SICK S200 Operating Instructions Manual

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S200

Safety Laser Scanner

OPERATING INSTRUCTIONS

Safety Laser Scanner

S200

This document is protected by the law of copyright, whereby all rights established therein remain with the company SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Alteration or abridgement of the document is not permitted without the explicit written approval of the company SICK AG.

Safety Laser Scanner

S200

Contents

1 About this document.........................................................................................................6

.1 Function of this document....................................................................................6

1.2 Target group ..........................................................................................................6

1.3 Scope ..................................................................................................................... 6

1.4 Depth of information............................................................................................. 6

1.5 Abbreviations.........................................................................................................7

1.6 Symbols used ........................................................................................................7

2 On safety.............................................................................................................................8

2.1 Correct use ............................................................................................................8

2.2 Specialist personnel..............................................................................................8

2.3 Applications of the device.....................................................................................8

2.4 General safety notes and protective measures ..................................................9

2.5 Environmental protection ...................................................................................11

2.5.1 Disposal .............................................................................................11

2.5.2 Separation of materials ....................................................................11

2.6 Applicable directives and standards..................................................................12

3 Product description.........................................................................................................13

3.1 Device components ............................................................................................13

3.2 Special features ..................................................................................................13

3.3 Function...............................................................................................................14

3.3.1 Principles of operation......................................................................15

3.3.2 Field set comprising of protective field and warning field ..............16

3.4 Applications.........................................................................................................17

3.4.1 Stationary applications .....................................................................17

3.4.2 Mobile applications...........................................................................19

3.5 Configurable functions........................................................................................19

3.5.1 Field set .............................................................................................19

3.5.2 Application and resolution................................................................20

3.5.3 Using the contour as a reference.....................................................21

3.5.4 External device monitoring (EDM)....................................................22

3.5.5 Application diagnostic output “Error/contamination”.....................23

3.5.6 Restart ...............................................................................................23

3.5.7 Multiple sampling..............................................................................25

3.5.8 Stand-by mode ..................................................................................25

3.5.9 Naming applications and laser scanners ........................................25

3.6 Indicators and outputs........................................................................................26

3.6.1 LEDs and 7<segment display............................................................26

3.6.2 Outputs ..............................................................................................26

Contents

4 Mounting.......................................................................................................................... 27

4.1 Stationary application in horizontal operation.................................................. 28

4.1.1 Protective field size...........................................................................28

4.2 Stationary vertical operation for access protection.......................................... 32

4.2.1 Safety distance .................................................................................32

4.3 Stationary vertical operation for hazardous point protection ..........................34

.3.1 Safety distance .................................................................................34

4.4 Mobile applications ............................................................................................ 35

4.5 Methods of preventing unprotected areas........................................................36

4.5.1 Near range ........................................................................................ 36

4.6 Mounting steps ................................................................................................... 37

4.6.1 Direct mounting ................................................................................38

4.6.2 Mounting with mounting kit 1a or 1b.............................................. 38

4.6.3 Mounting with mounting kit 2 and 3 ...............................................40

4.6.4 Information label Important information......................................... 40

4.6.5 Using multiple S200 safety laser scanners ....................................41

5 Electrical installation .....................................................................................................43

5.1 System connection .............................................................................................43

5.1.1 Pin assignment on the system plug.................................................44

5.1.2 OSSDs................................................................................................44

5.1.3 Functional earth................................................................................44

5.2 System plug assembly........................................................................................ 45

5.3 Pre-assembled system plugs .............................................................................46

Safety Laser Scanner

S200

6 Application examples and connection diagrams ........................................................ 47

6.1 Stationary applications....................................................................................... 47

6.1.1 Applications with one monitored area.............................................47

6.2 Connection diagrams .........................................................................................48

6.2.1 Restart interlock and external device monitoring........................... 48

7 Configuration ................................................................................................................... 49

7.1 Default delivery status .......................................................................................49

7.2 Preparation of the configuration........................................................................ 49

8 Commissioning................................................................................................................ 50

