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SDO Download Expedited (write SDO)

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SDO Upload Expedited (read SDO)

•

Upload SDO Segment Protocol (segmented reading of an SDO)

SDO Download Expedited (write SDO)

The client sends a request to server N. The 16-bit index and the subindex for the SDO
to be written are contained in this message. The request additionally contains four data
bytes with the data to be written.

Table 35: Write SDO

CAN-ID

DLC

Data

600h + N

8

23h

SDO_L

SDO_H

SUB

Byte 1

Byte 2

Byte 3

Byte 4

SDO_L = SDO index, low byte

SDO_H = SDO index, high byte

SUB = SDO subindex

The server then replies with a confirmation message:

Table 36: SDO write confirmation

CAN-ID

DLC

Data

580h + N

8

60h

SDO_L

SDO_H

SUB

Byte 1

Byte 2

Byte 3

Byte 4

Bytes 1 to 4 in the write confirmation message contain zeros.

SDO Upload Expedited (read SDO)

The client requests the content of an SDOs with a request to server N. The 16-bit index
and the subindex for the SDO to be read are contained in this message. Bytes 1 to 4 in
the read request message contain zeros.

Table 37: Read SDO

CAN-ID

DLC

Data

600h + N

8

40h

SDO_L

SDO_H

SUB

Byte 1

Byte 2

Byte 3

Byte 4

The server replies with the following message: Bytes 1 to 4 contain the value of the
requested object.

Table 38: SDO read confirmation

CAN-ID

DLC

Data

580h + N

8

43h

SDO_L

SDO_H

SUB

Byte 1

Byte 2

Byte 3

Byte 4

The CANopen data types UDINT and UINT

To transmit the data types UDINT or UINT, the data must be in Intel format or Little
Endian. For example, the 32-bit value 12345678h in the data bytes 5, 6, 7 and 8 must
be transmitted in the following sequence: [5] = 78, [6] = 56, [7] = 34, [8] = 12.

NOTE

This applies also to the SDO index in data byte 2 and 3, which has the data type UINT.
That is, the low byte is transferred in data byte 2 and the high byte is transferred in data
byte 3.

Example:

The following messages are required to read SDO 1003.1h of the CANopen

device with the node ID 2. The data type of the data to be read is UDINT.

The client sends:

4

PROJECT PLANNING

42

O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen

8025990/2021-03-03 | SICK

Subject to change without notice

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Содержание 1109414

Страница 1: ...O P E R A T I N G I N S T R U C T I O N S scanGrid2 CANopen Safe multibeam scanner ...

Страница 2: ...ination of Copyright Law Any modi fication abridgment or translation of this document is prohibited without the express written permission of SICK AG The trademarks stated in this document are the property of their respective owner SICK AG All rights reserved CANopen CANopen is a registered trademark licensed by CiA CAN in Automation e V Ger many Original document This document is an original docu...

Страница 3: ...4 2 Operating entity of the machine 17 4 3 Design 17 4 3 1 Protection from interference 18 4 3 2 Preventing unprotected areas 19 4 3 3 Response time of the safe multibeam scanner 20 4 3 4 Monitoring case switching 20 4 3 5 Distance from walls 21 4 3 6 Mobile hazardous area protection 22 4 3 7 Access protection 26 4 4 Integrating the equipment into the electrical control 30 4 4 1 Voltage supply 30 ...

Страница 4: ...ying the configuration in Safety Designer 69 7 4 4 Reading and transferring the configuration using the Safety Assistant app 70 7 5 Overview Safety Designer 70 7 6 Configuring the safe multibeam scanner Safety Designer 71 7 6 1 Identification 72 7 6 2 Fields 72 7 6 3 Monitoring cases 75 7 6 4 Configuring the CANopen parameters 77 7 6 5 Network settings 78 7 6 6 Receive PDO RPDO 79 7 6 7 Transmit P...

Страница 5: ...agnostics using the Safety Assistant app 97 12 Decommissioning 98 12 1 Disposal 98 13 Technical data 99 13 1 Data sheet 99 13 2 Response time 102 13 3 Protective field range 103 13 4 Dimensional drawings 103 14 Ordering information 104 14 1 Scope of delivery 104 14 2 Ordering information 104 15 Accessories 105 15 1 Brackets 105 15 2 Alignment aid 105 15 3 Connectivity 105 15 4 Cleaning agent 105 1...

Страница 6: ...r initial commissioning and commissioning 112 18 List of figures 113 19 List of tables 114 CONTENTS 6 O P E R A T I N G I N S T R U C T I O N S scanGrid2 CANopen 8025990 2021 03 03 SICK Subject to change without notice ...

Страница 7: ...into the electrical control page 30 Electrical installation page 61 Safety experts such as CE authorized repre sentatives compliance officers people who test and approve the application Project planning page 17 Configuration page 63 Commissioning page 86 Technical data page 99 Checklist for initial commissioning and com missioning page 112 Operators Operation page 88 Troubleshooting page 92 Mainte...

Страница 8: ...t prevented NOTICE Indicates a situation presenting possible danger which may lead to property damage if not prevented NOTE Indicates useful tips and recommendations Instructions to action b The arrow denotes instructions to action 1 The sequence of instructions for action is numbered 2 Follow the order in which the numbered instructions are given The check mark denotes the result of an instructio...

Страница 9: ...1040 10 and 1040 11 except compliance with IEC 60825 1 2014 as described in Laser Notice No 56 dated 08 05 2019 The laser is eye safe The laser marking is located on the back of the safe multibeam scanner 2 2 Intended use The safe multibeam scanner is an electro sensitive protective device ESPE and is used for object detection The safe multibeam scanner is suitable for the following applications M...

