HOKUYO AUTOMATIC UAM-05LP User Manual Download Page 109

Page: 109 / 155

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Document No: C-61-00003-3

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7.10 Status bar

This section displays the model, serial number, firmware version of the connected sensor. Icons on the right

show connection state. Table 7-19 explains the meaning of each icon.

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Table 7-19 Status bar icon

Icon

Description

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Indicates the connected state with UAM.

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Indicates the disconnected state with UAM.

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7.11 Connecting UAM with PC

Supply the power to UAM and connect with PC through USB cable.

When connection is established application will automatically detect the UAM and displays its COM

port. If it is not displayed, click rescan

icon on the toolbar to refresh the COM port.

Click connect device

icon on the tool bar and enter the password when dialog appears (refer to

section 7.12).

Connection status is shown on the information tab. When UAM is successfully connected, icon changes

to connected

state.

When the UAM is disconnected, icon changes to disconnected

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state.

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Do not use the USB hub.

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When UAM is not detected even if it is connected to the PC, click the port refresh

button.

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When an additional UAM is connected on the same PC, click the port refresh

button.

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Summary of Contents for UAM-05LP

Page 1: ... Document No C 61 00003 3 ...

Page 2: ...LP 13 3 3 Operation principle 15 3 4 Scanning area 16 3 4 1 Protection zone 16 3 4 2 Warning zone 18 3 5 Area switching 19 3 6 Incremental encoder 23 3 6 1 Pulse per cm travel generated by incremental encoders 24 3 6 2 Recommend incremental encoder specification 25 3 6 3 Tolerances allowed for encoder 25 3 6 4 Area switching by encoder input 26 3 7 OSSD 27 3 7 1 Self diagnostic function of OSSD 28...

Page 3: ... 4 1 Access protection Horizontal application Stationary Protection zone 1 47 4 2 Access protection Stationary Horizontal application with Dual Protection zone 49 4 3 Access protection Vertical application whole body detection 50 4 4 Access protection Vertical application Stationary 52 4 5 Area protection Horizontal application Mobile Fixed area 54 4 6 Area protection Mobile Horizontal Single Prot...

Page 4: ...n 77 7 4 1 Installing the driver in Windows 8 77 7 4 2 Installing the driver in Windows 7 79 7 4 3 Installing the driver in Windows XP 84 7 4 4 Installing the driver in Windows 10 84 7 5 Starting the UAM Project Designer 85 7 5 1 Startup Main window 85 7 5 2 Create new configuration 86 7 5 3 Open configuration file 87 7 5 4 Connect to UAM 87 7 6 Components of UAM Project Designer 88 7 7 Menu bar 8...

Page 5: ... data 124 7 22 Save settings to SD card 126 7 23 UAM configuration through SD card 127 8 Inspection and maintenance 128 8 1 Pre operation inspection 128 8 2 Operation inspection 129 8 3 Daily inspection 130 8 4 Periodical inspection 131 8 5 Cleaning the optical window 133 8 6 Replacing the optical window 134 8 6 1 Method of replacing the optical window 134 8 6 2 Adjustment of the optical window 13...

Page 6: ...Connector Cable UAM 05LP T301C Only 146 13 External dimension 147 13 1 UAM 05LP 147 13 2 Base mounting bracket 148 13 3 Rear mounting bracket 149 13 4 Cover Protection Bracket 150 14 EC Declaration of conformity 151 15 Revision history 153 16 Representative contacts 154 ...

Page 7: ...Actual product may differ from the illustrations and figures in this document as they are used for explanatory purpose only 1 2 Applicable products This document is for the following sensor model UAM 05LP T301 UAM 05LP T301C 1 3 Abbreviations The list below shows abbreviations used in this document Table 1 1 Abbreviations Abbreviation Meaning AGV Automated guided vehicle AOPDDR Active optoelectron...

Page 8: ...ective 2006 42 EC EMC Directive Directive 2014 30 EU EN standards IEC standards ISO standards IEC61496 1 2012 EN 61496 1 2013 Type 3 IEC 61496 3 2008 Type 3 IEC 61508 Part1 7 2010 SIL2 EN 62061 2005 A2 2015 SIL2 EN ISO13849 1 2015 Category 3 PLd IEC60825 1 2014 Safety of laser products Class 1 UL c UL UL standards IEC standards ISO standards CSA standards UL 508 2010 ANSI UL 1998 2013 IEC 61496 1 ...

Page 9: ...fety related system UAM has been manufactured and shipped under the strict quality control If you find any defect in the product contact the nearest distributor or sales representative Last page Hokuyo cannot be held responsible for the damages or failure due to misuse of the product User should prepare test pieces for detection capability verification The test piece should emulate the smallest ob...

Page 10: ...e UAM protective materials such as guards or light curtain should be used to prevent any passage into the hazardous area Reset switch used for interlock muting and override function should be mounted at a location away from the protection zone Mutual interference can occur when identical UAMs are mounted at the same detection plane Refer to chapter 5 for countermeasures to avoid mutual interferenc...

Page 11: ...e stability of UAM However this will reduce the detection capability towards moving objects User must perform risk assessment before using this function Changes made during the configuration must be recorded and saved Use the report function in the UAM Project Designer for this purpose page 100 2 6 Inspection and maintenance User must perform inspection and maintenance by referring to the checklis...

Page 12: ...d Class 1 Laser of UAM 05LP It is guaranteed as safety class laser Additional measures are not necessary to maintain the laser safety Caution Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure ...

Page 13: ...s of scanning area setting page 20 Dual Protection Mode Configurable page 17 Scanning area switch through incremental encoder input Configurable page 24 Interlock function Configurable page 30 EDM function Configurable page 32 Muting Override function Configurable page 33 Reference monitor function Configurable page 36 Area sequence function Configurable page 39 LED indicator for UAMs status page ...

Page 14: ... Document No C 61 00003 3 3 2 Components of UAM 05LP Figure 3 1 UAM 05LP components Housing 7 segment display Connector Cable Ethernet Connector SD card slot Optical window USB Connector ...

Page 15: ... Document No C 61 00003 3 Figure 3 2 Scanning range and detection zone origin Top view Figure 3 3 Detection plane of UAM 05LP Side view ...

Page 16: ...l lead the warning signals to change to OFF state Distance to the object is measured using the Time of Flight TOF principle Pulsed laser beams are radiated into the scanning range of 270º by the rotating motor These pulsed laser beams are reflected back by objects inside the scanning range The duration of reflected beams are used for distance calculation as shown below Where L Distance of the obje...

