Sick BAS Operating instructions

O P E R AT I N G I N S T R U C T I O N S
BAS
Driver assistance systems
Product described
Document identification
Manufacturer
Trademarks
Original documents
Legal notes
Product name: BAS
Title:
Part number:
Status:
BAS operating instructions
8022161
2017-11-09
SICK AG
Erwin-Sick-Str. 1 · 79183 Waldkirch · Germany
IBM is a trademark of the International Business Machine Corporation.
MS-DOS is a trademark of the Microsoft Corporation.
Windows is a trademark of the Microsoft Corporation.
Other product names in this document may also be trademarks and are
only used here for identification purposes.
The German version 8022160 of this document is an original document of
SICK AG.
SICK AG does not assume liability for the correctness of a non-authorized
translation.
In case of doubt, contact SICK AG or your local agency.
Subject to change without notice
© SICK AG. All rights reserved
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CONTENTS
Contents
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1
About these operating instructions ..............................................................................5
1.1
Described software versions ...............................................................................5
1.2
Purpose of this document....................................................................................5
1.3
Target group .........................................................................................................5
1.4
Information depth ................................................................................................5
1.5
Abbreviations used...............................................................................................6
1.6
Symbols used .......................................................................................................6
2
Safety ..............................................................................................................................7
2.1
Qualified personnel ..............................................................................................7
2.2
Applications of the system ...................................................................................7
2.3
Intended use.........................................................................................................8
2.4
General safety notes and protective measures .................................................9
2.4.1
Safety notes and symbols ....................................................................9
2.4.2
General safety notes .......................................................................... 10
2.4.3
Potential hazardous points................................................................ 11
2.5
Protecting the environment .............................................................................. 13
3
Product description .................................................................................................... 14
3.1
Scope of delivery ............................................................................................... 14
3.2
System components ......................................................................................... 17
3.3
Operating principle ............................................................................................ 19
3.4
Status indicators ............................................................................................... 21
3.4.1
2D LiDAR sensor ................................................................................ 21
3.4.2
Control unit ......................................................................................... 21
4
Mounting ..................................................................................................................... 22
4.1
Function test before mounting ......................................................................... 22
4.2
Mounting the 2D LiDAR sensor ........................................................................ 22
4.2.1
General notes for installation ............................................................ 22
4.2.2
Using SICK mounting kit .................................................................... 25
4.2.2.1 Overview ............................................................................ 25
4.2.2.2 Mounting the TiM320 ....................................................... 26
4.2.2.3 Mounting the TiM351 ....................................................... 27
4.2.3
Installation with RAM MOUNT universal mounts.............................. 29
4.2.4
Using fastening clips .......................................................................... 30
4.3
Mounting the control unit (control cabinet) ..................................................... 31
4.4
Mounting the tone buzzer ................................................................................. 31
4.5
Mounting the signal column (optional) ............................................................ 31
4.6
Recommended RAM MOUNT universal mounts (optional) ............................. 32
5
Electrical installation ................................................................................................. 34
5.1
Overview ............................................................................................................ 35
5.2
Connecting the control unit to the voltage supply ........................................... 36
5.3
Connecting the 2D LiDAR sensor ..................................................................... 37
5.4
Connecting the signal generator for reversing ................................................ 39
5.5
Connecting the tone buzzer .............................................................................. 40
5.6
Connecting the signal column (optional) ......................................................... 41
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3
CONTENTS
6
Commissioning ............................................................................................................ 42
6.1
System start-up ..................................................................................................42
6.2
Connecting the 2D LiDAR sensors with SOPAS ................................................43
6.2.1
Overview ..............................................................................................43
6.2.2
Preparing the configuration PC ..........................................................43
6.2.3
Installing SOPAS on the configuration PC .........................................43
6.2.3.1 Launching SOPAS ..............................................................43
6.2.4
Connecting TiM3xx with the configuration PC ...................................44
6.2.4.1 Starting the device search.................................................45
6.2.4.2 Loading device drivers into the SOPAS project ................47
6.2.4.3 Online connection of 2D LiDAR sensor.............................48
6.2.4.4 The project tree of the device description ........................50
6.2.4.5 Logging into the 2D LiDAR sensor ....................................50
6.3
Adapting the geometry of the monitoring fields ...............................................51
6.3.1
Opening field set with monitoring fields ............................................51
6.3.2
Adjusting the display view ..................................................................53
6.3.3
Editing fields........................................................................................56
6.4
Completing configuration ..................................................................................60
6.4.1
Transferring parameters to the 2D LiDAR sensor .............................60
6.4.2
Testing the configuration of the monitoring fields ............................60
6.4.3
Exporting configuration to device file ................................................61
7
Maintenance ................................................................................................................ 62
7.1
Overview of maintenance tasks ........................................................................62
7.2
Maintenance during operation ..........................................................................62
7.2.1
Cleaning the 2D LiDAR sensor ...........................................................62
7.2.2
Visual inspection of the cables ..........................................................63
7.3
Replacing components ......................................................................................64
7.3.1
Replacing the 2D LiDAR sensor .........................................................64
7.3.2
Replacing the control unit ..................................................................65
8
Fault diagnosis ............................................................................................................ 68
8.1
Response to faults .............................................................................................68
8.2
Fault indication of components ........................................................................68
8.3
SICK Support ......................................................................................................68
9
Annex ............................................................................................................................ 69
9.1
Technical data ....................................................................................................69
9.1.1
Data sheet BAS320-xxxxx...................................................................69
9.1.2
Data sheet BAS351-xxxxx...................................................................70
9.2
Dimensional drawings .......................................................................................71
9.2.1
Dimensional drawing for 2D LiDAR sensor TiM320 .........................71
9.2.2
Dimensional drawing for 2D LiDAR sensor TiM351 .........................73
9.2.3
Dimensional drawing of control unit ..................................................76
9.2.4
Dimensional drawing of tone buzzer .................................................76
9.2.5
Dimensional drawing of signal column (optional) .............................77
10 Figures and tables ....................................................................................................... 78
10.1 List of tables .......................................................................................................78
10.2 List of figures ......................................................................................................79
4
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ABOUT THESE OPERATING INSTRUCTIONS 1
1
About these operating instructions
Please read this chapter carefully before you begin working with this documentation and
the Backup Assistance System (BAS).
1.1
Described software versions
Software
SOPAS
Table 1: Software versions
1.2
Function
SICK Engineering Tool for the configuration and
diagnostics of the BAS driver assistance system
Status
≥ V 3.0
Purpose of this document
These operating instructions are designed to give technical personnel instructions on
the safe mounting, configuration, electrical installation, commissioning, operation, and
maintenance of the BAS driver assistance system.
These operating instructions do not provide information on operating the customer
system into which the Backup Assistance System has been or is going to be integrated.
Additional information on this can be found in the customer documentation.
1.3
Target group
These operating instructions are intended for persons integrating the Backup Assistance
System into a manned forklift truck or another industrial vehicle and performing initial
commissioning and operation. They are also intended for the planners, developers and
operating entities of manned forklift trucks or other industrial vehicles.
1.4
Information depth
Note
These operating instructions contain information about the BAS driver assistance system
on the following topics:
• Product description
• Mounting
• Electrical installation
• Commissioning and configuration
• Maintenance and care
• Fault diagnosis and troubleshooting
• Technical data and dimensional drawings
When planning and using driver assistance systems such as the BAS, technical skills are
required that are not covered by this document.
The applicable official and legal regulations at the application site must always be
complied with when operating the system.
Note
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Further information about the device components used in the Backup Assistance System
can be found in the accompanying operating instructions.
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5
1 ABOUT THESE OPERATING INSTRUCTIONS
1.5
Abbreviations used
BAS
SOPAS
1.6
SICK Engineering Tool = software for 2D LiDAR sensor configuration and diagnostics
Symbols used
Recommendation
Note
1. / 2. ...
Step by step

Action
6
Backup Assistance System
Recommendations are designed to assist you in the decision-making process with respect
to the use of a certain function or technical measure.
Notes provide information about the features of a device, application tips, or other useful
information.
Instructions that must be carried out in the described order are referred to as step-by-step
instructions and are indicated by numbered lists. Carefully read and follow the
instructions for action.
Instructions for taking action are indicated by an arrow. Carefully read and follow the
instructions for action.
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SAFETY 2
2
Safety
This chapter concerns your own safety and the safety of the BAS users.
▸
2.1
Please read through this chapter carefully before using the BAS or the vehicle
monitored by the BAS.
Qualified personnel
The BAS must be installed, commissioned, and maintained only by adequately qualified
personnel.
A qualified person
• has sufficient skills in the field of the respective equipment based on their technical
training and experience and
• has been instructed by the manufacturer in system operation and all applicable safety
guidelines and
• is familiar with all relevant country-specific occupational safety regulations, work safety
regulations, guidelines, and generally accepted technical rules and standards (e.g.,
DIN standards, VDE regulations, country-specific rules) to such an extent that he/she
is able to evaluate the safe condition of the power-operated equipment, and he/she
• has access to and has read the operating instructions.
2.2
Applications of the system
The BAS (Backup Assistance System) is a driver assistance system that monitors the
blind spot behind a manned forklift truck and other industrial vehicles with a 2D-LiDAR
sensor and thus minimizes the risk of collisions.
When reversing, the system warns the driver of the vehicle via acoustic signals when the
vehicle is too close to a stationary or moving object. A signal column for visual warning is
also optionally available.
The BAS was designed specifically for manned forklift trucks and can be connected to the
reverse drive function of the vehicle to eliminate false alarms.
The driver assistance system is designed for installation in manned forklift trucks or other
industrial vehicles. Different versions are available for vehicles with different voltages and
electrical systems.
Note
The BAS detects only objects which are visible in the measurement plane for the 2D
LiDAR sensor. Therefore, the 2D LiDAR sensor must have a free view of the area to be
monitored.
Use of the retrofittable stand-alone solution makes it possible to reduce accidents and
damage, and the driver can concentrate on the current tasks being performed.
Note
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The BAS is a driver assistance system. This means that at all times the driver bears the
full responsibility for safe operation, in particular for people who are in the hazardous
zones of the vehicle.
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2 SAFETY
2.3
Intended use
The BAS driver assistance system may only be used as described in section 2.2
Applications of the system. It may only be used by qualified personnel in the
environment in which it was mounted and initially commissioned by qualified safety
personnel in accordance with these operating instructions.
Note
The BAS driver assistance system is not a safety device for human protection and
therefore does not fulfill any safety standards. For safety applications, please contact
SICK AG.
