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About this document

1.1

Scope

These operating instructions contain information on the nanoScan3 Tool - URCap con‐
figuration software.

The following documents contain additional information:

Table 1: Available documents

Document type

Title

Part number

Operating instructions

nanoScan3 I/O

8024594

Operating instructions

sBot Stop – URCap, sBot
Speed – URCap

8025715

This document is included with the following SICK part numbers (this document in all
available language versions):

8025718

1.2

Symbols and document conventions

The following symbols and conventions are used in this document:

Safety notes and other notes

DANGER

Indicates a situation presenting imminent danger, which will lead to death or serious
injuries if not prevented.

WARNING

Indicates a situation presenting possible danger, which may lead to death or serious
injuries if not prevented.

CAUTION

Indicates a situation presenting possible danger, which may lead to moderate or minor
injuries if not 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

The arrow denotes instructions to action.

The sequence of instructions for action is numbered.

Follow the order in which the numbered instructions are given.

✓

The check mark denotes the result of an instruction.

ABOUT THIS DOCUMENT

8025720/1A9R/2020-12-15 | SICK

O P E R A T I N G I N S T R U C T I O N S | nanoScan3 Tool - URCap

Subject to change without notice

Содержание nanoScan3 I/O

Страница 1: ...O P E R A T I N G I N S T R U C T I O N S nanoScan3 Tool URCap Safety System ...

Страница 2: ...ible within the limits of the legal determination 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 Original document This document is an original document of SICK AG 2 O P E R A T I N G I N S T R U...

Страница 3: ...nstallation 14 5 1 Installing nanoScan3 Tool URCap 14 6 Configuration 15 6 1 Requirements for software and functional scope 15 6 2 Configuration of the robot controller 15 6 2 1 Setting password for switching operating modes 15 6 2 2 Configuring inputs of the robot controller 15 6 2 3 Configuring network 16 6 3 Configuring the safety laser scanner 17 6 3 1 Starting nanoScan3 Tool configuration sof...

Страница 4: ...to device 26 6 3 6 Checking configuration 26 7 Commissioning 28 7 1 Safety 28 7 2 Performing commissioning at a new location 28 8 Troubleshooting 30 8 1 Error messages on the start screen 30 8 2 Carry out diagnosis 30 8 3 Displaying last verified report 30 9 Technical data 31 9 1 Data sheet 31 10 Ordering information 32 10 1 Scope of delivery 32 10 2 Ordering information 32 11 Accessories 33 11 1 ...

Страница 5: ...minent danger which will lead to death or serious injuries if not prevented WARNING Indicates a situation presenting possible danger which may lead to death or serious injuries if not prevented CAUTION Indicates a situation presenting possible danger which may lead to moderate or minor injuries if not prevented NOTICE Indicates a situation presenting possible danger which may lead to property dama...

Страница 6: ...her languages Operating instructions and mounting instructions of SICK components suitable for the safety system Guide for Safe Machinery Six steps to a safe machine 1 ABOUT THIS DOCUMENT 6 O P E R A T I N G I N S T R U C T I O N S nanoScan3 Tool URCap 8025720 1A9R 2020 12 15 SICK Subject to change without notice ...

Страница 7: ...s for the qualification of personnel Only qualified safety personnel may use the configruation software nanoScan3 Tool URCap to design configure commission and diagnose safety related devices device groups or system configurations Project planning For project planning a person is considered competent when he she has expertise and experience in the selection and use of protective devices on machine...

Страница 8: ...e workspace but at different times cooperation see Human robot interaction The robot works at a fixed position If the robot is mounted on a moving table the safety laser scanner must be mounted on the same table The application requires a protective field 3 m Access to the hazardous area must be designed so that the protective fields of the safety laser scanner cover the entire point of access to ...

Страница 9: ... Stop Field radius Overview The Stop Field radius value determines the maximum extension of protective field PF1 The value is calculated from the radius of the robot hazardous area and the minimum distance to the hazardous area Detection in protective field PF1 activates the Trigger protective stop function You must calculate Stop Field radius so that the robot comes to a standstill in the event o...

Страница 10: ...n millimeters mm C 1 200 mm 0 4 protective field height mm At a protective field height of 300 mm 1 080 mm 1 Value in delivery state Check the actual value with operating instructions 8024594 2 Is not required in all applications Calculating radius of the hazardous area of the robot SR b Calculate the radius of the hazardous area of the robot SR The radius is composed of the scanning range of the ...