Page 17: ... configure the warning zones Protection and warning zones can be configured by using UAM Project Designer Refer to Chapter 7 for configuration details 3 4 1 Protection zone Protection zone is safety critical and directly connected to the OSSD signal When an obstacle is detected in the protection zone UAM will switch the OSSD to OFF state which should trigger a switch to stop a machine or AGV For m...

Page 18: ...igured using teaching mode User should verify the detection capability using an actual object User should verify the configuration before actual operation The configured zone should be of minimum safety distance or more Minimum possible detectable width changes according to the distance Additional distance must be taken into account while configuring the protection zone ...

Page 19: ...e 3 8 Example of Dual protection zone configuration 3 4 2 Warning zone Warning zones are non safety zones and are connected to Warning1 and Warning2 outputs When the obstacle is detected in the warning zones UAM will switch the respective warning signal from ON state to OFF state Warning signals can be used as an alert signal to avoid human beings or objects from approaching near the protection zo...

Page 20: ...ror will occur if IN_A and inverse IN_A signals do not complement each other Table 3 2 below shows the combination of input signal to switch the area Area in use will be displayed in the 7 segment LED of UAM It is also possible to configure area input delay Configure the necessary delay required for the system to provide stable input signals to UAM The default value is 30ms There are maximum 5 inp...

Page 21: ...al input Max Area Max encoder area Standard 1 5 32 2 5 32 EDM 1 4 16 2 4 16 MUTING EDM 1 2 4 2 1 2 Encoder １ 1 2 3 32 2 １ Muting function and dual protection mode cannot be used if encoder input mode is selected 2 Among the 4 input patters at least one pattern must be used for encoder input Other 3 remaining patterns can be selected to be used as static input or not in use A pattern with encoder i...

Page 22: ...N OFF Area13 ON ON OFF OFF ON OFF OFF ON ON OFF Area14 OFF ON OFF OFF ON ON OFF ON ON OFF Area15 ON OFF OFF OFF ON OFF ON ON ON OFF Area16 OFF OFF OFF OFF ON ON ON ON ON OFF Area17 ON ON ON ON OFF OFF OFF OFF OFF ON Area18 OFF ON ON ON OFF ON OFF OFF OFF ON Area19 ON OFF ON ON OFF OFF ON OFF OFF ON Area20 OFF OFF ON ON OFF ON ON OFF OFF ON Area21 ON ON OFF ON OFF OFF OFF ON OFF ON Area22 OFF ON OF...

Page 23: ...OFF ON Area12 OFF OFF ON OFF ON ON OFF ON Area13 ON ON OFF OFF OFF OFF ON ON Area14 OFF ON OFF OFF ON OFF ON ON Area15 ON OFF OFF OFF OFF ON ON ON Area16 OFF OFF OFF OFF ON ON ON ON c In the case of 3 input signals Area IN_A IN_B IN_C IN_ IN_ IN_ Area 1 ON ON ON OFF OFF OFF Area OFF ON ON ON OFF OFF Area ON OFF ON OFF ON OFF Area OFF OFF ON ON ON OFF Area5 ON ON OFF OFF OFF ON Area6 OFF ON OFF ON ...

Page 24: ...ntal encoder output signals should be connected to the respective input terminals of UAM There are two patterns of signals generated by the combination of Phase A and Phase B of encoders depending on the direction of travel Figure 3 10 In the first pattern Phase B is 90 degrees ahead of Phase A wherein at the rising edge of Phase A state of Phase B is H This pattern is considered as positive direc...

Page 25: ...meter mounted in incremental encoder 5 cm Incremental encoder pulse number per revolution 1000 pulse AGV tire circumference Diameter Circumference ratio 40 cm 3 14 125 6 cm AGV tire s one rotation is equivalent to 8 rotations of frictional wheel This equals to the 8 000 pulses of incremental encoder From above incremental encoder pulse count per cm is obtained as 8 000 125 6 63 7 While setting enc...

Page 26: ...tween two input speeds should not exceed the error tolerance for more than a fixed period of time Set the error tolerance in the range of 0 to 80 Of the two speeds the larger value will be considered for vehicles speed calculation When permitted error tolerance exceeds the fixed period OSSD will go to OFF state Tolerance period differs according to the vehicle speed as shown in table 3 3 User shou...

Page 27: ...ng the UAM Project Designer refer to chapter 7 Set the error tolerance and encoder pulse count for per cm travel The minimum and maximum speed is automatically calculated from the pulse count and maximum pulse frequency 100 kHz Next select the input patterns to use as static input or for the encoder input or not used Figure 3 12 shows an example of encoder input setting In this example pattern 1 a...

Page 28: ...nabled with the monitoring speed range 20 to 500cm sec Figure 3 13 b Example of static input setting 3 7 OSSD OSSD is safety related signal When humans or objects are detected in the protection zone the OSSD signal will switch to OFF state from ON state OSSD signal has the self diagnostic function which tests the signal periodically by switching it to OFF state for a brief period Signal is continu...

Page 29: ...lf diagnostic function and UAM cannot operate normally it will switch to lockout state During the lockout state OSSD1 2 OSSD3 4 WARNING1 WARNING2 will switch to OFF state After removing the error UAM can be reset by restoring the power to release from the lockout state When OSSD is at ON state the signal is 24V and the signal is 0V during OFF state OSSD is a safety related signal and should be con...

Page 30: ...rlock enabled UAM operates in manual restart mode when interlock function is set to manual mode The OSSD signal switches from ON state to OFF state if UAM detects any obstacle within the protection zone or detects any system error In this mode even if the detected obstacles or system error is removed OSSD signals will remain in OFF state An external reset input signal is required to release the in...

Page 31: ...d OSSD will switch to ON state if no object is detected in the protection zone The duration of the reset input should be more than 500ms Figure 3 17 shows the sequence of start interlock Delay can be configured in the range of 1s to 6s User should verify that the detected obstacle is safely removed before resetting the UAM If restart interlock function is used to restart the machine the reset swit...

Page 32: ...ded vehicle AGV EDM is configured using the UAM project designer When EDM function is enabled any fault detected in EDM signal will switch the OSSD signal to OFF state Logic of EDM signal should be always inverse of the OSSD signal EDM input signal ON OFF delay is configurable to match the user s system Figure 3 18 and 3 19 below shows the EDM circuit and EDM timing chart respectively Figure 3 18 ...

