SICK TiM58x Manual

TECHNICAL INFORMATION

TiM55x/TiM56x/TiM57x/TiM58x

2D LIDAR SENSORS

Technical Information

TiM55x/56x/57x/58x | 2D LiDAR sensors

Described product

TiM55x/56x/57x/58x

Manufacturer

SICK AG

Erwin-Sick-Str. 1

79183 Waldkirch,

Germany

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 modification, expurgation

or translation of this document is prohibited without the express written permission of SICK

AG.

Original document

This document is an original document of SICK AG.

Technical Information Chapter 1

TiM55x/56x/57x/58x

About this document

1About this document

This document summarizes supplementary information on mounting and electrical instal-

lation as well as measured value output fomat of the TiM55x/56x/57x/58x.

It is aimed at sufficiently qualified personnel for the purposes of installation, commissioning

and further data processing.

Notes on commissioning, configuration and maintenance can be found in the TiM55x/56x/

57x/58x operating instructions.

Information on the TiM55x/56x/57x/58x can be found on the Internet on the TiM5xx prod-

uct page at www.sick.com/tim5xx:

Technical specifications in the online data sheet (PDF)

Dimensional drawing and 3D CAD dimension models in various electronic formats

Range diagram (PDF)

EC Declaration of Conformity (PDF)

Configuration software SOPAS ET (www.sick.com/SOPAS_ET)

Product information with overview of available accessories (PDF)

TiM5xx operation instructions (PDF) in additional languages where applicable

This technical information (PDF)

Support is also available from your sales partner, see www.sick.com/worldwide.

In the following the TiM55x/56x/57x/58x is referred to in simplified form as "TiM5xx".

Symbols used

Certain information in this documentation is emphasized as follows to enable faster access

to the information:

NOTICE

Notice!

A notice indicates potentially damaging hazards or functional impairments to the TiM5xx or

its connected devices.

WARNING

Warning!

A warning indicates specific or potential dangers to the user's physical integrity. It is intend-

ed to protect the user against accidents.

The safety symbol to the left of the warning indicates the type of accident hazard e.g. due

to electricity. Increasing warning levels (CAUTION, WARNING, DANGER) indicate the severity

of the possible hazard.

Always reading warnings carefully and obey them meticulously.

Important This important notice informs you about special aspects.

This symbol refers to supplementary technical documentation.

Chapter 1Technical Information

TiM55x/56x/57x/58x | 2D LiDAR sensors

About this document

Safety information

Read the notes on mounting and electrical installation before carrying out these tasks.

Read additionally the TiM5xx operating instructions to familiarize yourself with the

device and its functions.

The TiM5xx complies with laser class 1, for laser warnings see the operating instruc-

tions.

Only use the device in permissible ambient conditions (e.g. temperature, ground poten-

tial). Any applicable legal regulations or regulations of other authorities will have to be

observed during operation.

Opening the screws of the TiM5xx housing will invalidate any warranty claims against

SICK AG.

Repairs may only be performed on the TiM5xx by trained and authorized SICK AG ser-

vice personnel.

The TiM5xx does not constitute personal protection equipment in sense of the respec-

tive applicable safety standards for machines.

The TiM5xx must not come into contact with moisture and dust when the cover of the

USB port is open and/or the USB cable is connected. In this status, the TiM5xx does not

correspond to any specified IP protection class.

For CE conformity, the maximum length of all connecting cables on the TiM5xx must not

exceed 3 m.

Turn the swivel connector with the electrical connections max 180° from end position

to end position.

Technical Information

TiM55x/56x/57x/58x

Contents

Table of contents

1 About this document..................................................................................................... 3

2 Operating principle of the TiM5xx............................................................................... 6

2.1 Measurement principle.............................................................................................. 6

2.2 Distance measurement ............................................................................................. 6

2.3 Direction measurement ............................................................................................. 6

3 Mounting......................................................................................................................... 9

3.1 Notes on mounting..................................................................................................... 9

3.2 Optional accessories................................................................................................11

4 Electrical installation ..................................................................................................14

4.1 Overview of all interfaces ........................................................................................14

4.2 Pin and wire color assignments ..............................................................................14

4.3 Notes on electrical installation................................................................................15

4.4 Prerequisites for safe operation of the TiM5xx in a system..................................16

4.5 Installation steps......................................................................................................19

5 Measured value output...............................................................................................21

5.1 Telegrams .................................................................................................................21

5.2 Request measured values.......................................................................................22

5.3 Measured value output fomat.................................................................................24

6 License texts ................................................................................................................28

Chapter 2Technical Information

TiM55x/56x/57x/58x | 2D LiDAR sensors

Operating principle of the TiM5xx

2Operating principle of the TiM5xx

2.1 Measurement principle

The TiM5xx is an opto-electronic laser scanner that electro-sensitively scans the perimeter

of its surroundings at a single plane with the aid of laser beams. The TiM5xx measures its

surroundings using two-dimensional polar coordinates based on its measurement origin.

