Omron F3G-C1R70 User Manual

F3G-C1R70

Safety Laser Scanner

Instruction Manual

April, 2003

Instruction Manual

F3G-C1R70

List of contents

1 About this document .......................................................................................................................... 3

1.1 The function of this document..................................................................................3

1.2 The target group of this document ........................................................................... 3

1.3 Depth of information of this document.................................................................... 3

1.4 Abbreviations and terms...........................................................................................3

1.4.1 Abbreviations.................................................................................................3

1.4.2 Important terms ............................................................................................3

1.5 Symbols used.............................................................................................................4

2 On safety ................................................................................................................................................. 5

2.1 Use of the device....................................................................................................... 6

2.2 Correct use of the device ..........................................................................................7

2.3 General safety information and protective measures.............................................7

2.3.1 Stationary application ................................................................................... 8

2.3.2 Application on automated guided vehicles (AGVs)....................................11

2.4 Protection of the environment................................................................................14

3 Product description...........................................................................................................................15

3.1 Construction of the device ......................................................................................15

3.2 Operating principles of the device..........................................................................18

4 Installation and mounting ...............................................................................................................20

4.1 Operating conditions ...............................................................................................20

4.2 Mounting the device................................................................................................20

4.3 Minimum distance from objects.............................................................................22

5 Electrical installation........................................................................................................................23

5.1 Integrating the safety laser scanner F3G-C1R70’s outputs into the

machine control system..........................................................................................23

5.2 Connecting the power supply and signal cables....................................................25

5.3 Connecting the data cables ....................................................................................27

6 Configuration.......................................................................................................................................28

6.1 Delivery status .........................................................................................................28

6.2 Preparing the configuration ....................................................................................28

7 Commissioning ...................................................................................................................................29

7.1 Access authorization ...............................................................................................29

7.2 Testing the Monitor functions.................................................................................29

7.3 Regular examinations..............................................................................................30

8 Transport and storage ......................................................................................................................31

8.1 Transporting the safety laser scanner F3G-C1R70 ...............................................31

8.2 Storage.....................................................................................................................32

Instruction Manual

F3G-C1R70

List of contents

9 Maintenance and care .....................................................................................................................33

10 Troubleshooting .......................................................................................................................34

10.1 Correcting faults...................................................................................................... 34

10.2 System error indications......................................................................................... 34

11 Technical data ..........................................................................................................................35

11.1 Data sheet............................................................................................................... 35

11.2 Device accuracy and safety supplements .............................................................37

12 Order data...................................................................................................................................38

12.1 Delivery.................................................................................................................... 38

12.2 Optional accessories...............................................................................................38

13 Appendix.....................................................................................................................................39

13.1 Dimensional drawings, safety laser scanner F3G-C1R70 .................................... 39

13.2 Standards and directives........................................................................................ 40

13.3 Checklist for the manufacturer ..............................................................................41

13.4 List of tables............................................................................................................ 42

13.5 List of illustrations...................................................................................................42

Instruction Manual Chapter 1

F3G-C1R70

About this document

1 About this document

Please read this chapter carefully before working with this documentation and the safety laser scanner F3G-C1R70.

1.1 The function of this document

This document provides information on the technical properties of the Safety Laser Scanner F3G-C1R70 (Rotating Laser Scanner). You will find information on:

• Safety

• Structure and operation

• Planning

• Maintenance and care

1.2 The target group of this document

This document is intended for those persons who constructively integrate the safety laser scanner F3G-C1R70, and commission and operate it as a protective device.

ESPE

CSL

OSSD

Machine

Scanning range

1.3 Depth of information of this document

This document contains all the information necessary for planning, acquisition and maintenance of the safety laser scanner F3G-C1R70. Information is provided on its operating principle, possible uses and mounting.

More information is available from OMRON directly.

1.4 Abbreviations and terms

1.4.1 Abbreviations

Electro-sensitive protective equipment (e.g. safety laser scanner F3G-C1R70)

Configuration Software for Laserscanner. With a PC and the CSL, as a user, you can define the monitored areas, and define or check the correct configuration of the safety laser scanner F3G-C1R70.

The safety laser scanner F3G-C1R70 uses a reference target fixed to the F3G-C1R70 for self-checking. Any change to this target is interpreted as a system error.