Page 33: ...l the muting start conditions UAM will suspend the safety function within 60ms and resume the safety function if they fulfill the muting stop conditions 3 9 1 Muting start condition Muting function will start when the following conditions are fulfilled a There are no objects in the protection zone and the OSSD is in ON state b The two independent hard wired muting input signals are switched to ON ...

Page 34: ...cts are detected in the protection zone which is not covered by the muting zone d Error is detected by the self diagnostics function e During muting state when the area is switched to other area Figure 3 20 shows the muting sequence Maximum muting period T2 Maximum muting period can be selected from one of these values 1 minute 6 minutes 12 minutes Unlimited When using the muting function in dual ...

Page 35: ...tions At least one of the muting inputs is in ON state Object is present in the protection zone Time interval between override input and reset input is within 0 03s to 1s T3 Override stop conditions Both muting inputs are in OFF state Override input or reset input is in OFF state When predefined maximum override time T4 exceeds Error is detected by self diagnostic function of the UAM During overri...

Page 36: ...ents are configured on moveable objects example door the OSSD will switch to OFF state when the door position is changed Figure 3 22 Top view of the area protection using reference monitor function When muting function is enabled user must ensure the safety of the protection zone Before using the muting function user must perform risk assessment A qualified person should configure the appropriate ...

Page 37: ...urface for displacement detection Reference segments should be configured such that displacement can be easily detected The OSSD will switch to OFF state when access penetration is detected and also if the distance between UAM and the reference structure changes This function is compulsory for vertical applications Figure 3 23 a Front view of the access detection using reference monitor function ...

Page 38: ... Document No C 61 00003 3 Figure 3 23 b Front view of the access detection using reference monitor function Figure 3 23 c Incorrect configuration of reference segment ...

Page 39: ...ecommended for control systems where switching area sequences can be configured Figure 3 24 a Operation without area sequence Figure 3 24 b Operation with area sequence 3 12 Response time Response times of OSSD signal Figure 3 25 OFF response time and ON response time default 270ms are configurable individually for each area using the UAM project designer Response time of the Warning 1 and Warning...

Page 40: ...gnal will switch to OFF state when an obstacle is detected in the configured warning zone 1 3 13 2 Warning output 2 WARNING 2 This signal will switch to OFF state when an obstacle is detected in the configured warning zone 2 3 13 3 Muting output 1 MUT_OUT 1 MUT_OUT1 indicates the muting override status of the protection zone 1 When the muting function is activated MUT_OUT1 will switch to ON state ...

Page 41: ...o ON state when the protection zone 2 of the UAM is ready to receive reset signal 3 14 Information indicator LEDs and 7 segment display indicate the UAM status These indicators are located in front of UAM Figure 3 26 shows the information indicators of the UAM Figure 3 26 Indicator lamp 7 Segment display OSSD 1 2 indicator Warning 1 indicator Interlock 1 indicator OSSD 3 4 indicator Warning 2 indi...

Page 42: ... display function on the configuration software UAM Project Designer This will help to read the numbers with ease when the device has to be inverted for the mounting Dots on the 7 segment will illuminate when the upside down display function is active Table 3 6 Description of numbers displayed on 7 segment Display number Details 00 Sensor is initializing 01 32 Selected Area 1 to 32 33 Setting mode...

Page 43: ... 0 1 Subnet mask 255 255 255 0 Port number 10940 Changing the IP address IP address can be changed by using UAM project Designer Refer to section 7 13 and 7 9 1 for details IP address initialization Ethernet settings can be set to factory default by using IP initialization switch Initialization steps a Prepare a thin strong pin for IP initialization process IP initialization switch is located exac...

Page 44: ...ure multiple devices Setting will not be transferred to the unspecified UAM or if the password verification fails Specification of SD card Type Micro SD card Micro SDHC card Capacity 16GB or less 3 17 Master Slave Function Maximum 4 units of UAM can be interconnected using RS 485 for Master slave operation One unit will function as a master unit communicating with up to 3 units that function as sl...

Page 45: ...e cont configured in the master unit 3 Configuration of slave identity number should be in the order starting from 1 without being overlapped 4 Verify that each device is mounted at their intended location 5 Verify that each device matches the intended configuration Interlock function is mandatory when using the master slave function for safety operation Connecting RS485 lines to devices other tha...

Page 46: ...skip cycle is 0 3 count Response time of UAM for the different settings is shown in Table 3 7 Figure 3 29 shows the operating concept when the scan skip is 0 In this configuration the scan skip function is disabled and sensor operates normally Figure 3 29 Operation of UAM when scan skip count is 0 Figure 3 30 shows the operating concept when the scan skip is set to 2 In this configuration UAM will...

Page 47: ...ime ms 1 150 210 270 330 390 450 510 2 180 270 360 450 3 210 330 450 Scan skip count On Response time ms 1 330 390 450 510 2 360 450 3 330 450 3 20 Optical Window Contamination Warning Function This is a function to warn the optical window contamination by blinking the 7 segment display number before contamination level reaches the maximum limit causing the OSSD signals to switch to OFF state Clea...

Page 48: ...hazardous area Figure 4 1 The protection zone is configured around the hazardous area to prevent the entry of human beings or object Warning zone 1 and Warning zone 2 are configured surrounding the protection zone Warning zones are used for alerting human beings or object from approaching the protection zone and preventing unnecessary stops of the protected machine Any objects or human beings dete...

Page 49: ... Document No C 61 00003 3 Figure 4 2 Top view of the horizontal application Figure 4 3 Side view of the application ...

Page 50: ...tion zone a must be less than the minimum detectable width In application where the value of a is greater than the minimum detectable width additional protective measures should be taken to prevent penetration through this unprotected area UAM should not be mounted higher than 300mm to prevent the possibility of crawling beneath the detection plane For applications which require the UAM to be moun...

Page 51: ...on UAM detects objects or human beings in vertical plane It is not possible to detect an object or human being at the front or back side of the detection plane Therefore caution should be taken while setting the distance between the detection plane and hazardous area Configure the shortest response time of UAM not exceeding 90ms Always use reference monitoring function in such applications to dete...

Page 52: ... Document No C 61 00003 3 Figure 4 6 Top view of access protection Whole body detection Figure 4 7 Side view of access protection Whole body detection For Safety distance calculation S K Tm Ts C where ...

