SICK LiDAR Manuale

TECHNICAL INFORMATION

LiDAR Localization Hardware Integration

LiDAR localization

Described product

LiDAR Localization Hardware Integration

Manufacturer

SICK AG

Erwin-Sick-Str. 1

79183 Waldkirch

Germany

Legal information

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 modifica‐

tion, abridgment or translation of this document is prohibited without the express writ‐

ten permission of SICK AG.

The trademarks stated in this document are the property of their respective owner.

Original document

This document is an original document of SICK AG.

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Contents

1 About this document........................................................................ 4

1.1 Purpose of this document........................................................................ 4

1.2 Scope......................................................................................................... 4

1.3 Target groups............................................................................................ 4

1.4 Symbols and document conventions...................................................... 4

2 Safety information............................................................................ 5

2.1 General safety notes................................................................................ 5

3 Supported hardware......................................................................... 6

3.1 2D LiDAR sensors..................................................................................... 6

3.2 Localization controllers............................................................................ 6

4 Device overview................................................................................. 8

4.1 Device overview microScan3................................................................... 8

4.2 Device overview SIM1000 FXA................................................................ 9

5 Electrical installation........................................................................ 10

5.1 Important notes........................................................................................ 10

5.2 MicroScan3............................................................................................... 10

5.2.1 Electrical setup........................................................................ 10

5.3 SIM1000 FXA............................................................................................ 11

5.3.1 Preparations and overview...................................................... 12

5.3.2 Pin allocations of the connections......................................... 12

5.3.3 Network setup.......................................................................... 13

6 MicroScan3 configuration of the data output............................... 17

6.1 Important notes........................................................................................ 17

6.2 Overview.................................................................................................... 17

6.3 Activating and configuring data output................................................... 17

6.4 Single receiver of measurement data..................................................... 18

6.4.1 Configuring with the Safety Designer..................................... 18

6.5 Multiple receivers of measurement data via broadcast........................ 19

7 Operation............................................................................................ 21

7.1 Status LEDs SIM1000 FXA...................................................................... 21

8 List of figures..................................................................................... 23

9 List of tables....................................................................................... 24

CONTENTS

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Subject to change without notice

1 About this document

1.1 Purpose of this document

This additional technical note describes the hardware integration and how to enable the

measurement data of the 2D LiDAR sensor.

The full operating instructions of the used 2D LiDAR sensor must be made available to

all people who work with the device.

1.2 Scope

This document is included with the following SICK part numbers (this document in all

available language versions):

•8024819

1.3 Target groups

This document is written for system specialists working in the field of hardware devel-

opment intending to integrate the LiDAR localization system in their application.

1.4 Symbols and document conventions

The following symbols and conventions are used in this document:

Safety notes and other notes

DANGER

Indicates a situation presenting imminent danger, which will lead to death or serious

injuries if not prevented.

WARNING

Indicates a situation presenting possible danger, which may lead to death or serious

injuries if not prevented.

CAUTION

Indicates a situation presenting possible danger, which may lead to moderate or minor

injuries if not prevented.

NOTICE

Indicates a situation presenting possible danger, which may lead to property damage if

not prevented.

NOTE

Indicates useful tips and recommendations.

Instructions to action

bThe arrow denotes instructions to action.

1. The sequence of instructions for action is numbered.

2. Follow the order in which the numbered instructions are given.

✓The check mark denotes the result of an instruction.

1 ABOUT THIS DOCUMENT

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2 Safety information

2.1 General safety notes

DANGER

Danger of using data output for safety function

Data output may only be used for general monitoring and control tasks.

bDo not use data output for safety-related applications.

DANGER

Danger of using CoLa2 for safety function

CoLa2 may only be used for general monitoring and control tasks.

bDo not use CoLa2 for safety-related applications.

SAFETY INFORMATION 2

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3 Supported hardware

3.1 2D LiDAR sensors

LiDAR-LOC is qualified for the SICK sensor family microScan3.

NOTICE

SICK does not guarantee that the system functions with other sensors.