Output signal switching device

1.4.2 Important terms

Please distinguish between the following terms:

In this instruction manual, dangerous state or a dangerous movement that rules out the presence of persons or objects in the protective field is involved in the operation of the machine.

The maximum scanning range describes an arc of 300° around the sensor with a radius of max. 7.5 m.

machine is used as a term for the system to be monitored. A

Chapter 1 Instruction Manual

F3G-C1R70

About this document

Protective field

Protective field size

Monitored areas

Warning field

Response time

Reactivation time

The safety area that, when infringed, results in the immediate shut down of the dangerous movement is termed the protective field. If a person or object enters the protective field, the safety laser scanner F3G-C1R70 provides a stop signal to the machine via the OSSD switching outputs.

The maximum protective field size is defined by the distance of the safety laser scanner scanning head to the most distant point of the protective field including the safety supplement.

Monitored areas are a general term used for protective fields (up to 6 m) and/or warning fields (up to 7.5 m). Monitored areas can have irregular shapes or shapes adapted to the

surroundings. The safety laser scanner F3G-C1R70 monitors them continuously by means of individual radial laser beams.

The warning field is described as that safety area whose infringement causes an optical or acoustic warning signal. If a person or object enters the warning field, the safety laser scanner F3G-C1R70 provides a signal to the monitored machine via the warning output.

The response time is maximum time between intrusion of objects in monitored areas and making OSSDs into OFF-state (Open).

The reactivation time is time between removal of objects from monitored areas and making OSSDs into ON-state (Close).

1.5 Symbols used

Recommendation

Note

, Red, + Yellow,

- Green

 Action

WARNING

Particular emphasis is given to some information in this document to make it easier to find quickly.

Recommendations are designed to give you assistance in your decision-making process with respect to a function or a technical measure.

Such notes provide information on special device features.

LED symbols describe the state of a diagnostics LED. Examples:

, Red The red LED is illuminated constantly. + Yellow The yellow LED is flashing.

- Green The green LED is off.

An arrow indicates that some action is required. Carefully read and follow the instructions for the action to be taken.

Warning!

A warning indicates an actual or potential risk or health hazard. They are designed to prevent accidents.

Always read warnings attentively and follow instructions carefully!

Software notes show the location in the CSL (Configuration Software for Laserscanner) where you can make the appropriate settings and adjustments.

The term “dangerous state”

The dangerous state (standard term) diagrams of this document as a movement of a machine part. In practical operation, there may be a number of different dangerous states:

• Machine movements

• Electrical conductors

• Visible or invisible radiation

• A combination of several hazards

of the machine is always shown in the drawings and

Instruction Manual Chapter 2

F3G-C1R70

On safety

2 On safety

This chapter deals with your safety and the safety of the equipment operators.

Safety notes

WARNING

Please observe the following items in order to ensure the correct and safe use of the safety laser scanner F3G-C1R70.

Prior to commissioning the safety laser scanner F3G-C1R70 for the first time, please read this instruction manual and the users manual for the CSL (Configuration Software for Laserscanner) carefully. Get to know the system and the CSL. Please contact your nearest OMRON representative if you have any questions. We will be pleased to provide assistance.

All appropriate legal regulations, the requirements of the trade associations and the instructions of the manufacturer of the machine to be monitored must be observed without fail.

The protective function of the safety laser scanner F3G-C1R70 depends on the correct definition and programming of the warning field and protective field.

Installation of the safety laser scanner F3G-C1R70, definition and programming of the areas to be monitored and integration in the machine control system, must be carried out only by authorised personnel who are appropriately trained.

After completing the programming, the arrangement of the protective and warning fields are to be tested on the machine while it is switched on, but not running. On this topic see Section 7.2 "Testing the Monitor functions" on page 29.

Chapter 2 Instruction Manual

F3G-C1R70

On safety

2.1 Use of the device

The safety laser scanner F3G-C1R70 has been developed and approved as a Type 3 electro-sensitive protective equipment according to the IEC/EN 61)496-1 standard.

