IDEC SE2L Series Users Manual
SE9Z-B1865
SE2L Series
Safety Laser Scanner
User’s Manual
Table of contents
1. Introduction ................................................................................................................................................. 6
1.1 About this manual ................................................................................................................................. 6
1.2 Applic
1.3 Abbr
1.4 Special m
1.5 Applic
1.6 Registe
2. Safety pr
2.1 Gener
2.2 Operatin
2.3 Installat
2.4 W
2.5 Configur
2.6 Inspection and mainte
3. P
roduct overview....................................................................................................................................... 13
3.1 Featur
3.2 Compone
3.3 Operation principle
3.4 Scanning
able products............................................................................................................................... 6
eviations......................................................................................................................................... 6
arkings and symbols ............................................................................................................. 6
able directives and standards ....................................................................................................7
red trademarks.......................................................................................................................... 8
ecautions .......................................................................................................................................9
al precautions .............................................................................................................................. 9
g environment....................................................................................................................... 10
ion of SE2L............................................................................................................................. 10
iring................................................................................................................................................... 10
ation....................................................................................................................................... 11
nance ............................................................................................................... 11
es of SE2L-H05LP / SE2L-H05LPC.......................................................................................13
nts of SE2L-H05LP / SE2L-H05LPC ................................................................................14
............................................................................................................................. 16
area....................................................................................................................................... 17
3.4.1 P
3.4.2 W
3.5 Ar
3.6 Incr
3.6.1 Puls
3.6.2 Re
3.6.3
3.6.4 Ar
3.7 OSSD
3.7.1 Se
3.7.2 Lock
3.7.3 Inter
3.8 Exte
3.9 Muting function
3.9.1 Muting
3.9.2 Muting
3.9.3 Muting
rotection zone............................................................................................................................... 17
arning zone .................................................................................................................................20
ea switching...................................................................................................................................... 21
emental encoder............................................................................................................................ 24
e per cm travel generated by incremental encoders............................................................25
commend increment encoder specification............................................................................. 26
Tolerances allowed for encoder ....................................................................................................26
ea switching by encoder input .................................................................................................. 27
.................................................................................................................................................... 28
lf-diagnostic function of OSSD ................................................................................................. 29
out state.................................................................................................................................. 29
lock function .......................................................................................................................... 29
rnal device monitoring (EDM) function ....................................................................................32
................................................................................................................................... 33
start condition................................................................................................................... 33
stop condition ...................................................................................................................34
override function.............................................................................................................. 35
3.10 Refe
3.10.
rence monitoring function......................................................................................................... 36
1 Area protection............................................................................................................................. 36
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3.10.2 Access protection.......................................................................................................................... 37
3.11 Area sequence function...................................................................................................................... 39
3.12 Respons
3.13 Other
3.13.1 W
3.13.2 W
3.13.
3 Muting output 1 (MUT_OUT 1)................................................................................................. 40
3.13.
4 Muting output 2 (MUT_OUT 2)................................................................................................. 40
3.13.
5 Reset Request 1 (RES _ REQ1) .................................................................................................. 41
3.13.
6 Reset Request 2 (RES _ REQ2) .................................................................................................. 41
3.14 Inform
3.14.
1 LED............................................................................................................................................... 42
3.14.
2 7-Segment display ........................................................................................................................ 42
3.15 Ethernet
3.15.
1 Ethernet Setting ........................................................................................................................... 43
3.16 Function
3.17 Maste
4.