Page 53: ...applications to detect the displacement of fences and UAM which may expose the hazardous area OSSD signal will switch to OFF state when the position of reference is changed The safety distance for this application is shown in figure 4 8 and 4 9 Refer to section 7 for configuring the protection zone User should ensure that the width of unprotected zone a is smaller than the minimum detectable width...

Page 54: ... protection For detection of body parts For Safety distance calculation S K Tm Ts C where S Safety distance mm K Approach speed 2000mm s Tm Maximum stopping run down time of the machine or system s Ts Response time of UAM s C Additional distance 1 4 8 d d Minimum detectable object width mm ...

Page 55: ...tion and warning zones The safety distance for this application is shown in figure 4 11 and 4 12 Figure 4 10 Example of area protection Mobile In the access protection application where the angle of the approach exceeds 30º Reference boundary monitoring function should be used Reference segments should be configured on each sides of reference boundary Tolerance of the reference segment should be l...

Page 56: ...n Mobile For Safety distance calculation g s b s m Z Z L Z T T V S where S Safety distance mm V Maximum approaching speed of AGV mm s Tm Maximum stopping run down time of the machine or system s Ts Response time of UAM s Zb Distance required for AGV to stop mm L Brake wear coefficient Zs UAM tolerance distance mm ...

Page 57: ... ground clearance h and Zg Figure 4 13 The relationship between Zg and h User should ensure that the width of unprotected area a is smaller than the minimum detectable width When the distance a is greater than minimum detectable width additional protective measures should be taken to prevent the penetration through this unprotected area UAM should not be mounted higher than 200mm to prevent the po...

Page 58: ...lications where AGV travels in a single direction it is possible to switch to different areas at corners for effectively monitoring the obstacles at front Figure 4 14 Left turn Straight Right turn Figure 4 14 one example of AGV scanning area at curve Top view Protection zone Warning zone1 Warning zone 2 ...

Page 59: ...speed Top view 4 8 Area protection Mobile Horizontal 2 Units Interconnected Variable Area For AGVs travelling in both directions it is possible to use 2 interconnected units of UAM each mounted at front and back Safety can be improved by switching each unit to monitor the area with appropriate size and shape based on the speed and direction of travel Further it is also possible to use incremental ...

Page 60: ...terconnected units of UAMs mounted on each side of AGV Safety can be improved by switching each unit to the area with appropriate size and shape based on the speed and direction of travel Further it is also possible to use incremental encoder in such systems for area switching Figure 4 17 Example of AGV s scanning area which can travel in all the direction Top view Protection zone Warning zone 1 W...

Page 61: ... communication protocol C 64 00012 for the Ethernet communication protocol Figure 4 18 Image of automatically operated AGV 4 11 Default Values When configuring the device default settings will be set is depending on the type of application selected on the configuration software UAM Project Designer Table 4 1 shows the selected values Area will not be configured to any default value when selecting ...

Page 62: ...ing Delay General 70mm 1 150ms Access protection Horizontal application Stationary 70mm 1 Manual Auto 1s 150ms Access protection Vertical application whole body detection 70mm 1 Manual Auto 1s Used 100mm 90ms Access protection Vertical application Stationary 30mm 1 Manual Auto 1s Used 100mm 90ms AGV 70mm 32 120ms Check the settings for each function and verify that they match the system requiremen...

Page 63: ...ent light Stroboscopic light Flashing beacon Sunlight Infrared light sources In case the light source cannot be avoided during the operation UAM should be installed with the light source located at 5 degrees or more from the detection plane to prevent the interference Figure 5 1 Figure 5 1 Installation to avoid light interference User should perform risk assessment for light interference in the wo...

Page 64: ...d laser signal from one another could lead to false detection Figures below show the installation method for avoiding the mutual interference a Changing the height of installation Install at different heights to separate the mutual detection plane by 5 degrees or more Figure 5 2 Opposite facing installation Figure 5 3 Parallel installation ...

Page 65: ...ees or more from the mutual detection plane Figure 5 4 Opposite facing installation Figure 5 5 Parallel installation C Adding a shield between UAMs Add a shield between UAMs such that laser beam of one unit cannot reach the other to avoid the possible mutual interference Figure 5 6 Opposite facing installation ...

Page 66: ...reflective background cannot be avoided in the working environment additional distance of 200mm is necessary while configuring the protection and warning zones Figure 5 8 Refer to UAM s specification for the required distance tolerance Additional distance Required additional distance when operating UAM under high reflective background Figure 5 8 Additional distance in high reflective background Sh...

Page 67: ...ll be longer than actual distance of the object if the background is highly reflective Additional distance should be included when configuring the protection zone High reflective background Ex Mirror corner cube reflector reflective safety jacket road reflector should be avoided Reflectance caused by these materials could lead to false detection in the protection zone Verify the configured areas b...

Page 68: ...Protection zone output 1 26 Yellow OSSD2 Output Protection zone output 2 26 Red Black WARNING 1 OSSD3 Output Warning zone output 1 Protection zone output 3 28 Yellow Black WARNING 2 OSSD4 Output Warning zone output 2 Protection zone output 4 28 Purple IN_A Input Area switching Input A 28 Gray IN_B MUTING 3 Input Area switching Input B Muting input 3 28 White IN_C OVERRIDE1 ENC1_A Input Area switch...

Page 69: ... RES_REQ1 MUT_OUT1 Output RES_REQ1 Request output 1 MUT_OUT1 Muting state output 1 28 Orange Black RES_REQ 2 MUT_OUT 2 Output RES_REQ2 Request output2 MUT_OUT2 Muting state output2 28 White Blue TP RS485 Communic ation Communication protocol RS485 28 White Red TP RS485 Communic ation Communication protocol RS485 28 Shield wire FG Frame ground 6 4 Wiring example a Standard With maximum 32 sets of a...

Page 70: ...Refer to section 3 5 for the detail on area switching b During EDM muting and override function Figure 6 2 Wiring Example 2 R1 and R2 External equipment Safety relay Electromagnetic contactor S1 Interlock reset switch S2 Override switch M1 and M2 Muting switch 1 and 2 1 Refer to section 3 5 for the detail on area switching ...

Page 71: ...witching during encoder input Figure 6 3 Wiring Example 3 R1 and R2 External equipment Safety relay Electromagnetic contactor S1 Interlock reset switch 1 Refer to section 3 5 for the detail on area switching and section 3 6 4 for encoder input ...

