OPERATING INSTRUCTIONS S100. Laser scanner

Transcription

1 OPERATING INSTRUCTIONS Laser scanner EN

2 Fehler! Unbek This document is protected by the law of copyright, whereby all rights established therein remain with the company SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Alteration or abridgement of the document is not permitted without the explicit written approval of the company SICK AG. 2 SICK AG Subject to change without notice /YY30/

3 Operating instructions Contents Contents 1 Important safety notes About this document Function of this document Target group Scope Depth of information Abbreviations Symbols used On safety Correct use Authorised personnel Mounting and maintenance Electrical installation and replacement Commissioning, operation and configuration Applications of the device General safety notes and protective measures Environmental protection Disposal Separation of materials Product description Device components Special features Function Principles of operation Field set and switching fields Monitoring cases Applications Warehouse bay checking Collision protection Protection of the area behind a vehicle Collision protection Configurable functions Naming applications and laser scanners Switching fields Resolution Application diagnostic output error/contamination Restart Multiple sampling Dazzle suppression Monitoring cases on the Professional Stand-by mode Static control inputs on the Professional CANopen Status indicators /YY30/ SICK AG Subject to change without notice 3

4 Contents Fehler! Unbekannter Name für Dokument-Eigenschaft. 5 Mounting Definition of the size of the switching field for mobile applications Mounting steps Direct mounting Mounting with mounting kit 1a or 1b Mounting with mounting kit 2 and Using multiple laser scanners Electrical installation System connection System plug assembly Cable glands Wire cross-sections Pre-assembled system plugs Application examples and connection diagrams Applications with the Standard Applications with the Professional Configuration Default delivery status Preparation of the configuration Configuration of the CANopen master Commissioning Initial commissioning Re-commissioning Care and maintenance Cleaning optics cover Replacing optics cover Diagnostics SICK support Error and status indications on the LEDs Error and status indications on the 7 segment display Extended diagnostics Technical specifications Characteristics Response times Data sheet Dimensional drawings Mounting kits Scan plane origin Ordering information Delivery Available systems Accessories/spare parts Mounting kits System plug Service cable Self assembly connecting cables Documentation Other SICK AG Subject to change without notice /YY30/

5 Operating instructions Contents 14 Annex EC declaration of conformity Glossary List of tables List of illustrations /YY30/ SICK AG Subject to change without notice 5

6 Chapter 1 Important safety notes Operating instructions 1 Important safety notes For use in NFPA79 applications only. Use with an isolated source. Protect cable with listed over-current protection rated: min. 32 V, max. 5 A UL-listed adapters providing field wiring leads are available. Refer to the product information. See > Search > Downloads > Documetation 6 SICK AG Subject to change without notice /YY30/

7 Operating instructions Chapter 2 About this document 2 About this document Please read this chapter carefully before working with this documentation and the. 2.1 Function of this document These operating instructions are designed to address the technical personnel of the machine manufacturer or the machine operator in regards to correct mounting, electrical installation, commissioning, operation and maintenance of the laser scanner. These operating instructions do not provide instructions for operating the machine, the system or the vehicle on which the laser scanner is, or will be, integrated. Information on this is to be found in the appropriate operating instructions for the machine, the system or the vehicle. 2.2 Target group These operating instructions are aimed at the planning engineers, machine designers and operators plants and systems on which one or more laser scanners are to be operated. They also address people who integrate the into a machine, a system or a vehicle, initialise its use, or who are in charge of servicing and maintaining the device. 2.3 Scope These operating instructions are only applicable to the laser scanner with the following entry on the type label in the field Operating Instructions: This document is part of SICK part number (operating instructions Laser Scanner in all available languages). For the configuration and diagnostics of these devices you require CDS- version 1.00 or higher. To determine the version of your software version, select the Module-Info... option in the? menu. 2.4 Depth of information These operating instructions contain information on the laser scanner. They have the following parts: mounting fault diagnosis and troubleshooting electrical installation part numbers commissioning and configuration accessories care and maintenance conformity and approval Note Planning and using laser scanners such as the also require specific technical skills which are not detailed in this documentation. When operating the, the national, local and statutory rules and regulations must be observed. We also refer you to the SICK AG homepage on the Internet at Here you will find information on: application examples these operating instructions in different languages for viewing and printing /YY30/ SICK AG Subject to change without notice 7