8.1 Initial commissioning.......................................................................................... 50

8.1.1 Power up sequence .......................................................................... 50

8.2 Re-commissioning .............................................................................................. 51

8.2.1 Power up sequence .......................................................................... 51

8.3 Test notes............................................................................................................52

8.3.1 Pre-commissioning tests.................................................................. 52

8.3.2 Regular inspection of the protective device by qualified

personnel .......................................................................................... 53

8.3.3 Daily testing of the protective device by a specialist or

authorised personnel ....................................................................... 53

9 Care and maintenance ................................................................................................... 54

9.1 Cleaning optics cover ......................................................................................... 54

9.2 Replacing optics cover ....................................................................................... 54

Safety Laser Scanner

S200

Contents

10 Diagnostics ......................................................................................................................56

10.1 In the event of faults or errors............................................................................56

10.2 SICK support........................................................................................................56

10.3 Error and status indications on the LEDs..........................................................56

10.4 Error and status indications on the 7<segment display ....................................58

10.5 Extended diagnostics..........................................................................................60

11 Technical specifications .................................................................................................61

11.1 Characteristics ....................................................................................................61

11.2 OSSD response times.........................................................................................61

11.3 Timing behaviour of the OSSDs..........................................................................63

11.4 Data sheet ...........................................................................................................65

11.5 Dimensional drawings ........................................................................................71

11.5.1 S200 ..................................................................................................71

11.5.2 Mounting kits.....................................................................................71

11.5.3 Scan plane origin ..............................................................................73

12 Ordering information.......................................................................................................74

12.1 Delivery S200......................................................................................................74

12.2 Available systems................................................................................................74

12.3 Accessories/spare parts.....................................................................................74

12.3.1 Mounting kits.....................................................................................74

12.3.2 System plug S200.............................................................................74

12.3.3 Service cable .....................................................................................75

12.3.4 Self assembly connecting cables.....................................................75

12.3.5 On the documentation......................................................................75

12.3.6 Safety relays ......................................................................................75

12.3.7 Safety controllers ..............................................................................75

12.3.8 Miscellaneous ...................................................................................75

13 Annex ................................................................................................................................76

13.1 Declaration of conformity ...................................................................................76

13.2 Manufacturer’s checklist....................................................................................77

13.3 Glossary ...............................................................................................................78

13.4 List of tables........................................................................................................79

13.5 List of illustrations...............................................................................................80

Chapter 1 Safety Laser Scanner

About this document

S200

1 About this document

Please read this chapter carefully before working with this documentation and the S200.

1.1 Function of this document

These operating instructions are designed to address the technical personnel of the machine manufacturer or the machine operator in regards to correct mounting, electrical

installation, commissioning, operation and maintenance of the S200 safety laser scanner.

These operating instructions do not provide instructions for operating the machine, the system or the vehicle on which the safety laser scanner is, or will be, integrated.

Information on this is to be found in the appropriate operating instructions for the machine, the system or the vehicle.

1.2 Target group

These operating instructions are addressed to planning engineers, machine designers and the operators of machines and systems which are to be protected by one or several S200

safety laser scanners. They also address people who integrate the S200 into a machine, a system or a vehicle, initialise its use, or who are in charge of servicing and maintaining the

device.

1.3 Scope

These operating instructions are applicable to the S200 safety laser scanner with the following entry on the type label in the field Operating Instructions: 8011690

This document is part of SICK part number 8011690 (operating instructions “S200 — Safety Laser Scanner” in all available languages).

For the configuration and diagnostics of these devices you require CDS (Configuration & Diagnostic Software) version 3.3 or higher. To determine the version of your software version, select the Module-Info... option in the ? menu.

1.4 Depth of information

These operating instructions contain information on the S200 safety laser scanner. They have the following parts:

 mounting

 electrical installation

 commissioning and configuration

 care and maintenance

Planning and using protective devices such as the S200 also require specific technical

skills which are not detailed in this documentation.

General information on accident prevention using opto-electronic protective devices can

be found in the brochure “Safe Machines with opto-electronic protective devices”.