Fig. 1: Schematic diagram of the monitored areas

Measuring range

Warning field (example)

Maximum protective field

Protective field (example)

6 m

7.5 m

60°

Test range

(reference target)

The safety laser scanner F3G-C1R70 has been designed for industrial use. Its task is to detect access of persons to hazardous areas and stop the dangerous movement of a machine in this area. A signal is triggered as soon as a person or object enters the monitored area:

• If a person or object is present within the warning field, the safety laser scanner F3G- C1R70 switches a relay contact at the corresponding signal output. This signal can be used for acoustic and optical warnings. Warning is to indicate that the hazardous area is to be left before the protective field is activated and the safety laser scanner F3GC1R70’s OSSDs issue a stop signal that triggers a machine stop.

• If a person or object is present within the protective field, the safety laser scanner F3G- C1R70 switches two independent relay contacts, OSSDs. These signals must lead to an immediate switching off of the dangerous machine movement.

The CSL (Configuration Software for Laserscanner) is included with the safety laser scanner F3G-C1R70 for the definition and testing of the protective field and warning field.

Instruction Manual Chapter 2

F3G-C1R70

On safety

2.2 Correct use of the device

The safety laser scanner F3G-C1R70 can only be used as protective equipment for detecting persons or objects (horizontal protective field). Operation of the device is only permissible according to the technical specifications. All warranty claims against OMRON are forfeited in the case of any other use, or if alterations are made to devices, even as part of their mounting or installation.

2.3 General safety information and protective measures

The safety laser scanner F3G-C1R70 must only be employed for monitoring tasks

WARNING

fulfilling all the following conditions:

• The safety laser scanner F3G-C1R70 must be able to terminate the dangerous state within a defined time period by triggering the stop signal.

• The safety distance monitored by the safety laser scanner F3G-C1R70 must be smaller than the maximum protective field.

• The maximum value of the machine’s stopping time plus the safety laser scanner F3GC1R70’s response time must be calculated so that nobody can gain access to the hazardous point before the dangerous movement has come to a complete stop.

The safety laser scanner F3G-C1R70 is of laser safety class 1. Additional measures for screening the laser radiation are not necessary (eye safe).

LASER CLASS 1

Chapter 2 Instruction Manual

F3G-C1R70

Fig. 2: Calculation of the safety distance for a stationary application

On safety

2.3.1 Stationary application

According to Chapter 6.2 of the EN 999 standard, the safety distance between the limit of the protective field and the hazardous area of a stationary machine is calculated as follows:

S = 1.6 × (t1 + t2) + (1200 – 0.4 h) + ZM

Please note: 1200 – 0.4 h ≥ 850

Here…

S = The safety distance (in mm)

= The response time of the F3G-C1R70 (in ms) (see Chapter 11 “Technical data” on

page 35)

= The machine stopping/run-down time (in ms)

h = Height of protective field above the floor (in mm) 300 ≤ h ≤ 1000

1.6 = The assumed approach speed (in m/s)

ZM = Maximum measuring error of the F3G-C1R70 (see Chapter 11 “Technical data” on

page 35)

WARNING

Ensure that the correct mounting height is used!

When selecting the mounting height ensure that it is not possible to enter the hazardous area from below the protective field.

The safety laser scanner F3G-C1R70 must be supplemented by further safety devices if one of the following situations applies:

• A hazardous point can be reached without passing through the monitored areas.

• The area monitored by the safety laser scanner F3G-C1R70 can be reached from above,

below or from the side.

• According to EN 999, possible access by crawling below the protective field must be taken into account above the regulation minimum protective field height of 300 mm.

Instruction Manual Chapter 2

F3G-C1R70

On safety

Example for a stationary application

Machine width M = 2.2 m = 2200 mm

Response time of the F3G-C1R70 = 280 ms

The machine stopping/run-down time = 300 ms

Height of protective field above the floor = 0.5 m = 500 mm

Maximum measuring error of the F3G-C1R70 = 350 mm

Protective field width = M + safety supplement left and right

S = 1.6 m/s × (280 ms + 300 ms) + (1200 mm – 0.4 × 500 mm) + 350 mm = 2278 mm

Protective field width = 2200 mm + 350 mm + 350 mm = 2900 mm

Maximum protective field size = (S

+ ½ protective field width2)½ = 2700 mm

Please note: The example only applies if no access from the side is possible. Access from the side must be prevented either by a wider protective field and/or other measures.