8 Chapter 2 ANSI AGV AWG CAN CANopen CDS- CiA EMC EMCY EOC ESD About this document 2.5 Abbreviations American National Standards Institute Automated Guided Vehicle Operating instructions American Wire Gauge = standardisation and classification of wires and cables by type, diameter etc. Controller Area Network open protocol standard for CAN in automation engineering. SICK Configuration & Diagnostic Software = software for configuration and diagnostics on the CAN in Automation = CAN user s and manufacturer s association electromagnetic compatibility CANopen emergency messages = error messages over CANopen electrical overhead conveyor Electrostatic discharge 2.6 Symbols used Recommendation Note,, Take action WARNING Recommendations are designed to give you some assistance in your decision-making process with respect to a certain function or a technical measure. Refer to notes for special features of the device. Display indicators show the status of the 7 segment display on the : Constant indication of characters, e.g. 8 Flashing indication of characters, e.g. 8 Alternating indication of characters, e.g. L and 2 The depiction of numbers on the 7 segment display can be rotated by 180 with the aid of the CDS-. In this document the depiction of the numbers on the 7 segment display is however always in the normal, non-rotated position. LED symbols describe the status of an LED: The switching output in the OFF state LED is illuminated continuously. The error/contamination LED is flashing. The LED is deactivated. Instructions for taking action are shown by an arrow. Read carefully and follow the instructions for action. Warning! A warning indicates an actual or potential risk or health hazard. Observation and implementation of the warning will protect you from accidents. Read carefully and follow the warning notices! Information is displayed in the software indicating to you which settings you can make in the CDS- (Configuration & Diagnostic Software ). 8 SICK AG Subject to change without notice /YY30/

9 Operating instructions Chapter 3 3 On safety On safety This chapter deals with your own safety and the safety of the equipment operators. Please read this chapter carefully before working with the. 3.1 Correct use Note The laser scanner must be used only as defined in section 3.3 Applications of the device on page 9. It must be used only by qualified personnel on the machine where it has been installed and initialised by authorised personnel in accordance with these operating instructions. Observe the requirements according to chapter 1 Important safety notes. If the device is used for any other purposes or modified in any way also during mounting and installation any warranty claim against SICK AG shall become void. 3.2 Authorised personnel The must only be installed, commissioned and serviced by adequately qualified personnel. The following qualifications are necessary for the various tasks: Mounting and maintenance basic technical training knowledge of the current safety regulations in the workplace Electrical installation and replacement practical electrical training knowledge of current electrical safety regulations knowledge on the use and operation of devices in the related application Commissioning, operation and configuration knowledge on the use and operation of devices in the related application knowledge on the software and hardware environment in the related application basic knowledge of the Windows operating system used 3.3 Applications of the device Note The laser scanner is used for protecting plant. It is intended to be used indoors. The is not intended to be used outdoors. The is not a safety laser scanner and is therefore not allowed to be used for tasks related to the protection of people! The complies with the requirements in the standard on the radiated emissions as defined for class A (industrial application); the is therefore only suitable for use in an industrial environment /YY30/ SICK AG Subject to change without notice 9

10 Chapter 3 On safety Among other tasks, the is suitable for collision monitoring distance monitoring storage space check checking for projections object detection collision protection Operating instructions 3.4 General safety notes and protective measures WARNING Pay attention to the safety notes! Please observe the following items in order to ensure the correct use of the laser scanner. This device meets the norms: CDRH 21 CFR and as well as IEC edition 1.2: There the following note is required: Caution if devices for operation or adjustment different to those given here are used or other procedures are employed, hazardous exposure to radiation may occur! During the mounting, installation and usage of the, observe the standards and directives applicable in your country. Manufacturers and operators of the machine on which the is used are responsible for obtaining and observing applicable regulations and rules. The notes, in particular the test notes (see chapter 9 Commissioning on page 42) in these operating instructions (e.g. on use, mounting, installation or integration into the machine controller) must be observed. Changes to the configuration of the devices can degrade the function. After every change to the configuration you must therefore check the effectiveness of the device. When making configuration changes, please always use the password hierarchy provided by SICK to ensure that only authorised persons make changes to the configuration. The SICK service team is available to provide assistance if required. The operating instructions must be made available to the operator of the machine where the is used. The external voltage supply of the devices should be capable of buffering brief mains voltage failures of 20 ms as specified in EN Suitable power supplies are available as accessories from SICK (see section 13.3 Accessories/spare parts on page 65). 10 SICK AG Subject to change without notice /YY30/

11 Operating instructions Chapter 3 On safety 3.5 Environmental protection The laser scanner is constructed in such a way that it adversely affects the environment as little as possible and uses only a minimum of power and natural resources. At work, always act in an environmentally responsible manner Disposal Notes Unusable or irreparable devices should always be disposed as per the applicable national regulations on waste disposal (e.g. European waste code ). We would be pleased to be of assistance on the disposal of this device. Contact us. Information on the individual materials in the is given in chapter 12 Technical specifications on page Separation of materials WARNING Tab. 1: Overview on disposal by components Only authorised personnel are allowed to separate materials! Caution is required when dismantling devices. There is a risk of injuries. Before you send the devices for appropriate recycling, it is necessary to separate the different materials in the. Separate the housing from the rest of the parts (in particular the circuit boards). Send the separated parts for recycling as appropriate (see Tab. 1). Components Product Housing Motor bracket Optics cover Circuit boards, cables, connectors and electrical connecting pieces Packaging Cardboard, paper Polyethylene packaging Disposal Metal recycling (aluminium) Metal recycling (cast zinc) Plastic recycling Electronic recycling Paper/cardboard recycling Plastic recycling /YY30/ SICK AG Subject to change without notice 11