Страница 10: ...al work safety regulations Mechanical mounting electrical installation and commissioning For the task a person is considered qualified when he she has the expertise and experience in the relevant field and is sufficiently familiar with the application of the protective device on the machine to be able to assess whether it is in an operationally safe state Configuration For configuration a person i...

Страница 11: ...f it The device scans the environment in two dimensions using infrared laser beams The safe multibeam scanner operates on the principle of time of flight measurement It emits light pulses in regular very short intervals When the light is reflected from an object the safe multibeam scanner calculates the distance to the object based on the period of time between transmission and reception Δt PRODUC...

Страница 12: ...n safety functions and for example to trigger a warning signal as soon as an object is detected The safe multibeam scanner uses 8 geometrically arranged sensor modules to build up a gapless detection area Each sensor module has its own light source that emits a light pulse The light pulse of each sensor module is divided into 4 segments so the detection range of the safe multibeam scanner consists...

Страница 13: ...ates with the controller via CANopen CiA 301 to transfer non safety related data or via CANopen Safety CiA 304 to transfer safety related data 1 The following data can be output via the CANopen protocol Safety output Device status and error information Field statuses Diagnostic data Measurement data 3 3 2 System connection The safe multibeam scanner is connected to the machine via the system conne...

Страница 14: ...figuration or diagnostics Further topics Working with configurations page 67 Diagnostics using Safety Designer page 93 3 3 3 2 Near Field Communication NFC The safe multibeam scanner has an integrated NFC interface to transfer data to an NFC capable mobile device You need the Safety Assistant app provided by SICK to do this You can read already verified configurations from one device and transfer ...

Страница 15: ...tects an object in the pro tective field the safety output switches to the OFF state and the protective field status to the Interrupted status Downstream control elements can use this signal to end the dangerous state for example to stop the machine or vehicle The warning field monitors larger areas than the protective field Simple switching functions can be triggered with the warn ing field e g a...

Страница 16: ...standing behind the protective device will not be detected by the ESPE NOTICE To prevent the access protection from being manipulated install a mechanical manip ulation protection This prevents the safe multibeam scanner from being manually misadjusted Figure 7 Access protection detection of a person before they access a hazardous area 3 PRODUCT DESCRIPTION 16 O P E R A T I N G I N S T R U C T I O...

Страница 17: ...h or changed except for the procedures described in this document The device must only be repaired by the device manufacturer or by someone authorized by the device manufacturer Improper repair can result in the device not providing correct protection 4 3 Design Important information DANGER Hazard due to lack of effectiveness of the protective device Persons or parts of the body to be protected ma...

Страница 18: ...he machine Examples Condensation on the front screen Strong electrical fields e g welding cables or induction cables Further topics Mounting page 59 Dimensional drawings page 103 4 3 1 Protection from interference Interference by lasers Laser beams from other laser sources can affect the safe multibeam scanner and thus reduce the availability of the machine Measures to increase availability b Avoi...

Страница 19: ... cannot enter unsecured areas Undetected areas The safe multibeam scanner has a field of view of 150 Outside of this field of view there may be areas which cannot be detected by the safe multibeam scanner Figure 8 Unsecured areas Width of the unsecured area Length of the unsecured area Remedial measures Mounting of deflector plates to protect the undetected areas Mounting the safe multibeam scanne...

Страница 20: ...ime of the safe multibeam scanner depends among other things on the set multiple sampling Influence of signal transmission In addition to the protective device s response time further signal transmission and processing also influence the time up until the end of the dangerous state This includes a control s processing time and the response times of downstream contactors for example Further topics ...

Страница 21: ...e time see Response time page 102 of the safe multibeam scanner If the response time is exceeded check whether your application requires countermeasures For exam ple you can initiate switching earlier or reduce the vehicle speed in the case of mobile hazardous area protection When specifying the time of monitoring case switching also take into account the signal propagation times to the safe multi...

Страница 22: ...e can be recognized The minimum distance allows the vehicle to stop in time before it reaches a person or an object In mobile hazardous area protection the minimum distance typically defines the pro tective field length required When calculating the protective field length the impact of turning must be considered separately The protective field must be wide enough to cover the width of the loaded ...

Страница 23: ...ground clearance BF Ground clearance in mm ZF Supplement for lack of ground clearance in mm 4 3 6 3 Stopping distance SA The stopping distance is the sum of the following distances Braking distance of the vehicle Distance covered during the response time of the safe multibeam scanner Distance covered during the response time of the vehicle control incl signal propagation time A vehicle s braking d...

Страница 24: ...afe multibeam scanner and the vehicle s speed The distance SAnS is calculated using the following for mula SAnS tR Vmax where tR response time of the safe multibeam scanner in seconds s Vmax maximum speed of the vehicle from the vehicle documentation in millimeters per second mm s If you define a number of monitoring cases with different protective fields Vmax maximum speed of the vehicle in the c...

Страница 25: ...ou can use the fixing holes of the safe multibeam scanner as a reference for the scan plane Minimum height The safe multibeam scanner checks every protective or warning field using a vertical aperture angle of up to 4 Calculate the minimum height for the scan plane so that the protective or warning field is not disturbed by the floor hmin 0 035 x Lmax 30 mm where hmin minimum height in millimeters...

Страница 26: ...cal scan plane in a stationary application where access to the hazardous area is at a defined point For access protection the safe multibeam scanner detects an intrusion by a whole body The protective field is orthogonal to the approach direction and the safe multi beam scanner is mounted before or after the passage 4 PROJECT PLANNING 26 O P E R A T I N G I N S T R U C T I O N S scanGrid2 CANopen ...

Страница 27: ...eld level at a distance 250 mm from the protective field it is possible that persons and parts of the body to be protected may not be detected or not detected in time b Do not mount the safe multibeam scanner within a passageway but before or after the passageway b Avoid background objects in the protective field level if possible b With background objects at the protective field level Increase ov...

