The device is delivered with pre-mounted illumination, pre-focused optics, pre-installed
software and pre-configured defaults. This enables quick and easy commissioning. The
device is mounted to the automated storage and retrieval system. The device captures
images during storage and retrieval. While doing so, it detects a hole or round reflector
as a positioning mark in the rack. Based on this positioning mark, the device sends to a
higher-level controller (e.g., PLC) the difference between the current position and target
position of the automated storage and retrieval system. The controller then initiates fine
positioning of the automated storage and retrieval system. This prevents load carriers
from colliding with the racks.
Either holes or round SICK PL22-x reflectors can be used as positioning marks. Posi‐
tioning operations for single-deep rack storage, and combined single-deep and double-
deep rack storage applications are supported. In single deep racks, the shelf has space
for a storage unit. In double deep racks, two storage units are operated one behind
another, whereby the shelf is twice as deep.
Depending on the application (type of positioning mark, rack storage), there are differ‐
ences in system design such as the selection of the lens focal length and the use of
lighting filters. The accuracy and tolerance when detecting the positioning mark and
in the subsequent position correction depends on the working distance, the sensor
resolution, and the ambient conditions. Each application situation must be considered
individually.
3.3
Positioning mark
Drill holes
Holes can be used as positioning marks for single-deep rack storage, and combined
single-deep and double-deep rack storage applications.
Requirements
•
Diameter of the hole: 8 mm to 15 mm (typically 10 mm to 13 mm)
•
Surface characteristics of the steel around the hole: diffuse, lightly reflective
(recommendation: hot-dip galvanized steel)
•
Reduce the effect of any fully reflective surfaces behind the hole by using a matt
black spray paint or by covering them with adhesive tape.
Reflectors
Round SICK PL22-x reflectors can only be used as positioning marks for single-deep
rack storage. The surface characteristics of the steel around the reflector have a
negligible effect.
NOTE
InspectorP621: Only the red LEDs on the device are active. The blue LEDs are deacti‐
vated automatically.
SICK PL22-x reflectors
•
PL22-1 (part number: 1003546)
•
PL22-2 (part number: 1003621)
•
PL22-3 (part number: 1004488)
•
PL22-4 (part number: 5327829)
The SICK PL22-x reflectors are available as accessories on the Internet at
. Enter the part number in the search field.
3
PRODUCT DESCRIPTION
10
O P E R A T I N G I N S T R U C T I O N S | InspectorP Rack Fine Positioning
8024534/1DQ8/2022-01-14 | SICK
Subject to change without notice