Application examples of SE2L.................................................................................................................. 46
4.1
Access protection (Horizontal application Stationary Protection zone 1) ...................................... 46
e time ....................................................................................................................................39
outputs..................................................................................................................................... 40
arning output 1 (WARNING 1)............................................................................................... 40
arning output 2 (WARNING 2)............................................................................................... 40
ation indicator........................................................................................................................ 41
communication .................................................................................................................. 43
to configure SE2L by SD card .......................................................................................... 44
r-Slave Function ...................................................................................................................... 44
4.2
Access protection (Stationary Horizontal application with Dual Protection zone)........................ 49
4.3
Access protection (Vertical application- whole body detection) ......................................................49
4.4
Access protection (Vertical application Stationary).......................................................................... 51
4.5
Area protection (Horizontal application Mobile) Fixed area .......................................................... 53
4.6
Area protection (Mobile, Horizontal, Single Protection, Variable Area)........................................ 56
4.7
Area protection (Mobile, Horizontal, Single Protection, Encoder Input)....................................... 57
4.8
Area protection (Mobile, Horizontal, 2 Units Interconnected, Variable......................................... 57
4.9
Area protection (Mobile, Horizontal, 4 Units Interconnected, Variable Area) ..............................58
4.10
Area protection (Mobile, Horizontal, Autonomous Navigation) ................................................... 59
5. Installation
5.1 Light interfer
5.2 Mutual interfer
5.3 High
5.4 Lim
6. W
iring......................................................................................................................................................... 65
6.1 Pr
6.2 Power
................................................................................................................................................. 60
ence ................................................................................................................................ 60
ence............................................................................................................................. 61
reflective background ................................................................................................................ 63
ited detection capability zone ......................................................................................................64
ecautions........................................................................................................................................... 65
supply........................................................................................................................................ 65
6.3 W
ire color and function ......................................................................................................................65
6.4 W
iring example.................................................................................................................................... 67
6.5 Input/ Output cir
cuit........................................................................................................................... 72
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6.5.1 OSSD/ Warning Output circuit .................................................................................................... 72
6.5.2 Other output circuits..................................................................................................................... 72
6.5.3 Input cir
7.
Function configuration of SE2L............................................................................................................... 74
7.1
About SLS Project Designer application........................................................................................... 74
7.2 System
7.3 Installat
7.3.1 Uninstallation SLS P
7.4 Device dr
7.4.1 Installin
7.4.2 Installin
7.4.3 Installin
7.5 S
tarting the SLS Project Designer .....................................................................................................83
7.5.1 S
tartup Main window.................................................................................................................... 84
7.5.2 Cr
7.5.3 Open c
7.5.4 Connect
7.6 Compone
7.7 Menu bar
cuit.................................................................................................................................... 73
requirements........................................................................................................................... 74
ion of SLS Project Designer.................................................................................................. 75
roject Designer............................................................................................75
iver installation.................................................................................................................... 76
g the driver in Windows 8............................................................................................... 76
g the driver in Windows 7............................................................................................... 78
g the driver in Windows XP............................................................................................ 83
eate new configuration.............................................................................................................. 84
onfiguration file .................................................................................................................85
to SE2L ............................................................................................................................ 86
nts of SLS Project Designer................................................................................................ 87
.............................................................................................................................................. 87
7.7.1 F
7.7.2 Edit
7.7.3 M
7.7.4 Connect
7.7.5 Option
7.7.6 Language
7.7.7 He
7.8 T
7.9 Subpanel
7.9.1 Configuration t
7.9.2 M
7.9.3 Report tab..................................................................................................................................... 101
7.10 S
7.1
7.12 P
7.12.
7.12.
ile................................................................................................................................................... 88
.................................................................................................................................................. 88
ode ...............................................................................................................................................89
ion...................................................................................................................................... 89
............................................................................................................................................. 90
........................................................................................................................................ 90
lp................................................................................................................................................. 90
ool bar................................................................................................................................................. 91
............................................................................................................................................... 92
ab ..........................................................................................................................92
onitor tab ..................................................................................................................................101
tatus bar ......................................................................................................................................... 104
1 Connecting SE2L with PC .............................................................................................................. 104
assword .......................................................................................................................................... 105
1 Changing the password ............................................................................................................. 105
2 Reclaim the forgotten password............................................................................................... 106
7.13 Configu
7.14 Function
7.15 Ar
ea configuration........................................................................................................................... 108
ration mode ........................................................................................................................ 106
configuration.................................................................................................................... 107
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7.15.1 Area configuration by drawing tools........................................................................................ 109
7.15.2 Area configuration by teaching function ................................................................................. 111
7.15.
3 Muting configuration ................................................................................................................ 112
7.15.
4 Reference region configuration ................................................................................................ 113
7.16 T
ransmit configurations to SE2L................................................................................................... 114
7.17 Save project file
7.18 Read
7.19 Open project file
7.20 Rec
7.21 Replay t
7.22 Save s
7.23 SE2L
8. Inspection
8.1 Pr
8.2 Operation inspection
8.3 Daily
8.4 Per
8.5 Cleanin
8.6 Replac
8.6.1 Method
8.6.2 Adjustment
9. T
roubleshooting ....................................................................................................................................... 133
configuration from SE2L ...................................................................................................... 117
ording the SE2L data................................................................................................................ 118
he log data .......................................................................................................................... 119
ettings to SD card.................................................................................................................. 121
configuration through SD card............................................................................................ 122
and maintenance ................................................................................................................... 123
e-operation inspection................................................................................................................... 123
inspection.................................................................................................................................. 125
iodical inspection .........................................................................................................................127
g the optical window............................................................................................................. 129
ing the optical window........................................................................................................... 129
............................................................................................................................... 115
.............................................................................................................................. 117
......................................................................................................................... 124
of replacing the optical window.................................................................................... 130
of the optical window .............................................................................................. 131
10.