Page 72: ...ve function when not using OSSD of slave Figure 6 4 Wiring Example 4 R1 and R2 External equipment Safety relay Electromagnetic contactor S1 Interlock reset switch 1 Refer to section 3 5 for the detail on area switching Master Slave1 Slave2 Slave3 ...

Page 73: ...slave function when using OSSD of slave Figure 6 5 Wiring Example 5 R1 R8 External equipment Safety relay Electromagnetic contactor S1 S4 Interlock reset switch 1 Refer to section 3 5 for the detail on area switching Master Slave1 Slave2 Slave3 ...

Page 74: ...utput circuit 6 5 1 OSSD Warning Output circuit OSSD Warning output is output source type Figure 6 6 OSSD WARNING Output circuit 6 5 2 Other output circuits RES_REQ1 RES_REQ2 MUT_OUT1 MUT_OUT2 outputs are PNP type Figure 6 7 Output circuit ...

Page 75: ...ument No C 61 00003 3 6 5 3 Input circuit Figure 6 8 shows input circuit for Area input EDM1 EDM2 RESET1 RESET2 MUTING 1 MUTING 2 MUTING 3 MUTING 4 OVERRIDE 1 and OVERRIDE 2 signals Figure 6 8 Input circuit ...

Page 76: ...C CPU Pentium IV processor of 800MHz or above RAM 256MB or more Hard disk 100MB minimum free space Media Drive CD ROM driver Compatible OS Microsoft Windows XP 32bit SP3 or above Microsoft Windows 7 32 64bit Microsoft Windows 8 32 64bit Microsoft Windows 8 1 32 64bit Microsoft Windows 10 32 64bit Display High color 16bit color or above 800 600 dot or above Operation cannot be guaranteed for the fo...

Page 77: ...start menu b Click the Uninstall Programs c Select UAM Project Designer and click Delete d When Ready to uninstall UAM Project Designer appears click Yes to uninstall the program from the PC Even if the system requirements are fulfilled operation is not guaranteed in all PCs Read the UAM user s manual before configuration User s manual can be opened from the help menu of UAM Project Designer Cover...

Page 78: ...for such OS This step is not required for Windows XP Proceed to section 7 4 3 for such OS This step is not required for Windows 10 Proceed to step 7 4 4 for such OS a Display the side menu by moving the mouse cursor to the top right or bottom right corner or click Start Menu C key and click on the Setting When using a tablet swipe from the right edge of the screen towards the center Figure 7 1 Win...

Page 79: ...ng screen click the General and then Restart Now of Advanced start up on the list Figure 7 3 PC Setting screen d Wait for the system to restart e On the option selection screen click the Troubleshooting Detailed Options Startup setting in order ...

Page 80: ...dow panel and click on the all applications and click on the device manager Start from Step 4 page 80 of installation process for Windows7 described in section 7 4 2 to complete the driver installation 7 4 2 Installing the driver in Windows 7 It is required to install USB driver when UAM is connected first time to USB port of a PC Follow the steps described below to complete the driver installatio...

Page 81: ... Document No C 61 00003 3 Step 2 From windows start menu click Computer Figure 7 7 Step 3 Click System properties on the menu Figure 7 8 Step 4 Click Device Manager button Figure 7 9 ...

Page 82: ...URG Series USB Driver will be listed on Other devices Right click on the URG Series USB Driver and click Update Driver Software Figure 7 10 Step 6 Select Browse my computer for driver software when following message appears Figure 7 11 ...

Page 83: ...ert installation CD on the PC Click Browse button to select Driver folder in the CD and click Next button Figure 7 12 Step 8 Select Install this driver software anyway if following security message appears during installation Figure 7 13 ...

Page 84: ...00003 3 Step 9 Installation is complete when following message appears on the screen Figure 7 14 Step 10 Open device manager and confirm the presence of URG Series USB Device Driver listed under Ports Com LPT Figure 7 15 ...

Page 85: ...ng new hardware is successfully installed To confirm the successful installation go to computer s device manager and expand the Ports COM and LPT list URG Series USB Device Driver should appear as one of the COM ports 7 4 4 Installing the driver in Windows 10 This section explains the USB driver installation method in Windows 10 UAM can be connected with the pre installed USB serial device driver ...

Page 86: ...r slightly in the other OS same operation can be performed a Supply the Power to the sensor Connect USB cable of the sensor to the computer b Click Start Menu All Programs and click UAM Project Designer c UAM Project Designer application will be activated 7 5 1 Startup Main window a Main window as shown in figure 7 17 will be displayed when UAM project designer starts Figure 7 17 Main window ...

Page 87: ...ion examples as shown in Figure 7 18 will be displayed Refer to section 4 for the details on these applications and section 4 11 for the default setting values selected by the application Window as shown in Figure 7 19 will appear when any one of these applications are selected Enter the necessary information such as product identity user name and click function to continue the setting Figure 7 18...

Page 88: ...settings if required Confirm all the settings and proceed to transmit to transfer the configuration to UAM Figure 7 20 Selection of project file 7 5 4 Connect to UAM When Connect button is selected a window as shown in figure7 21 is displayed indicating the information are being read from UAM When the settings are successfully read UAM project designer will switch to monitor mode Figure 7 21 Conne...

Page 89: ...o C 61 00003 3 7 6 Components of UAM Project Designer Figure 7 22 shows the name of each component on the main window Figure 7 22 UAM Project Designer components Menu bar Tool bar Sub panel Main window Status bar ...

Page 90: ...s shown in the figure 7 23 will be displayed Table 7 3 displays the details of each item Figure 7 23 File menu Table 7 3 File menu Item Short cut Key Function New Ctrl N Create a new configuration file for UAM Open Ctrl O Open an existing configurations file Save Ctrl S Save the current project file Save As Ctrl Shift S Save the current project file after naming Quit Ctrl Q Close the UAM Project D...

Page 91: ...he selected area 7 7 3 Mode This menu is used for changing the mode of the UAM Items in the menu are shown in Figure 7 25 Function of each mode as shown in the Table 7 5 Figure 7 25 Mode Table 7 5 Mode Item Function Configuration mode Configure the UAM settings Monitor mode Monitor the UAM operation Report View UAM setting and error information 7 7 4 Connection When connection is clicked items as ...

