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

sBot Speed CIP – KU

Safety System

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Содержание sBot Speed CIP KU

Страница 1: ...O P E R A T I N G I N S T R U C T I O N S sBot Speed CIP KU Safety System...

Страница 2: ...sible within the limits of the legal determination of Copyright Law Any modifica tion abridgment or translation of this document is prohibited without the express writ ten permission of SICK AG The tr...

Страница 3: ...oject planning 17 4 1 Manufacturer of the overall system 17 4 1 1 Reasonably foreseeable misuse 17 4 2 Operating entity of the overall system 18 4 3 Design 18 4 3 1 Design of the access point to the h...

Страница 4: ...stination jump addresses that belong together 41 7 6 3 In out page 41 7 6 4 Emergency stop page 42 7 6 5 Protective stop page 42 7 6 6 SafetyRatedMonitoredSpeed page 43 7 6 7 SafeSequenceMonitoring pa...

Страница 5: ...the components 56 10 Troubleshooting 57 10 1 Troubleshooting the components 57 10 2 Checking the network connection 57 11 Operation 58 11 1 Operating the components 58 11 2 Regular thorough check 58 1...

Страница 6: ...erating instructions microScan3 EFI pro 8021911 Operating instructions Flexi Soft modular safety con troller hardware 8012999 Operating instructions Flexi Soft in the Flexi Soft Designer software 8012...

Страница 7: ...nance page 56 Troubleshooting page 57 1 4 Symbols and document conventions The following symbols and conventions are used in this document Safety notes and other notes DANGER Indicates a situation pre...

Страница 8: ...aluates signals from safety sensors safety command devices and other sources and securely switches the actuators of the machine on and off via safety outputs Robot controller Programmable controller t...

Страница 9: ...s of the prescribed and specified technical data and operating conditions at all times Incorrect use improper modification or manipulation of the safety system will invalidate any warranty from SICK i...

Страница 10: ...ton actuated The following errors are recognized and also lead to the safety outputs via the network being logic 0 Internal error at the safety controller or one of its components Internal error on th...

Страница 11: ...lity Overview The safety system detects people in a monitored area When a person approaches the robot the safety system decreases the robot speed until it comes to a standstill Functionality The safet...

Страница 12: ...area of the hazardous area A person cannot enter or reach into the hazardous area without interrupting the protective fields Bypassing the protective field e g by reaching around or stepping over it i...

Страница 13: ...necessary performance level The nec essary performance level results from the risk assessment Subsystems for SISTEMA are available for evaluation of the achieved performance level under www sick com F...

Страница 14: ...d restart Only possible when the safety system is in a safe state and all protective fields are free Leads to robot restart Expected frequency of safety func tion request 365 times per year once daily...

Страница 15: ...rrupted signal state logical 0 Complementary information If the sequence is not complied with after protective field PF2 is interrupted the safety outputs of the safety system switch to a safe state A...

Страница 16: ...ntroller NO PF All protective fields are free and the safety system has been reset PF1 IN Protective field PF1 is interrupted Protective field PF2 has not yet been interrupted PF2 Protective fields PF...

Страница 17: ...uration of the safety controller The manufacturer has the following duties b Executing a risk assessment b Verifying and validating the safety functions b Integrating the individual components in acco...

Страница 18: ...g the protective function of the safety system 4 3 Design 4 3 1 Design of the access point to the hazardous area example The access point to the hazardous area is monitored with several protective fie...

Страница 19: ...igure 6 Safety laser scanner positioned at the correct distance to the hazardous point 1 Protective field PF34 can be configured correctly 2 Safety laser scanner PF1 PF3 PF2 2 1 Figure 7 Safety laser...

Страница 20: ...monitored area in the shadow of the physical guard 1 Non monitored area 2 Safety laser scanner Examples of possible positions of the safety laser scanner PF1 PF2 PF3 1 Figure 9 Possible positions of...

Страница 21: ...configuration Important information DANGER For the configuration with 2 protective fields the safety system cannot reliably detect a person standing behind the protective device in all application ca...

Страница 22: ...ce The additional protective field PF3 is interrupted The safety system then switches to the safe state and must be manually reset Configuration with 2 protective fields PF1 PF2 Figure 12 Configuratio...

Страница 23: ...rotective fields in the standard con figuration These protective fields partially overlap PF1 PF3 PF2 Figure 13 Position of protective field PF1 PF1 PF3 PF2 Figure 14 Position of protective field PF2...