Specification........................................................................................................................................... 137
10.
1 SE2L-H05LP / SE2L-H05LPC ....................................................................................................... 137
1
1. Package contents.................................................................................................................................... 139
12.
Options ...................................................................................................................................................140
12.
1 Base mounting bracket (Type number: SE9Z-HS2-BK01).......................................................... 140
12.
2 Rear mounting bracket (Type number: SE9Z-HS2-BK02) .........................................................140
12.
3 Simple base mounting bracket (Type number: SE9Z-HS2-BK03) .............................................140
12.
4 Simple rear mounting bracket (Type number: SE9Z-HS2-BK04).............................................. 140
12.
5
Simple rear mounting bracket (Long Type) (Type number: SE9Z-HS2-BK04)
12.6 Micro USB cable (Type number: SE9Z-HS2-XCM11) ................................................................140
12.
7 Ethernet cable (Type number: SE9Z-HS2-XCD13) .....................................................................140
12.
8 Extension cable (Type number: SE9Z-HS2-XCE***).................................................................. 141
12.
9 Connector Cable (Type number: SE9Z-HS2-C***) ..................................................................... 141
12.
10 Optical window for replacement (Type number: SE9Z-HS2-WD01) ....................................... 141
12.1
1 Cover Bracket (Type number: SE9Z-HS2-CM01) ..................................................................... 141
13.
External dimension................................................................................................................................ 142
13.
1 SE2L-H05LP.................................................................................................................................... 142
.................................... 140
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13.2 SE2L-H05LPC................................................................................................................................. 143
13.3 Base mounting bracket ...................................................................................................................144
13.
4 Rear mounting bracket ................................................................................................................... 145
13.
5 Simple base mounting bracket ....................................................................................................... 146
13.
6 Simple rear mounting bracket........................................................................................................147
13.
7 Simple rear mounting bracket (Long type)................................................................................... 148
13.
8 Cover Protection Bracket ............................................................................................................... 149
14.
EU Declaration of conformity .............................................................................................................. 150
15.
Revision history ..................................................................................................................................... 151
16.
Representative contacts.........................................................................................................................152
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1. Introduction
This user’s manual is designed with the purpose of providing guidelines and instructions for the machine
user or system designer while operating, installing, wiring and servicing the SE2L-H05LP or the
SE2L-H05LPC.
1.1 About this manual
SE2L’s features, installation and handling method are described in this document.
Read this document carefully before installation, wiring, operation, inspection and maintenance.
User should have a copy of this document at an easy-to-access place for quick reference.
Information provided in this document is subject to change without prior notice. For the latest
information visit the company’s website http://www.idec.com
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.
SE2L-H05LP
SE2L-H05LPC
1.3 Abbreviations
The list below shows abbreviations used in this document.
Table 1-1 Abbreviations
Abbreviation Meaning
AGV Automated guided vehicle
AOPDDR Active optoelectronic protective device responsive to diffuse reflection
AWG
EDM External device monitoring
EMC Electromagnetic compatibility
MSCE Machine secondary control element
OSSD Output signal switching device
SELV Safety extra low voltage
American wire gage
1.4 Special markings and symbols
Markings and symbols are used in this document to alert the user about safety-related issues. Follow the
instructions of these special markings and symbols to ensure safety during the operation.
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Table 1-2 Special markings and symbols
Mark Meaning
Procedures that could lead to dangerous situation, critical injury or death if not
carried out properly
Procedures that could lead to dangerous situation, serious injury or physical
damage if not carried out properly
1.5 Applicable directives and standards
SE2L is certified by TÜV SÜD Product Service GmbH, and UL / c-UL, FDA (CDRH) as a safety
sensor defined in EU Machinery Directive (2006/42/EC).