Страница 11: ...f must be 0 mm In principle you can freely design SDiff However SDiff has a retroactive effect on the minimum distance to hazardous area SPF1 SDiff 912 mm To calculate the minimum distance to hazardous area SPF1 use the robot stopping time at maximum speed Normal Mode SDiff 912 mm To calculate the minimum distance to hazardous area SPF1 use the robot stopping time at safety related monitored speed...

Страница 12: ... the robot The robot must be mounted at a fixed position If the robot is mounted on a moving table the safety laser scanner must be mounted on the same table The robot and the safety laser scanner must always be positioned in the same relationship to each other If the position of the robot is changed the protective fields must be reestablished because the environment of the system has changed 4 1 ...

Страница 13: ...nents of the safety system see operating instructions of the components The check must detect if it is possible to enter the hazardous area without being detected Such possibilities may exist due to modifications manipulations or exter nal influences In many cases depending on the application conditions the risk assessment can determine that further thorough checks are required The thorough checks...

Страница 14: ...ect USB stick to robot controller 3 In the robot control Hamburger menu SETTINGS SYSTEM URCAPS PLUS icon 4 Search for and select nanoScan3_Tool_ urcap file 5 Click on OPEN 6 Reboot robot controller 5 INSTALLATION 14 O P E R A T I N G I N S T R U C T I O N S nanoScan3 Tool URCap 8025720 1A9R 2020 12 15 SICK Subject to change without notice ...

Страница 15: ...ween the operating modes using the icon at the top right You must enter the password defined above to change to Manual operating mode 6 2 2 Configuring inputs of the robot controller Prerequisites Robot is in manual operating mode Approach 1 Select Installation in the robot controller 2 Under Safety select the I O menu item 3 Assign the functions to the inputs Input Signal Function Assignment conf...

Страница 16: ...ger icon 2 Under System click on Network 3 Activate Static Address 4 Configure network settings as desired The subnet address specified here must match the subnet address configured in the nanoScan3 Tool URCap configura tion software 6 CONFIGURATION 16 O P E R A T I N G I N S T R U C T I O N S nanoScan3 Tool URCap 8025720 1A9R 2020 12 15 SICK Subject to change without notice ...

Страница 17: ... of fields The fields are configured in the layout screen You can then check and transfer the configuration The fields must be reconfigured as soon as the position or the environ ment of the robot is changed 6 3 3 General configuration 6 3 3 1 Logging in 6 3 3 1 1 Logging in as service technician Approach 1 In the start screen click on Settings The Settings dialog is displayed 2 During the first l...

Страница 18: ... Alternatively click on the table 2 In the Width and Length fields enter the table dimensions The table display is adjusted 3 Click on Apply The Success dialog is displayed Confirm dialog to continue 6 3 3 3 Configuring position of the robot Prerequisites You are registered as a service technician Approach 1 Click on the Robot tab Alternatively click directly on the robot 2 In the X and Y fields c...

Страница 19: ... robot Reduced Field radius The calculated minimum distance for trig gering the safety rated monitored speed Stop Field radius The calculated minimum distance for trig gering the protective stop 4 Click on Apply The Success dialog is displayed Confirm dialog to continue Complementary information Safety relevant values are marked with the following symbol Further topics Calculating value for Stop F...

Страница 20: ...n be used to track which user performed commissioning 6 Click on Apply The Success dialog is displayed Confirm dialog to continue 6 3 3 7 Configuring the safety laser scanner 6 3 3 7 1 Assigning safety laser scanners Prerequisites You are registered as a service technician Approach 1 In the graphic overview click on the free placeholder e g A Free placeholders are gray A list of available and not ...

Страница 21: ...he coordinate system lower left table corner and the center point of the safety laser scanner The center point of the safety laser scanner is marked on the top side 4 In the Rotation field enter the alignment of the safety laser scanner in degrees The entered alignment of the safety laser scanner is displayed with a mark in the preview This mark must correspond to the 90 mark on the top of the saf...

Страница 22: ...s are optional and not required for operation of the safety system Prerequisites You are registered as a service technician Approach 1 Click on the desired safety laser scanner Placeholders with assigned safety laser scanner are orange 2 Click on Name 3 In the Name field enter the desired name 4 Click on Apply The Success dialog is displayed Confirm dialog to continue 6 3 3 7 4 Configuring the con...

Страница 23: ...ware 6 3 3 8 Verifying settings Prerequisites You are registered as a service technician Approach 1 Click on Verify The Plausibility Checks window is displayed The software automatically checks whether the configuration is plausible A failed test is labeled with the following symbol In some cases you can navigate directly to the corresponding setting by clicking on the following icon 2 Click on Pr...