When operating the S200, the national, local and statutory rules and regulations must be

observed.

 fault, error diagnosis and

troubleshooting

 part numbers

 accessories

 conformity and approval

Safety Laser Scanner Chapter 1





S200

About this document

Note

AGV

ANSI

AWG

CDS

EDM

EMC

ESD

ESPE

FPLC

OSSD

RIA

We also refer you to the SICK AG homepage on the Internet at

www.sick.com

Here you will find information on:

 application examples

 a list of frequently asked questions regarding the S200

these operating instructions in different languages for viewing and printing



1.5 Abbreviations

Automated Guided Vehicle

American National Standards Institute

American Wire Gauge = standardisation and classification of wires and cables by type,

diameter etc.

SICK Configuration & Diagnostic Software = software for the configuration and diagnostics

of the S200

External device monitoring = e.g. external device monitoring

Electromagnetic compatibility

Electrostatic discharge = electrostatic discharge

Electro-sensitive protective equipment

Fail-safe programmable logic controller

Output signal switching device = signal output of the protective device that is used to stop the dangerous movement

Robotic Industries Association

Recommendation

Note

, , 

 Take action …



WARNING

1.6 Symbols used

Recommendations are designed to give you some assistance in your decision-making

process with respect to a certain function or a technical measure.

Refer to notes for special features of the device.

Display indicators show the status of the 7<segment display on the S200:

 Constant indication of characters, e.g. 8  Flashing indication of characters, e.g. 8  Alternating indication of characters, e.g. L and 2

LED symbols describe the status of an LED:

 The “OSSDs in the OFF state” LED is illuminated continuously.  The “Error/contamination” LED is flashing.

 The LED is deactivated.

Instructions for taking action are shown by an arrow. Read carefully and follow the

instructions for action.

Warning!

A warning indicates an actual or potential risk or health hazard. Observation and implementation of the warning will protect you from accidents.

Read carefully and follow the warning notices!

Information is displayed in the software indicating to you which settings you can make in

the CDS (Configuration & Diagnostic Software).

Chapter 2 Safety Laser Scanner

On safety

S200

2 On safety

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

 Please read this chapter carefully before working with the S200 or with the machine

protected by the S200.

2.1 Correct use

The S200 safety laser scanner must be used only as defined in chapter 2.3 “Applications

of the device” on page 8. It must be used only by qualified personnel on the machine where it has been installed and initialised by specialist personnel in accordance with these

operating instructions. It is only permitted to be used on machines on which the dangerous state can be stopped immediately by the S200 and/or it is possible to prevent the

machine being placed in operation.

Note

If the device is used for any other purposes or modified in any way — also during mounting

and installation — any warranty claim against SICK AG shall become void.

2.2 Specialist personnel

The S200 safety laser scanner must be installed, connected, commissioned and serviced

only by specialist personnel. Specialist personnel are defined as persons who

 due to their specialist training and experience have adequate knowledge of the power-

driven equipment to be checked

and

 who have been instructed by the responsible machine operator in the operation of the

machine and the current valid safety guidelines

and

 are sufficiently familiar with the applicable official health and safety regulations,

directives and generally recognized engineering practice (e.g. DIN standards, VDE stipulations, engineering regulations from other EC member states) that they can assess

the work safety aspects of the power-driven equipment

and

 who have access to these operating instructions and who have read them.

As a rule these are specialist personnel from the ESPE manufacturer or also those persons

who have been appropriately trained at the ESPE manufacturer, are primarily involved in checking ESPE and are allocated the task by the organisation operating the ESPE.

2.3 Applications of the device

The S200 safety laser scanner is used to protect persons and plant. It is intended to be

used to monitor hazardous areas indoors.

It is not allowed to use the S200 outdoors.

The S200 cannot provide protection from parts thrown out of the machine or radiation emitted.

The S200 complies with the requirements in the standard on the radiated emissions as defined for class A (industrial application); the S200 is therefore only suitable for use in an

industrial environment.

