Operating instructions TiM55x/56x
Contents
1. For further technical specifications see the Online data sheet on the product website www mysick com en 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 e Dangerous contact voltage on the metal housing e Malfunction or destruction of the TiM e Heating of the cables with possible spontaneous combus tion gt See the Electrical Installation chapter in the LL Technical Information Nr 8015883 on the product website www mysick com en tim5xx for measures for eliminating hazards Scope of delivery e TiM including mounting kit 1 two straight plates 2 M3 x 4 mm screws e Printed operating instructions in German and English in other languages as necessary e 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 gt If itis 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 Sources for obtaining additional information Addi2. Scanning range typical 8 m 26 25 feet for objects up to 10 remission Range diagram for TiM Step 3 Commissioning Configuration a Installing and launching the SOPAS configuration software The SOPAS configuration software is used as standard to dis play 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 mysick com en 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 gt Programs gt SICK gt SOPAS Engineering Tool gt SOPAS 3 Establish communication between SOPAS and TiM via the wizard that has started automatically Select CONNECT TO A NEW DEVICE Hras Groce arot Bled here peer uae Pe Corot Dew dew futon fpr trm a U sea ata r 4 Follow the steps in the Connection Wizard until the FOUND DEVICES window 5 Select the appropriate TiM from the list of available devices TIM55X TIM56X SICK 1 e Use TiM on port 2111 to configure the device e Use TiM on port 2112 to view only measurement data Default IP address of the TiM IP Address Subnet Mask 200 200 209 0 6 Assign the requir
3. June 2007 Copyright C 2007 Free Software Founda tion Inc lt http fsf org gt Glibc 2 8 11 1GNU LESSER GENERAL PUBLIC LICENSE Version 3 29 June 2007 Copyright C 2007 Free Software Foundation Inc lt http fsf org gt 11 2GNU GENERAL PUBLIC LICENSE Version 3 29 June 2007 Copyright 2007 Free Software Founda tion Inc lt http fsf org gt GNU GENERAL PUBLIC LICENSE Version 3 29 June 2007 Copyright c 2007 Free Soft ware Foundation Inc 12 1dosfstools 3 0 10 Copyright c 2007 Free Soft ware Foundation Inc 12 2gnupg 1 4 10 Copyright c 2007 Free Soft ware Foundation Inc 12 3binutils 2 18 93 20081009 Copyright c 2007 Free Software Foundation Inc Source codes The source codes licensed under GPL and LGPL can be ordered from the responsible SICK national representative Contact data www sick com worldwide TIM55X TIM56X SICK 8015886 YDR0 2014 08 27 Subject to change without notice SICK AG Waldkirch Germany www sick com 8015886 YDRO 2014 08 27 Subject to change without notice SICK AG e Waldkirch e Germany www sick com TIM55X TIM56X SICK 8015886 YDRO 2014 08 27 8M_SH Printed in Germany 2014 08 All rights reserved Subject to change without notice
4. LED A LED gt Status red green a Device ready monitoring mode X Error _ Device without supply voltage illuminated flashing Pin assignment for swivel connector unit POWER connection supply voltage Connection Power 5 pin M12 plug 3 5 2 4 1 a 1 i _ DC 10 28 V gt SYNC DEVICE READY NO gt Fw Cable no 6036159 5 m M12 A Socket I Illustration may differ Pin Signal Function Wire color 24V Supply voltage IN 9 28 V Brown 2 SYNC De Synchronization output White vice Ready 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 Ethernet connection 1 4 oS M12 socket OUQY_ D encoded 3 2 1 TD 2 Le o i _ _1p 4 p r 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 Low peaks at 90 Error Low Technical data Model name TIM551 2050001 part no 1060445 TIM561 2050101 part no 1071419 Scanning range Radial aperture angle 270 in 1 steps Angular resolution TiM55x
5. standards for machines Commissioning and configuration Step 1 Electrical installation 1 Connect the communication interface of the TiM to the PC Ethernet or USB recommended Ethernet 4 pin M12 outlet gt 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 gt Go 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 8015886 YDRO 2014 08 27 Subject to change without notice SICK AG e Waldkirch e Germany www sick com Ethernet SOPAS O Configuration Diagnosis Connection box i delay y i action 1 l Driver for request of fuse SYNC l measurement values I Device Read and further data Oa t processing Q DC 9 28 V Power Out Ethernet Measurement mode Electrical block