Страница 24: ...hen doing so protective field PF1 depends on the size of protec tive field PF2 Therefore you must determine 3 dimensions PF1 PF2 2 1 3 4 Figure 17 Different distances for physical guards that can be r...

Страница 25: ...28 Further topics Calculating the minimum distance to the hazardous area of the protective field PF2 page 25 Determining the difference between the minimum distances to the hazardous area page 27 Cal...

Страница 26: ...sponse time of the robot when an error arises during stand still monitoring e g standstill not reached after the delay time Since the safety rated monitored speed is activated at the time when the pro...

Страница 27: ...s difference is required for the following reasons Sequence for automated restart Time window for activating the safety rated monitored speed on the robot Approach 1 Calculate SDiff using the followin...

Страница 28: ...distances of protective fields PF1 and PF2 to the hazardous area page 24 4 3 3 4 4 Reducing protective field PF1 in case of limited space Overview If your application does not offer enough space for p...

Страница 29: ...is not definitely activated SDiff Determining the difference between the minimum distances to the haz ardous area Instead of the calculation use the following value 500 mm This value is a compromise...

Страница 30: ...rating mode and the safety functions in the manual operating mode via the robot controller You can use the operating mode selector switch and the enabling device on the robot s operating panel for exa...

Страница 31: ...e pro tective fields From the position of the reset pushbutton and the restart button there must be a complete view of the hazardous area 4 4 Integrating the equipment into the electrical control NOTE...

Страница 32: ...data and input data EtherNet IP CIP Safety Safety function Safety controller out put data Robot controller input data Safety function in the robot controller Emergency stop 163 Bit 0 0 904 Bit 0 1 NH...

Страница 33: ...equirements for the thor ough check of the components of the safety system see operating instructions of the components The check must detect if it is possible to enter the hazardous area without bein...

Страница 34: ...g the components NOTE Information is included in the operating instructions for the components 5 MOUNTING 34 O P E R A T I N G I N S T R U C T I O N S sBot Speed CIP KU 8024758 2020 02 20 SICK Subject...

Страница 35: ...the wiring of the pushbutton for the hold to run device e g with cable ties Measures for controlling the consequences of voltage failure voltage fluctuations overcurrent and undercurrent in the volta...

Страница 36: ...onnections Connection Function Port 1 Not assigned 1 Port 2 Network connection to safety laser scanner and robot 1 The gateway has an internal switch Both connections can be used for mains supply In t...

Страница 37: ...ction I3 Reset pushbutton I4 Restart button I5 I8 Not assigned Q1 Q4 ELECTRICAL INSTALLATION 6 8024758 2020 02 20 SICK O P E R A T I N G I N S T R U C T I O N S sBot Speed CIP KU 37 Subject to change...

Страница 38: ...KA SafeOperation 3 2 Table 19 Software versions of the robot manufacturer Software Tested version KUKA WorkVisual 4 0 29 7 2 Pre configured project files SICK provides you with the preconfigured proje...

Страница 39: ...OK Emergency stop device actuated Manual reset restart and PF1 free PF2 PF3 Manual reset restart PF1 PF1 PF2 Sequence error Manual reset restart Figure 24 Software structure Protective field becomes f...

Страница 40: ...al operation PF1 free No Yes Figure 25 Software logic 7 4 Opening project file 1 Start the Safety Designer 2 Click on Project 3 Click on Open 4 Select the project file 5 Click on Open The project file...

Страница 41: ...2 Jump addresses Jump addresses consist of a source jump address and a destination jump address The destination jump address assumes the same value HIGH or LOW as the associated source jump address wi...

Страница 42: ...integrator Table 21 Jump addresses for additional safety functions Jump address Description STATUS_ESTOP Status of the bit for the emergency stop Signal state LOW means that the emergency stop has be...

Страница 43: ...the SafeSequenceMonitoring page Element Description Safe Sequence Monitor ing V1 0 Customized function block password protected Evaluates the signals of protective fields PF1 and PF2 among other thin...

Страница 44: ...roller Off delay timer 3 Function block that results in a delay in the activation of the safety rated monitored speed Default value 1 000 ms You need to adjust this value for your application When the...

Страница 45: ...for the reduction of the override The reduction of the override reduces the speed of the robot Forwarded to bit 0 4 REDUCE_OVRD of the robot controller Static 1 Input element is logical 1 The followin...

Страница 46: ...n into the working range and over the RESET PF3 field set under Cut off path 3 Protective field PF3 is no longer used The corresponding input element in the logic editor of the main module acts like a...