Страница 28: ...at a distance 250 mm from the protective field the ZE supplement may have to be taken into account see ZE supplement for background related measurement error page 28 For access protection only single sampling multiple sampling 1 must be set up for the protective field Otherwise a person could walk undetected through the protective field 4 3 7 2 ZE supplement for background related measurement erro...

Страница 29: ...pplement to prevent reaching through Complementary information Additional information is available in the ISO 13855 standard and in the Guide for Safe Machinery from SICK SICK offers a stopping run down time measurement service in many countries Further topics Response time of the safe multibeam scanner page 20 Monitoring case switching page 20 4 3 7 4 Calculation example for the minimum distance ...

Страница 30: ... as per IEC 60204 1 The voltage supply must be provided with a fuse with a rated current of max 2 A Further topics Data sheet page 99 4 4 2 Input signals for monitoring case switching Overview The safe multibeam scanner receives the input signals for monitoring case switching either via a PDO or SRDO Prerequisites The safety related parts of the control which switch the active protective field pro...

Страница 31: ...vents the machine from automatically starting up for example after a protective device has responded while the machine is operating or after chang ing the machine s operating mode The protective device does not have an internal restart interlock You must therefore implement a restart interlock externally via the circuitry or the control if needed e g in connection with the SICK RLY3 OSSD2 RLY3 OSS...

Страница 32: ... mapping parameters NOTE The mapping parameters cannot be changed RPDO The safe multibeam scanner receives the input signals for monitoring case switching via the RPDO object The RPDO object uses the index 0x6000 and consists of two entries each 8 bits in size Table 6 RPDO contents Entry Index Subindex Description 1 0x6000 1 Input signals for monitoring case switching 2 0x6000 2 Reserved Table 7 R...

Страница 33: ... or sleep mode 1 Safety function ON and no error and not in sleep mode 3 Reserved 4 Reserved 5 Reserved 6 Reserved 7 Reserved Table 10 TPDO1 entry 3 device status Bit Name Description 0 Warning field status Status of the currently active warning field 0 Interrupted 1 Free 1 Contamination warning 0 No contamination 1 contamination warning 2 Contamination error 0 No contamination error 1 contaminati...

Страница 34: ...tus of the protective field in monitoring case 2 0 Interrupted 1 Free 2 Protective field 3 Status of the protective field in monitoring case 3 0 Interrupted 1 Free 3 Protective field 4 Status of the protective field in monitoring case 4 0 Interrupted 1 Free 4 Protective field 5 Status of the protective field in monitoring case 5 0 Interrupted 1 Free 5 Protective field 6 Status of the protective fi...

Страница 35: ... 8 0 Interrupted 1 Free TPDO2 to TPDO9 The safe multibeam scanner sends the distance values of the eight sensor modules to the detected objects via the objects TPDO2 to TPDO9 The objects TPDO2 to TPDO9 use the same index 0x6204 Each of the objects consists of four entries each 16 bits in size This gives a total of 32 subindexes containing the distance values of the segments see figure 4 page 13 Ea...

Страница 36: ... segment 15 4 0x6204 16 Distance value mm for segment 16 Table 18 TPDO6 contents Entry Index Subindex Description 1 0x6204 17 Distance value mm for segment 17 2 0x6204 18 Distance value mm for segment 18 3 0x6204 19 Distance value mm for segment 19 4 0x6204 20 Distance value mm for segment 20 Table 19 TPDO7 contents Entry Index Subindex Description 1 0x6204 21 Distance value mm for segment 21 2 0x...

Страница 37: ...r entries each 8 bits in size Table 22 RSRDO contents Entry Index Subindex Description 1 0x6010 1 Input signals for monitoring case switching 2 0x6011 1 Input signals for monitoring case switching inverted 3 0x6010 2 Reserved 4 0x6011 2 Reserved inverted Table 23 RSRDO entry 1 input signals for monitoring case switching Bit Name Description 0 Input 0 Monitoring case 1 1 Input 1 Monitoring case 2 2...

Страница 38: ...ing status 0 Safety function OFF or error or sleep mode 1 Safety function ON and no error and not in sleep mode 3 Reserved 4 Reserved 5 Reserved 6 Reserved 7 Reserved Table 26 TRSDO entry 5 protective field status Bit Name Description 0 Protective field 1 Status of the protective field in monitoring case 1 0 Interrupted 1 Free 1 Protective field 2 Status of the protective field in monitoring case ...

Страница 39: ...to start stop or initialize CANopen devices For this purpose one device in the CANopen network must perform the role of the NMT master This is usually the PLC All other devices are regarded as NMT slaves NMT services are broadcast services for which the slaves do not generate any responses All NMT objects start with the CAN ID 00h Broadcast service for an NMT slave with node ID N Table 28 Network ...

Страница 40: ...SYNC SYNC The SYNC command causes all TPDOs of a CANopen slave to be sent It is therefore possible to poll the slave using SYNC Table 31 Polling inputs using SYNC CAN ID DLC Data 80h 0 The slave sends all input values when it receives this command All TPDOs are sent In order to ensure that the slave automatically sends the current input values when it receives a SYNC command the transmission type ...

Страница 41: ...data memory EEPROM of the safe multibeam scanner This makes the communication parameters available even in the event of loss of power The safe multibeam scanner does not distinguish between parameter groups The string save must be sent as part of the data content Restore The Restore object enables the saved communication parameters to be loaded from the data memory EEPROM of the safe multibeam sca...

Страница 42: ...message Bytes 1 to 4 in the read request message contain zeros Table 37 Read SDO CAN ID DLC Data 600h N 8 40h SDO_L SDO_H SUB Byte 1 Byte 2 Byte 3 Byte 4 The server replies with the following message Bytes 1 to 4 contain the value of the requested object Table 38 SDO read confirmation CAN ID DLC Data 580h N 8 43h SDO_L SDO_H SUB Byte 1 Byte 2 Byte 3 Byte 4 The CANopen data types UDINT and UINT To ...