This is marked on the hood in the centre using a circular indentation. If a laser beam hits

an object, its position in terms of distance and direction is determined.

Scanning is performed across a 270° sector. The maximum range of the TiM5xx is max.

10 m (TiM55x/TiM56x) and 25 m (TiM57x/TiM58x) on light, natural surfaces with an object

reflectivity > 50 % (e.g. a white house wall).

The scanning range is 8 m in the case of dark surfaces with remission of > 10%.

2.2 Distance measurement

The TiM5xx emits pulsed laser beams using a laser diode. If one of these laser pulses hits

an object or a person, this is reflected at its surface. The reflection is detected in the

TiM5xx's receiver by a photodiode. The TiM5xx uses HDDM / HDDM+ technology (High Defi-

nition Distance Measurement), a SICK own-development. Using this measurement method,

a measured value is formed by the average value for several individual pulses. The TiM5xx

calculates the distance to the object from the transit time required by the light from emis-

sion of the beam to receipt of the reflection. This principle of "time-of-flight measurement"

is used by radar systems in a similar manner.

2.3 Direction measurement

The emitted laser beams are deflected by the TiM5xx using a rotating mirror and its sur-

roundings scanned in a circular form. The measurements are triggered internally at regular

angle increments using an angular encoder. One complete rotation represents one measur-

ing process (scan).

The TiM5xx works at a scanning frequency of 15 Hz, i.e. it performs 15 measuring processes

per second and makes the measurement results continuously available in real time via an

Ethernet interface.

Technical Information Chapter 2

TiM55x/56x/57x/58x

Operating principle of the TiM5xx

The measurement method forms an average value from several pulses to determine indi-

vidual measured values.

At an angle resolution of 1°(TiM55x) and 0.33°(TiM56x/TiM57x/TiM58x), a measuring

point is formed from the average of 84 measurements.

TiM55x

84 submeasuring points

TiM5xx

120

160

200

240

01 23 5 7468

Range (m)

Spot diameter (mm)

Spot diameter of a submeasuring point.

Divergence 9.5 mrad, spot diameter on the front screen 6 mm

Elongation of the 84 overlayed submeasuring points in direction

of deflection at angle step 1°.

Divergence 27 mrad, spot diameter on the front screen 6.5 mm

910

280

320

Chapter 2Technical Information

TiM55x/56x/57x/58x | 2D LiDAR sensors

Operating principle of the TiM5xx

TiM56x

TiM57x/TiM58x

120

160

200

240

01 23 5 7468

Range (m)

Spot diameter (mm)

Spot diameter of a submeasuring point.

Divergence 9.5 mrad, spot diameter on the front screen 6 mm

Elongation of the 84 overlayed submeasuring points in direction

of deflection at angle step 0.3°.

Divergence 15 mrad, spot diameter on the front screen 6.5 mm

910

160

240

320

400

0 2 4 6 10 1481216

Range (m)

Spot diameter (mm)

Spot diameter of a submeasuring point.

Divergence 9.6 mrad, spot diameter on the front screen 6 mm

Elongation of the 84 overlayed submeasuring points in direction

of deflection at angle step 0.3°.

Divergence 15 mrad, spot diameter on the front screen 6.5 mm

18 20 22 24 26

Technical Information Chapter 3

TiM55x/56x/57x/58x

Mounting

3Mounting

3.1 Notes on mounting

The TiM5xx can, depending on the application purpose, be mounted in any position.

Install the TiM5xx so it as unaffected by shocks and vibrations as possible.

Install the TiM5xx so it is not exposed to any direct sunlight (window, skylight) or any

other heat sources. This prevents impermissible temperature increases inside the

device.

During installation make sure there is no light or reflective surface behind the reference

target (see Figure ).

Using several TiM5xx

The TiM5xx is designed so that mutual interference of the same types of sensors is very un-

likely. To preclude even the slightest of influences on the measuring accuracy, we recom-

mend installing the TiM5xx as in the examples below.

225°

‒45°

180°0°

30°

90°

Crosswise placement of two TiM5xx

Placement of two TiM5xx opposed to each other

Chapter 3Technical Information

TiM55x/56x/57x/58x | 2D LiDAR sensors

Mounting

Placement of two TiM5xx with parallel offset

Placement of two TiM5xx with parallel offset, one of these upside down

Placement of two TiM5xx upside down, parallel offset

Placement of two TiM5xx with parallel offset, one of these upside down

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