12 Chapter 4 Product description Operating instructions 4 Product description This chapter provides information on the special features and properties of the laser scanner. It describes the construction and the operating principle of the device. Please read this chapter before mounting, installing and commissioning the device. 4.1 Device components Fig. 1: Device components The laser scanner comprises three components: the sensor with the opto-electronic acquisition system, the LEDs and the 7 segment display the optics cover with the window for the light output the system plug with the configuration memory (the system plug contains all electrical connections) Optics cover Window for light output LEDs and 7 segment display Sensor System plug 4.2 Special features 270 scanning angle 0.5 angular resolution switching fields up to 10 m can be configured CANopen integrated status display with LEDs and 7 segment display minimum response time 40 ms configuration using PC or notebook with SICK Configuration & Diagnostic Software Configuration memory in the system plug. In case of device replacement, the existing configuration is automatically transferred to the newly connected. In this way downtimes can be significantly reduced. Optimal immunity to external light and dust due to dazzle and particle algorithms that can be configured as required. 12 SICK AG Subject to change without notice /YY30/

13 Operating instructions Chapter 4 Tab. 2: Functions of the variants Product description variants To cover different applications, two variants are available. Functions Standard Professional Maximum switching field range [m] Object resolution [mm] Switching fields Maximum/ 30/40/ 50/70/150 Maximum/ 30/40/ 50/70/150 at 0.5 angular resolution 2 8 at 1.0 angular resolution 2 16 Programmable monitoring cases 1 16 Switching output 1 allocated switching field free Switching output 2 allocated switching field free Maximum source switching current on the switching outputs 1 and 2 [ma] Application diagnostic output 1 allocated switching field interrupted Application diagnostic output 2 allocated switching field interrupted Application diagnostic output error/contamination Control inputs for switching between the monitoring cases. 4 Stand-by mode CANopen Configuration memory in the system plug 4.3 Function The laser scanner can only operate correctly if the following conditions are met: The control of the machine, system or vehicle must be electrical. The must be mounted and configured such that it detects objects as they enter the monitored area (see chapter 5 Mounting on page 25 and chapter 9 Commissioning on page 42) /YY30/ SICK AG Subject to change without notice 13

14 Chapter 4 Fig. 2: Principle of operation, time of flight measurement by the Product description Principles of operation Operating instructions The is an optical sensor that scans its surroundings in two dimensions using infrared laser beams. It is used for protecting machines or vehicles. E S t Send pulse Receive pulse Fig. 3: Principle of operation, rotation of the The works on the principle of time of flight measurement. It sends out very short pulses of light (S). At the same time an electronic stopwatch is started. When the light hits an object, it is reflected and received by the laser scanner (E). From the time between sending and reception ( t) the calculates the distance to the object. In the there is also a mirror rotating at constant speed that deflects the light pulses such that they cover an arc of 270. In this way an object can be detected in the switching field within 270. The first beam of a scan starts at 45 relative to the back of the laser scanner. The emits its pulse of light with an angular resolution of 0.5 (on the Professional it is possible to switch to an angular resolution of 1 to be able to configure more than eight switching fields). 14 SICK AG Subject to change without notice /YY30/

15 Operating instructions Chapter 4 Product description Due to its active scanning principle, the does not require receivers or reflectors. This has the following advantages: Your installation effort is lower. You can easily adapt the monitored area to the monitored area on a machine. In comparison with contact sensors, electro-sensitive scanning is nearly wear-free. Fig. 4: Switching field 1 and 2 as well as distance measuring range Field set and switching fields The monitors areas on a machine or vehicle with its switching fields and. As soon as the laser scanner detects an object in the switching field, it switches the allocated output 1 or 2 to the OFF state. You can, for example, define one of the two switching fields such that the laser scanner detects an object before the actual monitored area is reached, e.g. for triggering a warning signal. The maximum distance at which the laser scanner can detect an object is defined by the distance measuring range. The two switching fields form a pair, the so-called field set. Depending on the variant used (see section 4.2 under variants on page 13), you can define up to 16 field sets and save these in the laser scanner. In this way you can switch the Professional laser scanner to a different field set in case of a change in the monitoring situation (see section Monitoring cases on page 16). You can configure and transfer these field sets to the with the aid of the CDS-. If the area to be monitored changes, then you can re-configure the in software without additional mounting effort /YY30/ SICK AG Subject to change without notice 15