Страница 43: ... Inac tive Available for every PDO Activate SRDOs Deactivated Available for every SRDO PDO COB ID TPDO1 0x180 node ID TPDO2 0x280 node ID TPDO3 0x380 node ID TPDO4 0x480 node ID TPDO5 0x680 node ID TPDO6 0x1C0 node ID TPDO7 0x2C0 node ID TPDO8 0x3C0 node ID TPDO9 0x4C0 node ID RPDO1 0x200 node ID PDO Transmission Type 0xFF Available for every PDO PDO Inhibit Time 100 µs 0 Available for every PDO P...

Страница 44: ...01h 01h Application data 1 4 bytes 60100108h Subindex 1 byte 02h 02h Inverted application data 1 4 bytes 60110108h Subindex 1 byte 03h 03h Application data 2 4 bytes 60100208h Subindex 1 byte 04h 04h Inverted application data 2 4 bytes 60110208h The following data bytes are used for the checksum calculation 0x02 0x32 0x00 0x14 0x11 0x01 0x00 0x00 0x12 0x01 0x00 0x00 0x04 0x01 0x08 0x01 0x10 0x60 0...

Страница 45: ...for non vola tile storage of the settings 0x00 const Highest sub index supported 3 UNSIGNED8 0x01 RW Save all parame ters UNSIGNED32 0x02 RW Save communica tion parameters UNSIGNED32 0x03 RW Save application parameters UNSIGNED32 0x1011 Restore default parameters Object for restor ing the configura tion saved in the EEPROM 0x00 const Highest sub index supported 3 UNSIGNED8 0x01 RW Restore all defa...

Страница 46: ...x02 RO COB ID Server to Client NODEID 0x 580 UNSIGNED32 0x1300 0x00 RW Global Failsafe Command UNSIGNED8 0x1301 SRDO tx commu nication parame ter SRDO1 communi cation parameter 0x00 RO Highest sub index supported 6 UNSIGNED8 0x01 RW Information direc tion 1 UNSIGNED8 0x02 RW tx refresh time rx SCT 10 UNSIGNED16 0x03 RW tx reserved rx SRVT 20 UNSIGNED8 0x04 RW Transmission type 255 UNSIGNED8 0x05 R...

Страница 47: ...n data object 1 plain data 0x60100108 UNSIGNED32 0x02 const SR application data object 1 bit wise inverted data 0x60110108 UNSIGNED32 0x03 const SR application data object 2 plain data 0x60100208 UNSIGNED32 0x04 const SR application data object 2 bit wise inverted data 0x60110208 UNSIGNED32 0x13fe 0x00 RW Configuration valid 0 UNSIGNED8 Activate safety configuration for SRDO1 and SRDO2 0x13ff Safe...

Страница 48: ...ansmission type 0xFF UNSIGNED8 0x03 RW Inhibit Time 0x0000 UNSIGNED16 0x05 RW Event timer 1000 UNSIGNED16 0x1801 Transmit PDO Communication Parameter Transmit PDO for synchronous trans mission 0x00 RO Number of Entries 5 UNSIGNED8 0x01 RW COB ID NODEID 0x 280 UNSIGNED32 0x02 RW Transmission type 0xFF UNSIGNED8 0x03 RW Inhibit Time 10 UNSIGNED16 0x05 RW Event timer 0 UNSIGNED16 0x1802 Transmit PDO ...

Страница 49: ... 0x1805 Transmit PDO Communication Parameter Transmit PDO for synchronous trans mission 0x00 RO Number of Entries 5 UNSIGNED8 0x01 RW COB ID NODEID 0x 1C0 UNSIGNED32 0x02 RW Transmission type 0xFF UNSIGNED8 0x03 RW Inhibit Time 0 UNSIGNED16 0x05 RW Event timer 0 UNSIGNED16 0x1806 Transmit PDO Communication Parameter Transmit PDO for synchronous trans mission 0x00 RO Number of Entries 5 UNSIGNED8 0...

Страница 50: ...0108 UNSIGNED32 0x02 const PDO Mapping Entry 2 0x62000208 UNSIGNED32 0x03 const PDO Mapping Entry 3 0x62000308 UNSIGNED32 0x04 const PDO Mapping Entry 4 0x62000408 UNSIGNED32 0x05 const PDO Mapping Entry 5 0x62020108 UNSIGNED32 0x06 const PDO Mapping Entry 6 0x62020208 UNSIGNED32 0x07 const PDO Mapping Entry 7 0x62020308 UNSIGNED32 0x08 const PDO Mapping Entry 8 0x62020408 UNSIGNED32 0x1a01 Transm...

Страница 51: ...tained in the TPDO5 0x00 const Number of Entries 4 UNSIGNED8 0x01 const Mapping Entry 1 0x62040d10 UNSIGNED32 0x02 const Mapping Entry 2 0x62040e10 UNSIGNED32 0x03 const Mapping Entry 3 0x62040f10 UNSIGNED32 0x04 const Mapping Entry 4 0x62041010 UNSIGNED32 0x1a05 Transmit PDO Mapping Parame ter Describes the arrangement of the objects contained in the TPDO6 0x00 const Number of Entries 4 UNSIGNED8...

Страница 52: ...ping Entry 3 0x62041f10 UNSIGNED32 0x04 const Mapping Entry 4 0x62042010 UNSIGNED32 Manufacturer specific objects The following table describes the objects defined by the manufacturer Table 44 Object directory manufacturer specific objects Object Sub Access Object name Default value Type Description 0x6000 Inputs for moni toring case selec tion 0x00 RO NoOfElements 2 UNSIGNED8 0x01 RW B1 0 UNSIGNE...