Page 92: ...re 7 27 Option Table 7 7 Option Item Short cut key Function Wire Connection Ctrl W Wire color and function assignment Initialization Clear UAM S configurations to default Change Password Change to new 8 digit numeric password 7 7 6 Language This menu is used for changing the application language to English or Japanese Items in the menu are shown in the Figure 7 28 Table 7 8 shows the details of ea...

Page 93: ... will be displayed Table 7 9 shows the details of each item Figure 7 29 Help Table 7 9 Help Item Short cut key Function Manual Ctrl M Displays the user manual XML file format Displays format details of XML file About the application Ctrl A Displays the version details of UAM Project Designer ...

Page 94: ... some items are displayed in gray and cannot be selected Table 7 10 Tool bar Icon Function Creates a new configuration file for UAM Opens a saved file Saves the project file Displays the port number connected to UAM Rescan the USB port Establish connection between the sensor and UAM Project Designer Disconnect sensor with UAM Project Designer Sensor information ...

Page 95: ...d General Function Area Confirm and Save to SD card Users can configure UAM by sequentially selecting these tabs A Load settings User can read the settings from UAM or SD card Loading the settings from UAM is possible only if it is connected with the application If it is not connected SD card selection window will appear Select the SD card location to load the settings B General User can set the p...

Page 96: ... 7 12 for details Setting becomes valid when the function is checked displaying the configurable parameters Sensing is the basic setting of the sensor therefore it has no check box Figure 7 31 Function Depending on the selected function active area count and cable pin assignment are automatically changed For functions that cannot be used simultaneously selection of one will disable the other chang...

Page 97: ... Response time 1s or Operating area response time Muting Check to enable the Muting function Muting input sequence Protection zone 1 Muting 1 Muting 2 Default Muting 2 Muting 1 Protection zone 2 Muting 3 Muting 4 Default Muting 4 Muting 3 Time interval between inputs s 1 Default 3 5 10 Max muting period min 1 Default 6 12 and Unlimited Max override period min 1 Default 6 12 In dual protection mode...

Page 98: ...on is not possible if configured width is more than the object intended to be detected Default value of minimum width changes depending on the type of selected application Refer to section 4 11 for the selected values 2 Set the number of areas to be used Area count depends on the selected function and adjusted automatically Default value of active areas changes depending on the type of selected ap...

Page 99: ...o edit is displayed in the area screen Number on the left of area preview represents the area number While changing area setting the line color will change to green Control Area Comment Brief explanation of each area can be entered size limit is 64 characters Response Time ON OFF Response time of each area can be set Zone Selection Configuration of respective zone is possible when it is selected P...

Page 100: ...p Function XML File Tool There is an icon to import and export the XML file containing the area information Icon details are explained in Table 7 17 Table 7 13 Display of mouse information Display Description X mm Displays the mouse position of x coordinates Y mm Displays the mouse position of y coordinates Radius mm Displays the distance from the origin to the position of the mouse Angle deg Disp...

Page 101: ... by connecting these lines and the origin When square shape is drawn by moving the mouse a shape connecting its four edges and the origin is drawn When four coordinates of square shape are numerically specified a shape connecting these points and the origin is drawn When circular shape is drawn by moving the mouse a shape connecting the arc of the circle with the origin is drawn When center radius...

Page 102: ...will redo the last operation Rotate the area and measurement data display window Reverse the area and measurement data display left to right or right to left Table 7 17 XML file icon Icon Function Imports area details from XML file Check the help menu for details on XML file format Exports area details to XML file ...

Page 103: ...wed by the steps shown in Figure 7 33 a to c Return back to the respective tab if correction is necessary Click the Transmit to sensor button if configuration has no error to write it into UAM if it is connected or Save to SD card button to save the setting file into the SD card memory when UAM is not connected Figure 7 33 a General ...

Page 104: ... Document No C 61 00003 3 Figure 7 33 b Function Figure7 33 c Area ...

Page 105: ...to transmit the configuration to the UAM If device is not connected click Save to SD card button to save the setting file into the SD card memory Figure 7 34 Transmit window Depending upon the computer s performance it may take few minutes to transfer the configuration When transferring process is completed UAM will restart automatically ...

Page 106: ...Detection Log report Project report includes the UAM s configurations Error report includes error recorded during the operation and past errors Detection Log reports displays the history of object detected in the protection zone For detail on report tab items refer to Table 7 18 User can save reports in PDF format by clicking the Output PDF button When clear button is clicked all the records are d...

Page 107: ... Document No C 61 00003 3 Figure 7 36 a Project report tab Figure 7 36 b Error report tab ...

Page 108: ...e monitor Muting Area sequence Encoder input Static area input Encoder area input Master slave Area information Error Error report includes error recorded during operation Detection log Detection status during the operation Area Minimum distance steps time stamp Report is in PDF format To view the report Adobe Reader or any equivalent application software is required Free version of Adobe Reader c...

Page 109: ...s established application will automatically detect the UAM and displays its COM port If it is not displayed click rescan icon on the toolbar to refresh the COM port c Click connect device icon on the tool bar and enter the password when dialog appears refer to section 7 12 d Connection status is shown on the information tab When UAM is successfully connected icon changes to connected state e When...

Page 110: ...nd click ok Default password is 12345678 Figure 7 37 Password 7 12 1 Changing the password User can change the password by performing the following steps Click the Options on the menu bar Click the Change Password Window as shown in figure 7 38 will be displayed Enter the new password and retype the new password for confirmation The new password should consist of 8 numerical digits Figure 7 38 Pas...

Page 111: ... access User is required to log in with the password to proceed with the configuration Refer to chapter 7 12 for details on password Follow the steps below for configuration a Confirm that UAM and PC is connected refer to section 7 11 Connect it if it is not Even if UAM is not connected user can configure the settings but cannot the transfer them to UAM b Click the Configuration tab or on the menu...

Page 112: ...nction is selected the other will be displayed in gray and cannot be selected Also maximum configurable area will change depending on the selected function Confirm the pin assignment setting as it automatically changes according to the selected function Sensing 2 EDM Interlock Reference Monitor Muting Area Sequence Master Slave Encoder Input Figure 7 40 Function information １ Muting and encoder Mu...

Page 113: ...g zones cannot be configured It is possible to configure warning zone inside the protection zone configurable region Range of protection zone depends on the minimum detection width and changes automatically when it is selected on the sensing setting panel Configure the number of protection and warning zones activated in the sensing panel Click Area button to switch to area configuration panel Figu...