Table 1: Supported sensor data

Supported sensor

data

2D LiDAR sensor

Supported device (pro‐

tective field range)

microScan3

4.0 m

microScan3

5.5 m

microScan3

9.0 m

Aperture angle 275°

Distance range 1.8 %: 4 m

100 %: 40 m

1.8 %: 5.5 m

100 %: 40 m

1.8 %: 9 m

100 %: 64 m

Scan cycle time 30 ms

40 ms

50 ms

For additional information, consult the operation instructions of the corresponding sen‐

sor.

For high quality of the localization, we recommend to consider the following information

about the sensors.

microScan3

•Protective field range 9 m (64 m warning field range)

The sensors with 64 m measurement range are preferred over the ones with 40 m

measurement range. They can be used in both configurations, 50 ms and 40 ms

scan cycle time. Smaller scan cycle times allow potentially higher velocities, how‐

ever, are primarily dependent on your risk assessment.

•Protective field range 4 m and 5.5 m (40 m warning field range)

When using the sensors with 40 m measurement range, they can be used in both

configurations, 40 ms and 30 ms scan cycle time, with corresponding 0.39° and

0.51° resolution. A smaller scan cycle time allows potentially higher velocities. A

higher resolution allows the detection of smaller objects. However, the configura‐

tion is primarily dependent on your risk assessment.

Complementary information

You can find additional information of the microScan3 in the operating instructions:

•8020198 microScan3 EtherNet/IPTM

•8021217 microScan3 PROFINET

•8021911 microScan3 EFI-pro

3.2 Localization controllers

Localization controllers

LiDAR-LOC uses the SIM1000-FXA. For quick integration, some information is provided

in this document.

3 SUPPORTED HARDWARE

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NOTICE

By default, the localization controller is a programmable device. When using the local‐

ization controller with the application software LiDAR-LOC, the controller is converted

into an application device. This means that the device cannot be programmed any

longer; it is locked for any additional application and cannot be unlocked.

Complementary information

You can find additional information of the localization controller in the operating instruc‐

tions 8023299.

SUPPORTED HARDWARE 3

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4 Device overview

4.1 Device overview microScan3





















Figure 1: microScan3 – overview

1Optics cover

2Display

3Keypad

4USB port

5Status LEDs

6Additional LEDs for ON state and OFF state

7Network LEDs

8Safety laser scanner without system plug

9System plug

ßCover plate

4 DEVICE OVERVIEW

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4.2 Device overview SIM1000 FXA

Figure 2: SIM1000 FXA – overview

1Connections for switching input/output, IO-Link, CAN, and voltage supply

2Serial connections

3Ethernet connections

DEVICE OVERVIEW 4

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5 Electrical installation

5.1 Important notes

Information on the requirements that must be met for safe integration of the localiza‐

tion controller and 2D LiDAR sensors into the control and electronics of the machine,

see the corresponding operating instructions.

DANGER

Hazard due to electrical voltage

Hazard due to unexpected starting of the machine

bMake sure that the machine is (and remains) disconnected from the power supply

during the electrical installation.

bMake sure that the dangerous state of the machine is (and remains) switched off.

bCarry out the electrical installation work in conformity with EN 60204-1.

bUse suitable power supply.

bCheck that all earthing points are connected with the same ground potential.

bConnect the shielding of all data lines (Ethernet, CAN, serial) directly to the func‐

tional earth (FE) at the control cabinet entry point.

5.2 MicroScan3

The electrical installation is described in detail in the operating instructions:

•8021911

The examples are given for microScan3 EFI-pro variant but are also applicable for Ether‐

Net/IP™ and PROFINET.

5.2.1 Electrical setup

Supply voltage and power consumption

Supply voltage:

•24 V DC (16.8 … 30 V DC) (SELV/PELV) according to IEC 60364441

•Must be able to bridge a brief power outage of 20 ms with a starting voltage of

≤ 3 A

The microScan3 consumes the following:

•Power consumption ≤ 11 W (typ. 7.2 W)

•Power consumption Standby typical 7 W

System plug and connections

Table 2: Position of the electrical connections

Safety laser scan‐

ners

Suitable system plug Plug connector

microScan3 – Ether‐

Net/IP™

XD1 XF1 XF2

MICSX-BANNZZZZ1 (part number:

2086102)

•XD1: voltage supply,

•XF1, XF2: 2 × Ethernet

for EtherNet/IP –

CIP Safety, data output,

configuration, and diag‐

nostics.

5 ELECTRICAL INSTALLATION

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