 The number of scans can be configured (maximum 4 scans). 8026151/1LM2/2024-03-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx...
Page 24 (e.g., 2 averaging operations = 134 ms, 10 averaging operations = 670 ms). O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 25: Transport And Storage
For storage periods of longer than 3 months, check the general condition of all components and packaging on a regular basis. 8026151/1LM2/2024-03-27 | 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: Mounting
The marking (90° axis) on the upper side of the optics cover serves as a alignment aid. O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 27: Mutual Interference
Figure 17: Angle ≥ 6° Figure 18: Distance ≥ 200 mm 8026151/1LM2/2024-03-27 | 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: Electrical Installation
If necessary: low-impedance and current-carrying equipotential bonding between ■ areas with different ground potentials O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 29 This measure achieves a high degree of resistance to electromagnetic interference. 8026151/1LM2/2024-03-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx...
Page 30 O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 31: Electrical Block Diagram For Commissioning
Figure 22: “Power, I/O” connection: With M12 male connector, 5-pin, A-coded; “Ethernet” con‐ nection: M12 female connector, 4-pin, D-coded 8026151/1LM2/2024-03-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx...
Page 32: Wiring Instructions
NOTE Pre-assembled cables can be found on the product page. The product page can be accessed via the SICK Product ID: pid.sick.com/{P/N}/{S/N} {P/N} corresponds to the part number of the product, see type label. {S/N} corresponds to the serial number of the product, see type label (if indicated).
Page 33: Connecting The Device Electrically
If inductive load is present: Provide an arc-suppression switch at the digital output. Attach a freewheeling diode directly to the load for this purpose. 8026151/1LM2/2024-03-27 | 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 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 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 35: 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 36 Change the device view. Device black: View from above, device blue: View from below. O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 37: Parameter - Network
Settings & Device Status. SOPAS immediately transfers these changes to the device (default setting). 8026151/1LM2/2024-03-27 | SICK O P E R A T I N G I N S T R U C T I O N S | TiM4xx...
Page 38: Parameter - Data Processing
Command Request data String LMDscandata O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 39: Ros Driver
Suitable drivers for integrating the device into the ROS (Robot Operating System) are available for download on the product page. The product page can be accessed via the SICK Product ID: pid.sick.com/{P/N}/{S/N} {P/N} corresponds to the part number of the product, see type label.
Page 40: Maintenance
The cleaning interval essentially depends on the ambient conditions. O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 41: Troubleshooting
The Reset password window appears. Enter the relevant data. NOTE Do not press Generate if an unlock code has already been requested from SICK. Only press this button if a new device code is required when inquiring again. Click Generate e-mail with data.
Page 42: Repairs
Assign the new password for the Service user level. 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 invalid‐ ate any warranty claims against SICK AG. Returns Only send in devices after consulting with SICK Service.
Page 43: Technical Data
Internet. The product page can be accessed via the SICK Product ID: pid.sick.com/{P/N}/{S/N} {P/N} corresponds to the part number of the product, see type label. {S/N} corresponds to the serial number of the product, see type label (if indicated).
Page 44: Performance
Only devices with HDDM measurement principle: Typical value at 10% remission up to 6 m sensing range; real value depends on ambient conditions. O P E R A T I N G I N S T R U C T I O N S | TiM4xx 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 45: Interfaces
Noise test: 10 … 250 Hz; 4.24 grms, 5 h (IEC 60068-2-64:2008) 8026151/1LM2/2024-03-27 | 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 46 -25 °C … +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 8026151/1LM2/2024-03-27 | SICK Subject to change without notice...
Page 47: Accessories
On the product page you will find accessories and, if applicable, related installation information for your product. The product page can be accessed via the SICK Product ID: pid.sick.com/{P/N}/{S/N} {P/N} corresponds to the part number of the product, see type label.
Page 48: 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 49 ANNEX 8026151/1LM2/2024-03-27 | 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 50 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...

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