16 Chapter 4 Fig. 5: Two each with two monitoring cases on a carriage Product description Monitoring cases Operating instructions Depending on the variant used (see section 4.2 under variants on page 13) up to 16 monitoring cases can be defined and selected during operation using static control inputs. Monitoring case 1 (loading) with two small switching fields With the aid of a monitoring case you can define which switching fields are used for a field set. which multiple sampling is applied to the related switching field. Monitoring case 2 (transport) with two switching fields in the direction of movement the field conditions (control signals) for switching to the related field set. 4.4 Applications Fig. 6: Example warehouse bay checking Warehouse bay checking Switching field 1 Switching field 2 By using two switching fields of different lengths at the same time, a signal can be sent to a control indicating whether a warehouse bay is free and and if so, to what depth. 16 SICK AG Subject to change without notice /YY30/

17 Operating instructions Chapter 4 Fig. 7: Example collision protection Product description Collision protection Switching field 2 Switching field 1 The is used for collision protection between vehicles on an electrical overhead conveyor. The laser scanner is, for example, integrated into the control such that the interruption of switching field 1 slows down the vehicle, the interruption of switching field 2 stops the vehicle. Fig. 8: Example protection of the area behind a vehicle Protection of the area behind a vehicle Switching field 1 Switching field 2 The supports the driver when reversing. Switching field 2 switches on a warning signal, switching field 1 reduces the vehicle speed to creep speed /YY30/ SICK AG Subject to change without notice 17

18 Chapter 4 Fig. 9: Example collision protection Product description Collision protection Operating instructions Switching field 1 Switching field 2 The prevents the collision of AGV. Switching field 2 slows down the movement of the vehicle, switching field 1 stops the vehicle. The switching fields in the example are at an angle upward, so that, for example, hanging objects can be detected. 4.5 Configurable functions Naming applications and laser scanners Note A name can be assigned to the application configured and to the laser scanner(s). The names are saved in the devices after the configuration is transferred. The name chosen may be, for example, the identifier for the vehicle, system or the machine. You enter the application name and the name of the laser scanner used in the CDS Switching fields You configure the shape and size of each switching field in the CDS-. You can realise any field shape required. The area to be monitored is scanned radially by the. The cannot see through objects during this process. The area behind objects that are in the area to be monitored (pillars, grilles, etc.) can thus not be monitored. The switching fields can cover an angle of up to 270. On the Standard you can configure two switching fields. On the Professional you can configure 8 switching fields with an angular resolution of 0.5. configure 16 switching fields with an angular resolution of 1.0. Two switching fields are always combined in one field set. These switching fields each switch the switching output 1 or SICK AG Subject to change without notice /YY30/

19 Operating instructions Chapter 4 Fig. 10: Reading switching fields Product description Switching fields suggested by the laser scanner The CDS- can suggest the switching fields. The laser scanner scans the visible room contour several times. From the data obtained the CDS- suggests the contour and size of the field. Switching field Note In those places at which the room contour is smaller than the maximum switching field range (e.g. at ), the switching field corresponds to the room contour. A general error tolerance of 100 mm is subtracted radially from the switching field contour. As a result the switching field is slightly smaller than the surface covered. In the area where the room contour is larger than the switching field range, the switching field corresponds to the switching field range (see Tab. 3 on page 20). Before commissioning, thoroughly check whether the size of the suggested switching fields matches the switching field size necessary for your application. You can display a suggestion for a switching field in the field set editor in the CDS /YY30/ SICK AG Subject to change without notice 19

20 Chapter 4 Tab. 3: Scanning ranges for the fixed resolutions that can be set Note Product description Resolution With its standard resolution, the achieves a scanning range of up to 10 m. Operating instructions Due to its radial beam path (see Fig. 3 on page 14) the object resolution of the laser scanner is highest in the near range. This resolution reduces with increasing distance from the laser scanner. The detection capability of the is dependent on the remission value of the object to be detected and its distance from the laser scanner. The resolution is therefore defined by the object diameter, by the remission value and the distance to the laser scanner. For information on the diameter and remission necessary for an object to be detected, refer to Fig. 30 on page 52. In addition to the standard resolution, with the aid of the CDS- you can configure the resolution for varying object diameters to be detected. Then only objects with a diameter than the resolution set are reliably detected. If a fixed object resolution is selected, the possible switching field radius for this resolution is reduced to the following scanning ranges: Resolution Scanning range for the resolution 30 mm 1.30 m 40 mm 1.70 m 50 mm 2.10 m 70 mm 3.00 m 150 mm 6.60 m The switching fields that you configure in the field set editor can be larger than the scanning range stated. However, the resolution can only be guaranteed up to the distance given Application diagnostic output error/contamination The has a configurable application diagnostic output. The following configuration features are available in the CDS-: window for light output contaminated error window for light output contaminated or error inactive Restart On the you can configure a restart delay of 0 to 60 seconds for the Switching outputs 1 and 2. The related switching output on the changes to the ON state if there is no object in the switching field for the period defined. You can configure the type of restart in the CDS-. 20 SICK AG Subject to change without notice /YY30/