Table 1-3 Applicable directives and standards
Certified authority Directives/Standard Details
TÜV SÜD
UL / c-UL
EU directives
EN standards
IEC standards
ISO standards
UL standards
IEC standards
ISO standards
CSA standards
Machinery Directive : Directive 2006/42/EC
EMC Directive : Directive 2014/30/EU
IEC61496-1 :2012
EN 61496-1 :2013
IEC 61496-3 :2008 Type 3
IEC 61508 Part1-7 :2010 SIL 2
EN 62061 :2005 / A1 :2013 SIL 2
EN ISO13849-1 :2015
IEC60825-1 :2007
UL 508 :2010
ANSI / UL 1998 :2013
IEC 61496-1 :2012
IEC 61496-3 :2008
IEC 61508 Part 1-3 :2010
ISO 13849-1 :2006
CSA C22.2 No.14 :2013
Safety of laser products
Type 3
Category 3, PL d
Class 1
Type 3
Type 3
SIL 2
Category 3, PL d
FDA (CDRH)
21 CFR Part 1040.10
and 1040.11
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Safety of laser products
Class 1
1.6 Registered trademarks
MicrosoftⓇ, WindowsⓇ are the registered trademarks of Microsoft Corporation USA.
Pentium
Other products mentioned in the document are trademarks or registered trademarks of their respective
companies.
Ⓡ
is the registered trademark of Intel Corporation.
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2. Safety precautions
Read the following guidelines for correct use of the SE2L. Proper handling and
usage will ensure the SE2L to operate accordingly.
2.1 General precautions
SE2L is designed to protect human begins or systems by monitoring the hazardous area. It is not
designed for the protection from high speed objects or the electromagnetic radiation.
Perform pre-operation tests in order to verify the performance of SE2L.
Do not modify or disassemble SE2L. Such modifications will affect the detection capability leading to
injuries or death.
Do not modify or disassemble SE2L to maintain its housing rating. Such modifications will void the
warranty.
The person-in-charge should be qualified to operate SE2L. The person must be trained, on safety
requirements with necessary cautions for handling the device.
The person-in-charge should train the user with correct installation, operation, inspection and
maintenance procedures.
The person-in-charge is responsible to ensure the proper working environment for SE2L.
The person-in-charge is responsible for the compliance with the local safety requirements, standards,
rules and regulations, laws of respective nations, states or districts when SE2L is used in a safety-related
system.
SE2L 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.
IDEC 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 object that is intended to be detected during the operation.
Maximum level of homogeneous pollution for SE2L to operate normally is under 30%. SE2L will
report error if the pollution exceeds the stated limit. Always keep the optical window in clean condition
to avoid the error.
Before resetting the interlock of SE2L, user must ensure the surrounding is safe especially the protected
area.
Apply sufficient measures to ensure safety of the protected area when decommissioning SE2L.
Protective materials such as guards or light curtain should be used to prevent the passage to the
hazardous area.
SE2L including its accessories are subject to change without prior notice for the improvement.
SE2L should be disposed as industrial waste or in accordance with the local disposal directives.
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Do not drop the product. Otherwise, the product may be damaged, lead to failure and the performance
will be degraded. Injury may also be caused.
2.2 Operating environment
Make sure that SE2L’s operating environment is within the stated specification (temperature, humidity,
vibration, ambient light, etc.)
Do not use or mount SE2L near devices that could generate strong electromagnetic waves as it could
affect the operation of SE2L.
Do not use or mount SE2L in dusty, smoky, or misty environments, or where corrosive substances are
present. Operating under such environments may decrease the detection capacity of SE2L.
This product is for indoor use only.
2.3 Installation of SE2L
Install SE2L on a firm surface or structure to avoid displacement. Also, do not step on or hung on SE2L
after installation.
SE2L should be firmly mounted using the screws (recommended torque for screws is 3N･m). Shock
and vibration should not loosen the mounting. Detection may fail if actual protection zone differs from
the intended zone due to displacement of SE2L.
Safety distance should be determined before installing SE2L. User must verify the function of SE2L
after installation by placing a test piece at all the positions of protection zone (refer to chapter 4 for the
details on the safety distance calculation for various applications).
When installing the SE2L, 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 SE2Ls are mounted at the same detection plane. Refer to
chapter 5 for countermeasures to avoid mutual interference.
SE2L should be mounted at the location which has sufficient space for maintenance.
Do not add any protective materials such as, glass and transparent cover, in front of the optical window.
This could lead to loss of detection capability of the SE2L.
Minimum detectable width varies with the distance. Refer to chapter 10 for details.
2.4 Wiring
Switch off all the power supplies during wiring.