Safety Laser Scanner Chapter 2

S200

Note

On safety

The safety level of the S200 corresponds to category 2 in accordance with EN 954-1,

ype 2 in accordance with IEC 61496 part 1 and SIL1 in accordance with IEC 61508. The

S200 is suitable for:

 hazardous area protection

 hazardous point protection

access protection



 vehicle protection (electrically powered industrial trucks)

Depending on the application, other protective devices and measures may be required in

addition to the safety laser scanner.

2.4 General safety notes and protective measures

Pay attention to the safety notes!



WARNING

Please observe the following items in order to ensure the correct use of the S200 safety

laser scanner.

DESCRIPTION OF THE LASER WARNING LABEL: IEC 60825<1:2001. Complies with 21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser

Notice No. 50, July 2001.

 This device meets the norms: CDRH 21 CFR 1040.10 and 1040.11 as well as

IEC 60825<1 edition 1.2:2001<08. There the following note is required: “Caution — if

devices for operation or adjustment different to those given here are used or other procedures are employed, hazardous exposure to radiation may occur!”

 During the mounting, installation and usage of the S200, observe the standards and

directives applicable in your country. You will find an overview of the most important

regulations in section 2.6 “Applicable directives and standards” on page 12.

 The national/international rules and regulations apply to the installation, commissioning,

use and periodic technical inspections of the S200 safety laser scanner, in particular …

– Machinery Directive 98/37/EC.

– Work Equipment Directive 89/655/EEC.

– the work safety regulations/safety rules.

– other relevant health and safety regulations.

 Manufacturers and operators of the machine on which the S200 is used are responsible

for obtaining and observing all applicable safety regulations and rules.

 The notes, in particular the test notes (see chapter 8 “Commissioning” on page 50) in

these operating instructions (e.g. on use, mounting, installation or integration into the

machine controller) must be observed.

Chapter 2 Safety Laser Scanner

On safety

S200

 Changes to the configuration of the devices can degrade the protective function. After

very change to the configuration you must therefore check the effectiveness of the

protective device. The person who makes the change is also responsible for the correct protective function of the device. When making configuration changes, please always

use the password hierarchy provided by SICK to ensure that only authorised persons make changes to the configuration. The SICK service team is available to provide

assistance if required.

 The tests must be carried out by specialist personnel or specially qualified and

authorised personnel and must be recorded and documented to ensure that the tests can be reconstructed and retraced at any time.

 The operating instructions must be made available to the operator of the machine where

the S200 is used. The machine operator is to be instructed in the use of the device by

specialist personnel and must be instructed to read the operating instructions.

 The external voltage supply of the devices must be capable of buffering brief mains

voltage failures of 20 ms as specified in EN 60204. Suitable power supplies are available as accessories from SICK (see section 12.3 “Accessories/spare parts” on

page 75).

 Enclosed with these operating instructions is a checklist for checking by the

manufacturer and OEM (see section 13.2 “Manufacturer’s checklist” on page 77). Use this checklist when checking the plant that is protected with the S200.

The term “dangerous state”

The dangerous state (standard term) of the machine is always shown in the drawings and

diagrams of this document as a movement of a machine part. In practical operation, there may be other dangerous states:

 machine movements

 vehicle movements

 electrical conductors

 visible or invisible radiation

 a combination of several risks and hazards

Safety Laser Scanner Chapter 2

Tab.1:

Overview on disposal

S200

On safety

2.5 Environmental protection

he S200 safety laser scanner is constructed in such a way that it adversely affects the

T environment as little as possible and uses only a minimum of power and natural

resources.

 At work, always act in an environmentally responsible manner.

2.5.1 Disposal

Unusable or irreparable devices should always be disposed as per the applicable national

regulations on waste disposal (e.g. European waste code 16 02 14).

Notes



WARNING

 We would be pleased to be of assistance on the disposal of this device. Contact your

local SICK representative.

 Information on the individual materials in the S200 is given in chapter 11 “Technical

specifications” on page 65.

2.5.2 Separation of materials

Only appropriately trained personnel are allowed to separate materials!

Caution is required when dismantling devices. There is a risk of injuries.

Before you send the devices for appropriate recycling, it is necessary to separate the different materials in the S200.