6. Copyright C 1989 1991 Free Soft ware Foundation Inc 51 Franklin Street Fifth Floor Boston MA 02110 1301 USA 9 2 iproute2 2 6 34 Copyright C 1989 1991 Free Soft ware Foundation Inc 51 Franklin Street Fifth Floor Boston MA 02110 1301 USA 9 3 kexec tools 2 0 1 Copyright C 1989 1991 Free Software Foundation Inc 51 Franklin Street Fifth Floor Boston MA 02110 1301 USA 9 4 libelf O 8 12 Copyright C 1989 1991 Free Software Foundation Inc 51 Franklin Street Fifth Floor Bos ton MA 02110 1301 USA 9 5 libgcc Copyright C 1989 1991 Free Software Foun dation Inc 51 Franklin Street Fifth Floor Boston MA 02110 1301 USA 9 6 Itrace 0 5 Copyright C 1989 1991 Free Software Foundation Inc 51 Franklin Street Fifth Floor Bos ton MA 02110 1301 USA 9 7 z0 2 03 Copyright C 1989 1991 Free Software Foundation Inc 51 Franklin Street Fifth Floor Bos ton MA 02110 1301 USA 9 8 mtd utils 1 3 1 Copyright C 1989 1991 Free Soft ware Foundation Inc 51 Franklin Street Fifth Floor Boston MA 02110 1301 USA 9 9 procps 3 2 8 only ps used Copyright C 1989 1991 Free Software Foundation Inc 51 Franklin Street Fifth Floor Boston MA 02110 1301 USA 9 10udev 119 Copyright C 1989 1991 Free Software 10 11 12 Foundation Inc 51 Franklin Street Fifth Floor Bos ton MA 02110 1301 USA libstdc GNU LESSER GENERAL PUBLIC LICENSE Version 3 29
7. OE 14 39 2 93 All dimensions in mm inch 2x straight plates with M3 x 4 mm screw included in delivery M3 threaded mounting hole 2 8 mm deep blind hole thread Optical hood Receiving range light inlet Transmission range light emission Push button no function Red and green LED status displays Swivel connector unit with electrical connections and Micro USB port behind the black rubber plate Aux interface connection for configuration with PC Connection Power Synchronization output 5 pin M12 outlet Marking for the position of the light emission level Ethernet connection 4 pin M12 port Area in which no reflective surfaces are allowed for mounted devices Bearing marking to support alignment 90 axis 270 aperture angle visual range 8015886 YDRO 2014 08 27 Subject to change without notice SICK AG e Waldkirch e Germany www sick com A CAUTION Laser beam The TiM corresponds to laser class 1 eye safe The laser beam is not visible to the human eye Caution incorrect use can lead to the user being exposed to dangerous radiation gt Do not open the screw of the TiM housing gt Comply with the latest version of the applicable provisions on laser protection Additional information gt see Technical data Page 3 Status indicators functions Push button with no function Status displays
8. diagram for commissioning Step 2 Mounting and alignment NOTE During installation make sure there is no reflective surface behind the reference target see Device overview Page 3 point 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 P gt marking on the lid of the optical hood serves as a bearing alignment aid gt see Device overview Page 3 point 180 10 32 81 225 270 0 90 gt 6 19 69 10 45 32 81 14 0 45 93 14 10 6 2 0 2 6 10 14 45 93 32 81 19 69 6 56 6 56 19 69 32 81 45 93 Scanning range in m feet C Scanning range max 10 m 32 81 feet
9. in order to familiarize yourself with the device and its functions e The TiM corresponds to laser class 1 see Laser beam Page 3 e Mounting and electrical installation are to be performed only by qualified technicians e Electrical connections between the TiM and other devices may only be created or fixed when there is no power to the system Otherwise the devices may be damaged e 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 e All electrical circuits connected to the TiM must be imple mented as SELV electrical circuits SELV Safety Extra Low Voltage e Use the device only under permitted environmental conditions e g temperature grounding potential gt see Technical data Page 3 e Turn the swivel connector unit with the electrical connec tions max 180 from end position to end position e Protect the TiM against moisture and dust when the cover to the USB socket is open The black plastic cover must be screwed flush in order to comply with enclosure rating IP 67 in operation e Opening the screws of the TiM housing will invalidate any warranty claims against SICK AG e The TiM does not constitute personal protection equip ment in accordance with the respective applicable safety
10. 1 TiM56x 0 33 Scanning fre quency 15 Hz 15 scans s Response time Typical 67 ms 2 scans Scanning range Remission 0 05 m 10 m typically 8 m at 10 remission Typical 4 gt 1 000 reflector Physical Minimum object size cross section 190 mm for a scanning range of 8 m 100 mm for a scanning range of 4 m 55 mm for a scanning range of 2 m and 10 remission TIM55X TIM56X SICK Model name TIM551 2050001 part no 1060445 TIM561 2050101 part no 1071419 Measurement error typically Statistical 1 s 20 mm Systematic 60 mm Temperature drift 0 5 mm K Band width scan 3 field flatness Ambient light immunity 80 000 Ix indirect Light source Laser diode infrared A 850 nm Max radiation 1 5 W power Max pulse 5 ns duration Device laser class TiM55x Laser class 1 according to EN 60825 1 2007 10 eye safe TiM56x Laser class 1 according to EN 60825 1 2014 05 eye safe Output of mea sured values Radial distance reflectivity value device and status information time stamp Aux interface USB 2 0 for configuration and measure value outputs 15 Hz connecting cable max 3 m length limited to max 100 m Ethernet interface Max data rate 10 Mbit and 100 Mbit cable Switching inputs Switching outputs 1 x SYNC Device Ready I lt 100 mA not electrically isolate