When a converter is used for supplying the power, make sure it fulfills the following requirements.
A rated output voltage within the range of 24V DC ±10% (SELV circuit, Category II).
Reinforced insulation or double insulation for the primary and secondary circuit.
Holding time of the output should be above 20ms.
The power supply complies with the requirements of electromagnetic compatibility
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regulations (EMC) of the respective country, state and district.
All the input/output signal cables should be installed away from machines power lines and high-
voltage cables.
Use the OSSD signal of SE2L to control safety-related machines or control system. Do not use warning
signals to control safety related machine as these are non safety signals.
Both the OSSD1 and OSSD2 outputs should be connected to the safety-related machines or control
system. If OSSD3 and OSSD4 are used they must be connected in the same manner.
Use shield cable for the connection between OSSD signals and safety-related machines or systems.
2.5 Configuration
Configuration of safety functions are password protected. Only authorized users with password are
allowed to configure SE2L.
SE2L does not operate without initial configuration.
Pre-operation tests should be performed to verify the configurations before operating the SE2L.
Increasing the response time of OSSD will increase the stability of SE2L. 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 SLS
Project Designer for this purpose. (
page 101)
2.6 Inspection and maintenance
User must perform inspection and maintenance by referring to the checklists provided in this document
(
Chapter 8)
・ Pre-operation inspection
・ Operation inspection
・ Daily inspection
・ Periodic inspection
The checklists in this document are provided as basic guidelines while performing the test and
maintenance. User must perform additional inspection and maintenance tasks deemed necessary for the
respective application.
Stop the machine and system if faults are detected during these tests.
Clean the optical window when it gets contaminated. If the optical window is damaged it should be
replaced by a new one.
For the repair of SE2L, contact the nearest distributor or sales representative.
User should not repair or disassemble SE2L.
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Use of controls or adjustments or performance of procedures other than those
specified herein may result in hazardous radiation exposure.
Safety Standard Class 1 Laser of SE2L-H05LP / SE2L-H05LPC: It is
guaranteed as safety class laser. Additional measures are not necessary to
maintain the laser safety.
Figure 2-1 Example of product labels
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3. Product overview
SE2L emits pulsed laser beam which is reflected on a rotating mirror within the configured protection
zone. When the emitted laser beams are reflected back from an object its distance is measured. This chapter
describes the features and properties of SE2L.
3.1 Features of SE2L-H05LP / SE2L-H05LPC
Protection range: Maximum 5m ( page 137)
Warning range : Maximum 20m (
Detection angle : 270°(
Minimum response time of 60ms (Configurable) (
32 set of areas (Configurable)
2 modes of scanning area setting (
Dual Protection Mode (Configurable)(
Scanning area switch through incremental encoder input (Configurable)(
Interlock function (Configurable) (
EDM function (Configurable) (
Muting /Override function (Configurable)(
Reference monitor function (Configurable) (
Area sequence function (Configurable) (
LED indicator for SE2Ls status (
7-segment display (
Ethernet communication (
A maximum of 4 sensors for master/slave operation (
Configuration with SD card
page 15)
*1
page 42)
page 43)
*2
( page 44)
page 137)
( page 17)
page 17)
page 19)
page 29)
page 32)
page 41)
page 40)
page 33)
page 36)
page 39)
page 44)
page 27)
Easy configuration with SE2L configuration application software installed in PC (
*1: Depending on the used functions, maximum area varies from 2 to 32 sets of area.
*2: “SD card” in this manual indicates Micro SD/SDHC card.
SE2L User’s Manual (SE9Z-B1865)
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page 83)
3.2 Components of SE2L-H05LP
Optical window
/ SE2L-H05LPC
SD card slot
Micro USB Connector
7-segment display
Figure 3-1 SE2L-H05LP / SE2L-H05LPC components
Housing
Ethernet Connector
Cable
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Figure 3-2 Scanning range and detection zone origin (Top view)
Figure 3-3 Detection plane of SE2L-H05LP / SE2L-H05LPC (Side view)
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3.3 Operation principle
Warning zone 2
Warning zone 1
Protection zone
Figure 3-4 Scanning range
Figure 3-4 shows the scanning range of SE2L. Protection zone and warning zones are configured using
the SLS Project Designer application software. Any object or human beings entering the protection zone will
lead the OSSD signal to change from ON-state to OFF-state. Similarly, an object detected in the warning
zones will 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 object
C＝Speed of the light
T＝Time difference
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The operating principle of TOF is schematically shown in Figure 3-5. The angular resolution of SE2L is
0.125°.