 Separate the housing from the rest of the parts (in particular the circuit boards).

 Send the separated parts for recycling as appropriate (see Tab. 1).

by components

Components Disposal

Product

Housing Metal recycling (aluminium)

Motor bracket Metal recycling (zinc die-cast housing)

Optics cover Plastic recycling

Circuit boards, cables, connectors and electrical connecting pieces

Packaging

Cardboard, paper Paper/cardboard recycling

Polyethylene packaging Plastic recycling

Electronic recycling

Chapter 2 Safety Laser Scanner

On safety

S200

2.6 Applicable directives and standards

The most important directives and standards, valid for the use of opto-electronic protective devices in Europe, are listed below. Further regulations may be of importance to you,

depending on the application. You can obtain further information of machine-specific standards from national institutions (e.g. DIN, BSI, AFNOR etc.), the authorities or your

trade association.

If you operate the machine or vehicle in a country outside the European Union, please

contact the manufacturer of the plant and the local authorities and obtain information on the regulations and standards applicable there.

Application and installation of protective devices

Machinery Directive 98/37/EC, e.g.:

 Safety of machinery — Basic concepts, general principles for design (EN 12100)

 Industrial automation systems — Safety of integrated manufacturing systems —- Basic

requirements (ISO 11161)

 Safety of machinery — Electrical equipment of machines — Part 1: General requirements

(IEC/EN 60204)

 Safety of machinery. Safety distances to prevent hazardous points being reached by the

upper limbs (EN 294, IEC 13852)

 Safety requirements for robots (EN 775, ISO 10218)

 Safety of industrial trucks. Driverless trucks and their systems (DIN/EN 1525)

 Safety of machinery — The positioning of protective equipment in respect of approach

speeds of parts of the human body (EN 999, ISO 13855)

 Safety of machinery — Principles for risk assessment (EN 1050, ISO 14121)

 Safety of machinery — Safety-related parts of control systems — Part 1: General

principles for design (EN 954 part 1, ISO 13849 part 2)

 Safety of machines — electro-sensitive protective equipment — part 1: General

requirements (IEC/EN 61496<1) as well as part 3: Special requirements for AOPDDR (IEC 61496<3)

 Safety of machinery — Application of protective equipment to detect the presence of

persons (IEC/TS 62046)

Foreign standards, for example:

 Performance Criteria for Safeguarding (ANSI B11.19)

 Machine tools for manufacturing systems/cells (ANSI B11.20)

 Safety requirements for Industrial Robots and Robot Systems (ANSI/RIA R15.06)

 Safety Standard for guided industrial vehicles and automated functions of named

industrial vehicles (ANSI B56.5)

Recommendation

Please request our brochure on this subject “Safe Machines with opto-electronic protective

devices”.

Safety Laser Scanner Chapter 3

Fig.1:

Device components

Optics cover

System plug

Sensor

display

Window for light

S200

Product description

3 Product description

This chapter provides information on the special features and properties of the S200

safety laser scanner. It describes the construction and the operating principle of the device.

Please read this chapter before mounting, installing and commissioning the device.

3.1 Device components

The S200 safety laser scanner comprises three components:

 the sensor with the opto-electronic acquisition system, the LEDs and the 7<segment

display

 the optics cover with the window for the light output

 the system plug with the configuration memory (the system plug contains all electrical

connections)

 the system plug with all electrical connections

output

LEDs and 7$segment

3.2 Special features

 270° scanning angle

 the surrounding contour can be monitored (contour change can e.g. be the opening of a

door to the outside)

 integrated external device monitoring (EDM)

 integrated restart interlock/restart interlock delay for which the parameters can be set

 status display with LEDs and 7<segment display

 minimum response time 80 ms

 configuration using PC or notebook with SICK Configuration & Diagnostic Software

 increased resilience to external light and dust due to highly effective dazzle and particle

algorithms

Chapter 3 Safety Laser Scanner

Tab.2:

Functions of the

Product description

S200

S200 functions

S200

Functions

Protective field range 1.5 m

Warning field width

8 m

Object resolution 30/40/50/70 mm

ield sets 1

Programmable monitoring cases 1

Pairs of output signal switching devices (OSSDs) 1

Source switching current of the OSSDs 250 mA

Application diagnostic output “Warning field interrupted”

Application diagnostic output “Error/contamination”



Application diagnostic output “Reset required” 

External device monitoring (EDM) 

Restart interlock/delay 

Stand-by mode 

3.3 Function

The S200 safety laser scanner operates correctly as a protective device only if the

following conditions are met:

 The control of the machine, system or vehicle must be electrical.