21 Operating instructions Chapter 4 WARNING Product description Multiple sampling If multiple sampling is set, an object must be scanned several times before the switches its switching outputs to the OFF state. In this way you can reduce the probability that welding sparks, insects or other particles, result in the shutdown of the plant. If a multiple sampling of 3 (pre-setting = 2) is configured, for instance, an object must be detected three times in succession before the switches the switching outputs to the OFF state. The total response time is increased by the multiple sampling! With a multiple sampling >1, note that you must add a supplement to the basic response time (see section 12.2 Response times on page 53)! On the, a multiple sampling of 1 is the minimum setting. You can set the multiple sampling to up to 16 with the aid of the CDS-. Recommendation Using multiple sampling you can increase the availability of a plant. You can configure the multiple sampling in the CDS-. You can set individual multiple sampling for each monitoring case Dazzle suppression Note As supplied the is configured without dazzle suppression. If the is dazzled by sunlight or by light sources, the outputs may be shut down. You can activate dazzle suppression, then the switching outputs will remain active even if the is dazzled. You can configure the dazzle suppression in the CDS Monitoring cases on the Professional If you use the Professional, you can define up to 16 monitoring cases. For each monitoring case, you assign a switching field to the two switching outputs 1 and 2. You can also configure one or both switching outputs as always active. In this case the related switching outputs Q1 and Q2 remain in the ON state during the monitoring case. If, within such a monitoring case, the device is switched to the stand-by mode, then the always active switching outputs also switch to the OFF state. It is possible to switch between these monitoring cases during operation using static control inputs (see section on page 22) Stand-by mode Recommendation If, in mobile applications, vehicles are not moved for a time, the switching outputs and the laser on the can be switched off. In this way the power consumption of the device is reduced. Use this function if, e.g. you use several vehicles and do not move them for a time. A dedicated STBY single-channel input is provided for switching to the stand-by mode (see section 6.1 under Pin assignment on the system plug on page 33) /YY30/ SICK AG Subject to change without notice 21

22 Chapter 4 Tab. 4: Example for monitoring case switching with the Professional Tab. 5: Figure from experience for the necessary input delay Note Product description Static control inputs on the Professional Operating instructions Ensure that the circuit for the control inputs is suitable for the ambient conditions to be expected so that systematic and design-related effects and resulting errors on the switching of the monitoring cases can be excluded. Ensure the control switches between the monitoring cases in time. Note that at the time of the switching there may be an object in the switching field. Detection of the object is possible by switching in time. The Professional has four control inputs via which the 16 possible monitoring cases can be switched: Input E.g. monitoring case no. A B C D Input delay The control that you want to use to switch the control inputs must be able to switch to the defined input condition within 10 ms. If this is not the case (e.g. due to bounce times on the switching contacts connected), you can increase the input delay in steps of 40 ms. The following figures, based on experience, give input delays for various methods of switching: Switching method Electronic control signals, switching signals without bounce time Electromechanical control (switches, relays, contactors) Control using independent sensors Input delay required 10 ms ms ms You can configure the control inputs of the Professional in the CDS-. If you have entered an input delay for the inputs on an Professional, in some circumstances you may need to advance the timing for the monitoring case switching. 22 SICK AG Subject to change without notice /YY30/

23 Product description Operating instructions Chapter CANopen Recommendation Note The supports CANopen as per the CiA standards DS301 and DS401. The represents a so-called SDO server, is a SYNC consumer, an NMT slave and supports a PDO with a CAN message with 8 bytes of useful data in each transmission direction. The supports the following operating modes: Service Data Object (SDO) Process Data Object (PDO) Network Manangement Objects (NMO) Heartbeat Life/node guarding Special Function Object (SFO) Synchronisation (SYNC) Emergency Messages (EMCY) Use the Electronic Data Sheet for the to configure the master. The functionality and properties of the are described in this data sheet in a standardised manner in ASCII format. The electronic data sheet for the is on the CD-ROM for the CDS- (Configuration & Diagnostic Software ). Settings for CANopen To use the CANopen interface, this interface must be activated and configured in the CDS-. To be able to operate the as a CANopen user, its address (node ID) and the baud rate for the network must be set. The baud rate must match the related setting in the network. communication over CANopen (sensor-side) Cyclic data can be exchanged over CANopen. The outputs the following data: status of the switching outputs Q1, 1, Q2, 2 as well as error/contamination (see Tab. 10 on page 39) status of the inputs A, B, C, D ( Professional only) as well as of the Stand-by input (see Tab. 11 on page 40) active switching fields for Q1 and Q2 (see Tab. 12 on page 40) actual device status (see Tab. 13 on page 40) The can react to the following data: input values on the inputs A, B, C, D (only Professional) as well as the Stand-by input (see Tab. 14 on page 41) The input data are only evaluated by the if this action has been activated using the CDS-. Error information over CANopen As a CANopen slave, the provides an emergency message. The CANopen error code 1000h (generic error) is used for the messages. Device-specific error codes are entered in the manufacturer-specific area available. You will find the error information in Tab. 21 on page /YY30/ SICK AG Subject to change without notice 23