In the event of any other usage or of modification to the system – including in the context
of mounting and installation – any claims against SICK AG under the warranty will be
rendered void.
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SAFETY 2
2.4
General safety notes and protective measures
2.4.1
Safety notes and symbols
The following safety and hazard notes concern your own safety, the safety of third parties,
and the safety of the devices. You should therefore observe them at all times.
HAZARD
Denotes an immediate hazard that may result in severe to fatal injuries.
The symbol shown on the left-hand side of the note refers to the type of hazard in
question (the example here shows a risk of injury resulting from electrical current).
WARNING
Denotes a potentially dangerous situation that may result in severe to fatal injuries.
The symbol shown on the left-hand side of the note refers to the type of hazard in
question (the example here shows a risk of damage to the eye by laser beams).
WARNING
Denotes a potentially dangerous situation that may result in minor personal injury or
possible material damage.
NOTE
Denotes a potential risk of damage or functional impairment of the device or the devices
connected to it.
This symbol refers to supplementary technical documentation.
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2 SAFETY
2.4.2
General safety notes
BAS has been designed in a way that allows for safe operation. However, a certain level
of risk will always remain.
Awareness of potential hazardous points in the system will help you to work in a safer
manner and thus prevent accidents.
To avoid risks, please also observe the special warnings in each of the individual
chapters.
WARNING
Safety notes
Observe the following to ensure the safe use of the system as intended.
• The notes in these operating instructions (e.g. regarding use, mounting, installation,
or integration into the vehicle) must be observed.
• All official and statutory regulations governing the operation of the system must be
complied with.
• The national and international legal specifications apply to the installation and use of
the system, to its commissioning, and to recurring technical inspections, in particular:
– Work safety regulations and safety rules
– Any other relevant safety provisions
• The manufacturer and user of the system are responsible for coordinating and
complying with all applicable safety specifications and regulations in cooperation with
the relevant authorities.
• The checks must be carried out by qualified safety personnel or specially qualified and
authorized personnel and must be recorded and documented to ensure that the tests
can be reconstructed and retraced at any time.
• These operating instructions must be made available to the operator of the system.
The system operator must be instructed by qualified safety personnel and must read
the operating instructions.
• The driver must follow relevant instructions and conduct inspections in order to ensure
that the screen of the 2D LiDAR sensor is clean and undamaged.
• The 2D LiDAR sensors must have a free field of vision. The sensor head must not be
covered by other objects, for example.
• SICK AG recommends carrying out a system check before commissioning the system.
WARNING
Risk resulting from improper operation
Improper installation and commissioning, damaged components, and unsuitable ambient
conditions such as excessively cold or warm temperatures and high levels of dust, fog or
spray, may cause faults and faulty alarms and may result in a complete system crash.
10
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SAFETY 2
WARNING
System does not comply with safety standards
The BAS is not suitable for the protection of persons according to the applicable safety
standards for machines. The system therefore does not comply with safety standards.
The BAS is a driver assistance system. It provides the driver of manned forklift trucks or
other industrial vehicles with acoustic and, where applicable, visual warnings about
objects outside the field of view when backing up. The steering system of the vehicle is
not overridden.
At all times the driver bears the full responsibility for safe operation, in particular for
people who are in the hazardous zones of the vehicle.
2.4.3
Potential hazardous points
Laser radiation
WARNING
Damage to the eye by laser beam
The 2D LiDAR sensor TiM3xx used in the BAS conforms to laser class 1 (eye-safe) in
accordance with ((EN 60825-1:2014), eye-safe).
The laser operates at a wavelength of γ = 850 nm (invisible infrared light). The laser beam
is not visible to the human eye.
The radiation emitted in normal operation is harmless to human skin and eyes.
WARNING
Important
Improper use (e.g., opening the housing and stopping the motor) can result in dangerous
exposure to radiation.
▸
Never open the 2D LiDAR sensor housing. Opening the housing does not interrupt the
operation of the laser beam.
▸
Pay attention to the laser safety regulations as per EN 60825-1:2014 (latest version).
• No maintenance is required to ensure compliance with laser class 1.
• The laser output aperture is the window of the 2D LiDAR sensor.
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11
2 SAFETY
Electrical current
HAZARD
Risk of injury and damage caused by electrical current
Improper handling of live devices may lead to severe personal injury or death by electric
shock.
▸
Electrical installation and maintenance work must always be carried out by personnel
authorized to do so.
▸
The power supply must be disconnected when attaching and detaching electrical
connections.
▸
Select and implement wire cross-sections and their correct fuse protection in accordance
with the applicable standards.
▸
▸
Do not touch any live parts.
▸
▸
▸
Always use original fuses with the specified current rating.
In the event of danger, immediately disconnect the object detection system from the
power supply.
Report any damaged cables to the maintenance team without delay.
Observe the up-to-date safety regulations when working on electrical systems.
HAZARD
Damaging potential equalization currents due to different ground potentials
BAS has been designed and tested for electrical safety in accordance with EN 60 950-1
(2006-04) and EN 60 950-1/A11 (2009-03).
It is connected to the peripheral devices via shielded cables. The cable shield (e.g. supply
cable) is connected to the metal housing of the TiM3xx. The device can either be
grounded through the cable shield or through both fastening clips.
If the peripheral devices have metal housings and if the cable shields also are connected
to these housings, it is assumed that all devices contained in the system have the same
ground potential.
This is achieved, for example, by complying with the following conditions:
• Mounting the devices on conductive metal surfaces.
• Properly grounding the devices and metal surfaces in the system.
• Low-impedance and current-carrying equipotential bonding between areas with different
ground potentials, if necessary.
If these conditions are not met, e.g., on devices in a widely distributed system over several
buildings, potential equalization currents may, due to different ground potentials, flow
along the cable shields between the devices and create hazards.
Potential equalization currents between the TiM3xx and other grounded devices in the
system can have the following effects:
• Dangerous voltages on the metal housing, e.g. of the TiM3xx
• Incorrect function or irreparable damage to the devices
• Damage/irreparable damage of the cable shield due to heating and cable fires
▸
12
For smaller installations with only slight potential differences, the insulated installation
of the TiM3xx and of peripheral devices may be a sufficient solution.
O P E R A T I N G I N S T R U C T I O N S | BAS
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SAFETY 2
Commissioning/operation/maintenance
WARNING
Risk resulting from incorrect commissioning and configuration
Do not commission without testing by qualified personnel!
Before carrying out initial commissioning of the system, you must have it checked and
approved by qualified safety personnel.
NOTE
Claims under the warranty rendered void
The housings of the devices must not be opened. The devices are sealed.
If the device is opened, any warranty claims against SICK AG will be void.
WARNING
Risk resulting from faults
Cease operation if the cause of the malfunction has not been clearly identified.
▸
2.5
Immediately stop system operation if you cannot clearly identify the fault and if you
cannot safely remedy the problem.
Protecting the environment
The components of the object detection system have been designed to minimize their
impact on the environment. They consume little power and natural resources.
Always act in an environmentally responsible manner at work. For this reason, please note
the following information regarding disposal.
Disposal after final decommissioning
Note
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▸
Always dispose of unusable or irreparable devices in accordance with the applicable
waste disposal regulations specific to your country.
▸
▸
Remove the plastic parts and recycle the aluminum housing of the 2D LiDAR sensor.
Dispose of all electronic assemblies as hazardous waste. The electronic assemblies are
easy to dismantle.
SICK AG does not take back devices that are unusable or irreparable.
O P E R A T I N G I N S T R U C T I O N S | BAS
13
3 PRODUCT DESCRIPTION
3
Product description
This chapter provides information on the special properties of the BAS driver assistance
system. It describes the construction and operating principle of the system, in particular
the interaction of the different components.
Note
3.1
Always read this chapter before you mount, install, and commission the system.
Scope of delivery
The BAS driver assistance system is available in two configurations. A TiM320 or TiM351
2D LiDAR sensor is used depending on the voltage rating and electrical system of the
vehicle and the ambient conditions at the place of operation.
NOTE
Thorough check for completeness
14
▸
It is recommended that you carefully check for and report transport damage of any kind
as soon as possible after receiving the system.
▸
Also verify that the delivery includes all components listed on the delivery note.
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PRODUCT DESCRIPTION 3
Scope of delivery BAS320-xxxxx
The BAS320-xxxxx driver assistance system is designed for indoor use.
Fig. 1:
Qty.
Part No.
1073075
1062219
2098697
Description
BAS320-11000
TiM320 2D LiDAR sensor
Control unit with power supply unit (12 V), 3 relays, terminal block
(voltage signal for reversing: 12 V) and pre-assembled connecting cables
1073865
1062219
2098698
BAS320-31000
TiM320 2D LiDAR sensor
Control unit with power supply unit (24 V), 3 relays, terminal block
(voltage signal for reversing: 12 V) and pre-assembled connecting cables
1073076
1062219
2098699
BAS320-32000
TiM320 2D LiDAR sensor
Control unit with power supply unit (24 V), 3 relays, terminal block
(voltage signal for reversing: 24 V) and pre-assembled connecting cables
1073052
1062219
2098700
BAS320-34000
TiM320 2D LiDAR sensor
Control unit with power supply unit (48 V), 3 relays, terminal block
(voltage signal for reversing: 48 V) and pre-assembled connecting cables
1073077
1062219
2098701
BAS320-36000
TiM320 2D LiDAR sensor
Control unit with power supply unit (60 V), 3 relays, terminal block
(voltage signal for reversing: 60 V) and pre-assembled connecting cables
1
1
1073078
1062219
2098702
AND
1
1
BAS320-37000
TiM320 2D LiDAR sensor
Control unit with power supply unit (72 V), 3 relays, terminal block
(voltage signal for reversing: 72 V) and pre-assembled connecting cables
2061776
6052882
Mounting kit with impact protection and alignment aid
Tone buzzer
Qty.
1
Part No.
6036219
Description
Signal column for visual signaling
1
1
OR
1
1
OR
1
1
OR
1
1
OR
1
1
OR
Accessories
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Subject to change without notice
BAS320-xxxxx scope of delivery
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15
3 PRODUCT DESCRIPTION
Scope of delivery BAS351-xxxxx
The BAS351-xxxxx driver assistance system is designed for use indoors and in protected
outdoor areas.
Fig. 2:
Qty.
Part No.