 After integration in the control it must be possible to transfer the dangerous machine,

system or vehicle state to a safe state using the OSSDs on the S200 at any time, i.e.

before a person has reached the hazardous point or hazardous area.

 The S200 must be mounted and configured such that it detects objects as they enter

the hazardous area (see chapter 4 “Mounting” on page 27 and chapter 8 “Commissioning” on page 50).

Warning field range with a reflectivity of 30% (see Fig. 41 “Diagram of scanning ranges for various reflectances” on page 61).

Safety Laser Scanner Chapter 3

Fig.2:

Principle of operation,

Fig.3:

Principle of operation,



Receive pulse

Send pulse

S300

S200

Product description

3.3.1 Principles of operation

The S200 is an optical sensor that scans its surroundings in two dimensions using infrared

laser beams. It is used to monitor hazardous areas on machines or vehicles.

time of flight measurement by the S200

The S200 works on the principle of time of flight measurement. It sends out very short pulses of light (S). At the same time an “electronic stopwatch” is started. When the light is

incident on an object, it is reflected and received by the safety laser scanner (E). From the time between sending and reception (t) the S200 calculates the distance to the object.

rotation of the S200







In the S200 there is also a mirror rotating at constant speed that deflects the light pulses such that they cover an arc of 270° . In this way an object can be detected in the protective field within 270°. The first beam  of a scan starts at S45° relative to the back

of the scanner.

The S200 sends a pulse of light with an angular resolution of 0.5°. In this way resolutions from 30 to 70 mm can be achieved independent of the length of the protective field !

Chapter 3 Safety Laser Scanner

Fig.4:

Protective field,

Product description

S200

Due to its active scanning principle, the S200 does not require receivers or reflectors. This

as the following advantages:

Your installation effort is lower.



 You can easily adapt the monitored area to the hazardous area on a machine.

 In comparison with contact sensors, electro-sensitive scanning is nearly wear-free.

3.3.2 Field set comprising of protective field and warning field

warning field and distance measuring range







The S200 protects the hazardous area on a machine or a vehicle using the protective field . As soon as the safety laser scanner detects an object in the protective field, it switches the OSSDs to the OFF state and thus initiates the shutdown of the machine or

stop of the vehicle.

You can define the warning field  such that the safety laser scanner detects an object

before the actual hazardous area and e.g. triggers a warning signal.

The maximum distance at which the safety laser scanner can detect an object is defined by the distance measuring range .

Protective field and warning field form a pair, the so-called field set.

With the aid of the CDS you can configure the field set and transfer it to the S200. If the hazardous area to be monitored changes, then you can re-configure the S200 in software

without additional mounting effort.

Safety Laser Scanner Chapter 3

Fig.5:

Hazardous area

Fig.6:

Point-of-operation

Protective field

Warning field

S200

Product description

3.4 Applications

3.4.1 Stationary applications

Hazardous area protection

protection with one monitored area

guarding

On stationary machines, the S200 switches the output signal switching devices (OSSDs) to the OFF state if the protective field is interrupted. The S200 initiates the shutdown of the

machine or the shutdown of the dangerous state.

Point-of-operation guarding

The S200 safety laser scanner can be used to prevent starting or restarting as long as there are persons in the hazardous area. The machine can only be started or restarted if

the S200 does not detect any object in the protective field. This is particularly important for system interiors that can only be seen with difficulty from the outside, or cannot be

seen at all.





