SICK TiM55x/TiM56x/TiM57x/TiM58x 2D LIDAR SENSORS Mode d'emploi

Marque: SICK

Modèle: TiM55x/TiM56x/TiM57x/TiM58x 2D LIDAR SENSORS

Taper: Mode d'emploi

8015886/122G/2018-12-06 • Subject to change without notice • SICK AG • Waldkirch • Germany • www.sick.com TIM55X/TIM56X/TIM57X/TIM58X| SICK 1

TiM55x / TiM56x /

TiM57x / TiM58x

Correct use

The TiM55x/TiM56x/TiM57x/TiM58x laser scanner (referred

to as the TiM below) is intended for use as a non-contact

measurement sensor in standalone operation. It measures

radial distances within a at surface (circle segment) de-

pending on reectivity. The TiM displays the measured values

of the recorded environment contour of its scanning angle

of 270° over the Ethernet or USB interface for further pro-

cessing as either a one-o or continuously on request. This

requires a corresponding driver to be created by the user.

The device is designed for portable or stationary use indoors

or outdoors in standalone operation, with a scanning range

of up to 10 m.

The purpose of this instruction manual is to allow you to put

the TiM into operation quickly and easily and to achieve the

rst measured value outputs and the rst detection results.

Further information on the mechanical and electrical instal-

lation as well as on the measured value output is available in

the & Technical Information (Nr. 8015883). This information

is available for download on the TiM product page (www.sick.

com/tim5xx).

The TiM is certied to IEC/EN/UL/CSA 61010-1:2007. These

operating instructions may contain passages of text in a

foreign language.

Safety information

• Read these instructions before commissioning the TiM

in order to familiarize yourself with the device and its

functions.

• The TiM corresponds to laser class 1 ( see “Laser radia-

tion! Page 3”).

• Mounting and electrical installation are to be performed

only by qualied technicians.

• Electrical connections between the TiM and other devices

may only be created or xed when there is no power to the

system. Otherwise, the devices may be damaged.

• Conducting cross sections of the supply cable from the

customer's power system should be designed in accor-

dance with the applicable standards. Secure the TiM with

an external 0.8 A slow-blow fuse at the start of the supply

cable, from the perspective of the supply voltage.

• All circuits connected to the TiM must be designed SELV

or PELV circuits. (SELV = Safety Extra Low Voltage, PELV =

Protective Extra Low Voltage).

• Use the device only under permitted environmental

conditions (e.g. temperature, grounding potential,  see

“Technical data Page 3”).

• Turn the swivel connector unit with the electrical connec-

tions max 180° from end position to end position.

• Protect the TiM against moisture and dust when the cover

to the USB socket is open. The black plastic cover must

be screwed ush in order to comply with enclosure rating

IP 67 in operation.

• Opening the screws of the TiM housing will invalidate any

warranty claims against SICK AG.

• The TiM does not constitute personal protection equip-

ment in accordance with the respective applicable safety

standards for machines.

Commissioning and conguration

Step 1: Electrical installation

1. Connect the communication interface of the TiM to the

PC (Ethernet or USB; recommended Ethernet, 4-pin M12

outlet).

> If using a USB, connect the TiM's Micro USB port (behind

the black plastic cover on the side) to a free USB port (type

A) on the PC using a suitable shielded high-speed USB

cable (e.g. no. 6036106, 2 m).

The USB cable may not exceed 3 m in length!

When operating the USB interface, ESD/EMC interfer-

ences can lead to an interruption of the USB connection.

To continue with the data transfer, disconnect the USB

cable from the TiMand reattach it to establish contact. To

re-establish communication between TiM and PC in the

SOPAS communication software, select

CommuniCation >

o online .

2. Turn on and start the PC.

Provide power to the TiM (5-pin M12 plug).

Using the power supply unit it must be ensured that the

supply voltage does not drop below 8 V for longer than 2

ms and never rises above 30 V.

Following successful initialization, the green LED lights up

▸" (device ready for operation).