1073133
1067299
2098697
Description
BAS351-11000
TiM351 2D LiDAR sensor
Control unit with power supply unit (12 V), 3 relays, terminal block
(voltage signal for reversing: 12 V) and pre-assembled connecting cables
1073865
1067299
2098698
BAS351-31000
TiM351 2D LiDAR sensor
Control unit with power supply unit (24 V), 3 relays, terminal block
(voltage signal for reversing: 12 V) and pre-assembled connecting cables
1073134
1067299
2098699
BAS351-32000
TiM351 2D LiDAR sensor
Control unit with power supply unit (24 V), 3 relays, terminal block
(voltage signal for reversing: 24 V) and pre-assembled connecting cables
1073135
1067299
2098700
BAS351-34000
TiM351 2D LiDAR sensor
Control unit with power supply unit (48 V), 3 relays, terminal block
(voltage signal for reversing: 48 V) and pre-assembled connecting cables
1073136
1067299
2098701
BAS351-36000
TiM351 2D LiDAR sensor
Control unit with power supply unit (60 V), 3 relays, terminal block
(voltage signal for reversing: 60 V) and pre-assembled connecting cables
1
1
1073137
1067299
2098702
AND
1
1
BAS351-37000
TiM351 2D LiDAR sensor
Control unit with power supply unit (72 V), 3 relays, terminal block
(voltage signal for reversing: 72 V) and pre-assembled connecting cables
2068398
6052882
Mounting kit with weatherproof housing
Tone buzzer
Qty.
1
Part No.
6036219
Description
Signal column for visual signaling
1
1
OR
1
1
OR
1
1
OR
1
1
OR
1
1
OR
Accessories
16
BAS351-xxxxx scope of delivery
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PRODUCT DESCRIPTION 3
3.2
System components
TiM3xx 2D LiDAR sensor
A TiM3xx 2D LiDAR sensor installed on the roof or rear of the industrial vehicle
continuously monitors the ground behind the vehicle in a radius of up to 8 m from the
sensor while the vehicle is backing up. The monitored area depends on the sensor type
used.
The 2D LiDAR sensors of the TiM series are based on the laser scanner principle and use
time-of-flight measurement. 2D LiDAR sensors scan their surroundings by emitting a laser
pulse which they then direct in the required direction using a moving mirror.
The laser beam is emitted through the front screen. The scan plane position is indicated
by a housing marking next to the front screen.
Fig. 3:
Scan plane of the TiM3xx
When the laser pulse hits an object in the scan range, it is reflected and sent back to the
receiver of the 2D LiDAR sensor. By calculating the time difference between sending and
receiving and also the signal strength, the position of the object is detected with
millimeter accuracy.
Fig. 4:
Position determination with TiM3xx
2D LiDAR sensors have one specific task in “detection” applications, namely to detect
whether or not an object is located in a defined scanning field. Switching outputs deliver
the result “object in field” or “object not in field” within fractions of a second.
Detection scanners are therefore often used to prevent vehicle collisions. These noncontact laser scanners scan the environment and keep track of important objects at all
times. If there is a risk of a collision, the scanners can be relied upon to output a warning
via the switching outputs prior to an accident occurring.
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17
3 PRODUCT DESCRIPTION
Control unit with relays and power supply unit
The control unit comprises a power supply unit, three relays and a terminal block. The
control unit is installed in the control cabinet of the industrial vehicle.
Fig. 5:
Control unit with relays and power supply unit
• The power supply unit (1) is connected to the voltage supply of the industrial vehicle.
The power supply unit acts as the central voltage supply for all connected system
components of the BAS driver assistance system.
Different power supply units are available for vehicles with different voltages and
electrical systems.
• The driver assistance system is controlled via three relays (2). Two relays process the
incoming signals of the 2D LiDAR sensor and forward the processing result by means
of an I/O signal to the acoustic signal generator (and optionally to the signal column).
The third relay processes the vehicle signal for reversing. Different versions are
available for vehicles with different voltages and electrical systems.
• All system components of the BAS driver assistance system are connected with each
other via the terminal block (3) upon delivery.
Tone buzzer
A tone buzzer warns the driver about obstacles.
Fig. 6:
Tone buzzer
Signal column (optional)
A signal lamp is additionally available as an accessory to provide a visual warning.
Fig. 7:
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Signal column (optional)
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PRODUCT DESCRIPTION 3
3.3
Operating principle
BAS is a driver assistance system for manned forklift trucks and other industrial vehicles.
Using a 2D LiDAR sensor, the system warns the driver when the vehicle is too close
to a stationary or moving object.
Monitoring fields
As the factory setting, the monitoring field scanned by the 2D LiDAR sensor is divided into
the two monitoring fields Warning and Stop. If an object is detected in one of the fields,
an acoustic warning is issued for the driver to reduce the speed or stop the vehicle
immediately.
The size and geometry of the monitoring fields can vary and must be configured
correspondingly during commissioning.
Fig. 8:
Predefined monitoring fields in the BAS driver assistance system
Switching signals for object detection
Each monitoring field is assigned to a switching output of the 2D LiDAR sensor. In the
event of a field violation, the switching signal is forwarded to the responsible relay. The
relay processes the incoming signals of the 2D LiDAR sensor and forwards corresponding
results such as “Warning field violation” or “Stopping field violation” to the acoustic signal
generator (and to the signal column, where applicable).
Fig. 9:
Note
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Switching signals of object detection
In order to avoid false alarms, the driver assistance system can be configured so that the
signals from the 2D LiDAR sensor are taken into account only when the vehicle is reversing.
The reversing signal is processed by one relay.
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3 PRODUCT DESCRIPTION
Acoustic (and visual) signaling of field violation
The BAS driver assistance system warns the driver acoustically and (in conjunction with
the optionally available signal column) also visually.
A prerequisite for visual signaling is that the reversing signal is active. The signal column
lights up green in this case.
Fig.. 10: Acoustic (and visual) signaling of field violation
• Violation of the warning field is indicated acoustically by means of an intermittent
warning tone. The signal column lights up yellow (when the reversing signal is active).
• Violation of the stop field is indicated acoustically by means of a continuous warning
tone. The signal column lights up red and yellow (when the reversing signal is active).
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PRODUCT DESCRIPTION 3
3.4
Status indicators
3.4.1
2D LiDAR sensor
The 2D LiDAR sensor is fully automatic in normal operation and requires no operator
intervention.
The BAS driver assistance system uses two LEDs of the 2D LiDAR sensor to signal the
operational status.
Fig. 11: TiM320 status indicators
LED
 Red
 Red
Table 2:
3.4.2
Meaning
The device is ready for use.
There is no monitoring field violation
 Green A field violation is present.
Hardware error
 Off
There is no supply voltage present.
2D LiDAR sensor status indicators
LED
 Green
Control unit
The power supply unit and relay each have a status LED for supply voltage indication.
Power supply unit
Relay
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LED
 Green
 Off
Meaning
If the LED lights up green continuously, the device is ready for operation.
There is no supply voltage present.
LED
Meaning
 Yellow
If the LED lights up yellow continuously, the device is ready for operation.
 Yellow
The LED flashes yellow during signal processing.
 Off
There is no supply voltage present.
Table 3: Control unit status indicators
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4 MOUNTING
4
Mounting
4.1
Function test before mounting
Before mounting the components of the BAS driver assistance system on the industrial
vehicle, it is recommended that the functional readiness of the devices should be checked.
1. Place the components on a table.
2. Connect the components according to the wiring overview in chapter 5 Electrical
installation).
3. Establish the supply voltage and check the general operational readiness of the
components (see chapter 6.1 System start-up).
Note
Before mounting, check the required lengths of cable and adapt them if necessary.
4.2
Mounting the 2D LiDAR sensor
4.2.1
General notes for installation
The reliable and problem-free operation of the system depends primarily on the proper
mounting and alignment of the 2D LiDAR sensor.
The sensor is normally mounted on the roof of the industrial vehicle or on a suitable
location at the rear of the vehicle.
Mounting should take place centrally on the vehicle if possible so that the monitoring
fields cover the area behind the vehicle on both sides as far as possible.
The 2D LiDAR sensor can also be mounted on the side or overhead if it is not possible to
find a suitable central position, for example.
The laser output is towards the back when viewed from the vehicle cab.
Note
If the BAS is used in protected outdoor areas, it is recommended to protect the 2D LiDAR
sensor against direct sunlight and other environmental influences by a weatherproof
housing.
Mounting height and tilt angle
The 2D LiDAR sensor must be aligned by the customer so that the measurement plane
hits the ground at a sufficient distance.
The tilt angle must be adjusted depending on the mounting height and range of the
2D LiDAR sensor used. The view of the 2D LiDAR sensor must not be restricted by
components on the vehicle.
As the monitoring fields are tilted downwards, care must be taken to ensure that the field
boundaries do not impact on the ground in advance due to vehicle movements and cause
false alarms.
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MOUNTING 4
As the following figure illustrates, the distance d between the end of the monitoring field
and the ground should be observed.
Fig. 12: Mounting position of 2D LiDAR sensor
Notes on the tilt angle
• Do not choose a tilt angle which is too steep. Otherwise the distance from the vehicle is
too small and the driver will not have sufficient time to react appropriately if objects are
detected.
Fig. 13: Tilt angle of the 2D LiDAR sensor (too steep)
• Do not choose a tilt angle which is too shallow. If the laser beam does not strike the
ground, as shown in the following figure, smaller objects located behind the vehicle
may not be detected when reversing.
Fig. 14: Tilt angle of the 2D LiDAR sensor (too shallow)
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4 MOUNTING
Notes on correct adjustment
Make sure that the 2D LiDAR sensor is not mounted in a tilted position.
The sensor is correctly aligned when the measurement plane of the 2D LiDAR sensor is
parallel to the vehicle axis and parallel to the ground.
Fig. 15: Correct alignment of the 2D LiDAR sensor
WARNING
Be sure to closely observe the following notes during mounting:
▸
▸
Install the 2D LiDAR so that it is protected from dirt and mechanical damage.
▸
Ensure that the field of view of the entire front screen is not restricted. The 2D LiDAR
sensor must always have a clear view of the scanning area.
▸
Always mount the 2D LiDAR sensor so that you are able to insert and remove the
connector plug.
▸
▸
Avoid excessive shock and vibration exposure of the 2D LiDAR sensor.
When selecting the installation position, make sure the 2D LiDAR is protected against
direct sunlight on the housing of the 2D LiDAR (overheating) and largely protected
against glare caused by sunlight or other light sources.
In the event of heavy vibration, prevent the fixing screws from accidentally coming
loose using screw-locking devices.
NOTE
Ensure accessibility of the connections
Depending on the installation situation of the 2D LiDAR sensor, it is possible that the
connections are not accessible or are hardly accessible after the final installation.
In this case, we recommend laying and connecting the cables before the installation of
the 2D LiDAR sensor.