Chapter 3 Safety Laser Scanner

Fig.7:

Hazardous point

Fig.8:

Access protection

Contour

Contour of the floor

Protective

Product description

S200

In this application the S200  does not have a stop function. The primary protective

unction that stops the dangerous movement is provided in the example by a light

f curtain , while the S200 monitors the restarting of the machine.

Hazardous point protection (vertical operation)

The S200 can used be used vertically to trigger stopping of the dangerous movement.

ompared to horizontal protection, the area to be protected in front of the machine or

system can be reduced. Hazardous point protection is necessary if the operator is near the dangerous state of the machine. Hand protection is required to protect the hazardous

point.

protection

field

as reference

Access protection (vertical operation)

field

as reference

You can also use the S200 vertically for access protection. Access protection can be used

when the access to the machine can be defined by physical means. In the case of access protection, the S200 detects the entry of a person, but not presence in the hazardous area

(no point-of-operation protection).

Safety Laser Scanner Chapter 3



Fig.9:

Reading protective

Protective field

S200

Note

Product description

3.4.2 Mobile applications

The S200 can be used both on manually controlled vehicles, e.g. fork lift trucks, and also

on automated guided vehicles (AGV) or trolleys.

You can use the S200 on vehicles, e.g. to protect the route of a vehicle through a factory

building. If there is a person or an obstacle in the hazardous area, the S200 ensures that the vehicle reduces the velocity and stops if necessary.

The safety level of the S200 corresponds to category 2 according to EN 954-1. It is only allowed to be used in corresponding applications.

3.5 Configurable functions

3.5.1 Field set

Configuration of the protective field and warning field

With the aid of the CDS you can configure the field set, which comprises a protective field

and a warning field. During this process you configure the shape and size of the protective field and the warning field. You can realise any field shape required.

Note

The area to be monitored is scanned radially by the S200. The S200 cannot see through objects during this process. The area behind objects that are in the area to be monitored

(pillars, grilles, etc.) can thus not be monitored.

Protective field and warning field can cover up an angle of up to 270° and have different

radial scanning ranges depending on the resolution configured (see Tab. 3 on page 20).

field or warning field



WARNING

Check the configured protective field!

Prior to commissioning the machine or vehicle, check the configuration of the protective field using the instructions in chapter 8 “Commissioning” on page 50 and using the

checklist on page 77.

Protective field or warning field suggested by the safety laser scanner

The CDS can suggest the protective field or warning field. The safety laser scanner scans the visible room contour several times. From the data obtained the CDS suggests the

contour and size of the field.







In those places at which the room contour is smaller than the maximum protective field range (e.g. at ), the protective field corresponds to the room contour.

Chapter 3 Safety Laser Scanner



Tab.3:

Maximum protective

Product description

S200

Note



WARNING

The measuring error tolerances for the S200 are automatically subtracted from the

rotective field size. As a result the protective field is slightly smaller than the surface

p covered .

In those places where the room contour is larger than the protective field range , the

protective field corresponds to the possible scanning range (see Tab. 3 on page 20).

Check the protective field suggested!

The protective field suggested by the CDS is not a replacement for the calculation of the safety distance. Calculate the safety distance based on the description in chapter 4

“Mounting” on page 27. Prior to commissioning the application, check the configuration of the protective field using the instructions in chapter 8 “Commissioning” on page 50 and

using the checklist on page 77.

In the CDS field set editor, you can also request a suggestion for the protective field.

3.5.2 Application and resolution

With the aid of the CDS you can configure the S200 for use on a stationary or mobile

application. Also set the resolution of the S200.

The maximum protective field range depends on the resolution set. The following table

shows the related maximum protective field range at the resolutions that can be set:

field ranges at different resolutions

Notes

Resolution Maximum protective field range

30 mm 1.25 m

40, 50, 70 mm 1.5 m

 The maximum protective field range of the S200 must be sufficient to cover the

calculated protective field size including the necessary supplements (see section 4.1.1

“Protective field size” on page 28).

 The warning field can be configured to up to 8 m for all resolutions. The detection

capability of the warning field is dependent on the remission of the objects to be detected (see Fig. 41 “Diagram of scanning ranges for various reflectances” on

page 61).