Figure 3-5 TOF operation principle
3.4 Scanning area
Scanning area of SE2L consists of protection zone and warning zones. Maximum 32 sets of area can be
configured. Further, two combinations for protection and warning zones can be selected for the operation.
Combination 1: Protection zone, Warning zone 1 and Warning zone 2
Combination 2: 2 Protection zones (Dual Protection)
In dual protection mode, two protection areas can be configured but it is not possible to configure the
warning zones Protection and warning zones can be configured by using SLS 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, SE2L will switch the OSSD to OFF-state (which should trigger a switch to
stop a machine or AGV). For mobile applications, the OSSD signal can be used as the emergency stop signal.
Figure 3-6 and 3-7 show the examples of protection zone configured using manual mode and teaching mode
respectively. User can configure these zones accordingly to ensure hazardous area is completely protected.
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Figure 3-6 Protection zone configured using manual mode
Figure 3-7 Protection zone configured using teaching mode
User should verify the configuration before actual operation.
The configured zone should be of minimum safety distance or more.
Figure 3-7 Protection zone configured using teaching mode
Minimum possible detectable width changes according to the distance.
Additional distance must be taken into account while configuring the protection
zone.
User should verify the detection capability using an actual object.
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In dual protection mode, two protection zones can be configured independently. SE2L will monitor these
zones simultaneously. OSSD1 and OSSD2 are dedicated to protection zone1 and OSSD3 and OSSD4 are
dedicated to protection zone2.
Figure 3-8 shows an example of the dual protection zone configuration. Warning zones cannot be
configured in dual protection mode.
Figure 3-8 Example of Dual protection zone configuration
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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, SE2L 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 zone. For mobile applications, warning signals can be used for reducing the speed of
automatic guided vehicle (AGV) to avoid collision. Figure 3-9 shows an example of warning zone
configuration.
Warning zone 2
Warning zone 1
Protection zone
Figure 3-9 Warning zones
Warning zones are non-safety zones.
Warning signals should not be used for controlling any machine or vehicle for the
safety-related purposes.
Warning signals are non safety-signal.
Warning signals and OSSD signal is not inter-related.
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3.5 Area switching
A maximum of 32 sets of area can be configured in SE2L. However the maximum configurable area
number differs depending on the selected function such as, muting and dual protection. Table 3-1 shows the
maximum configurable area number according to the used mode.
External input signals are provided in SE2L for switching the area. Each signal has a pair of normal and
inverted signal. For example, it is necessary to provide both input signal IN_A and inverse IN_A signal to
switch the area. Error 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 SE2L.
It is also possible to configure area input delay. Configure the necessary delay required for the system to
provide stable input signals to SE2L. The default value is 30ms.
There are maximum 5 input pairs (a pair is combination of normal and inverted signal) in SE2L therefore,
it can operate with maximum 32 sets of area. Further, it is also possible to switch the area through the speed
monitoring of increment encoder signal connected to SE2L (
Table 3-1 Input combination for area switching
Mode Protection Max internal input Max Area Max encoder area
Standard
EDM
MUTING / EDM
Encoder *1
*1: Muting function and dual protection mode cannot be used if encoder input mode is selected.
*2: Among the 4 input patterns, 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 input mode can
have maximum 32 sets of area (for detail, refer to section 3.6.4).
1 5 32
2 5 32
1 4 16
2 4 16
1 2 4
2 1 2
1 2 3
page 24).