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MOUNTING 4
4.2.2
Using SICK mounting kit
4.2.2.1
Overview
The 2D LiDAR sensor TiM3xx is supplied with a mounting kit suitable for the device type.
This U-shaped mounting kit acts as a bracket with impact protection. It comprises a
mounting bracket and a mounting plate for mounting and fine adjustment of the 2D
LiDAR sensor.
A weatherproof housing is mounted on the mounting kit for outdoor use of the TiM351.
Fig. 16: SICK mounting kit with weatherproof housing
General procedure
1. Always first mount the 2D LiDAR sensor on the respective mounting kit.
2. In the second step, mount the mounting kit with TiM3xx on the mounting mechanism of
the industrial vehicle.
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4 MOUNTING
4.2.2.2
Mounting the TiM320
Mount the TiM320 on the adapter plate
1. Mount the TiM320 on the adapter plate using the two M3 x 8 screws.
2. To do this, insert the screws from below through the hole in the mounting bracket and
the hole in the adapter plate.
Fig. 17: Mounting the TiM320 – mounting on adapter plate
Align the sensor
1. Align the scan plane by means of the three cheese-head screws.
2. After adjustment, lock the adapter plate against the mounting bracket by means of the
two studs.
Fig. 18: Mounting the TiM320 – aligning the sensor
Mount the mounting kit on the mounting facility on the industrial vehicle
The mounting bracket has two holes with a diameter of 4.3 mm on the bottom and rear
sides for horizontal or vertical mounting of the mounting bracket on the mounting facility
of the industrial vehicle.
Fig. 19: Mounting the TiM320 – mounting on the mounting facility on the vehicle
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MOUNTING 4
4.2.2.3
Mounting the TiM351
Mount the TiM351 on the adapter plate
1. Mount the TiM351 on the adapter plate using the two M3 x 8 screws.
2. To do this, insert the screws from below through the hole in the mounting bracket and
the hole in the adapter plate.
Fig. 20: Mounting the TiM351 – mounting on adapter plate
Align the sensor
1. Align the scan plane by means of the three cheese-head screws.
2. After adjustment, lock the adapter plate against the mounting bracket by means of the
two studs.
Fig. 21: Mounting the TiM351 – aligning the sensor
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4 MOUNTING
Mount the weatherproof housing
After mounting the 2D LiDAR sensor, the weatherproof housing is pushed over the
mounting kit and screwed into position.
1. Mount the spacer plate on the rear of the mounting bracket.
Fig. 22: Mounting the TiM351 – spacer plate for weatherproof housing
2. Push the weatherproof housing over the mounting kit.
3. Screw the weatherproof housing onto the top side of the mounting bracket with the
three fixing screws.
Fig. 23: Mounting the TiM351 – mounting the weatherproof housing
Mount the mounting kit on the mounting facility on the industrial vehicle
The mounting bracket has two holes with a diameter of 4.3 mm on the bottom and rear
sides for horizontal or vertical mounting of the mounting bracket on the mounting facility
of the industrial vehicle.
Fig. 24: Mounting the TiM351 – mounting on the mounting facility on the vehicle
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MOUNTING 4
4.2.3
Installation with RAM MOUNT universal mounts
A universal mounting system such as RAM MOUNT can be used alternatively or in addition
to the mounting kits for the 2D LiDAR sensor.
An overview of the universal mounts available as accessories can be found in chapter 4.6
Recommended RAM MOUNT universal mounts.
Combining RAM MOUNT universal mount and TiM mounting kit
1. First mount the 2D LiDAR sensor on the SICK mounting kit (see above).
2. Then mount the RAM MOUNT mount 5333533 RAM-B-238 on the bottom or rear side
of the TiM mounting kit.
3. Mount the RAM MOUNT mount on a RAM MOUNT socket arm.
4. Clamp the socket arm onto a suitable RAM MOUNT clamp base.
5. Then mount the clamp base on the left or right corner post or roof of the forklift truck.
The following figure shows the mounting steps for a TiM351. Mounting is performed here
by way of example via the bottom side of the TiM mounting kit on the corner post of the
forklift.
Fig. 25: Mounting the TiM3xx – mounting on a RAM MOUNT universal mount
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4 MOUNTING
4.2.4
Using fastening clips
The fastening clips included with delivery can be used alternatively to the mounting kit for
mounting the 2D LiDAR sensor. The 2D LiDAR sensor is mounted directly on the mounting
facility of the vehicle.
Note
The mounting mechanism on the vehicle surface must ensure the required tilt angle of
the 2D LiDAR sensor.
1. Place the fastening clips on the blind hole threads of the 2D LiDAR sensor. The threads
are located on both the underside and rear side of the sensor.
2. Screw the fastening clips in place on the sensor with the two M3 screws included with
delivery.
Fig. 26: Mounting fastening clip on the TiM3xx
3. Place the 2D LiDAR sensor with the mounted fastening clips on the mounting surface
of the mounting mechanism.
4. Screw on the fastening clips with two M3 screws (not included with delivery).
Fig. 27: Screwing fastening clips on mounting plate
Note
30
You can also mount the 2D LiDAR sensor directly on the surface of the vehicle. To do this,
use the M3 blind hole threads on the bottom and rear of the device.
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MOUNTING 4
4.3
Mounting the control unit (control cabinet)
The control unit components are screwed onto a wall rail at the factory.
▸
Mount the wall rail in the control cabinet of the vehicle or at another suitable position
using suitable screws.
Fig. 28: Mounting the control unit
4.4
Mounting the tone buzzer
Mount the tone buzzer in the cab behind the driver.
Use the RAM MOUNT universal mount available as an accessory. An overview of the
universal mounts available as accessories can be found in chapter 4.6 Recommended
RAM MOUNT universal mounts.
Fig. 29: Mounting the tone buzzer
Note
The connecting cable is already connected to the control unit at the factory.
Make sure that the terminals on the tone buzzer are easily accessible after mounting.
If this should be problematic due to the mounting location, you must connect the tone
buzzer before mounting (also see chapter 5.5 Connecting the tone buzzer).
4.5
Mounting the signal column (optional)
Mount the signal column available as an accessory in the driver’s field of view in the cab.
An overview of the universal mounts available as accessories can be found in chapter 4.6
Recommended RAM MOUNT universal mounts.
Fig. 30: Mounting the signal column
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4 MOUNTING
4.6
Recommended RAM MOUNT universal mounts (optional)
RAM MOUNT is a universal and sturdy mounting system for special mounts that allows
you to mount practically any device anywhere. You can choose the individual system
components according to your requirements or use the complete mounts.
The RAM MOUNT system uses ball joints in different sizes which are assembled using
connecting elements to create a complete, very flexible mount system. The joints can be
moved and easily adjusted when the fixing screw is loosened. The mount is fixed in its set
position as soon as the fixing screw is tightened.
The following mounting systems are available from SICK.
Illustration
Part no.
Type
Description
Mounting brackets and plates
5333533
RAM-B-238U
Mount for sensor
(1" ball)
5333547
RAM-B-107-1BU
Ball head mounting plate
(1" ball)
5333544
RAM-B-202U
1" ball for protective roof
Adapter plate for protective roof
-
RAM-335
Protective roof
Protective roof
5333546
RAP-S-KNOB3U
Security knob
Security knob for socket arms
5333534
RAM-B-201U-A
2.38" socket arm
(1" ball)
2.38" socket arm (1" ball)
5333535
RAM-B-201U
3.69" socket arm
(1" ball)
3.69" socket arm (1" ball)
5333536
RAM-B-201U-C
6" socket arm
(1" ball)
6" socket arm (1" ball)
5333537
RAM-B-230
Short 1" ball adapter
Short 1" ball adapter for lengthening the socket arm
Mount for connection with the TiM mounting bracket at the
socket arm.
Clamp and alignment brackets
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MOUNTING 4
Universal clamping systems
5333542
RAM-B-247U-2
2" clamp base, 3" studs
(1" ball)
2" clamp base, 3" studs (1" ball) for connecting socket arm
and protective roof
5333541
RAM-B-247U-25
2.5" clamp base, 3" studs
(1" ball)
2.5" clamp base, 3" studs (1" ball) for connecting socket
arm and protective roof
5333540
RAM-B-247U-3
3" clamp base, 3" studs
(1" ball)
3" clamp base, 3" studs (1" ball) for connecting socket arm
and protective roof
5333539
RAM-B-247U-4
4" clamp base, 3" studs
(1" ball)
4" clamp base, 3" studs (1" ball) for connecting socket arm
and protective roof
5333545
RAM-B-108BU
V-shape 1/2" to
2" clamp base
V-shape 1/2" to 2" clamp base for connecting socket arm
and protective roof
5333532
RAP-B-400-U
Signal lamp mounting
(1" ball)
Signal lamp mounting (1" ball) for mounting on the socket
arm
Table 4: RAM MOUNT universal mounts for BAS
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5 ELECTRICAL INSTALLATION
5
Electrical installation
HAZARD
Disconnect the power to the system
▸
Make sure that all the components of the driver assistance system are disconnected
from the power supply during the electrical installation work.
HAZARD
Risk of injury due to electrical current
▸
▸
Standard safety requirements must be met when working on electrical systems.
The power supply must be disconnected when attaching and detaching electrical
connections.
HAZARD
Safe separation between the input and output current circuit
If the supply voltage is produced by the removal and conversion of electricity from the
AC mains power supply using a stabilized power supply unit, then insufficient electrical
separation between input and output current circuit may lead to an electric shock.
▸
Only use a power supply unit whose output circuit has safe electrical separation from
the input circuit by means of double insulation and a safety transformer in accordance
with IEC 742 (VDE 0551).
HAZARD
Circuits must be configured as SELV or PELV circuits
▸
All electrical circuits connected to the TiM3xx must be configured as SELV or PELV
circuits (SELV = Safety Extra Low Voltage, PELV = Protective Extra Low Voltage).
HAZARD
Configure wire cross-sections in accordance with valid standards
▸
34
Wire cross-sections in the supply cable from the customer’s power system must be
designed in accordance with the applicable standards.
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ELECTRICAL INSTALLATION 5
5.1
Overview
The figure below provides an overview of the components to be connected.
Fig. 31: Electrical installation of BAS (overview)
The control unit components are already wired with each other at the factory. Only the
following connections with the control unit must still be made:
• Connection of the voltage supply to the power supply unit of the control unit.
• Connection of the 2D-LiDAR.
• Connection of the tone buzzer (and where applicable the signal column).
• Connection of the signal generator for reversing.