Страница 53: ...s 32 UNSIGNED8 0x01 RO Range0 0 UNSIGNED16 0x02 RO Range1 0 UNSIGNED16 0x03 RO Range2 0 UNSIGNED16 0x04 RO Range3 0 UNSIGNED16 0x05 RO Range4 0 UNSIGNED16 0x06 RO Range5 0 UNSIGNED16 0x07 RO Range6 0 UNSIGNED16 0x08 RO Range7 0 UNSIGNED16 0x09 RO Range8 0 UNSIGNED16 0x0a RO Range9 0 UNSIGNED16 0x0b RO Range10 0 UNSIGNED16 0x0c RO Range11 0 UNSIGNED16 0x0d RO Range12 0 UNSIGNED16 0x0e RO Range13 0 ...

Страница 54: ...ight The device out puts the maximum measured value of the segments that have been assigned to a con figured monitoring case 0x6206 Signal strength Signal intensity of a detected object for the segments 1 32 in dB The value increases as the object distance decreases or the object remission increases The reference value of the dB value is the switching threshold for object detection 0x00 RO NoOfObj...

Страница 55: ...29 0 UNSIGNED8 0x1f RO SignalStrength30 0 UNSIGNED8 0x20 RO SignalStrength31 0 UNSIGNED8 4 6 Testing plan The manufacturer of the machine and the operating entity must define all required thorough checks The definition must be based on the application conditions and the risk assessment and must be documented in a traceable manner The following tests must be planned Test during commissioning and in...

Страница 56: ...of the relevant points on the checklist see Checklist for initial commissioning and commissioning page 112 Visual check of the machine and the protective device page 58 Thorough check of the principal function of the protective device page 57 Thorough check of the area to be protected page 57 Instruction of the operators in the function of the protective device 4 6 2 Regular thorough check Overvie...

Страница 57: ...ctive device To do this trigger the protective function once and observe the response of the safety output or the protective field status for example based on the machine response All applications During the test observe whether the safe multibeam scan ner indicates the interruption of the protective field using the LEDs Mobile application mobile hazardous area protection Place the supplied test o...

Страница 58: ...ng around or going around it is impos sible b If a number of protective fields are used in different monitoring cases for exam ple check the edges of all protective fields If the thorough check reveals a fault the machine should be shut down immediately In this case the mounting and electrical installation of the safe multibeam scanner must be checked by appropriately qualified safety personnel Vi...

Страница 59: ...ions the device may become detached or damaged Persons and parts of the body to be protected may not be recognized in case of non observance b Only use SICK approved brackets for mounting b Take appropriate measures for vibration damping if vibration and shock specifica tions exceed the values and test conditions specified in the data sheet NOTICE The front screen of the safe multibeam scanner is ...

Страница 60: ... mm Tightening torque 4 5 Nm 5 0 Nm In case of strong vibrations see data sheet use screw locking devices to secure the fixing screws Complementary information You can also mount the safe multibeam scanner using the optionally available align ment bracket When mounted using the alignment bracket the device can be rotated vertically and aligned For further information see the separately available m...

Страница 61: ...according to project planning Electrical installation according to the requirements of see Integrating the equip ment into the electrical control page 30 Further topics Project planning Seite 17 Mounting Seite 59 6 2 1 System connection M12 5 pin Voltage supply and CAN signals Male connector M12 5 pin A coded 2 1 4 3 5 Figure 19 System connection male connector M12 5 pin A coded Table 45 System co...

Страница 62: ...nnected to ground Complementary information The safe multibeam scanner does not have an internal CAN bus termination Termina tion resistors typ 120 Ω must be added externally at each end of the CAN bus line 6 ELECTRICAL INSTALLATION 62 O P E R A T I N G I N S T R U C T I O N S scanGrid2 CANopen 8025990 2021 03 03 SICK Subject to change without notice ...

Страница 63: ... Safety Designer to configure the safe multibeam scanner and verify the configuration If you want to configure several devices in the same way or if you want to replace a device you can use the Safety Assistant app to read a verified configuration from one device and transfer it to another device The USB connection and the NFC interface may only be used temporarily and only for configuration and d...

Страница 64: ...quired Anyone can log on as a machine operator May read configuration from the device May read configuration from the device Maintenance personnel Deactivated ex works i e it is not initially possible to log on as a maintenance techni cian The user group can be activated by the user group admin istrator and provided with a password May read configuration from the device Changing own password allow...

Страница 65: ...uthorized cli ent and SICK service user groups is allowed Change own password allowed Changing the pass words of the Mainte nance personnel and Authorized client user groups is allowed NOTICE If you change passwords with the Safety Assistant app with a voltage free device and using the default password delivery state unauthorized persons must be prevented from accessing the contents of the NFC tag...

Страница 66: ...ia the main navigation menu Overview Here you can check the most important information as well as the measurement data and the current status of the device see Overview Safety Designer page 70 Configuration Here you can set all the parameters that can be configured for the safe multibeam scanner on various subpages see Configuring the safe multi beam scanner Safety Designer page 71 Report Here you...

Страница 67: ...e configuration To configure one or more devices offline create a Project device in Safety Designer without linking it to a physical device You can then configure the project device in Safety Designer and save the configuration on the computer You can transfer the configuration to different physical devices at a later time Verified configurations To use a configuration on a device for safety funct...

Страница 68: ...e window of Safety Designer on the Transfer page to the connected device At the left you see the values configured in the project for the device If the device is connected you see the values saved in the device at the right The compatibility of the configuration is checked during transmission An existing con figuration on the device is overwritten Approach 1 Connect the device to the computer via ...

Страница 69: ...ds to the planned safety function and meets the requirements of the risk assessment Approach 1 Connect the device to the computer via USB 2 Open the connected device in the device window 3 Click on Identify the device on the toolbar to ensure that the desired device is connected The STATE LED of the connected device flashes red and green alternately 4 In the main navigation pane click on Configura...