SOPASSOPAS

„Power/Out“

„USB 2.0“

Configuration

Diagnosis

TiM

Connection

box

USBUSB

Driver for request of

measurement values

and further data

processing

SYNC/

Device Ready

„Ethernet“

EthernetEthernet

DC 9 ... 28 V

delay-

action

fuse

0,8A/T

Measurement mode: Electrical block diagram for commissioning

Step 2: Mounting and alignment

NOTE

During installation make sure there is no reective surface

behind the reference target see “Device overview Page

3”, point

â.

1. Optional: mount the TiM to separately ordered mounting

accessories (mounting kit 2), see "Mounting" Chapter in

the & Technical Information (Nr. 8015883).

2. Otherwise, mount the two straight plates from the

enclosed mounting kit 1 on the TiM using two M3 screws.

Use the two blind-hole threads either on the underside or

back of the housing ( see “Device overview Page 3”).

If the straight plates are not used, screw the screws provid-

ed by the customer max. 2.8 mm into the thread.

3. Mount the TiM on a prepared bracket.

The device should be as free from shock and vibration as

possible during operation (e.g. using vibration dampers).

4. Align the 90° axis of the TiM's scanning angle with the

center of the area to be monitored. The

marking on the

lid of the optical hood serves as a bearing alignment aid

( see “Device overview Page 3”, point

ã).

2D LiDAR sensors

OPERATING INSTRUCTIONS

Range diagram for TiM55x/TiM56x

Range diagram for TiM57x/TiM58x

Scanning range in m (feet)

Scanning range max. 10 m (32.81 feet)

Scanning range typical 8 m (26.25 feet)

for objects up to 10 % remission

180°

‒45°

225°

270°

90°

0°

(19.69)

(6.56)

(19.69)

(32.81)

(45.93)

(32.81)

(45.93)

(19.69)

(45.93)

(32.81)

Scanning range in m (feet)

Scanning range max. 25 m (82.02 feet)

Scanning range typical 8 m (26.25 feet)

for objects up to 10 % remission

180°

‒45°

225°

270°

90°

0°

(65.62)

(32.81)

(98.43)

(65.62)

(32.81)

(98.43)

TIM55X/TIM56X/TIM57X/TIM58X | SICK 8015886/122G/2018-12-06 • Subject to change without notice • SICK AG • Waldkirch • Germany • www.sick.com2

b. Output of measured values

If the TiM receives one of the two following commands by tele-

gram over the Ethernet or USB interface it will start the output

of measured values in real time over these data interfaces.

The detailed construction of the output telegram as well

as the ow of requests and outputs is described in the

"Measured value output“ in the & Technical Information

(Nr. 8015883).

Activate the output of the measured values in SOPAS on a

trial basis:

1. Start the terminal emulator with the

button.

2. Select the

ConneCt... command in the ConneCtions menu

in the dialog window and establish communication with

the TiM over the Ethernet or USB interface.

3. Enter one of the two telegrams in the "Send telegram"

input line as they appear (automatically framed by STX and

ETX when sending in the default setting). Pay attention to

blank characters in the string.

4. Use the

button to transfer the telegram to the TiM.

The TiM responds by providing the data as a one-o or

continuously in the display area of the terminal emulator.

Data output format of the measured values

The data output format per scan is comprised of the

measured values (radial distance, RSSI), device and status

information and time stamp.

In the default settings, the distance is output as a measured

value (in mm).

In order to output remission values in the telegram, select the

Rssi checkbox.

To display the remission values in the scan as well, select the

Rssi... checkbox.

Output range of the measured values

The TiM scans an angle range of 270°(-45° to 225°) and

outputs 271 measured values per scan in the default setting.

The angle range for which measured values can be output

can be set via

output RanGe (TiM55x: resolution 1°, TiM56x/

TiM57x/TiM58x: resolution 0.33°).

Some other useful functions

•

button: Display the elds in the polar coordinate

system

•

button: Change the view of the TiM from above (TiM:

black) to the view from below (TiM: blue)

•

or button: Switch o the display the full measur-

ing line or display a dotted measuring line.

Completing the conguration

> Permanently save the entire conguration:

Parameter set in: TiM click the

button

Conguration le on the PC: click the

button.