11. EN LMDscandata measurement start stop ment Telegram part Description Variable type Length Value range byte Command type Request SOPAS event by name string 3 sEN Command Request data string 11 LMDscandata StartStop measure Enum8 1 O Stop measured value output 1 Start measured value output Example Telegramm type Command ASCII lt STX gt sRN SPO LMDscandata lt ETX gt 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 11 73 52 4E 20 4C 4D 44 73 63 61 GE 64 61 74 6105 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 B button to transfer the telegram to the TiM The TiM responds by providing the data as a one off 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 i
12. OPERATING INSTRUCTIONS Following successful initialization the green LED lights up en Safety information Scanning range in m feet 14 gt device ready for operation TIM55x TiM56x Ranging Laser Scanner Short Range SICK Sensor Intelligence CED i O Correct use The TiM55x TiM56x 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 flat surface circle segment depending on reflectivity The TiM displays the measured values of the recorded envi ronment contour of its scanning angle of 270 over the Ether net or USB interface for further processing as either a one off 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 first measured value outputs and the first 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 mysick com en tim5xx e Read these instructions before commissioning the TiM 45 93
13. d from the supply voltage Short circuit protected temperature protected Electrical connec 1x 4 pin M12 plug Ethernet tions 1 x 5 pin M12 plug power 1 x Micro USB port type B covered Optical indicators 2 x LED Supply voltage DC 9 28 V SELV according to IEC 60364 4 41 2005 12 Power consump 3 W with unloaded synchronization output tion Housing Lower part Die cast aluminum optics hood Polycarbonate with scratch proof coating Weight Approx 250 g Electrical safety According to EN 60950 1 2011 01 Protection class Ill according to EN 61140 2006 08 Enclosure rating IP 67 EN 60529 1991 10 A2 2000 02 No specified 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 Vibration resis tance According to EN 60068 2 6 2008 02 Shock resistance According to EN 60068 2 27 2009 05 Ambient tempera Commissioning switching on 10 50 C ture Operation 25 50 C Storage 40 75 C Temperature According to EN 60068 2 14 2009 07 change Damp heat According to EN 60068 2 30 2005 12 1 For temperatures gt 10 C without reflectors 2 Complies with 21 CFR 1040 10 2007 04 except for the tolerance according to Laser Notice No 50 of June 2007
14. ed 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 2 TIMS55X TIM56X SICK 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 flow of requests and outputs is described in the Measured value output in the Technical Information Nr 8015883 One off output of measured values Telegram layout SRN LMDscandata Telegram part Description Variable type Length Value range byte Command type Request SOPAS read by name string 3 SRN Command Request data string 11 LMDscandata Example Telegramm type Command ASCII lt STX gt SRN SPC LMDscandata lt ETX gt HEX 02 73 52 4E 20 4C 4D 44 73 63 61 GE 64 61 74 61 03 Binary 02 02 02 02 00 00 00 OF 73 52 4E 20 4C 4D 44 73 63 61 GE 64 61 746105 Continuous output of measured values Telegram structure S
15. n source software The user is exclusively responsible for any modifications made to open source components All warranty claims shall be invalidated in this case With regard to the rights holders the following liability exclusion applies to the GPL components This program is distributed in the hope that it will be of use but without any warranty neither is there any implied warranty of marketabil ity or Suitability for a particular purpose For details see the GNU General Public License With regard to the other open source components we refer to the exclusions from liability of the rights holders in the license texts List of software licenses and license texts In the TiM product SICK uses unmodified open source soft ware and insofar as required and permitted in accordance with the relevant license conditions modified open source software The firmware of the TiM is therefore subject to the copyrights listed below Please find the corresponding license conditions from the license texts in the Technical Information Nr 8015883 The Technical Information document can be downloaded free of charge from the following address www mysick com en tim5xx 1 NCURSES 5 7 License Copyright c 2006 Free Software Foundation Inc 2 Z Lib 1 2 3 Copyright C 1995 2004 Jean loup Gailly and Mark Adler 3 binutils 2 18 93 20081009 GNU LESSER GENERAL PUBLIC LICENSE Version 3 29 June 2007 Copyright C 2007 Free Software Fo