24 Chapter 4 Fig. 11: Status indicators on the Product description 4.6 Status indicators Operating instructions The signals the operational status with the aid of the LEDs and the 7 segment display. These are on the front face of the laser scanner. The depiction of numbers on the 7 segment display can be rotated by 180 with the aid of the CDS- (Configuration & Diagnostic Software ). If the numbers are displayed rotated, the point on the 7 segment display goes out: Point visible: The bottom edge of the numbers on the 7 segment display is pointing towards the bottom of the laser scanner. Point not visible: The bottom edge of the numbers on the 7 segment display is pointing towards the optics cover. The symbols have the following meaning: Both switching outputs in the ON state (no object in the switching field) One of the switching outputs in the OFF state (e.g. with an object in the switching field) Optics cover contaminated Switching output 1 in the OFF state Switching output 2 in the OFF state 24 SICK AG Subject to change without notice /YY30/

25 Operating instructions Chapter 5 5 Mounting Mounting Notes This chapter describes the preparation and completion of the mounting of the laser scanner. Mounting requires four steps: definition of the application and the necessary mounting location for the laser scanner definition of switching field sizes definition of the switching point between monitoring cases (only Professional) mounting the laser scanner with or without mounting kits Mount the in a dry place and protect the device from dirt and damage. Avoid the installation of the in the vicinity of strong electric fields. These can, e.g., be produced by welding cables, induction cables in the immediate vicinity and also by mobile telephones operated nearby. Ensure that there are no obstacles in the area to be monitored in the field of view of the that could cause interference or shadowing. Such shadowed areas cannot be monitored by the. If there are unavoidable shadowed areas, check whether there is a risk. Take additional safety precautions as necessary. Keep the area to be monitored free of smoke, fog, steam or other forms of air impurities. There must not be any condensation on the light output window. Otherwise the function of the may be impaired and incorrect switching may occur. Avoid placing highly reflective objects in the scan plane of the. Examples: Retroreflectors can affect the measurement results of the. Highly reflective objects within the switching field can blank part of the area to be monitored in certain circumstances. Mount the such that it is not dazzled by incident sunlight. Do not position stroboscopic and fluorescent lights or other strong light sources directly in the scan plane as these may affect the in specific circumstances. The following steps are necessary after mounting and installation: completing the electrical connections (chapter 6 Electrical installation ) configuration of the switching field (chapter 8 Configuration ) commissioning and checking of the installation (chapter 9 Commissioning ) /YY30/ SICK AG Subject to change without notice 25

26 Chapter 5 Notes Mounting Operating instructions 5.1 Definition of the size of the switching field for mobile applications To be able to prevent collisions between vehicles or vehicles and fixed objects, the length and width of the switching field must be adequately dimensioned. When calculating the length of the switching field, take into account the vehicle s stopping distance. This comprises braking distance, to be found in the vehicle documentation distance covered during the response time of the vehicle controller, to be found in the vehicle documentation the distance covered during the laser scanner s response time The distance covered during the laser scanner s response time depends on the laser scanner s response time and the maximum speed of the vehicle in your mobile application. You will find the response time T S for the laser scanner in section 12.2 Response times on page 53. We recommend a supplement of 100 mm to the switching field length to stop the vehicle before a possible collision. If there are retroreflectors in the vehicles path or if it is to be expected that the vehicle braking force will fade, you may need to increase the recommended supplement in certain circumstances. The width of the switching field should cover the width of the vehicle. In addition, you should configure a supplement of 100 mm on each side. WARNING 5.2 Mounting steps Special features to note during mounting: Mount the such that it is protected from moisture, dirt and damage. Ensure that the entire field of view of the is not restricted. Mount the laser scanner such that the indicators are easy to see. Always mount the so that there is still enough space for mounting and removing the system plug. Avoid excessive shock and vibration loading on the laser scanner. On applications that suffer from heavy vibration, prevent the fixing screws from coming loose using screw locking devices. Regularly check the tightness of the fixing screws. Note The origin of the scan plane is 116 mm above the bottom edge of the (see section Scan plane origin on page 62). There are three possible ways of fixing the : direct mounting without mounting kit mounting with mounting kit 1a or 1b mounting with mounting kit 2 (only in conjunction with mounting kit 1a or 1b) You will find the part numbers for the mounting kits in section Mounting kits on page 63. Pay attention to the maximum torque of the M5 fixing screws on the of max. 5.9 Nm. 26 SICK AG Subject to change without notice /YY30/