One-o output of measured values:

Telegram layout: sRN LMDscandata

Telegram part Description Variable type Length

(byte)

Value range

Command type Request (SOPAS read by name)

string 3 sRN

Command Request data

string 11 LMDscandata

Example:

Telegramm type Command

ASCII <STX>sRN{SPC}LMDscandata<ETX>

HEX 02 73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 03

Binary 02 02 02 02 00 00 00 0F 73 52 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 05

Continuous output of measured values:

Telegram structure: sEN LMDscandata measurement start/stop

Telegram part Description Variable type Length

(byte)

Value range

Command type Request (SOPAS event by name)

string 3 sEN

Command Request data

string 11 LMDscandata

StartStop measure-

ment

Enum8 1 0 Stop measured value output

1 Start measured value output

Example:

Telegramm type Command

ASCII <STX>sEN{SPC}LMDscandata{SPC}1<ETX>

HEX 02 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 31 03

Binary 02 02 02 02 00 00 00 11 73 45 4E 20 4C 4D 44 73 63 61 6E 64 61 74 61 20 01 33

Step 3: Commissioning/Conguration

a. Installing and launching the SOPAS congura-

tion software

The SOPAS conguration software is used as standard to

display the surrounding contour (measuring line) recorded

by the TiM, as well as diagnostic information in the event of

an error.

1. Download and install on the PC the software from the

website “www.sick.com/SOPAS_ET“, software type SOPAS

ET. In this case, select the "Complete" option as selected

by the installation wizard. Administrator rights may be

required on the PC to install the software.

2. Start the "SOPAS" program option after completing the

installation.

Path: Start > Programs > SICK > SOPAS Engineering Tool

> SOPAS.

3. Establish communication between SOPAS and TiM via the

wizard that has started automatically: Select

ConneCt to a

new deviCe.

4. Follow the steps in the Connection Wizard until the Found

deviCes window.

5. Select the appropriate TiM from the list of available

devices:

• Use TiM on port 2111 to congure the device.

• Use TiM on port 2112 to view only measurement data.

Default IP address of the TiM:

6. Assign the required IP address/subnet mask to the TiM

via

automatiCally or manually. The IP address/subnet

mask should correspond to the address space of the later

application.

7. Click

Finish to quit the Connection Wizard.

SOPAS ET establishes communication with the TiM, loads

its current device description (parameters), and displays it

in the navigation tree.

SOPAS ET program window for TiM

Navigation tree (left) and respective device pages (right)

8015886/122G/2018-12-06 • Subject to change without notice • SICK AG • Waldkirch • Germany • www.sick.com TIM55X/TIM56X/TIM57X/TIM58X| SICK 3

Description of the device

Device overview

All dimensions in mm (inch)

225°‒45°

180°0°

85.75 (3.38)

27.3

[24.4

62.46

(2.46)

60 (2.30)

0.7 (0.03)

[68.8 (2.71)]

[76.25

(3.00)]

(2.40)

46.71 (1.84)

74.39 (2.93)

101.12 (3.98)

17.37

(0.68)

51 (2.01)

30°

90°

Mounting set 1

2 x

51 (2.01)

44.79 (1.76)

16.79

(0.66)

33 (1.3)

[Ø 4.3

(0.17)

]

(0.96)]

(1.07)

(0.31)

24.4

(0.96)

1 2 x straight plates with M3 x 4 mm screw (included in delivery)

2 M3 threaded mounting hole, 2.8 mm deep (blind hole thread)

3 Optical hood

4 Receiving range (light inlet)

5 Transmission range (light emission)

6 Push-button (no function)

7 Red and green LED (status displays)

8 Swivel connector unit with electrical connections  and á

9 Micro USB port, behind the black rubber plate

('Aux interface' connection for conguration with PC)

ß Connection "Power/Synchronization output“ 5-pin, M12 outlet

à Marking for the position of the light emission level

á Ethernet connection, 4-pin M12 port

â Area in which no reective surfaces are allowed for mounted devices

ã Bearing marking to support alignment (90° axis)

ä 270° aperture angle (visual range)

a CAUTION

Laser radiation!