Fig. 3: Example: minimum distance for stationary application

S = 2278 mm

500 mm

Chapter 2 Instruction Manual

F3G-C1R70

Fig. 4: Example: maximum protective field size and safety supplements for stationary applications

On safety

Machine to be

safeguarded

Safety supplement left

Maximum protective field size

WARNING

Protective field

Safety supplement right

Safety supplements are to be determined for maximum protective field sizes.

The following applies if the access of persons from behind cannot be hindered by appropriate sizing of the protective field:

• A manual restart interlock must be present in the machine control system (generally necessary). The switch to reset the interlock condition must be installed so that the entire hazardous area is visible and free of personnel, also the switch must not be able to be operated from within the hazardous area.

• The width of the accessible, unmonitored area directly in front of the machine must be smaller than 35 mm for a maximum protective field size of up to 3 m. For larger maximum protective field sizes, the distance must be reduced to zero.

Safety supplement fron

Instruction Manual Chapter 2

F3G-C1R70

Fig. 5: Calculating the minimum distance for automated guided vehicles

On safety

2.3.2 Application on automated guided vehicles (AGVs)

Taking the regulations for automated guided vehicles (e.g. EN 1525: Safety of industrial trucks - Driverless trucks and their systems) into account, the minimum distance between the edge of the protective field and the hazardous area of the AGV is calculated as follows:

200 mm > h > 100 mm

WARNING

S = 1.1 × ((V

Here…

S = Minimum distance (in mm) = max. stopping distance of the AGV

= Response time of the F3G-C1R70 (in ms) (see Chapter 11 “Technical data”

= AGV control system reaction time (in ms)

= Maximum speed of the AGV (m/s)

max

B = Maximum braking path for the AGV (in mm)

ZM = Maximum measuring error of the F3G-C1R70 (see Chapter 11 “Technical

F = Foot clearance: 150 mm (for the AGV with a floor clearance of less than

h = Height of protective field above the floor (in mm)

1.1 = Safety supplement for possible brake wear

The safety laser scanner F3G-C1R70 must be supplemented by further safety devices if one of the following situations applies:

• A hazardous point can be reached without passing through the monitored areas.

• The area monitored by the safety laser scanner F3G-C1R70 can be reached from above,

below or from the side.

× (t1 + t2)) + B) + ZM + F1)

max.

on page 35)

data” on page 35)

120mm)

WARNING

Define protective field cover correctly!

The protective field must cover the entire width of the AGV. The protective field must be increased at the sides by the safety supplements (see Chapter 11 “Technical data” on page 35).

F only applies when there is no foot clearance according to EN 1493.

Chapter 2 Instruction Manual

F3G-C1R70

WARNING

Fig. 6: Prevent undercutting of the AGV protective field

On safety

Define the protective field correctly where routes bisect each other!

At “crossroads” where there are “blind spots”, the protective field must have the same configuration as in the direction of motion.

Avoid undercutting of the protective field!

The protective field must be configured in such a way that stepping between the protective field and the AGV from behind in the direction of motion (undercutting) is not possible. The safety laser scanner F3G-C1R70 has a maximum scanning angle of 300°.

The protective field is to be selected so that it is not possible for a person to pass unnoticed between the protective field and vehicle.

WARNING

AGV

The following must be considered!

• In cases where it is not possible to prevent undetected personnel from standing in front of the AGV by appropriate sizing of the protective field, then a manual restart interlock must be included in the AGV. The switch to reset the interlock condition must be installed so that the entire hazardous area is visible and free of personnel, also the switch must not be able to be operated from within the hazardous area.

• The width of the accessible area that is not monitored directly in front of the AGV must be less than 35 mm for a maximum protective field size of up to 3 m. For larger maximum protective field sizes, the distance must be reduced to zero.

Program reactivation delay!

In case of AGV applications, you must program a reactivation delay for the safety laser scanner F3G-C1R70. The reactivation delay defines the length of time [ms] before the relay is reactivated after the monitored field is clear (automatic restart after time).

With automatic restart, the restart period must be set to a minimum of 2000 ms.

You can stipulate the reactivation delay independently for the warning field and the protective field (Right-click on the device symbol in the navigation area > Configuration draft > Edit parameters). The values permitted are between 200 and 5000 ms.

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