27 Operating instructions Chapter 5 Fig. 12: Direct mounting Mounting Direct mounting The has two threaded holes M5 8 on the rear. Using them you can mount the directly on the intended mounting surface. To avoid a possible tendency to vibrate, if necessary the reference surface on the rear can be used as the third mounting point. M5 8 Notes During mounting, please observe the dimensional drawings (see section 12.4 Dimensional drawings on page 60) Mounting with mounting kit 1a or 1b With the aid of mounting kit 1 you can mount the indirectly on the mounting surface. The mounting kit is available as mounting kit 1a without protection device for the optics cover and as mounting kit 1b with protection device for the optics cover /YY30/ SICK AG Subject to change without notice 27

28 Chapter 5 Mounting Operating instructions Fig. 13: Mounting with mounting kit 1a Fixing screws Mounting kit 1a Threaded holes M5 8 Fixing screws Fig. 14: Mounting with mounting kit 1b incl. protection for the optics cover Fixing screws Mounting kit 1b Threaded holes M5 8 Fixing screws Note Mount mounting kit 1a or 1b on the mounting surface. Then mount the on the mounting kit 1a or 1b. During mounting, please observe the dimensional drawings (see section 12.4 Dimensional drawings on page 60). 28 SICK AG Subject to change without notice /YY30/

29 Operating instructions Chapter 5 Fig. 15: Mounting with mounting kit 2 Mounting Mounting with mounting kit 2 and 3 With the aid of mounting kits 2 and 3 (only in conjunction with mounting kit 1a or 1b) you can align the in two planes. The maximum adjustment angle is ±11 in both planes. Mounting kit 1a Fixing screws Mounting kit 2 Mounting kit 3 Centring pin Fixing screws Threaded hole M4 Note Mount mounting kit 1a or 1b to the. Mount the mounting kit 3 on the mounting surface. Fit the centring pin (4 mm) in the central hole on mounting bracket 3. Fit mounting kit 2 to mounting kit 3 and mount it using two fixing screws M4 10. Then mount the on mounting kit 2 with the aid of the threaded holes in mounting kit 1a. Adjust the longitudinally and transversely and then tighten the six fixing screws on the mounting kits. During mounting, please observe the dimensional drawings (see section 12.4 Dimensional drawings on page 60) Using multiple laser scanners The is so designed that mutual interference between several laser scanners is unlikely. To completely exclude erroneous switching, we recommend mounting the laser scanners as shown in the following examples. Use mounting kits 1 to 3 to adjust the laser scanners to different angles (see section Mounting kits on page 63) /YY30/ SICK AG Subject to change without notice 29

30 Chapter 5 Mounting Operating instructions Fig. 16: Opposite mounting Min. 3 Fig. 17: Offset parallel mounting Min. 100 mm Fig. 18: Mounting on a cross Min. 3 Fig. 19: Reverse mounting, parallel offset Min. 100 mm Fig. 20: Reverse mounting of two, with parallel offset Min. 100 mm 30 SICK AG Subject to change without notice /YY30/

31 Operating instructions Chapter 5 Fig. 21: Reverse mounting of one, with parallel offset Mounting Min. 100 mm /YY30/ SICK AG Subject to change without notice 31

32 Chapter 6 Electrical installation Operating instructions 6 Electrical installation WARNING Notes Switch the entire machine/system off line! The machine/system could inadvertently start up while you are connecting the devices. To prevent an unintentional start, ensure that the entire machine/system is disconnected during the electrical installation. Route all cables and connection cables such that they are protected from damage. If you use screened cable, lay the screen evenly around the cable gland. Ensure that the is adequately protected electrically. You will find the electrical data necessary for determining the correct fuse in section 12.3 Data sheet on page 54. Observe the requirements according to chapter 1 Important safety notes. The electrical connections for the are made at the system plug. A pre-assembled connector variant and an un-assembled connector variant are available (see page 35). 6.1 System connection Fig. 22: Screw terminal connection in the system plug You will find all inputs and outputs of the on the 24-pin screw terminal connection + FE in the system plug. Notes The system connection pin assignments vary depending on the variant. If the cable gland/blanking plug is missing or not tightened, or if fixing screws are missing or not tightened on the system plug, the IP 65 enclosure rating is not met. All inputs and outputs on the are to be used only in the context specified. 32 SICK AG Subject to change without notice /YY30/

33 Operating instructions Chapter 6 Tab. 6: Terminal assignment on the system plug Electrical installation Pin assignment on the system plug Pin Signal Function FE Functional earth V DC Supply voltage 2 0 V DC Supply voltage 3 1 Switching output Switching output 2 5 IN A Static control input A 6 IN B Static control input B 7 IN C Static control input C 8 IN D Static control input D 9 Reserved 10 Reserved 11 Reserved 12 Reserved 13 ERR Application diagnostic output error/contamination 14 1 Application diagnostic output, switching output 1 inverted 15 2 Application diagnostic output, switching output 2 inverted Standard Professional 16 STBY Control input for the activation of the stand-by mode 17 CAN_LO CANopen connection 18 CAN_HI 19 Reserved 20 CAN_GND CANopen connection 21 Reserved 22 Reserved 23 Reserved 24 Reserved Note To achieve the specified EMC safety, the functional earth FE must be connected (e.g. to the vehicle s or system s central earth star point). For CANopen the CANground is generally to be connected. It is only possible to avoid the use of the CANground in fully electrically isolated CANopen networks. For CANopen cables more than 30 m long, either the device itself or the screen on the CANopen cable must be earthed in the proximity of the cable entry into system plug. A label is included with the laser scanner delivery for the correct labelling of the pins. Please affix this label to the system plug used /YY30/ SICK AG Subject to change without notice 33