Page 114: ...n zone set by the selecting the line Figure 7 42 b shows an example of warning zone1 set by the selecting the circle Figure 7 42 a Zone configuration example 1 Figure 7 42 b Zone configuration example 2 1 2 When a straight line is drawn from point 1 point 2 a triangular shape is formed by connecting these two lines with origin Coordinates of point 1 and point 2 are also displayed When mouse is dra...

Page 115: ...ingle coordinate point on the display panel Figure 7 43 Coordinate example To delete the parts of the configured zone click the delete button then drag drop the cursor to specify the zone to delete For configuring the other zones select the respective zone and repeat the above steps Confirm that each zone is configured correctly If overlapping of shapes disturbs in creating or confirming the zone ...

Page 116: ...configuration procedures using the teaching function Ensure the UAM is connected with the PC Click on the Teaching button Enter the offset to be applied between the zone and the background Max offset can be up to maximum measurement distance Click the Start button Figure 7 45 to start recording the background data Recording will continue until the stop button is clicked Further to use all sensor m...

Page 117: ... 20m After the area is created automatically it can be edited using the drawing tools It is also possible to specify the region for generating the area by teaching function Use the area tools for this purpose If specified region does not have any background area will be generated at the maximum distance of the specified region While using the teaching function user should confirm that the configur...

Page 118: ... is not yet configured When muting button is clicked muting configuration screen is displayed Drag and drop the mouse over the protection zone to configure the muting region inside it Protection zone is displayed in red and the muting region is displayed in pink Figure 7 47 and 7 48 shows an example of the muting zone configuration Region in pink represents the muting zone Confirm that the muting ...

Page 119: ...tween the UAM and PC Click the Function tab and enable the Reference Monitor function and enter the required tolerance distance default 100mm Click the Area tab Main screen displays the configuration for reference region Figure 7 49 First area on the preview indicated by REF represents the reference area Configure the reference region by using the drawing tools Move the cursor on the drawing panel...

Page 120: ...onfirm button to verify the configuration On the confirm screen check general function and area settings in order If any correction is required return to related tab and reconfigure the setting On the area confirm screen click each area preview to confirm all areas Transmission is prevented until the green line appears on all the area preview items When confirmation is complete connect the applica...

Page 121: ...erence monitor configuration example It may take few minutes to transfer the settings to UAM When transfer is completed UAM will restart automatically UAM Project Designer will return to start up panel Click connect button to run the UAM in monitor mode and verify the operation Do not insert SD card while writing the configuration to UAM through USB connection It may cause configuration failure ...

Page 122: ...d into a file as a project Follow the steps below to save the project file a Click File from the menu bar b Click Save As Figure 7 52 Figure 7 52 Save project file c Enter a file name and click Save button Change the location of the file if necessary Figure 7 53 Figure 7 53 Save project file ...

Page 123: ...d refer to section 7 9 1 Figure7 54 Reading the configuration of UAM c When reading is complete panel will disappear d Confirm the General Function and Area settings Modify the settings if necessary and click transmit to write the configuration to UAM 7 19 Open project file User can open UAM project file by performing the following steps a Click File from the menu bar b Click Open c Dialog box wil...

Page 124: ...ng the UAM data Follow the steps below for data recording a Connect UAM with UAM Project Designer b Click the monitor button on sub panel Application will switch to monitor mode c Click the recorder button Figure 7 56 Recorder button d Data recording window will appear ...

Page 125: ...en the specified scan count is completed Click the stop button to terminate the recording before reaching the scan count Figure 7 57 Data logging window 7 21 Replay the log data Follow the steps below for re playing the log data 1 Confirm that UAM is disconnected with UAM Project Designer Check disconnect button if is connected 2 Click Monitor button of sub panel and switch to monitor mode 3 Click...

Page 126: ...log data Move the slider bar to the desired position to view the specific scan data Control icons are explained in Table 7 20 Table 7 20 Control button Icon Name Description Open Open and select the log data which you want to play First Moves to the initial position of log data Play Starts playing the log data Pause Pause Stops the log data for a while Stop Stops the log data Last Moves to the end...

Page 127: ...d setting tab Figure 7 60 enter the 7 digit serial number and the passwords of all the UAMs intended to be configured with the settings on the SD card To prevent the change of IP address of the UAM check the Exclude IP address setting on the tab This will retain the original IP address of all the UAM It is possible to copy and paste the serial numbers with n rows and 2 columns from a text file f V...

Page 128: ...serial number and password in the file configuration will start Seven segment display will show the status F3 At the end of the configuration seven segment display will show the status F4 Remove the SD card from its slot to finish the configuration Seven segment display will show the status F5 briefly and device will restart showing the status 00 On successful completion area number will be visibl...

Page 129: ...e OFF state when the test piece is moved inside the protection zone 5 The OSSD signal switches from OFF state to ON state when the test piece is removed from the protection zone 6 Area is switched and correctly displayed on UAM when the input signals are changed according to the area switching table 7 If UAM is in automatic restart mode OSSD signal switches from ON state to OFF state when the test...

Page 130: ... when any check item is marked NO 8 2 Operation inspection This test should be performed after completing the pre operation inspection It must be performed by taking the sufficient safety measures Performing this inspection before pre operation inspection may damage the system leading to critical injury or death Table 8 2 Operation inspection list example No Check item Condition Remark Yes No 1 Th...

Page 131: ... sequence is different than the specified sequence 10 If the muting function is configured UAM does not switch to mute state when the time interval between two muting inputs exceeds the specified time interval 11 If the muting function is configured the override function is terminated when the override period exceeds the specified override period 12 If the reference monitoring function is configur...

Page 132: ...lled 8 If the muting function is configured UAM does not switch to mute state when the muting input sequence is different than the specified sequence 9 If the muting function is configured UAM does not switch to mute state when the time interval between two muting inputs exceeds the specified time interval 10 If the muting function is configured the override function is terminated when the overrid...

Page 133: ...M is in automatic restart mode OSSD signal switches from ON state to OFF state when the test piece is placed inside the protection zone and switches from OFF state to ON state when the test piece is removed 13 If UAM is in manual restart mode OSSD signal switches from ON state to OFF state when the test piece is placed inside the protection zone and remains in OFF state when the test piece is remo...

Page 134: ...mination follow the cleaning method mentioned below Wipe the optical window with a clean soft cloth Clean the optical window with a soft brush Blow off the dust on optical window using an air blower Clean the optical window with mild detergent if it is contaminated with oil or grease particles Disconnect the system when cleaning the optical window Falling to comply with above could damage the mach...