Страница 70: ... the NFC capable mobile device close to the marked NFC area Reading out and transfer are also possible in the voltage free state of the safe multibeam scanner Reading out and transfer are also possible in the in the Safety Assistant app via the Configure scanGrid2 menu item The read configurations are stored on the mobile device When transferring a configuration you need to select the configuratio...

Страница 71: ...on menu opens The different pages within the configuration are displayed in the Navigation area 2 In the Navigation area click on Identification The Identification page opens On this page you specify the device name applica tion name and other attributes see Identification page 72 3 In the Navigation area click on Fields The Fields page opens On this page you create the field sets with fields and ...

Страница 72: ...supports the following file formats BMP GIF JPG PNG TIF Description A description makes it easier to understand an application s context more quickly 7 6 2 Fields Overview On the Fields page you create field sets and draw the associated protective and warning fields You can create one protective field and one warning field for each field set In the Field sets area you create the field sets and fie...

Страница 73: ...tings for all fields Toolbar Use the tools to draw the fields of a field set Table 47 Buttons on the toolbar Arrow tool for selecting objects Hand tool for moving the work space Draw a field using points polygon Draw rectangle Delete selected object Zoom in Zoom out CONFIGURATION 7 8025990 2021 03 03 SICK O P E R A T I N G I N S T R U C T I O N S scanGrid2 CANopen 73 Subject to change without noti...

Страница 74: ...d Yellow Fields and field sets You can create up to 8 field sets You can create one protective field and one warning field per field set If you create a field set with a protective field and a warning field you should first create the protective field and then the warning field The fields are then assigned to the correct outputs in the monitoring case table Table 49 Buttons on the toolbar Add fiel...

Страница 75: ...2 You can also assign sleep mode to one monitoring case 1 Settings for all monitoring cases 2 Settings for a single monitoring case 3 Input conditions for the monitoring case 4 Cut off paths with the assigned field sets 5 Configured field sets 6 Areas for defined cut off behavior 7 Remove field set from a monitoring case Monitoring case table You can create different monitoring cases in the monito...

Страница 76: ... restart interlock If there is no longer an object in the protec tive field the safe multibeam scanner immediately switches the safety output to the ON state Automatic restart after If there is no longer an object in the protective field the safe multibeam scanner switches the safety output to the ON state after the specified delay You can enter a delay between 2 s and 60 s The restart delay does ...

Страница 77: ...uration of the CAN open parameters Approach 1 In the main navigation menu of the device window click on Configuration The Configuration menu opens The different pages within the configuration are displayed in the Navigation area 2 In the Navigation area under CANopen click on Network settings The Network settings page opens You can use this page to adjust the parameters for the communication of th...

Страница 78: ... using the objects TPDO2 to TPDO9 there must be no node IDs 63 within the network The CAN bus uses the node ID to identify the safe multibeam scanner If you change the node ID the COB IDs of the PDOs RPDO TPDO1 to TPDO9 and TSRDOs automatically change also Baud rate Select the speed of transmission of the data objects The baud rate of the safe multibeam scanner must match the baud rate of the CAN ...

Страница 79: ...Enable object checkbox to activate or deactivate the selected RPDO for the safe multibeam scanner You can change the following CANopen parameters for an activated RPDO COB ID Enter the ID of the RPDO for the communication within the network You can enter a value between 513 0x201 and 639 0x27F Transmission type Enter a value between 0 and 255 for the transmission type for the RPDO 0 240 synchronou...

Страница 80: ...e the selected TPDO for the safe multibeam scanner You can change the following CANopen parameters for an activated TPDO COB ID Enter the ID of the TPDO for the communication within the network You can enter a value between 385 0x181 and 1 727 0x6BF Transmission type Enter a value between 0 and 255 for the transmission type for the TPDO 0 synchronous acyclic 1 240 synchronous cyclic n sync 252 RTR...

Страница 81: ...257 0x101 and 383 0x17F for the COB ID 1 and an even value between 258 0x102 and 384 0x180 for the COB ID 2 Refresh time Safeguard cycle time SCT Enter a value between 0 and 65 535 for the maximum time that can pass between two transmission cycles Safety related object validation time SRVT Enter a value between 0 and 65 535 for the maximum time that can pass between the two signals of a transmissi...

Страница 82: ...5 535 for the maximum time that can pass between two transmission cycles Safety related object validation time SRVT Enter a value between 0 and 65 535 for the maximum time that can pass between the two signals of a transmission cycle 7 7 Report Safety Designer Overview The Report page shows the settings and data of the safe multibeam scanner You have the option of saving and archiving the report a...

Страница 83: ...ta are included in the report 7 8 Service Safety Designer Overview The following functions are available on the Service page when the device is connected via the USB connection Restart device Factory settings User password Device restart If there are problems with the device you can Restarting the device completely This has the following effects CONFIGURATION 7 8025990 2021 03 03 SICK O P E R A T ...

Страница 84: ...up you can reset it with the assistance of SICK Approach 1 Request the form for resetting your password from SICK support 2 Connect the device to the computer via USB 3 Open the connected device in the device window 4 Click on Identify the device on the toolbar to ensure that the desired device is connected The STATE LED of the connected device flashes red and green alternately 5 In the main navig...

Страница 85: ...opping the safety function Start Starts the safety function Stop Stops the safety function CONFIGURATION 7 8025990 2021 03 03 SICK O P E R A T I N G I N S T R U C T I O N S scanGrid2 CANopen 85 Subject to change without notice ...

Страница 86: ...e after each change to the machine the integration or the operating and boundary conditions of the safe multibeam scanner Perform commissioning again 8 2 Overview Prerequisites Project planning has been completed Mounting is complete Electrical installation is completed Configuration is completed No one is in the hazardous area during commissioning Further topics Project planning page 17 Mounting ...