Notes on routing the cables
The components are always connected starting from the control unit:
1. Route the cables to the component to be connected.
2. Establish the connection to the control unit at the component.
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5 ELECTRICAL INSTALLATION
5.2
Connecting the control unit to the voltage supply
The power supply unit of the control unit is connected to the voltage supply of the industrial
vehicle.
A 2-wire cable is required for connection (not included with delivery).
Fig. 32: Power supply unit connection to the voltage supply
Note
Before establishing the connection, make sure that the voltage rating and electrical
system of the vehicle match the power supply unit (also see chapter 3.1 Scope of
delivery).
1. Connect the wire ends of the connecting cable for the voltage supply to the power
supply unit of the control unit.
Connection
Function
- Vin
Mains voltage (phase)
+ Vin
Mains voltage (neutral conductor)
PE
Protective conductor
Table 5: Power supply unit connection to the voltage supply
2. Run the connecting cable from the control unit to the control cabinet of the vehicle.
3. Connect the wire ends of the connecting cable to the voltage supply of the vehicle.
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ELECTRICAL INSTALLATION 5
5.3
Connecting the 2D LiDAR sensor
The 2D LiDAR sensor is connected to the control unit via a cable with M12 plug connector
and open end. The cable is used for feeding the voltage supply and for signal transmission
of the digital inputs and outputs.
The open end of the connecting cable is already connected to the control unit at the
factory.
Note
Before connecting the 2D LiDAR sensor, make sure that the voltage rating and electrical
system of the vehicle match the power supply unit (also see chapter 3.1 Scope of
delivery).
TiM320 connection
Fig. 33: TiM320 connections to the control unit
1. Run the 12-pin connecting cable from the control unit to the 2D LiDAR sensor TiM320.
2. Screw the M12 round connector of the connecting cable onto the M12 round connector
of the cable end routed out of the TiM320.
TiM351 connection
The TiM351 offers greater flexibility and space for installation with its swivel connector.
Fig. 34: TiM351 connections to the control unit
1. Run the 12-pin connecting cable from the control unit to the 2D LiDAR sensor TiM351.
2. Screw the M12 round connector of the connecting cable on the TiM351 to the Power
female connector.
WARNING
Risk of damage to the connector
▸
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Turn the swivel connector unit with the electrical connections max 180° from end
position to end position.
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5 ELECTRICAL INSTALLATION
Pin assignment of the connecting cable
Pin
1
2
3
4
5
6
7
8
9
Signal
Wire color
Description
GND
Brown
Ground
DC 9 ... 28 V
Blue
Supply voltage
IN 1
White
Not used
IN 2
Green
Not used
Out 1
Pink
Switching output 1 (field violation of stopping field)
Out 2
Yellow
Switching output 2 (field violation of warning field)
Out 3
Black
Not used
Out 4
Gray
Not used
PNP: INGND
Red
PNP: Common ground for all inputs
NPN: IN 9 to 28 V
NPN: Common reference potential of all inputs
10
IN 3
Pink
Not used
11
IN 4
Gray/pink
Switching input 4 (field set selection)
12
n.c.
Red/blue
Not used
Table 6: Pin assignment of the TiM3xx connecting cable
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ELECTRICAL INSTALLATION 5
5.4
Connecting the signal generator for reversing
The signal generator for reversing is connected to relay K1 on the control unit.
A 2-wire cable is required for connection (not included with delivery).
Note
The used relay K1 must support the correct signal voltage.
Fig. 35: Connection of signal generator for reversing to the control unit
1. Connect the wire ends of the connecting cable for the reversing signal to relay K1 as
follows.
Control unit
Control unit
Function
component
connection
Relay K1
A1 +
Voltage V+
Relay K1
A2 - 0 V GND
Table 7: Connection of signal generator for reversing to the control unit
2. Run the connecting cable from the control unit to the control cabinet.
3. Connect the wire ends of the connecting cable at the vehicle correspondingly.
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5 ELECTRICAL INSTALLATION
5.5
Connecting the tone buzzer
A 3-wire connecting cable with open end is routed out of the control unit at the factory for
connection of the tone buzzer. The ferrules of this connecting cable must be connected to
the tone buzzer.
Fig. 36: Connection of tone buzzer to the control unit
Note
It is recommended not to shorten the cable. If this is done, the ferrules must be crimped
again.
1. Run the cable from the control unit to the tone buzzer.
2. Connect the ferrules at the terminal block of the tone buzzer as follows:
Wire color
Blue
Black
Tone buzzer
connection
+
–
Description
Supply voltage
Signal from relay K3 (terminal 12)
(continuous tone in the event of stopping field violation)
Brown
1
Signal from relay K2 (terminal 14)
(intermittent warning tone in the event of warning field
violation)
Table 8: Connection of tone buzzer to the control unit
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ELECTRICAL INSTALLATION 5
5.6
Connecting the signal column (optional)
The optionally available signal column is connected via a 4-wire connecting cable with
open end which is routed out of the signal column at the factory. The open ends must be
connected to the control unit.
Fig. 37: Connection of signal column to the control unit
1. Run the cable from the signal column to the control unit.
2. Connect the wire ends as follows:
Wire color
Control unit
Control unit
Description
component
connection
Yellow
Terminal block
1
Supply voltage
Red
Relay K2
12
Stopping field violation
Green
Relay K3
14
Reversing active
Orange
Relay K3
12
Warning field violation
Table 9: Connection of signal column to the control unit
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6 COMMISSIONING
6
Commissioning
WARNING
Do not commission without testing by qualified safety personnel
Before you commission the system for the first time, you must have it checked and approved by qualified safety personnel.
▸
6.1
Observe the notes provided in Chapter 2 Safety.
System start-up
All system components are automatically started up when the vehicle is started and are
checked in a self-test.
The system is ready for operation after approximately 60 seconds.
Control unit
The LED DC-ON lights up green on the power supply unit of the control unit. The LEDs for
supply voltage indication for the relays light up yellow.
Fig. 38: Reading the operational readiness at the control unit
Note
The relay K1 lights up only when the reversing signal is active.
Checking the operational readiness of the components
After the supply voltage is switched on, the TiM3xx initializes and the green LED lights up
to indicate its operational readiness.
Fig. 39: Reading the operational readiness on the 2D LiDAR sensor
The 2D LiDAR sensor begins its readiness to measure automatically. It continuously scans
the surrounding contour in its field of vision at a frequency of 15 Hz.
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6.2
Connecting the 2D LiDAR sensors with SOPAS
6.2.1
Overview
The BAS driver assistance system is delivered with all required monitoring fields. The
monitoring fields are already created on the 2D LiDAR sensor. Each field has a fixed
assignment to a switching output.
Only the geometries and positions of these fields have to be adapted to the existing
conditions on-site. This adaptation can be carried out using the SOPAS configuration
software.
6.2.2
Preparing the configuration PC
6.2.3
Installing SOPAS on the configuration PC
Install the latest version of the configuration software from the SICK homepage on the
configuration PC.
1. Open the www.sick.com website in the browser.
2. Enter SOPAS into the search field and start the search.
3. Download the latest version of the SOPAS Engineering Tool software and save this
in a temporary directory on the configuration PC.
4. Start installation by double-clicking the setup.exe file.
5. Select the Installation installation type. The installation is prepared.
6. Select the user language of the wizard.
7. Click OK to confirm. The Setup Wizard opens.
8. Follow the Setup Wizard and perform the installation. Depending on the configuration,
a program group is created and an icon is placed on the desktop.
6.2.3.1
Launching SOPAS
As the first step, launch SOPAS on the configuration PC.
▸
Click the corresponding icon in the start menu or on the desktop
The initial screen is displayed. A new project is automatically created in SOPAS in which
the 2D LiDAR sensor is configured.
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6.2.4
Connecting TiM3xx with the configuration PC
Now connect the 2D LiDAR sensor to the configuration PC via the USB interface.
Establishing connection with TiM320
The micro USB female connector of the TiM320 is located behind the black rubber tab.
Fig. 40: Connecting TiM320 – configuration PC via USB
NOTE
Protect the TiM 320 against moisture and dust when the cover of the USB female
connector is open. To comply with the IP 65 enclosure rating during operation, the black
rubber tab must be flush on the housing.
Establishing connection with TiM351
The micro USB female connector of the TiM351 is located behind the black plastic cover.
Fig. 41: Connecting TiM320/TiM351 – configuration PC via USB
Note
▸
Open the plastic cover using the screwdriver included with delivery.
NOTE
Protect the TiM 531 against moisture and dust when the cover of the USB female
connector is open. The black plastic cover must be screwed flush in order to comply with
enclosure rating IP 67 in operation.
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Establishing connection / installing drivers for USB device
1. Connect the 2D LiDAR sensor to a free USB female connector on the PC using a
suitable shielded high-speed USB cable.
The USB device will be automatically detected by the PC.
2. When the sensor is connected to the configuration PC for the firsts time, the USB
drivers used by the sensor will be installed on the PC.
You will see the message Installing device driver software in the status bar of the
screen window.
3. Wait until the device driver software has been successfully installed on the PC.
A corresponding message will be displayed in the status bar.
Note
If you establish the USB connection before you have launched SOPAS, the SOPA
configuration software will be launched automatically. You will be connected directly
with the 2D LiDAR sensor.
▸
6.2.4.1
In this case, skip the following chapter and continue with chapter 6.2.4.2 Loading
device drivers into the SOPAS project.
Starting the device search
Use the device search to connect the connected 2D LiDAR sensor with SOPAS.
Configuring the device search
1. Click the Search settings button. The Connection Wizard starts. This helps you to
establish a link with a connected device.
2. Select the Device family oriented search option and click Next to confirm.
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3. Restrict the list of devices to the device type TiMxxx and click Next to confirm.
4. The corresponding communication interface is suggested on the next page depending
on the connection type.
5. Confirm the following pages of the wizard by pressing Next each time and click
Complete to finish configuring the search settings.
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6.2.4.2
Loading device drivers into the SOPAS project
The connected 2D LiDAR sensor is recognized and added to the SOPAS project.
The added sensor is shown in the left area of the window as a device tile.
Installing device drivers
In the next step, install the device drivers of the 2D LiDAR sensor. The device drivers can
be transferred directly from the device to SOPAS.
1. Press OK to confirm you have seen the notification.
2. Click Install device driver in the tile.
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3. You will be asked where you want to get the device drivers from. Load the device
drivers from the device and select the Device upload option.
4. Click OK to confirm. The device drivers are loaded in the SOPAS project.
It can be seen in the tile of the 2D LiDAR sensor that the device is now recognized by the
configuration PC but is not yet connected, meaning that it is still offline.