Страница 24: ...combined with the results of the scan to automatically generate the fields Figure 10 Before teach in Figure 11 After teach in 6 3 4 3 Defining walls Overview With the Walls functions areas can be excluded from monitoring This allows you to take into account physical guards that could not be detected by the safety laser scanner when teaching in the area e g fences or covers made of acrylic glass It...

Страница 25: ... The area has been scanned Free Fields mode is active Settings Approach 1 Click on Fields 2 In the preview click on the position where the circle is to be placed 2 circles with different radii are displayed The inner circle is for the protective field for the Trigger protective stop function 3 Use the displayed tools to configure the circles as desired and confirm by ticking the check mark see fig...

Страница 26: ...the configuration with Yes Configuration is being transferred to the device 6 3 6 Checking configuration Overview You can check the configuration in the Commissoning screen The view shows the real time data of the safety laser scanner Important information DANGER Unmonitored areas The robot does not stop or does not stop on time b Perform test carefully b This requires appropriate expertise and ex...

Страница 27: ...ction in field The Stop Field switches inputs CI0 and CI1 If available the Reduced Field switches the inputs CI2 and CI3 Access to the hazardous area is only possible through the Stop Field It is not possible to bypass the fields e g by stepping over them It is not possible to stay in the hazardous area without being detected in the Stop Field 2 Click on Next Figure 15 Check configuration CONFIGUR...

Страница 28: ... not stop or not on time b Ensure that the fields are only configured by users who can evaluate a safe working condition Approach Configuring fields short description 1 In the start screen click on Next The layout screen is displayed 2 Scan the area 3 If necessary define areas not to be monitored with the Walls function 4 When Free Fields mode is activated in the general settings define the fields...

Страница 29: ...area page 24 Defining walls page 24 Drawing fields manually page 25 Transferring configuration to device page 26 Checking configuration page 26 COMMISSIONING 7 8025720 1A9R 2020 12 15 SICK O P E R A T I N G I N S T R U C T I O N S nanoScan3 Tool URCap 29 Subject to change without notice ...

Страница 30: ...cabling and type of the connected safety laser scanner Check network configura tion Basic parameters of nanoScan3 configuration suc cessfully loaded Check configuration of the safety laser scan ner Contact SICK if necessary 8 2 Carry out diagnosis Approach 1 Click on Info 2 Click on Diagnostic Diagnostic information is shown 8 3 Displaying last verified report Approach 1 Click on Info 2 Click on L...

Страница 31: ...ted Universal I O 1 Warning field Universal I O 2 OSSD pair 2 OSSD A OSSD 2 A Universal I O 3 OSSD pair 2 OSSD B OSSD 2 B 1 In principle these parameters can be configured on the safety laser scanner In this safety system however the parameters are permanently set to the specified values TECHNICAL DATA 9 8025720 1A9R 2020 12 15 SICK O P E R A T I N G I N S T R U C T I O N S nanoScan3 Tool URCap 31...

Страница 32: ...r NANS3 CAAZ30AN1 1100334 Table 8 Ordering information for system plug Accessories for Connection type Type code Part number Device Part number nanoScan3 Core I O 1100333 Cable with plug con nector M12 Ethernet connec tion NANSX AAABAEZZ1 2104949 nanoScan3 Pro I O 1100334 Cable with plug con nector M12 Ethernet connec tion NANSX AAACAEZZ1 2104860 Table 9 Brackets ordering information Part Part num...

Страница 33: ...m cable RJ45 male connector YM2D24 020PN1MRJA4 2106182 Male connector straight 5 m cable RJ45 male connector YM2D24 050PN1MRJA4 2106184 Male connector straight 10 m cable RJ45 male connector YM2D24 100PN1MRJA4 2106185 ACCESSORIES 11 8025720 1A9R 2020 12 15 SICK O P E R A T I N G I N S T R U C T I O N S nanoScan3 Tool URCap 33 Subject to change without notice ...

Страница 34: ...nd machinery in which a person can be exposed to a hazard ISO 12100 OSSD Output signal switching device signal output for the protective device which is used for stopping the dangerous movement An OSSD is a safety switching output The functionality of each OSSD is tested periodically OSSDs are always connected in pairs and must undergo dual channel analysis for safety reasons An OSSD pair is forme...

Страница 35: ...also known as the sensor detection capability is the minimum size of an object for it to be reliably detected Response time The protective device s response time is the maximum time between the occurrence of the event leading to the sensor s response and supply of the switch off signal to the protective device s interface for example OFF state of the OSSD pair Safety function Function of a machine...

Страница 36: ...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 90...

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