CLASS 1 LASER PRODUCT

The TiM corresponds to laser class 1 (eye-safe).

The laser beam is not visible to the human eye.

CAUTION – the use of controls, or adjustments or perfor-

mance of procedures other than those specied herein may

result in hazardous radiation exposure.

> Do not open the housing (opening the housing will not

switch o the laser).

> Pay attention to the laser safety regulations as per

IEC 60825-1 (latest version).

a MISE EN GARDE

Rayonnement laser !

APPAREIL À LASER DE CLASSE 1

Le TiM est conforme à la classe laser 1 (sécurité des yeux).

Le rayon laser n’est pas visible pour l’oeil humain.

PRUDENCE – tout usage de commandes, réglages ou toute

application de procédures autres que ceux décrits dans ce

document peut entraîner une exposition dangereuse au

rayonnement.

Attention – L’utilisation des commandes ou réglages ou l’ex-

écution des procédures autres que celles spéciées dans les

présentes exigences peuvent être la cause d’une exposition à

un rayonnement dangereux.

> Ne pas ouvrir le boîtier. (La diode laser n’est pas désac-

tivée en cas d’ouverture du boîtier)

> Se conformer aux dernières consignes de protection en

date contre le rayonnement laser IEC 60825-1 (dernière

version).

Additional information  see “Technical data Page 3”.

Status indicators, functions

* Push-button with no function

Status displays

LED a

(red)

LED b

(green)

Status

–

Device ready/monitoring mode



–

Error

– –

Device without supply voltage

O = illuminated;  = ashing

Function of the synchronization output (SYNC/De-

vice Ready)

The synchronization output works with the following levels:

Function Level

Device Ready High

Index signal (15 Hz), corresponds to measurement

at 90°

Low peaks

Error Low

Technical data

Model name TiM55x (Artikel-Nr. 1060445)

TiM56x (Artikel-Nr. 1071419)

TiM57x (Artikel-Nr. 1075091)

TiM58x (Artikel-Nr. 1099504)

Scanning range

Radial, aperture angle 270° in 1° steps

Angular resolution

TiM55x: 1°

TiM56x/TiM57x/TiM58x: 0.33°

Scanning fre-

quency

15 Hz (15 scans/s)

Response time

Typical 67 ms (2 scans)

Scanning range

0.05 m ... 10 m (TiM55x/TiM56x),

0.05 m ... 25 m (TiM57x/TiM58x);

typically 8 m at 10% remission

Remission

Typical 4% ... > 1,000 % (reector)

Physical Minimum

object size

(cross-section)

213 mm (TiM55x) / 121 mm

(TiM56x/TiM57x/TiM58x) for a scanning

range of 8 m, 112 mm (TiM55x) / 66 mm

(TiM56x/TiM57x/TiM58x) for a scanning

range of 4 m,

61 mm (TiM55x) / 38 mm (TiM56x/TiM57x/

TiM58x) for a scanning range of 2 m and 10%

remission

Measurement

error (typically)

Statistical (1 s): 20 mm

Systematic: ± 60 mm

Temperature drift 0.5 mm/K

Measurement

technology

TiM55x/TiM56x/TiM57x: HDDM

TiM58x: HDDM+

Band width (scan

eld atness)

± 3°

Ambient light

immunity

80,000 lx (indirect)

Light source

Laser diode, infrared (λ = 850 nm)

Max. radiation

power

2.0 W (TIM55x)

1.5 W (TIM56x/TiM57x/TiM58x)

Max. pulse

duration

5 ns

Device laser class

Laser class 1 according to EN 60825-1:

2014

, eye-safe

Output of mea-

sured values

Radial distance, reectivity value, device and

status information, time stamp

Aux interface

USB 2.0 for conguration and measure value

outputs (15 Hz), connecting cable max. 3 m.