6.2.4.3
Online connection of 2D LiDAR sensor
Establish a connection between the SOPAS project and the 2D LiDAR sensor. This
connection will make it possible to read sensor parameters and configuration data in the
SOPAS project or write these to the sensor from SOPAS.
During the initial commissioning, the standard parameters saved on the 2D LiDAR sensor
at the factory are transferred to the SOPAS project and then adapted to the requirements
of the relevant application there.
Fig. 42: Loading standard parameters into the SOPAS project
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1. Click the Offline button in the device tile.
Alternatively, you can open the context menu and select the Go online command there.
2. You are prompted to synchronize the device data of the 2D LiDAR sensor with the
device data of the SOPAS project.
3. As the standard parameters are currently only available in the 2D LiDAR sensor and are
not yet in the SOPAS project, click the Read parameters option.
The connection between the 2D LiDAR sensor and the configuration PC is now
established. The standard parameters are transferred from the sensor into the SOPAS
project.
Online appears in the tile. The LED lights up green.
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6.2.4.4
The project tree of the device description
Now open the configuration interface in SOPAS.
▸
To do so, double-click the tile in the project tree.
All configurable parameters of the 2D LiDAR sensor are compiled together in a corresponding
device description for the SOPAS configuration software. The project tree of the device
description is used as an aid for configuration.
You can open the individual functional areas of the configuration via the project tree structure.
1. Click the plus symbols to expand the tree.
2. Select a functional area in the project tree. The right-hand side shows the input fields
with the loaded standard parameters.
Note
6.2.4.5
Depending on the SOPAS version, individual contents of the dialog window and their position
could deviate. The general operation of the device parameters is the same, however.
Logging into the 2D LiDAR sensor
To be able to configure the 2D LiDAR sensor with the SOPAS configuration software, you
must log into the device using the Authorized client user level.
After the first start-up, the configuration software works with the Maintenance technician
user level (= operator level).
1. Select the Device  Login command in the menu bar.
2. In the Login dialog window, select the Authorized client user level and enter the
default password client.
3. Click Login to confirm your entry.
The parameters that were previously shown grayed out in the windows are now accessible.
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6.3
Adapting the geometry of the monitoring fields
6.3.1
Opening field set with monitoring fields
The 2D LiDAR sensor is preconfigured at delivery. The relevant monitoring fields for the
driver assistance system are already created and are already linked to the switching
outputs.
You only need to adjust the field size and the geometry of the fields to the conditions at
your site.
Getting started
1. Select the following item from the SOPAS project tree:
TiM3xx  Parameters  Evaluation fields
The editor for editing the monitoring fields is displayed.
In the center area you can see the 2D LiDAR sensor and the scan lines of the surrounding
contour scanned by the sensor. The gray area depicts the area that is not scanned by the
scanner. With the TiM3xx 2D LiDAR sensor, scanning takes place within a 270° sector.
On the right side, select the field set with the monitoring fields for editing. When the
window is opened for the first time, the monitoring fields of field set 1 are displayed.
There is a toolbar on the left that allows you to adjust the display area and edit the
monitoring fields.
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Displaying scan lines
If the scan lines of the 2D LiDAR sensor are not displayed, click on the Display scan line
icon in the toolbar. The scan lines of the surrounding contour scanned by the 2D LiDAR
sensor are now visible.
The scan lines are determined by the individual measuring points of the 2D LiDAR sensor.
Measuring points are generated wherever a laser beam hits an object.
Using the scan lines, you can adapt the size of the monitoring fields so that they correspond
better to the range of the 2D LiDAR sensor.
▸
You can test the display by placing an object in the measuring range and then checking
the result on the screen.
▸
Check whether the scan line moves together with the object and accurately reproduces
the modified surrounding contour (arrow).
Selecting a field set
▸
On the right-hand side, select the field set 9 relevant for the BAS driver assistance
system in the Field selection area.
The predefined fields for the driver assistance system are now visible in the scan range.
The stopping field (field 1) is the range that is furthest inside. It is activated after selection
of the field set and is shown in red.
The stopping field is surrounded by the larger warning field. The external third field is not
used by the driver assistance system.
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6.3.2
Adjusting the display view
Adapt the view on the screen so that you can easily recognize and edit the monitoring
fields.
Note
Please note: the view setting for the scan range is not saved. You must repeat the setting
whenever SOPAS is restarted. The same applies if you switch to a different window.
Zooming in/zooming out the display area
Select a zoom level that allows you to clearly recognize the scan lines and the geometry
of the monitoring field. To do this, use the Zoom in and Zoom out functions.
1. Click on one of the two icons. The mouse cursor is now a magnifying glass icon.
2. Now click on the display area. Every click of the mouse causes the display to zoom in
or zoom out.
Zooming in/zooming out always originates at the position of the mouse cursor.
3. Click again on the magnifying glass to switch off the zoom function.
The scale of the coordinate system automatically adapts to the current zoom level.
Note
Additional settings
▸
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Click on the Display all active points icon to zoom in or zoom out on the view of all
active points of the monitoring field.
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▸
By clicking on the Display maximum sight range of the sensor icon, the display area
shows the 2D LiDAR sensor with all scan lines and the monitoring fields.
▸
Click on the double arrow on the right edge of the monitor window to hide the right
area with the display of the outputs and evaluation cases. This offers more space on
the screen for displaying the 2D LiDAR sensor and the scanned surrounding contour.
Clicking on the double arrow again displays the right area once more.
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▸
Click on the Full-screen presentation icon in the toolbar to display the monitor window
over the full screen.
You can return to the previous display view by clicking on the Close full-screen
presentation icon.
Rotating the display area
Depending on the mounting situation of the 2D LiDAR sensor, you can rotate the view of
the field editor for better orientation. To do so, use the Rotation field.
Note
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▸
▸
Enter the angle of rotation of the view in the input field.
▸
If necessary, click again on the Show all active points icon.
Change the angle of rotation of the view step-by-step with the arrow buttons on the
right next to the field.
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6 COMMISSIONING
6.3.3
Editing fields
The geometry of the monitoring field is determined by means of so-called field points.
These are visualized as green marker squares in the graphic as soon as you have
activated one of the icons Set field points, Move field points or Delete field points in the
vertical toolbar.
In the default setting, the rectangular monitoring fields have four field points at the corners.
In order to edit the field geometry, you can now move the field points, insert additional
field points or delete field points and thus adapt the geometry of the monitoring fields to
the on-site conditions.
Getting started
▸
On the right-hand side of the window, select a monitoring field for editing in the
Monitoring field area.
The selected monitoring field is shown red in the graphic.
The stopping field is automatically selected for editing after selection of the field set.
Moving field point
1. Click on the Move field points icon in the toolbar.
2. In the graphic representation, now click on the green marker square that you would like
to edit.
The color of the marker square changes to blue.
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3. Click on the square again and drag the field point to the desired position while pressing
the mouse button.
4. Release the mouse button.
Moving other field points
The Move function remains active. You can move the next point directly afterwards.
1. Click on the corresponding point. The marker square is shown in blue.
2. Move the point by pressing and holding the mouse button.
Moving several points in one operation
1. Press and hold the Ctrl key and then select the field points you wish to move.
Alternatively, draw a frame around the points you wish to edit while pressing and
holding the mouse button.
2. The marker squares of the selected field points are shown in blue.
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3. Click on one of the marked points and change the geometry of the monitoring field by
moving the point.
Use the two icons Undo or Redo if you have accidentally performed an action.
Inserting additional field positions
The rectangular monitoring field has four marker points. It may be necessary to add
additional field points for certain geometries.
1. Click on the Set field points icon.
2. Click on the desired position on the boundary of the outer field.
3. SOPAS inserts a new, green marker square.
4. Now click on the Move field points icon. Click on the newly added field point as move
it as described.
Deleting field points
Field points that are not needed for the geometry of the monitoring field can be deleted.
1. Click on the Delete field points icon.
2. Click with the mouse on the green marker square of the field point you wish to delete.
The color of the marker square changes to red.
3. Click again on the field point that is to be deleted. SOPAS removes the marker square
and instead connects the two nearest marker squares with a new line.
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Ending editing mode
1. End editing of the monitoring field by clicking again on the icon of the active editing
function. You will now be asked whether you want to transfer the modified geometry to
the 2D LiDAR sensor.
2. Click Yes. The modified geometry is transferred to the 2D sensor. The grip points of the
monitoring field are now no longer visible in the scan range.
The modified geometries are still present in SOPAS if you select No. They can then be
transferred to the device at a later point in time (see following chapter).
Note
The message is not displayed if you change to a different editing function. The grip points
remain visible and can be edited as described.
Editing the warning field
Also adjust the geometry of the warning field to the spatial conditions according to the
steps described above.
1. On the right-hand side of the window, select Field 2 (warning field) for editing in the
Monitoring field area.
The warning field is shown red in the graphic.
2. Adjust the field geometry of the warning field as described.
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6.4
Completing configuration
6.4.1
Transferring parameters to the 2D LiDAR sensor
Finally, transfer the modified field geometries to the connected 2D LiDAR sensor.
▸
Click on the Write all parameters icon in the toolbar. The geometries adapted in
SOPAS are now transferred to the device.
Saving the configuration permanently
To retain the changes after the 2D LiDAR sensor is restarted, the configuration must be
permanently saved in the sensor.
1. To do this, go to the SOPAS toolbar and click the Permanently save parameters icon.
The configuration is transferred to the 2D LiDAR sensor and saved there permanently.
2. The configuration that is saved permanently in the device is loaded whenever the
2D LiDAR sensor is restarted.
6.4.2
Testing the configuration of the monitoring fields
Once the configuration has been verified and permanently saved in the 2D LiDAR sensor,
the BAS driver assistance system will start with the loaded configuration.
Test the correct stopping and warning behavior of the system in regular cycles, but always
do so during each commissioning of the vehicle.
Checking object detection
▸
Check the monitoring fields along their outer edges for proper detection. To do so, walk
the edges yourself, or check the functionality using tools suitable for your application.
The system should trigger a response accordingly for every field violation.
• The driver assistance system signals violation of the warning field acoustically by
means of an intermittent warning tone. If the signal column is additionally connected,
this will light up yellow.
• The driver assistance system signals violation of the stopping field acoustically by
means of a continuous warning tone. If the signal column is additionally connected,
this will light up red and yellow.
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6.4.3
Exporting configuration to device file
Once you have successfully completed the tests, save the current parameters and
settings as a device file in SVD format. With the device file, it is possible to reuse the
settings in a different project.
When replacing a 2D LiDAR sensor, for example, this allows you to load the device data
directly to the replacement device.
Note
The SVD device file is independent of the SOPAS version.