Страница 87: ...pics Troubleshooting page 92 8 5 Check during commissioning and modifications The test is intended to ensure that the hazardous area is monitored by the protective device and any attempted access to the hazardous area is prevented b Carry out the checks according to the instructions from the manufacturer of the machine and from the operating entity COMMISSIONING 8 8025990 2021 03 03 SICK O P E R A...

Страница 88: ...prevented b Carry out the checks according to the instructions from the manufacturer of the machine and from the operating entity 9 3 LEDs Overview The safe multibeam scanner has a STATE LED and an SAFE OUT LED The SAFE OUT LED indicates the state of the safety output ON or OFF The STATE LED indicates the status or error on the device Figure 23 Status indicators SAFE OUT LED STATE LED 9 OPERATION ...

Страница 89: ...r categories page 92 Ö Flashing yellow 3 Hz Recoverable error see Error catego ries page 92 Ö ÖFlash ing red and yellow alter nately The device is not configured or an error has been detected in the con figuration Ö ÖFlash ing yellow and green alternately The device is configured but the con figuration is not verified Ö Flashing green 3 Hz Restart delay active Ö Flashing yellow 1 Hz Contamination ...

Страница 90: ... Hz for a contamination warning 3 Hz for a contamination error The safe multibeam scanner sends the contamination information to the machine via CANopen For contamination errors only The safe multibeam scanner switches the safety output to the OFF state and the protective field status to the Interrupted status The SAFE OUT LED lights up red accordingly As soon as the safe multibeam scanner detects...

Страница 91: ...screw the fixing screws and remove the defective safe multibeam scanner 3 Mount the new safe multibeam scanner 4 Reconnect the connecting cables to the new safe multibeam scanner 5 Configure the safe multibeam scanner NOTE You can use the Safety Assistant app to copy the verified configuration of a device and transfer it to a new device 6 Perform commissioning again taking particular care to condu...

Страница 92: ...read and view the data at a later time in Safety Assistant app Further topics LEDs Seite 88 11 2 Safety DANGER Hazard due to lack of effectiveness of the protective device Persons and parts of the body to be protected may not be recognized in case of non observance b Do not do repair work on device components b Do not make changes to or manipulate device components b Apart from the procedures desc...

Страница 93: ...m scanner Configuration error In the event of a configuration error the safety output switches to the OFF state and the protective field status to the Interrupted status You need to check the configuration in Safety Designer and if necessary reconfigure the device Device error Device errors are serious errors where the safety output switches to the OFF state the protective field status to the Inte...

Страница 94: ... in the bottom part of the window ways to solve them are also shown 11 4 2 Data recorder Overview You can use the data recorder to record the device signals and play saved recordings Depending on the utilization of the interface the measurement data may not be trans mitted and shown for every scan cycle 11 TROUBLESHOOTING 94 O P E R A T I N G I N S T R U C T I O N S scanGrid2 CANopen 8025990 2021 ...

Страница 95: ...Figure 25 Live view TROUBLESHOOTING 11 8025990 2021 03 03 SICK O P E R A T I N G I N S T R U C T I O N S scanGrid2 CANopen 95 Subject to change without notice ...

Страница 96: ...Existing connection between Safety Designer and device Configuration in the project and configuration in the device are synchronized Typical applications Check where a person can stay or when a person is detected Check input information about the current monitoring case Check why a signal change occurred on the safety output 11 TROUBLESHOOTING 96 O P E R A T I N G I N S T R U C T I O N S scanGrid2...

Страница 97: ...segments Configuration information Fault diagnosis with error code error description STATE LED and troubleshooting details Approach b Hold the NFC capable mobile device near the marked NFC area on the safe multi beam scanner to retrieve the diagnostic data Complementary information The diagnostic data can also be read out in the voltage free state of the safe multibeam scanner However you will rec...

Страница 98: ... accordance with national waste disposal regulations Complementary information SICK will be glad to help you dispose of these devices on request 12 DECOMMISSIONING 98 O P E R A T I N G I N S T R U C T I O N S scanGrid2 CANopen 8025990 2021 03 03 SICK Subject to change without notice ...

Страница 99: ... for back ground related measurement error 220 mm details ZE supplement for background related meas urement error page 28 Multiple sampling 1 4 1 At a minimum object size of 70 mm and a remission of 80 Table 54 Safety related parameters Type Type 2 IEC 61496 3 Safety integrity level SIL 1 IEC 61508 SIL claim limit SILCL 1 IEC 62061 Category Category 2 ISO 13849 1 Performance level PL c ISO 13849 1...

Страница 100: ...Transfer rate 12 Mbit s Full Speed Length of cable 5 m 1 For a cable cross section of 0 25 mm2 2 When transmitting distance values using the objects TPDO2 to TPDO9 there must be no node IDs 63 within the network Table 56 Electrical data Operating data Protection class III IEC 61140 Supply voltage UV 24 V DC 8 4 V 30 V DC SELV PELV 1 2 3 Residual ripple 10 3 Power consumption maxi mum value 3 W Ave...

Страница 101: ...e 57 Mechanical data Dimensions W H D 160 mm x 43 mm x 56 mm Weight 0 17 kg Housing material Durabio front part black Polycarbonate back part colza yellow Housing color RAL 9005 black and RAL 1021 colza yellow Table 58 Ambient data Enclosure rating1 IP65 IEC 60529 Ambient light immunity 10 klx2 Ambient operating tempera ture 0 C 50 C Storage temperature 30 C 70 C Air humidity 15 95 non condensing3...

Страница 102: ...e cases evaluation is required according to the older IEC 60825 1 2007 standard e g by employers in the EU according to Directive 2006 25 EC According to the older IEC 60825 1 2007 standard laser class 1M must be used as the basis 13 2 Response time Overview The protective device s response time is the maximum time between the occurrence of the event leading to the sensor s response and the provis...