Page 135: ...l wrench Torque wrench Stop using the system and disconnect the UAM Remove the UAM from its mounting location Take the UAM to dust free environment Remove the dust on UAM if it is present During the replacement of optical window take sufficient measure to prevent the dust from entering inside the device as this could affect the detection capability of UAM Use wrench to remove screws 1 to 4 fixing ...

Page 136: ...ue to contamination UAM reports an error Therefore it is necessary to measure the initial transmittance of the new optical window and save it into the device Contamination should not be present while performing this adjustment Adjustment steps a Use adjustment software Optical Window Adjuster included in the CD Create a local folder and save the application into it Log file generated during the pr...

Page 137: ...n channels 7 segment display on UAM will show the code CE during the process Figure 8 3 Adjustment completed display Figure 8 4 Error display g When adjustment is complete dialog box as shown in Figure 8 3 will appear Click the OK button and then click disconnect button Figure 8 2 Remove the USB cable UAM will switch to normal operation Retry the adjustment after checking the optical window and US...

Page 138: ...USB port Make sure the USB is connected to both PC and UAM Measurement data is not displayed Power supply is OFF Make sure the power supply is ON UAM is in error lockout state Check the supplied voltage Check the condition of the power supply cable Check the error number in the 7 segment table Restart UAM if it is blinking OSSD remains OFF even though the protection zone is free from obstacle Ligh...

Page 139: ...e error Confirm area switching sequence Automatic recovery or Input reset During Interlock setting 5B Encoder speed error Make sure the encoder speed is correctly configured Automatic recovery or Input reset During Interlock setting 5C Encoder error Confirm the encoder input status Automatic recovery or Input reset During Interlock setting 5D Encoder speed error Make sure the encoder speed is corr...

Page 140: ...overy or Input reset During Interlock setting 84 85 Object in limited detection zone or contamination on the optical window Clean the optical window refer to chapter 8 5 for cleaning the optical window Further remove any objects present inside the zone with limited detection capability refer to chapter 5 4 of UAM Automatic recovery or Input reset During Interlock setting 86 Mutual interference err...

Page 141: ...he card and try again Automatic recovery or Input reset During Interlock setting F1 SD card file content error Check the setting file in the SD card Automatic recovery or Input reset During Interlock setting Other Error 41 F5 Device Error Make sure that FG wire is correctly to the ground Also check the surrounding disturbance of the operating environment Mount the sensor within the stated vibratio...

Page 142: ...sed Laser Diode Wave Length 905 nm Safety Class Laser Class 1 Type Type 3 IEC61496 1 IEC61496 3 Functional Safety SIL 2 Type B HFT 1 IEC61508 PFHd 7 8 10 8 T1 20 year When master slave function is not in use 1 6 10 7 T1 20 year When master slave function is in use Housing Size 80mm W 80mm D 95mm H without cable Weight 0 8Kg 0 5Kg Protection IP65 Case Material Body Aluminum Optical Window Polycarbo...

Page 143: ...Q 1 RES_REQ 2 MUT_OUT 1 MUT _OUT 2 Output types PNP Transistor Output current Max 200mA Leak current Max 1mA AWG 28 Input Area pattern 32 5 Inputs x 2 Channels EDM1 EDM2 MUTING1 MUTING2 MUTING3 MUTING4 OVERRIDE1 OVERRIDE2 RESET1 RESET2 Input Impedance 4 7 kΩ AWG 28 ENC_A1 ENC_A2 ENC_B1 ENC_B2 Input Impedance 4 7 kΩ AWG 28 Interface Configuration USB2 0 USB micro type B connector RS 485 Ethernet 10...

Page 144: ... lx Vibration Frequency range 10 55 Hz Sweep rate 1 octave min Amplitude 0 35 mm 0 05 mm Bump Acceleration 98m s 2 10G Pulse duration 16 ms Outdoor Operation Not permitted Altitude Below 2000m 3 Total current supply of OSSD output and Warning output should be below 1 0A 4 When the light sources are located at 5º from the detection plane of UAM ...

Page 145: ... Document No C 61 00003 3 11 Package contents The following items are included in the package a UAM 1 b Quick Reference 1 c Configuration CD 1 ...

Page 146: ...ntal alignment of the UAM during installation This bracket is useful especially in preventing the mutual interference when two or more UAMs are used Refer to external dimension 12 3 USB cable Model UAM MUSB This cable is used to connect the UAM and PC Length of the USB cable is 1m This cable is used during the configuration of the UAM 12 4 Ethernet cable Model UAM ENET This cable is used for conne...

Page 147: ...optical window is scratched or damaged 12 7 Cover Bracket Type UAM BK05 Cover brackets for optical window protection that can be used in combination with mounting brackets See the dimension 12 8 Connector Cable UAM 05LP T301C Only Model Cable Length m UAM 5C02C 2 UAM 5C05C 5 UAM 5C10C 10 UAM 5C20C 20 ...

Page 148: ... Document No C 61 00003 3 13 External dimension 13 1 UAM 05LP ...

Page 149: ... Document No C 61 00003 3 13 2 Base mounting bracket ...

Page 150: ... Document No C 61 00003 3 13 3 Rear mounting bracket ...

Page 151: ... Document No C 61 00003 3 13 4 Cover Protection Bracket ...

Page 152: ... Document No C 61 00003 3 14 EC Declaration of conformity ...

Page 153: ... Document No C 61 00003 3 ...

Page 154: ...Minimum detection width of 150mm added Encoder tolerance modified Area and measurement data inverting and rotating function added Compatibility with Windows 10 Other minor corrections 3 December 2017 Minimum detection width of 40mm added Optical window contamination warning function added Response time of reference monitoring function added Import and export function for area information added Met...

Page 155: ...an 2 1183 AT Amstelveen The Netherlands Tel 31 20 240 01 10 E mail amsterdam branch hokuyo aut co jp URL http www hokuyo aut jp North America Hokuyo Automatic USA Corporation 2019 Van Buren Ave Suite A Indian Trail NC 28079 U S A Tel 1 704 882 3844 Fax 1 704 628 0582 E mail sales hokuyo usa com URL http www hokuyo com The contents described in this document are based on the information as of Decem...

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HOKUYO AUTOMATIC UAM-05LP, User Manual

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