16. ology Inc Solar Designer Todd C Miller Wayne Schroeder William Jones Darren Tucker Sun Microsystems The SCO Group Daniel Walsh 6 5 Portable OpenSSH contains the following addition al licenses a snprintf replacement Copyright Patrick Powell 1995 b Compatibility code openbsd compat Some code is licensed under a 3 term BSD license to the following copyright holders Todd C Miller Theo de Raadt Damien Miller Eric P Allma The Regents of the University of California Constan tin S Svintsoff Some code is licensed under an ISC style license to the following copyright holders Inter net Software Consortium Todd C Miller Reyk Floeter Chad Mynhier d Some code is licensed under a MIT style license to the following copyright holders Free Software Foundation Inc 7 OPENSSL 09 8N 7 1 OpenSSL License Copyright c 1998 2011 The OpenSSL Project 7 2 Original SSLeay License Copyright c 1995 1998 Eric Young 8 STRACE 4 5 20 Copyright c 1991 1992 Paul Kranenburg Copyright c 1993 Branko Lankester Copyright c 1993 Ulrich Pegelow Copyright c 1995 1996 Michael Elizabeth Chastain Copyright c 1993 1994 1995 1996 Rick Sladkey Copyright C 1998 2001 Wichert Akkerman 9 GNU GENERAL PUBLIC LICENSE Version 2 June 1991 O TIM55X TIM56X SICK Copyright C 1989 1991 Free Software Foundation Inc 51 Franklin Street Fifth Floor Boston MA 02110 1301 USA 9 1 BusyBox 1 16 1
17. s 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 resolution 0 33 Some other useful functions A button Display the fields in the polar coordinate system Al button Change the view of the TiM from above TiM black to the view from below TiM blue e Jor F4 button Switch off the display the full measur ing line or display a dotted measuring line Completing the configuration gt Permanently save the entire configuration Parameter set in TiM click the bal button Configuration file on the PC click the kal button 8015886 YDR0 2014 08 27 Subject to change without notice SICK AG Waldkirch e Germany www sick com Description of the device Device overview 51 2 01 44 79 1 76 16 79 BERETA RRE RRR SA RE of Wu 8 AV 85 75 3 38 62 46 2 46 101 12 3 98 68 8 2 71 17 37 e 2x Mounting set 1 61 2 40 46 71 1 84 76 25 3 00 0 68 OY KA A S AA oN IZL a Va V7 Ga Y
18. tional information about the TiM and its optional acces sories can be found in the following places Product web page for the TIM5xx www mysick com en tim5xx e 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 e These operating instructions in German no 8015885 English no 8015886 and in other languages if required e SOPAS configuration software with online help e Ordering information in the detection and ranging solu tions product catalog e Detailed technical specifications online data sheet e Dimensional drawing and 3D CAD dimension models in various electronic formats e EC declaration of conformity e SOPAS configuration software updates Support is also available from your sales partner www sick com worldwide 8015886 YDRO 2014 08 27 Subject to change without notice SICK AG e Waldkirch e Germany www sick com Copyright notices for open source programs Software licenses SICK uses open source software in its TIM This software is licensed by the rights holders under the following free licens es among others GNU General Public License GLP version 2 GPL version 3 and GNU Lesser General Public License LGPL MIT License zlib License and licenses derived from the BSD license Exclusion from liability The firmware of the TiM was developed using ope
19. undation Inc 4 e2fsprogs 1 41 11 UUID license based on BSD 3 clause license Copyright C 1996 1997 Theodore Ts o 5 Dropbear 0 52 tar bz2 Copyright c 2002 2008 Matt Johnston Portions copy right c 2004 Mihnea Stoenescu 5 1 Import code in keyimport c is modified from PuTTY s import c licensed as follows PuTTY is copyright 1997 2003 Simon Tatham Portions copyright Robert de Bath Joris van Rantwijk Delian Delchev An dreas Schultz Jeroen Massar Wez Furlong Nicolas Barry Justin Bradford and CORE SDI S A 6 OpenSSH 5 1p1 6 1 Cryptographic attack detector for ssh source code Copyright c 1998 CORE SDI S A Buenos Aires Argentina 6 2 Copyright 1995 1996 by David Mazieres lt dm Ics mit edu gt 6 3 Copyright c 1983 1990 1992 1993 1995 The Regents of the University of California 6 4 Remaining components of the software are provided under a standard 2 term BSD license with the following names as copyright holders Markus Friedl Theo de Raadt Niels Provos Dug Song Aar on Campbell Damien Miller Kevin Steves Daniel Kouril Wesley Griffin Per Allansson Nils Nordman Simon Wilkinson Portable OpenSSH additionally includes code from the following copyright holders also under the 2 term BSD license Ben Lindstrom Tim Rice Andre Lucas Chris Adams Corinna Vinschen Cray Inc Denis Parker Gert Doering Jakob Schlyter Jason Downs Juha Yrj l Michael Stone Networks Associates Techn
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