－
－
－
－
－
－
32*2
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Table 3-2 Input combination for area switching
a) In the case of 5 Input
Area IN_A IN_B IN_C IN_D IN_E
Area 1 ON ON ON ON ON OFF OFF OFF OFF OFF
Area 2
Area 3
Area 4
Area5 ON ON OFF ON ON OFF OFF ON OFF OFF
Area6 OFF ON OFF ON ON ON OFF ON OFF OFF
Area7 ON OFF OFF ON ON OFF ON ON OFF OFF
Area8 OFF OFF OFF ON ON ON ON ON OFF OFF
Area9 ON ON ON OFF ON OFF OFF OFF ON OFF
Area10 OFF ON ON OFF ON ON OFF OFF ON OFF
Area11 ON OFF ON OFF ON OFF ON OFF ON OFF
Area12 OFF OFF ON OFF ON ON ON OFF ON 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
OFF ON ON ON ON ON OFF OFF OFF OFF
ON
OFF OFF ON ON ON ON ON OFF OFF OFF
OFF ON ON ON OFF ON OFF OFF OFF
IN_
IN_
IN_ IN_
IN_
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 OFF ON OFF ON OFF ON OFF ON
Area23 ON OFF OFF ON OFF OFF ON ON OFF ON
Area24 OFF OFF OFF ON OFF ON ON ON OFF ON
Area25 ON ON ON OFF OFF OFF OFF OFF ON ON
Area26 OFF ON ON OFF OFF ON OFF OFF ON ON
Area27 ON OFF ON OFF OFF OFF ON OFF ON ON
Area28 OFF OFF ON OFF OFF ON ON OFF ON ON
Area29 ON ON OFF OFF OFF OFF OFF ON ON ON
Area30 OFF ON OFF OFF OFF ON OFF ON ON ON
Area31 ON OFF OFF OFF OFF OFF ON ON ON ON
Area32 OFF OFF OFF OFF OFF ON ON ON ON ON
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b) In the case of 4 Input number
Area IN_A IN_B IN_C IN_D
Area 1 ON ON ON ON OFF OFF OFF OFF
Area 2
Area 3
Area 4
Area5 ON ON OFF ON OFF OFF ON OFF
Area6 OFF ON OFF ON ON OFF ON OFF
Area7 ON OFF OFF ON OFF ON ON OFF
Area8 OFF OFF OFF ON ON ON ON OFF
Area9 ON ON ON OFF OFF OFF OFF ON
Area10 OFF ON ON OFF ON OFF OFF ON
Area11 ON OFF ON OFF OFF ON 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
OFF ON ON ON ON OFF OFF OFF
ON
OFF OFF ON ON ON ON OFF OFF
OFF ON ON OFF ON OFF OFF
IN_
IN_
IN_ IN_
Area16 OFF OFF OFF OFF ON ON ON ON
c) In the case of 3 Input number
Area IN_A IN_B IN_C
Area 1 ON ON ON OFF OFF OFF
Area 2
Area 3
Area 4
Area5 ON ON OFF OFF OFF ON
Area6 OFF ON OFF ON OFF ON
Area7 ON OFF OFF OFF ON ON
Area8 OFF OFF OFF ON ON ON
OFF ON ON ON OFF OFF
ON
OFF OFF ON ON ON OFF
OFF ON OFF ON OFF
IN_
IN_
IN_
d) In the case of 2 Input number
Area IN_A IN_B
Area 1 ON ON OFF OFF
Area 2
Area 3
OFF ON ON OFF
ON
OFF OFF ON
IN_
IN_
e) In the case of 1 Input number
Area
Area 1 ON OFF
Area 2 OFF ON
Area 4
OFF OFF ON ON
IN_A
IN_
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3.6 Incremental encoder
In SE2L there are 2 pairs of encoder input terminals for connecting 2 units of dual channel incremental
encoder signals. Area will be switched depending on the encoder speed. Direction of travel is detected by
encoder's phase A and phase B signals having the phase difference of 90°. Speed and rotating direction of
both encoders are constantly monitored to detect abnormal travel and stop the AGV.
Incremental encoder output signals should be connected to the respective input terminals of SE2L. 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 direction (forward
motion). In the second pattern, Phase B lags behind Phase A by 90 degrees and the state of Phase B at the
rising edge of Phase A is “L”. This is considered as negative direction (backward motion).
Figure 3-10 Input signal through Incremental encoder
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3.6.1 Pulse per cm travel generated by incremental encoders
When AGV travels, increment encoder generates pulses due to the transmission ratio between AVG tires
and increment encoder frictional wheel. Pulse count per cm depends on AGV's speed.
Figure 3-11 Calculation of pulse count for per centimeter travel
AGV tire diameter : 40 cm
Frictional wheel diameter mounted in increment encoder: 5 cm
Increment 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 rotation of frictional wheel. This equals to the 8,000 pulse of
increment encoder.
From above, increment encoder pulse count per cm is obtained as
8,000/125.6 = 63.7
While setting encoder parameters (Encoder Pulse1 and Encoder Pulse2) in SLS Project Designer, set the
encoder pulse count after rounding the calculated value to nearest whole number (64 in this case).
In the explanation above, the transfer method of the rotation was based on the frictional wheel. Same
method can be applied for other cases to estimate the pulse count generated for one rotation of the wheel.