Страница 103: ...e multibeam scanner page 20 Monitoring case switching page 20 13 3 Protective field range The effective protective field range depends on the object resolution that has been set Table 60 Protective field range Resolution Protective field range1 200 mm 1 35 m 150 mm 1 30 m 70 mm 1 10 m 50 mm 0 90 m 1 Includes the generally necessary protective field supplement TZ 13 4 Dimensional drawings 55 7 145 ...

Страница 104: ...perating instructions for download www sick com 14 2 Ordering information Table 61 Ordering information Designation Type code Part number scanGrid2 CANopen SG2 AAA00011CB0000 1109414 14 ORDERING INFORMATION 104 O P E R A T I N G I N S T R U C T I O N S scanGrid2 CANopen 8025990 2021 03 03 SICK Subject to change without notice ...

Страница 105: ...tor straight 10 m cable flying leads YF2A15 100C1BXLEAX 2106286 Table 65 Ordering information for the USB connection cable Part Type code Part number USB type C to USB type A USB 2 0 2 0 m cable YMUSA4 020VG5MUSC4 2119989 Table 66 Ordering information for terminator Part Part number CAN male connector M12 5 pin 120 Ω termi nator 6021167 Table 67 Distributor ordering information Part Type code Part...

Страница 106: ...dering information test rods Part Part number Test rod 50 mm 2095105 Test rod 70 mm 2095139 15 ACCESSORIES 106 O P E R A T I N G I N S T R U C T I O N S scanGrid2 CANopen 8025990 2021 03 03 SICK Subject to change without notice ...

Страница 107: ...ly guided con tactors must be used to switch off the machine If the auxiliary contacts of the positively guided contactors are connected to the external device monitoring the external device monitoring checks whether the contactors switch correctly when the OSSDs are switched off Field set A field set consists of one or more fields The fields in a field set are monitored simultaneously A field set...

Страница 108: ...p The reset brings the protective device back to the monitoring state after it has sent a stop command The reset also quits the start up or restart interlock of a protective device so that the machine can be restarted in a second step The reset must only be possible when all safety functions and protective devices are functional The reset of the protective device must not introduce any move ment o...

Страница 109: ...a safety laser scanner for one rotation SIL Safety integrity level SILCL SIL claim limit IEC 62061 Slave A slave device provides data in a network on request A device in the network to which a slave device provides data has the role of master In some modern networks many or all devices can switch between roles or have both roles at one time Test rod The test rod is an opaque cylinder shaped object...

Страница 110: ...pecifications stated in the EU declaration of conformity have been used as a basis for this Complete EU declaration of conformity for download You can call up the EU declaration of conformity and the current operating instruc tions for the protective device by entering the part number in the search field at www sick com part number see the type label entry in the Ident no field 17 ANNEX 110 O P E ...

Страница 111: ...a IEC 60068 2 6 GB T 2423 10 IEC 60068 2 27 GB T 2423 5 IEC 60204 1 GB T 5226 1 IEC 60529 GB T 4208 IEC 60825 1 GB 7247 1 IEC 61131 2 GB T 15969 2 IEC 61140 GB T 17045 IEC 61496 1 GB T 19436 1 IEC 61496 2 GB T 19436 2 IEC 61496 3 GB 19436 3 IEC 61508 GB T 20438 IEC 62061 GB 28526 ISO 13849 1 GB T 16855 1 ISO 13855 GB T 19876 ANNEX 17 8025990 2021 03 03 SICK O P E R A T I N G I N S T R U C T I O N ...

Страница 112: ...re additional mechanical protective measures fitted and secured against manipulation which prevent reaching below above or around the ESPE Yes No Has the maximum shutdown and or stopping time of the machine been meas ured specified and documented at the machine and or in the machine docu mentation Yes No Has the ESPE been mounted such that the required minimum distance from the nearest hazardous p...

Страница 113: ...2 Flat rate supplement for lack of ground clearance 23 13 Minimum supplement for lack of ground clearance 23 14 Stopping distance as a function of the vehicle s speed 24 15 Recommended fitting height 26 16 Recommended fitting height for inverted mounting 26 17 Stationary application with vertical scan plane 27 18 Mounting the safe multibeam scanner 60 19 System connection male connector M12 5 pin ...

Страница 114: ...ld status 38 27 Emergency messages 39 28 Network management for an NMT slave with node ID N 39 29 Network management for all NMT slaves 39 30 Example NMT object for resetting all communication 40 31 Polling inputs using SYNC 40 32 NMT master request 41 33 Response of the safe multibeam scanner 41 34 Byte 1 status byte 41 35 Write SDO 42 36 SDO write confirmation 42 37 Read SDO 42 38 SDO read confi...

Страница 115: ...ation for M12 connecting cable 5 pin 2 x 0 34 mm2 2 x 0 25 mm2 1 x shield wire 105 65 Ordering information for the USB connection cable 105 66 Ordering information for terminator 105 67 Distributor ordering information 105 68 Cleaning agent ordering information 105 69 Ordering information test rods 106 70 Note on standards 111 LIST OF TABLES 19 8025990 2021 03 03 SICK O P E R A T I N G I N S T R U...

Страница 116: ...3 8080 7425 E Mail enquiry my sick com Mexico Phone 52 472 748 9451 E Mail mexico sick com Netherlands Phone 31 0 30 229 25 44 E Mail info sick nl New Zealand Phone 64 9 415 0459 0800 222 278 tollfree E Mail sales sick co nz Norway Phone 47 67 81 50 00 E Mail sick sick no Poland Phone 48 22 539 41 00 E Mail info sick pl Romania Phone 40 356 17 11 20 E Mail office sick ro Russia Phone 7 495 283 09 ...

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