Ethernet interface Max. data rate: 10 Mbit and 100 Mbit, cable

length limited to max. 100 m

Switching inputs –

Switching outputs 1 x SYNC/Device Ready (I

≤ 100 mA),

not electrically isolated from the supply

voltage. Short-circuit protected / temperature

protected

Electrical connec-

tions

1 x 4-pin M12 plug (Ethernet)

1 x 5-pin M12 plug (power)

1 x Micro-USB port, type B (covered)

Optical indicators 2 x LED

TIM55X/TIM56X/TIM57X/TIM58X | SICK 8015886/122G/2018-12-06 • Subject to change without notice • SICK AG • Waldkirch • Germany • www.sick.com4

Model name TiM55x (Artikel-Nr. 1060445)

TiM56x (Artikel-Nr. 1071419)

TiM57x (Artikel-Nr. 1075091)

TiM58x (Artikel-Nr. 1099504)

Supply voltage DC 9 ... 28 V, SELV and PELV according to

IEC 60364-4-41: 2005-12

Power consump-

tion

4 W (with unloaded synchronization output)

Housing Lower part: Die-cast aluminum, optics hood:

Polycarbonate with scratch-proof coating

Weight

Approx. 250 g

Electrical safety

According to IEC 61010-1 (ed.3)

Protection class

III according to EN 61140: 2006-08

IEC 61010-1 (ed.3)

Enclosure rating

IP 67 (EN 60529: 1991-10/A2: 2000-02).

No specied enclosure rating for opened

"Aux interface" connection and/or plugged in

USB cable!

EMC

Radiated emission: Residential area according

to EN 61000-6-3: 2007-01

Electromagnetic immunity: Industrial environ-

ment according to EN 61000-6-1: 2007-10

ANSI C63.4:2014

FCC 47 CFR Part 2: (June 2016)

FCC 47 CFR Part 15, Subpart B: (June 2016)

ICES-003 Issue 6: (January 2016)

Vibration resis-

tance

According to EN 60068-2-6: 2008-02

Shock resistance

According to EN 60068-2-27: 2009-05

Ambient tempera-

ture

Commissioning/switching on: –10 ... +50 °C

Operation: -25 ... +50 °C

Storage: -40 ... +75 °C

Air humidity

< 80%

Temperature

change

According to EN 60068-2-14: 2009-07

Damp heat

According to EN 60068-2-30: 2005-12

Installation height

< 5,000 m above sea level

Ambient condi-

tions

According to EN 61010-1:2011-07, contamina-

tion level 3 outside housing

1) Technical data such as measurement errors and sensing range can only be

guaranteed up to a sensing range of 10 m.

2) T < -15 °C: typ. 7.5 m at 10% Remission

3) For temperatures >-10 °C; without reectors

4) Complies with 21 CFR 1040.10 and 1040.11 except for the deviations pursu-

ant to Laser Notice No. 50 of June 2007

For further technical specications, see the Online data sheet

on the product website (www.sick.com/tim5xx)

a WARNING

Risk of potential equalization currents

The TiM is designed to be operated in a system with pro-

fessional grounding of all connected devices and mounting

surfaces to the same ground potential. If this condition is not

met, potential equalization currents may through along the

cable shields, causing the following hazards:

• Dangerous contact voltage on the metal housing

• Malfunction or destruction of the TiM

• Heating of the cables with possible spontaneous combus-

tion.

> See the "Electrical Installation" chapter in the & Technical

Information (Nr. 8015883) on the product website (www.

sick.com/tim5xx) for measures for eliminating hazards.

a ATTENTION

Risques liés à des courants d’équipotentialité

Le TiM a été conçu pour être utilisé dans une installation

prévoyant une mise à la terre correcte de tous les appareils

et surfaces de montage raccordés sur un même potentiel de

sol. Si cette condition n’est pas remplie, des courants d’équi-

potentialité risquent dans certaines conditions de passer par

les blindages des câbles et d’exposer aux risques suivants :

• tension de contact dangereuse sur le boitier en métal,

• comportement incorrect ou destruction du TiM.

• chaue des câbles jusqu’à leur inammation spontanée.