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f
User should verify the proper area switching through encoder inputs.
Always use 2 units of increment encoder. It is not possible to detect the failure o
increment encoder or abnormal travel of the vehicle with single unit.
Use separate sets of cable to connect outputs from incremental encoder 1 and 2 to the
respective encoder input terminals of SE2L.
Separate the power supply cables and power source of each incremental encoder.
Output pairs of encoder connection should match the input pair of SE2L.
Do not wire other power lines parallel to encoder and SE2L or wire in the same duct.
There is a possibility of noise disturbance.
3.6.2 Recommend increment encoder specification
・ Phase setting 90° dual channel rotary encoder
・ Power supply: 24V DC
・ Output : Complementary output
・ Protective class : IP 54 or more
・ Output cable : Twist pair/ shield cable
・ Maximum pulse frequency : 100 kHz
・ Minimum pulse frequency : 50 pulse / cm
3.6.3 Tolerances allowed for encoder
When AGV travels in a forward direction, speed input through the two increment encoder will be same as
the original pulse frequency. However, there are cases when two speed input values may differ, such as while
cornering and due to AGV tire exhaustion. The difference between 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 45%.
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.
Table 3-3 Relation between AVG speed and tolerance
AGV speed v (cm/s) Tolerance
-9≦ v ≦+9
-30<v<-9 or 9<v<30 60s
v≦-30 or +30≦v
v<-9 or +9<v
(Two encoders with different rotating direction)
Infinity
20s
0.3s
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3.6.4 Area switching by encoder input
When encoder setting is enabled, four patterns can be selected from two available external inputs. For
each pattern, select either to use as static input or the encoder input or not in use. It is necessary to select at
least one pattern for encoder input.
For encoder input pattern maximum 32 sets of area switching can be performed for the range of speed.
Encoder setting is enabled by the SLS Project Designer, as shown in Figure 3-12. For using the SLS 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 and pattern 2 are used as
static input, pattern 3 is used as encoder input and pattern 4 is not used.
Figure 3-12 Example of pattern switching through encoder input
Next, divide the speed into number of ranges and specify the area number for each range. An example is
shown below (maximum 32 sets of area can be set). Same area cannot be specified for different speed within
a pattern. However it is possible to select same area for a different pattern.
Figure 3-13(a) shows the example of encoder input setting.
In this example, speed is divided into 4 ranges and each speed range is assigned Area 3 to Area 6.
Figure 3-13 (a) Example of encoder input setting
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When the pattern is set for static input, area number and encoder speed monitoring are configured. Speed
r
d
monitoring monitors the speed of the encoder and if it exceeds the limit OSSD will be switched to OFF state.
Figure 3-13(b) shows the example of static input setting. In this example, Area1 is assigned to the input
pattern and speed monitoring is enabled 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 continuously switched to
OFF-state when an error is detected during the diagnostic.
Output states of OSSD1 and OSSD2 signal are identical. Both signals should be connected to the safety
related machines or control system to fulfill the required safety level. If OSSD3 and OSSD4 are used they
must be connected in the same manner.
OSSD is a safety related signal and should be connected directly to the relay o
device that switches the machine or vehicle under control.
Both the OSSD1 and OSSD2 outputs should be connected to the safety related
machines or control system. If OSSD3 and OSSD4 are used they must be connecte
similarly.
Sufficient time for the machine or vehicle must be allocated to stop when configuring
the response time of OSSD.
User must verify the configuration before actual operation.
When OSSD is at ON state, the signal is 24V and the signal is 0V during OFF state.
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3.7.1 Self-diagnostic function of OSSD
Self-diagnostic is a function to detect the malfunction in the output circuit by switching OFF the OSSD 1
to OSSD 4 for an interval of 300μs. Therefore, safety-relay or power converter used must not response to
this diagnostic function. Figure 3-14 below shows the timing chart of the self diagnostic function of the
OSSD during dual protection mode.
Figure 3-14 Timing chart of the OSSD’s self-diagnostic function
In single protection mode, self-diagnostic function is done for OSSD 1 and OSSD 2 only.
3.7.2 Lockout state
When an error is detected by the self-diagnostic function and SE2L 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, SE2L can be reset by restoring the power to release from the
lockout state.
3.7.3 Interlock function
Interlock is a function to prevent automatic restart of the OSSD signal switching from OFF-state to
ON-state. Automatic restart, manual restart and manual start interlock functions are configurable using the
SLS Project Designer.
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