1. Click on the Export SVD file command in the Device menu.
2. Enter the file name and the storage location.
3. Click Next. The device file is saved.
4. Finish the export with Complete.
Note
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Instructions on how to import an SVD device file again after component replacement can
be found in chapter 7.3.1 Replacing the 2D LiDAR sensor
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7
Maintenance
7.1
Overview of maintenance tasks
The following maintenance work must be carried out at the specified time intervals:
Device
Maintenance task
Interval *
Responsible
2D LiDAR sensor
Clean the front screen
Weekly or if dirty
Trained
personnel
Weekly
Trained
personnel
General
Visual inspection of the 2D
LiDAR sensor for mechanical
stability of the mounting
brackets
Visual inspection of the
electrical cabling and wiring
for damage
1x/year
Trained
personnel
* The intervals depend on the ambient conditions and degree of contamination.
In addition, the intervals must be defined according to how significant they are for the customer process.
Table 10: Maintenance intervals
7.2
Maintenance during operation
7.2.1
Cleaning the 2D LiDAR sensor
The 2D LiDAR sensor is maintenance-free. No maintenance is necessary to ensure
compliance with laser class 1.
To maintain the full optical performance of the TiM3xx, the front screen of the 2D LiDAR
sensor must be regularly checked for contamination.
Fig. 43: Cleaning the TiM3xx
Cleaning the front screen
▸
▸
▸
▸
62
Switch off the device during cleaning.
Remove any contamination on the front screen to avoid incorrect measurements.
Wipe the front screen with a soft, wet sponge.
Then dry the front screen with a clean cloth.
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WARNING
Damage to the front screen
The front screen is made of polycarbonate. The optical performance will be reduced by
scratches and streaks on the front screen.
▸
▸
▸
7.2.2
Do not use aggressive cleaning agents.
Do not use abrasive cleaning agents.
Avoid scratching and chafing motion on the front screen.
Visual inspection of the cables
Perform the following thorough checks at regular intervals:
Check plug connectors
▸
Unscrew the plug connectors and check the male contacts for moisture and traces of
corrosion.
WARNING
Plug connectors damaged by corrosion
Plug connectors that have been damaged by corrosion must be replaced straight away.
Corroded plug connectors can significantly impair the performance of the 2D LiDAR
sensor.
Checking cables
▸
Regularly check the electrical installation. Check that all cable connections are securely
attached.
WARNING
Loose connections or scorched cables
▸
Defects such as loose connections, scorched cables or cables with damaged insulation
must be corrected or replaced immediately.
Brackets
▸
▸
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Check the sturdiness of the brackets by looking for cracks and other signs of damage.
Check the screw connections once a year.
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7.3
Replacing components
Faulty or damaged components must be dismantled and replaced with new or repaired
components.
HAZARD
Disconnect the power to the system
▸
Make sure the power supply for the entire system is disconnected throughout the
entire time that you are carrying out maintenance and repair work.
HAZARD
Risk of injury due to electrical current
Only a qualified electrician or trained person working under the guidance and supervision
of a qualified electrician is permitted to work on electrical systems or equipment, and they
must comply with the electrical regulations.
7.3.1
Replacing the 2D LiDAR sensor
If the device parameters have been stored on the configuration PC as a project or device
file, the replacement device can be configured quickly and conveniently by importing the
saved parameter set.
NOTE
Claims under the warranty rendered void
The housing screws of the 2D LiDAR sensor are sealed.
Any claims against SICK AG under the warranty will be rendered void if the seals are
damaged or if the device is opened.
The housing must only be opened by authorized SICK service personnel.
Replacing the device
1. Loosen the M12 round connector on the 2D LiDAR sensor and remove the connecting
cables from the 2D LiDAR sensor.
On the 2D LiDAR sensor TiM320, loosen the plug connector at the cable end and pull it
off the connecting cable.
2. Dismantle the defective 2D LiDAR sensor from the mounting.
3. Mount the replacement device.
4. Connect the cable to the new 2D LiDAR sensor and screw together the plug connectors.
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Copying the device parameters to the device
Load the saved configuration from the previous device using the SOPAS configuration
software.
1. Establish a connection with the new 2D LiDAR sensor (see chapter 6.2.4 Connecting
TiM3xx with the configuration PC).
2. Open the configuration interface.
3. Transfer the parameters from the SVD device file with Device  Import SVD file.
4. Select the saved device file and start the import process. The new 2D LiDAR sensor
scanner is displayed in the project tree with the saved configuration.
7.3.2
Replacing the control unit
The control unit can be replaced only as a complete unit. The replacement device is
pre-assembled on the wall rail. The connecting cables for the connection between the
2D LiDAR sensor and tone buzzer are not pre-assembled. The cables that are already
routed in the vehicle are connected to the replacement device
Note
When ordering the control unit, make sure that the power supply unit and relays have the
correct voltage rating (also refer to chapter 3.1 Scope of delivery).
Removing connecting cables
Loosen and remove the external connecting cables routed in the vehicle at the control
unit:
• Connecting cable for the supply voltage at the power supply unit.
• Connecting cable of the 2D LiDAR sensor: terminal block TB1/TB2: terminals 3 and 4
in each case, terminal blockTB3/TB4: terminal 4 in each case
• Connecting cable for the reversing signal: relay K1 (terminals A1 and A2).
• Connecting cable of the tone buzzer: relays K2 (terminal 14) and K3 (terminal 12) as
well as terminal block TB1 (terminal 1).
• Connecting cable of the signal lamp: relay K2 (terminal 12) and relay K3 (terminals 12
and 14) as well as terminal block (terminal 1).
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Disassembling the control unit
1. Unscrew the fixing screws of the wall rail.
2. Remove the wall rail with the control unit components.
Mounting the replacement unit
▸
Mount the replacement device in the control cabinet of the vehicle (also see chapter
4.3 Mounting the control unit (control cabinet)).
Reconnecting connections
Connect the cables routed in the vehicle to the control unit again (also see details in
chapter 5 Electrical installation).
1. Connect the wire ends of the connecting cable for the voltage supply to the power
supply unit of the control unit.
Connection
- Vin
+ Vin
PE
Function
Mains voltage (phase)
Mains voltage (neutral conductor)
Protective conductor
2. Connect the connecting cable for the 2D LiDAR sensor at the terminal block. Observe
the following numbering of the individual terminals:
Connect the wire ends as follows:
Wire color
Terminal
Description
Blue
Gray/pink
Brown
Red
Pink
Control unit
component
Terminal block TB1
Terminal block TB1
Terminal block TB2
Terminal block TB2
Terminal block TB3
4
3
4
3
4
Yellow
Terminal block TB4
4
Supply voltage
Switching input 4 (field set selection)
Ground
Common ground for all inputs
Switching output 1
(field violation of stopping field)
Switching output 2
(field violation of warning field)
3. Connect the wire ends of the connecting cable for the reversing signal as follows:
Control unit
component
Relay K1
Relay K1
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Terminal
Description
A1 +4
A1 -
Voltage V+
0 V GND
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MAINTENANCE 7
4. Connect the wire ends of the connecting cable for the tone buzzer as follows.
Wire color
Terminal
Description
1
Supply voltage
Black
Control unit
component
Terminal block
TB1
Relay K3
12
Brown
Relay K2
14
Continuous tone in the event of stopping
field violation
Intermittent warning tone in the event of
warning field violation
Blue
5. Connect the wire ends of the connecting cable for the signal column as follows.
Wire color
Yellow
Red
Green
Orange
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Control unit
component
Terminal block
Relay K2
Relay K3
Relay K3
Control unit
connection
1
12
14
12
Description
Supply voltage
Stopping field violation
Reversing active
Warning field violation
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8 FAULT DIAGNOSIS
8
Fault diagnosis
This chapter describes how to identify and remedy faults of the BAS driver assistance
system.
8.1
Response to faults
WARNING
Danger in the event of malfunction!
Cease operation if the cause of the malfunction has not been clearly identified.
▸
8.2
Immediately stop system operation if you cannot clearly identify the fault and if you
cannot safely remedy the problem.
Fault indication of components
The LEDs of the individual components provide the following information:
2D LiDAR sensor
Meaning
Hardware error
 Off
There is no supply voltage present.
Table 11: Fault indication – 2D LiDAR sensor
LED
 Red
LED
Power supply unit
LED
 Off
Meaning
There is no supply voltage present.
Relay
LED
Meaning
 Off
There is no supply voltage present.
Table 12: Control unit status indicators
8.3
SICK Support
If you cannot remedy a fault with the help of the information provided in this chapter,
please contact your respective SICK subsidiary.
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ANNEX 9
9
Annex
9.1
Technical data
9.1.1
Data sheet BAS320-xxxxx
Features
Application
Vehicle
Laser class
Performance
Display
Functions
Number of 2D LiDAR sensors
Monitored area
Warning zones
GPS
Web interface
Integrated application
Interfaces
USB
function
Mechanics/electronics
Supply voltage
Power consumption (typ., max.)
Weight
Reversing signal
Ambient data
Ambient temperature, operation
Ambient temperature, storage
Table 13: Data sheet BAS320-xxxxx
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Inside (2 m)
Manned forklift trucks
1 ((EN 60825-1:2014), eye-safe)
–
Acoustic collision warning
1
Rear of vehicle
2
–
–
Collision warning for manned forklift trucks and other
industrial vehicles
, micro USB
configuration
48 V DC, 18 V DC ... 75 V DC
3.5 W
399 g, 652 g with cable
48 V DC
–10 °C ... +50 °C
–25 °C ... +70 °C
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9 ANNEX
9.1.2
Data sheet BAS351-xxxxx
Features
Application
Vehicle
Laser class
Performance
Display
Functions
Number of 2D LiDAR sensors
Monitored area
Warning zones
GPS
Web interface
Integrated application
Interfaces
USB
function
Mechanics/electronics
Supply voltage
Power consumption (typ., max.)