34 Chapter 6 Note WARNING Electrical installation 6.2 System plug assembly Operating instructions The system plug has cable entries for cable glands on the underside and on the rear: system plug SX0B-A0000G for Standard and Professional: 1 cable entry with M16 cable gland 1 cable entry without M16 cable gland (blanking plug) 2 cable entries without M12 cable gland (blanking plugs) You can also procure the with pre-assembled system plug with varying cable lengths (see section 6.3 Pre-assembled system plugs on page 35 and section System plug on page 64). The length of the spare cable should be such that the system plug cannot inadvertently be plugged into a neighbouring! From experience 20 to 30 cm spare cable at the laser scanner have proven to adequate. In this way you avoid the inadvertent connection of the system plug to a neighbouring and operation of an with an incorrect configuration. The spare cable enables you to change the with ease if necessary. Fig. 23: System plug SX0B- A0000G for Standard and Professional Cable glands Tab. 7: Use the cable glands supplied Depending on the application use suitable cable glands on the bottom or rear. For the CANopen cables you must choose EMC proof cable glands. Cable gland Cable diameter Usage M16 (included in the system plug delivery) 5-9 mm system cables for supply voltage, outputs, inputs M16, EMC proof (included 5-9 mm CANopen in the delivery) 1) 1) Can be used with the M12 to M16 adapter in the delivery. 34 SICK AG Subject to change without notice /YY30/

35 Electrical installation Operating instructions Chapter Wire cross-sections Use the following wire cross-sections for the individual connections: Tab. 8: Recommended wire cross-sections Recommendation Cable System cables for supply voltage, outputs, static inputs Recommended wire crosssections 9-15 cores, mm² Screened No 2) CANopen mm² Yes If you do not want to assemble the system plug yourself, you will find suitable cables in the ordering information (see section Self assembly connecting cables on page 64). 6.3 Pre-assembled system plugs To connect the variants, the following pre-assembled system plugs are available (see also section System plug on page 64): For Standard: SX0B-B1105G, SX0B-B1110G and SX0B-B1120G With 11 cores, unscreened (cable gland M16), 5, 10 or 20 m long For Professional: with static inputs SX0B-B1505G and SX0B-B1510G With 15 cores, unscreened (cable gland M16), 5 or 10 m long Tab. 9: Pin assignment preassembled system plug Pin Signal Wire colour FE Green V DC Brown 2 0 V DC Blue 3 Switching output Grey 1 4 Switching output Pink 2 5 IN A Red 6 IN B Yellow 7 IN C White/Blue 8 IN D White/Grey 9 White/Violet 10 White 13 ERR White/Black 14 1 White/Brown 15 2 Red/Blue 16 STBY White/Green SX0B-B1105G SX0B-B1110G SX0B-B1120G SX0B-B1505G SX0B-B1510G 2) Screening is recommended if there is a significant EMC interference in the area /YY30/ SICK AG Subject to change without notice 35

36 Chapter 7 Application examples and connection diagrams Operating instructions 7 Application examples and connection diagrams Notes The examples shown are only provided as an aid for your planning. You may need to consider additional protection measures for your application. Ensure that there is adequate arc-suppression at the relays/contactors. Take into account that arc-suppressors may lengthen the response time. The arc-suppressors must be in parallel with the relays/contactors (not across the contacts). Fig. 24: Application with a Standard 7.1 Applications with the Standard Standard Fig. 25: Connection diagram Standard Warehouse bay monitoring by on a shelving access device. 2) Standard in connection with relays/contactors on the switching outputs Q1 and Q2. The LEDs H4 and H3 connected to the outputs 1 and 2 indicate the status of the related switching output. The LED H2 connected to the application diagnostic output indicates the state (error/contamination) of the. 36 SICK AG Subject to change without notice /YY30/

37 Operating instructions Chapter 7 Fig. 26: Application with a Professional Application examples and connection diagrams 7.2 Applications with the Professional Professional Fig. 27: Connection diagram Professional Distance monitoring by Professional on an electrical overhead conveyor. Professional in connection with relays/contactors, switching field switching using static inputs A, B, C and D. The LEDs H4 and H3 connected to the outputs 1 and 1 indicate the status of the related switching output. The LED H2 connected to the application diagnostic output indicates the state (error/contamination) of the /YY30/ SICK AG Subject to change without notice 37