Страница 47: ...fety Designer configuration software The project file contains the configuration for the Flexi Soft safety controller and microScan3 Core EFI pro safety laser scanner So that the safety system can fun...

Страница 48: ...er status indi cator on the operating panel The status indicator is green when the Submit inter preter is running 12 Optimize the delay time in the logic configuration of the safety controller as per...

Страница 49: ...rform the following settings Table 30 Configuration In Outputs Automated External Input name Value EXT_START 2 MOVE_ENABLE 1 CONF_MESS 3 DRIVES_ON 140 Example COMMISSIONING 8 8024758 2020 02 20 SICK O...

Страница 50: ...options KUKA SafeOperation and KRC4 EthernetIP in the robot controller and in KUKA WorkVisual When installing these in KUKA WorkVi sual you can use the kop files1 from the robot controller Extras Opti...

Страница 51: ...tion Important information NOTE If no mastering reference switch is connected during commissioning it may not be pos sible to move the robot In this case in KUKA WorkVisual select the Global Parameter...

Страница 52: ...to specify the IP address of the EtherNet IP originator master Table 32 Scanner IP address Field Value Scanner IP address 192 168 1 10 Example 8 3 7 Configuring the EFI pro gateway as a target slave A...

Страница 53: ...tab 2 In the window on the left select Digital Inputs 3 In the Fieldbuses tab in the window on the right select the gateway FX3 GEPR 4 Define the following mapping using drag drop Table 33 Mapping ne...

Страница 54: ...to Programming and diagnosis 3 Open sps sub 4 In the program code window incorporate the following code under User PLC Reduce Speed Reduce Override from 40 to 10 depending on the IN 4 IF IN 4 TRUE THE...

Страница 55: ...vices tab 7 In the Target IP address field enter the IP address of the robot controller example 192 168 1 10 8 Click on Read from device 0x08 Waiting for TUNID is displayed If Idle is displayed you mu...

Страница 56: ...of the components NOTE Information is included in the operating instructions for the components 9 MAINTENANCE 56 O P E R A T I N G I N S T R U C T I O N S sBot Speed CIP KU 8024758 2020 02 20 SICK Sub...

Страница 57: ...troller 5 Click Configuration 6 In the Navigation under GEPR click on Connection overview 7 Read off the connection status in the Connection Status column Existing connection are marked with the estab...

Страница 58: ...that the hazardous area is monitored by the protective device and that unprotected access to the hazardous area is prevented b Carry out the checks according to the instructions from the manufacturer...

Страница 59: ...data from the gateway to the main module 1 General supplement 5 ms Deduction when using a 2nd gateway 4 ms 2 tlogic 2 logic response time of the safety controller toutput Response time for the output...

Страница 60: ...ller response time Response time of the robot Robot stopping run down time 12 TECHNICAL DATA 60 O P E R A T I N G I N S T R U C T I O N S sBot Speed CIP KU 8024758 2020 02 20 SICK Subject to change wi...

Страница 61: ...rkVisual project file1 1 You cannot use this project file to configure your robot controller The project file serves as an example only which you can use to understand certain settings 13 2 Ordering i...

Страница 62: ...any case the configuration option of connecting the safety laser scanner via USB is very helpful for commissioning and diagnostics USB mini B male con nector 3 m cable USB A male connector Suitable Su...

Страница 63: ...3 m cable USB A male connector 6042517 Male connector straight 2 m cable RJ45 male connector 6047916 14 2 Emergency stop and reset pushbutton Table 42 Emergency stop and reset pushbutton Description T...

Страница 64: ...ntroller expansion module I O module 8 inputs 4 outputs FX3 XTIO84002 1044125 Flexi Soft EFI pro gateway safety controller FX3 GEPR00000 1069070 Flexi Soft safety controller system plug FX3 MPL000001...

Страница 65: ...safety outputs via the network are LOW The robot stops Yes No 1 Start the robot in the Manual reduced speed operating mode 2 Press the emergency stop push button Run the test sequence for every emer...

Страница 66: ...n protective field PF1 is inter rupted Reduced speed is active The status of the VRED Reduced axis specific and cartesian velocity signal is HIGH in Manual operating mode reduced speed In the Manual r...

Страница 67: ...e 23 Yes No Comments Tests for Manual reset and a manual restart safety function Table 49 Tests for Manual reset and a manual restart safety function Test sequence Expected result Result OK 1 Start th...

Страница 68: ...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...

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