Weight
Reversing signal
Ambient data
Ambient temperature, operation
Ambient temperature, storage
Table 14: Data sheet BAS351-xxxxx
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Indoor and outdoor applications
Manned forklift trucks
1 ((EN 60825-1:2014), eye-safe)
–
Acoustic collision warning
1
Rear of vehicle
2
–
–
Collision warning for manned forklift trucks and other
industrial vehicles
, micro USB
configuration
24 V DC, 18 V DC ... 75 V DC
3.5 W
399 g, 652 g with cable
+24 V DC
–10 °C ... +50 °C
–25 °C ... +70 °C
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ANNEX 9
9.2
Dimensional drawings
9.2.1
Dimensional drawing for 2D LiDAR sensor TiM320
Mounting kit 1
All dimensions in mm
Fig. 44: Dimensional drawing for the 2D LiDAR sensor TiM320
①
②
③
④
⑤
⑥
⑦
⑧
⑨
⑩
⑪
⑫
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2 x fastening clip with M3 x 4 mm screw (included in scope of delivery)
M3 threaded mounting hole, 2.8 mm deep (blind hole thread)
Optics cover
Receiving range (light inlet)
Transmission range (light emission)
Red and green LED (status displays)
Function button for teach-in
Connecting cable outlet (connection for power/switching inputs/switching outputs)
Micro USB female connector, type B
Marking for the position of the light emission level
Bearing marking to support alignment (90° axis)
270° aperture angle (visual range)
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9 ANNEX
Mounting kit
All dimensions in mm
Fig. 45: Dimensional drawing of mounting kit (TiM320)
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ANNEX 9
9.2.2
Dimensional drawing for 2D LiDAR sensor TiM351
Mounting kit 1
All dimensions in mm
Fig. 46: Dimensional drawing for the 2D LiDAR sensor TiM351
①
②
③
④
⑤
⑥
⑦
⑧
⑨
⑩
⑪
⑫
⑬
⑭
⑮
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Subject to change without notice
2 x fastening clip with M3 x 4 mm screw (included in scope of delivery)
M3 threaded mounting hole, 2.8 mm deep (blind hole thread)
Optics cover
Receiving range (light inlet)
Transmission range (light emission)
Function button for teach-in
Red and green LED (status displays)
Swivel connector
Micro USB female connector, type B
“Voltage supply” connection, 12-pin M12 male connector
Marking for the position of the light emission level
“Ethernet” connection, 4-pin M12 female connector
Area in which no reflective surfaces are permitted when the device is mounted
Bearing marking to support alignment (90° axis)
270° aperture angle (visual range)
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9 ANNEX
Mounting kit
All dimensions in mm
Fig. 47: Dimensional drawing of mounting kit (TiM351)
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ANNEX 9
Weather hood
All dimensions in mm
Fig. 48: Dimensional drawing of weatherproof housing (TiM351)
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75
9 ANNEX
9.2.3
Dimensional drawing of control unit
Fig. 49: Dimensional drawing of control unit
9.2.4
Dimensional drawing of tone buzzer
Fig. 50: Dimensional drawing of tone buzzer
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ANNEX 9
9.2.5
Dimensional drawing of signal column (optional)
Fig. 51: Dimensional drawing of signal column (optional)
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10 FIGURES AND TABLES
10
Figures and tables
10.1
List of tables
Table 1:
Software versions .................................................................................................. 5
Table 2:
2D LiDAR sensor status indicators .....................................................................21
Table 3:
Control unit status indicators ..............................................................................21
Table 4:
RAM MOUNT universal mounts for BAS .............................................................33
Table 5:
Power supply unit connection to the voltage supply .........................................36
Table 6:
Pin assignment of the TiM3xx connecting cable ...............................................38
Table 7:
Connection of signal generator for reversing to the control unit ......................39
Table 8:
Connection of tone buzzer to the control unit....................................................40
Table 9:
Connection of signal column to the control unit ................................................41
Table 10: Maintenance intervals .........................................................................................62
Table 11: Fault indication – 2D LiDAR sensor ....................................................................68
Table 12: Control unit status indicators ..............................................................................68
Table 13: Data sheet BAS320-xxxxx ...................................................................................69
Table 14: Data sheet BAS351-xxxxx ...................................................................................70
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FIGURES AND TABLES 10
10.2
List of figures
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Fig. 1:
BAS320-xxxxx scope of delivery ......................................................................... 15
Fig. 2:
BAS351-xxxxx scope of delivery ......................................................................... 16
Fig. 3:
Scan plane of the TiM3xx ................................................................................... 17
Fig. 4:
Position determination with TiM3xx ................................................................... 17
Fig. 5:
Control unit with relays and power supply unit ................................................. 18
Fig. 6:
Tone buzzer ......................................................................................................... 18
Fig. 7:
Signal column (optional) ..................................................................................... 18
Fig. 8:
Predefined monitoring fields in the BAS driver assistance system ................. 19
Fig. 9:
Switching signals of object detection ................................................................ 19
Fig.. 10:
Acoustic (and visual) signaling of field violation ............................................... 20
Fig. 11:
TiM320 status indicators ................................................................................... 21
Fig. 12:
Mounting position of 2D LiDAR sensor .............................................................. 23
Fig. 13:
Tilt angle of the 2D LiDAR sensor (too steep) ................................................... 23
Fig. 14:
Tilt angle of the 2D LiDAR sensor (too shallow) ................................................ 23
Fig. 15:
Correct alignment of the 2D LiDAR sensor........................................................ 24
Fig. 16:
SICK mounting kit with weatherproof housing .................................................. 25
Fig. 17:
Mounting the TiM320 – mounting on adapter plate ........................................ 26
Fig. 18:
Mounting the TiM320 – aligning the sensor ..................................................... 26
Fig. 19:
Mounting the TiM320 – mounting on the mounting facility on the
vehicle ................................................................................................................. 26
Fig. 20:
Mounting the TiM351 – mounting on adapter plate ........................................ 27
Fig. 21:
Mounting the TiM351 – aligning the sensor ..................................................... 27
Fig. 22:
Mounting the TiM351 – spacer plate for weatherproof housing ..................... 28
Fig. 23:
Mounting the TiM351 – mounting the weatherproof housing ......................... 28
Fig. 24:
Mounting the TiM351 – mounting on the mounting facility on the
vehicle ................................................................................................................. 28
Fig. 25:
Mounting the TiM3xx – mounting on a RAM MOUNT universal mount ........... 29
Fig. 26:
Mounting fastening clip on the TiM3xx .............................................................. 30
Fig. 27:
Screwing fastening clips on mounting plate ..................................................... 30
Fig. 28:
Mounting the control unit ................................................................................... 31
Fig. 29:
Mounting the tone buzzer .................................................................................. 31
Fig. 30:
Mounting the signal column ............................................................................... 31
Fig. 31:
Electrical installation of BAS (overview) ............................................................ 35
Fig. 32:
Power supply unit connection to the voltage supply ......................................... 36
Fig. 33:
TiM320 connections to the control unit ............................................................ 37
Fig. 34:
TiM351 connections to the control unit ............................................................ 37
Fig. 35:
Connection of signal generator for reversing to the control unit ..................... 39
Fig. 36:
Connection of tone buzzer to the control unit ................................................... 40
Fig. 37:
Connection of signal column to the control unit ............................................... 41
Fig. 38:
Reading the operational readiness at the control unit ..................................... 42
Fig. 39:
Reading the operational readiness on the 2D LiDAR sensor ........................... 42
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10 FIGURES AND TABLES
80
Fig. 40:
Connecting TiM320 – configuration PC via USB ...............................................44
Fig. 41:
Connecting TiM320/TiM351 – configuration PC via USB.................................44
Fig. 42:
Loading standard parameters into the SOPAS project ......................................48
Fig. 43:
Cleaning the TiM3xx ............................................................................................62
Fig. 44:
Dimensional drawing for the 2D LiDAR sensor TiM320 ....................................71
Fig. 45:
Dimensional drawing of mounting kit (TiM320) ................................................72
Fig. 46:
Dimensional drawing for the 2D LiDAR sensor TiM351 ....................................73
Fig. 47:
Dimensional drawing of mounting kit (TiM351) ................................................74
Fig. 48:
Dimensional drawing of weatherproof housing (TiM351) .................................75
Fig. 49:
Dimensional drawing of control unit ...................................................................76
Fig. 50:
Dimensional drawing of tone buzzer ..................................................................76
Fig. 51:
Dimensional drawing of signal column (optional)..............................................77
O P E R A T I N G I N S T R U C T I O N S | BAS
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FIGURES AND TABLES 10
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10 FIGURES AND TABLES
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FIGURES AND TABLES 10
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8022161/2018-01-19 ∙ DOCOM/ITL (2018-03) ∙ A4 4c int46
Australia
Phone +61 3 9457 0600
1800 334 802 – tollfree
E-Mail [email protected]
Israel
Phone +972 4 6881000
E-Mail [email protected]
South Korea
Phone +82 2 786 6321
E-Mail [email protected]
Italy
Phone +39 02 274341
E-Mail [email protected]
Spain
Phone +34 93 480 31 00
E-Mail [email protected]
Japan
Phone +81 3 5309 2112
E-Mail [email protected]
Sweden
Phone +46 10 110 10 00
E-Mail [email protected]
Malaysia
Phone +6 03 8080 7425
E-Mail [email protected]
Switzerland
Phone +41 41 619 29 39
E-Mail [email protected]
Mexico
Phone +52 472 748 9451
E-Mail [email protected]
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Phone +886 2 2375-6288
E-Mail [email protected]
Netherlands
Phone +31 30 2044 000
E-Mail [email protected]
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Phone +66 2645 0009
E-Mail [email protected]
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Phone +56 2 2274 7430
E-Mail [email protected]
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Phone +64 9 415 0459
0800 222 278 – tollfree
E-Mail [email protected]
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Phone +90 216 528 50 00
E-Mail [email protected]
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Phone +86 20 2882 3600
E-Mail [email protected]
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Phone +47 67 81 50 00
E-Mail [email protected]
Denmark
Phone +45 45 82 64 00
E-Mail [email protected]
Poland
Phone +48 22 539 41 00
E-Mail [email protected]
Finland
Phone +358-9-2515 800
E-Mail [email protected]
Romania
Phone +40 356 171 120
E-Mail [email protected]
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Phone +33 1 64 62 35 00
E-Mail [email protected]
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Phone +7 495 775 05 30
E-Mail [email protected]
Germany
Phone +49 211 5301-301
E-Mail [email protected]
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Phone +65 6744 3732
E-Mail [email protected]
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Phone +852 2153 6300
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Phone +421 482 901201
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Phone +36 1 371 2680
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Phone +386 591 788 49
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Phone +91 22 4033 8333
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Phone +27 11 472 3733
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Phone +43 22 36 62 28 8-0
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Phone +32 2 466 55 66
E-Mail [email protected]
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Phone +55 11 3215-4900
E-Mail [email protected]
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Phone +1 905 771 14 44
E-Mail [email protected]
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Phone +420 2 57 91 18 50
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SICK AG | Waldkirch | Germany | www.sick.com
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Phone +971 4 88 65 878
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Phone +44 1727 831121
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Phone +1 800 325 7425
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Phone +84 945452999
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Further locations at www.sick.com