Introduction
This document provides instructions on how to utilize the TiM310-0130000S02 laser sensor and its accompanying software.

First, laser installation method and precautions

1.1 Installation Posture

The laser must be installed horizontally and cannot produce more than a 1° pitch and tilt.

Tilt and pitch of the mounted laser

1.2 Installation Height

As the measuring laser scans a two-dimensional plane, the installation height of the positioning laser must avoid the dynamic area in the environment and stably perceive static information. Therefore, the installation height of the positioning laser depends on the usage scenario. In a general factory scenario, a higher installation height is preferable as it can avoid interference from dynamic cargo and walking people in the environment:

Laser height design (laser heightening scene)

In certain computer room scenarios, the cabinet may be hollowed out and there may be no reference material at the appropriate height. As a result, the static information perceived by the laser regarding the environment may be unstable. Therefore, it is recommended to select the height defined by the red box in the figure as the installation height for the laser.

Laser Height Design (Equipment Room Scenario)

1.3 Attention Points

1. The laser measuring system based on two dimensions can only operate on a two-dimensional plane and does not support uneven terrain.
2. During laser installation, it is crucial to pay attention to the tilt angle. Additionally, the laser cannot sweep the ground within the measuring distance.
3. The laser perception principle determines that the measurement distance varies for different materials and object reflectivity. The measurement distance for black objects is generally shorter. If there are many black objects in the environment, select the shortest distance measured by the laser.
4. In mechanical structure design, it is essential to leave the maximum angle range of the laser perception range to avoid artificially reducing the laser perception angle due to the shell or other reasons.

Two, Wiring Method

1. Obtain the corresponding GND, DC10-28V, OUT1, and OUT3 wires based on the cable types of TiM310 (D-Sub 15pin cable or M12 12pin cable). Then connect them to the GND, 24V, and DI of the core controller PDO. The cable pin definition is shown in Table 1;
2. Typically, the innermost area (OUT1) is designated as the stop area, while the outermost area (OUT3) is designated as the deceleration area;
3. If the site requires switching areas with the environment, lead out Input1~4 of TiM310 and connect them to the IO expansion board (such as the adaptive Tech PLC). The Roboshop can then directly control the output level of the corresponding port of the Plc to achieve the switch;

4. Turn on the laser sensor (DC10-28 V), point the laser sensor towards an unobstructed area (where there are no obstacles within 1m), and wait for 30 to 60 seconds. Normally, the light in the center of the sensor will be on and the left side of the sensor will not have a red light below the icon, as shown in the figure below. If there is an issue with the sensor, the light in the center of the sensor will be yellow and the left side of the sensor will have a red light below the icon, as shown below.

Three, Software Usage

The SOPAS debugging software from SICK can be downloaded from the official website.

1. Launch the SOPAS software and establish a connection between the computer and the TiM310 laser sensor via USB-MiniUSB, as illustrated below:

2. When the TiM310 is first connected to the computer, SOPAS will prompt to install the driver. Select "Install Device Driver" and then "Upload from Device" as shown in the images below:

3. Once the driver is installed, verify that the software is in the Online state. If the software is Offline, click the Offline button to switch it to the Online state, as illustrated in the following image.

4. Click the Menu button located in the upper right corner of TiM310 and select Open Device Window or double-click the TiM310 icon to access the device window, as shown in the following image.

5. Setting the detection region -- Enter [Field] in [Parameter], and you will see three layers of regions, starting from the laser sensor as the origin, and regions 1, 2, and 3 from inside to outside, as shown in the figure below.
Note: In the following example, the laser sensor has no input (that is, all Input1~4 = 0). In this case, the field group is field1, as shown in the figure below.

(a). The shape of each region is identical and internally overlaps, with the shape and size of the group of regions determined by the outermost region;

(b). In the Field editor window, use the [add a new field point], [edit field points], and [delete points] buttons to modify the shape of the area. The image below illustrates this process:

(c). [Add Point]: Click the [Add Point] icon and select the location where you want to add a control point, as demonstrated below (add a point directly above the area);

(d). [Move Point]: To move a control point, click on the [Move Point] icon, select the control point to be moved with the left mouse button, and drag it to the desired location using the right mouse button, as shown in the image below:

(e). [Delete Point]: To delete a control point, click on the [Delete] icon, select the desired point with the left mouse button, and then right-click as shown below:

(f). Save the modified Field parameters: Click on the [Field editor] icon to download software parameters to the sensor.
6. Other related Parameter Settings -- click on [Parameter] -- [Evaluation Case]
(a). Duration time output, ranging from 0 to 10 seconds. The default value is 335 milliseconds, as shown in the following figure:

(b) Response Time, adjustable range: 134ms to 30s, default value: 335ms, as depicted in the following figure:

(c). Blanking size refers to the size at which the object will not trigger an alarm. The adjustable range is 10~1000mm. The default value is a 200mm diameter, which can be modified to 100mm to meet customer requirements, as shown in the image below:

7. Modify the area and parameters and save the settings.
(a) In the SOPAS software interface, download all parameters to the device as shown in the following figure. Save the settings to the RAM of the device for debugging purposes. Power off and lose the settings;
(b) To permanently save the settings, as shown in (2) in the following figure, save the settings to the non-volatile memory and do not lose power off.

8. Self-learning Mode
The TiM310 features a self-learning function that automatically generates the shape of the outermost area based on the surrounding environment and the shape of the inner two layers.
(a). Self-learning Pre-setup Preparation
i. Remove all objects that are not permanently present in the monitored area.
ii. During the TiM310 self-learning warning phase, maintain a sufficient distance between the operator and the device to avoid including the operator in the environmental profile.
iii. Confirm that [parameter] - [Field] - [TeachIn activation] is in the Device Button state, as shown in the figure below.

(b) Self-learning phase
The environmental contour shape scanned by TiM310 is reduced by 100mm to match the size of the outermost area, while the inner two layers conform to the specifications of field set 1.
The operation procedure is illustrated in the figure and table below:

Two LED lights indicate the status of the area shape self-learning input.


TiM310 automatically saves area parameters after learning is complete.
Note: 1. During self-learning, do not input current to the digital input; 2. After TiM310 debugging, make sure the TeachIn activation status is set to the Device Button.

9. Control the detection range for automatic sensor switching input level:

(a). As illustrated in the above table, TiM310 can accomplish area switching by controlling the input switches' state;
(b). Input switching is activated at a high level. Low level is ≤2V, and high level is ≥8V. Specific requirements are displayed in the table below:

The section template of TiM310 can be divided into rectangular, circular, and rectangular with a circular segment. The template associated with input4 is rectangular and can only cover a scanning angle of 180 degrees, which may not meet usage requirements. Therefore, it is recommended to avoid using input4.
When using 4 cut area templates, input1 and input2 should be used;
When using 8 cut area templates, input1, input2, and input3 should be used.

4. Common causes of abnormalities

Q1: Unable to activate TiM310 with hands or smaller objects?
A1: First, check the wiring. Once you have confirmed that the wiring is not the issue, check if the Blanking size in the software configuration is too large. Typically, it should be set to 100mm.

Five, Model File Configuration

Please configure the IO type obstacle avoidance laser according to the DI sensor, as shown below:

For related parameters, please refer to I/O sensor [Yan Shuo].