> Pour des mesures de prévention de tels risques, voir le

chapitre « Installation électrique » de & l’Information tech-

nique (no. 8015883) ou sur la page produit sur internet

(www.sick.com/tim5xx).

Pin assignment for swivel connector unit

POWER connection (supply voltage)

Connection “Power”

5-pin M12 plug

DC 9 … 28 V

SYNC/DEVICE READ

GND

n.c.

Cable no. 6036159 (5 m)

M12 - A / Socket

Illustration may differ

Pin Signal Function Wire color

1 24 V Supply voltage IN (9 ... 28 V) Brown

2 SYNC/Device

Ready

Synchronization output White

3 GND SYS Ground Blue or Yellow

4 Not assigned

5 Not assigned

Pin assignment of the 5-pin M12 POWER outlet (A-coded), straight, to

the cable and wire colors of the open cable end.

Ethernet connection (6034415)

TD+

TD–

RD+

RD–

“Ethernet” connection

M12 socket,

D-encoded

Scope of delivery

• TiM including mounting kit 1 (two straight plates, 2

M3 x 4 mm screws)

• Printed operating instructions in German and English, in

other languages, as necessary.

• Other optional accessories (if these have been ordered)

Maintenance and care

The TiM does not contain any components that require main-

tenance. Maintenance is not necessary to ensure compliance

with laser class 1.

> If it is dirty, clean the infrared light permeable, black

optical hood for optimal measurement/detection perfor-

mance. Do this carefully using a damp cloth (with a mild

cleaning agent).

Transport and storage

The TiM must be transported and stored in its original pa-

ckaging with the USB protective cap plugged in. Do not store

outdoors. To ensure that any residual moisture present can

escape. Do not expose to aggressive media (e. g., solvents).

Storage conditions: dry, dust-free, no direct sunlight, as little

vibration as possible, storage temperature –40°C to +75°C,

relative air humidity max. 90% (non-condensing).

Repair

Repair work on TiM may only be performed by qualied and

authorized service personnel from SICK AG.

Removal and disposal

Any TiM which can no longer be used at the end of the

product life cycle must be disposed of in an environmentally

friendly manner in accordance with the respective applicable

country-specic waste disposal regulations.

The TiM is electronic waste and must under no circumstances

be disposed of with general waste!

Sources for obtaining additional informa-

tion

Additional information about the TiM and its optional

accessories can be found in the following places:

Product web page for the TiM5xx

(www.sick.com/tim5xx)

• Technical Information (supplementary information on

mounting and electrical installation, an overview list,

and license texts for open-source software) in German

(no. 8018552) and English (no. 8015883).

• These operating instructions in German (no. 8015885),

English (no. 8015886), and in other languages if

required

• SOPAS conguration software with online help

• Ordering information in the detection and ranging

solutions product catalog

• Detailed technical specications (online data sheet)

• Dimensional drawing and 3D CAD dimension models in

various electronic formats

• EC declaration of conformity

• SOPAS conguration software updates

Support is also available from your sales partner:

www.sick.com/worldwide.

SICK uses open source software in its TiM sensors.

This software is licensed by the rights holders using the

following licenses among others: the free licenses GNU

General Public License (GPL Version2, GPL Version3)

and GNU Lesser General Public License (LGPL), the MIT

license, zLib license, and the licenses derived from the

BSD license.

This Program is distributed in the hope that it will be

useful, but WITHOUT ANY WARRANTY; without even

the implied warranty for merchantability or tness for a

particular purpose.

See the GNU General Public License for more details. View

the complete license texts here:

www.sick.com/licensetexts

A printed copy of the license texts is also available on

request.

SICK TiM55x/TiM56x/TiM57x/TiM58x 2D LIDAR SENSORS Mode d'emploi

Marque: SICK

Modèle: TiM55x/TiM56x/TiM57x/TiM58x 2D LIDAR SENSORS

Taper: Mode d'emploi

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SICK TiM55x/TiM56x/TiM57x/TiM58x 2D LIDAR SENSORS Mode d'emploi

SICK TiM55x/TiM56x/TiM57x/TiM58x 2D LIDAR SENSORS Mode d'emploi

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