Safety Laser Scanner Chapter 3

Fig.10:

Schematic diagram



Fig.11:

Contour as reference

Contours of the machine opening

Protective field

Contour segment

S200

of contour as reference

Product description

3.5.3 Using the contour as a reference

In addition to the protective field, the S200 can also monitor a contour (e.g. the floor in

vertical applications or the walls in horizontal applications).

 



for vertical operation

Note

For contour monitoring you define a contour segment . The contour segment comprises a positive  and a negative  tolerance band.

The OSSDs on the S200 change to the OFF state if …

 there is an object in the protective field.

 the monitored surrounding contour is no longer in the tolerance band (e.g. if a door is

opened or if the position of the S200 is changed).

You can define any number of contour segments. The contour segments must not be

narrower than the configured resolution. At the points where a contour has been configured as a reference you cannot define a warning field.

You define the contour as a reference in the CDS field set editor.

Vertical operation

In vertical operation (for access protection and hazardous point protection) according to IEC/EN 61496<3 you must always configure the protective field with the contour as

reference function.

Chapter 3 Safety Laser Scanner

Fig.12:

Contour as reference

Tab.4:

Behaviour of the

Door as reference

Product description

S200

Recommendation

for horizontal operation

Use lateral, vertical boundaries of the opening (e.g. door frame) and the floor as reference.

f in this case the position of the S200 is changed in one or more planes, the distance to

the reference changes and the S200 switches its OSSDs to the OFF state.

Horizontal operation

On horizontal operation, you can also use the contour as reference function, e.g. so that if

door is opened (change to the room contour) the OSSDs on the S200 are placed in the

OFF state.

S200 on a contactor malfunction



Notes

3.5.4 External device monitoring (EDM)

After every interruption to the protective field and prior to restarting the machine, the external device monitoring monitors the switching devices operated by the OSSDs (e.g.

contactors). In this way the external device monitoring detects whether, e.g. the (positively guided) contacts on the contactors connected are in the OFF position.

The machine is only allowed to start if both contactors were in the OFF position before, that is they were deactivated.

The table shows how the S200 reacts if the external device monitoring detects a contactor malfunction:

Without internal restart interlock

With restart interlock  The S200 switches its OSSDs to the OFF state.

You can configure the external device monitoring in the CDS.

 You will find examples on the connection of the external device monitoring in section 6.2

“Connection diagrams” on page 48.

 If you do not use the external device monitoring function, leave the inputs disconnected

(see section 5.1.1 “Pin assignment on the system plug” on page 44).

 The system locks completely (lock-out).  The error message  appears in the 7< segment display.

 The LED  The error message  appears in the 7<segment display.

 is illuminated.

Safety Laser Scanner Chapter 3



S200



WARNING

Product description

3.5.5 Application diagnostic output “Error/contamination”

The S200 has a configurable application diagnostic output. The following configuration

features are available in the CDS:

 window for light output contaminated

 error

 window for light output contaminated or error

 inactive

3.5.6 Restart

You can configure the restart behaviour of the S200 as follows:

 without restart interlock

 with restart delay

 with restart interlock

It is imperative that you configure the S200 with restart interlock if the protective field can be left to approach the hazardous point or if a person cannot be detected at every point in the hazard area for the S200!

During the assessment, pay attention to whether the protective field can be left in the direction of the hazardous point, to areas that are unprotected due to the mounting and

the unprotected near range of the S200 (see section 4.5 “Methods of preventing unprotected areas” on page 36).

Configuration of the S200 without restart interlock

After the OSSDs on the S200 have been switched to the OFF state due to an object in the

protective field, the OSSDs are re-enabled again immediately when there is no longer an object in the active protective field.

This configuration is only allowed …

 if an external restart interlock is realised on the machine controller

 if the protective field cannot be left in the direction of the hazardous point and if people

can be detected by the S200 at every point in the hazardous area!

Restart delay for mobile applications

In mobile applications you can configure a restart delay from 2 to 60 seconds on the S200. The OSSDs on the S200 change to the ON state if there is no object in the

protective field for the duration given.

This configuration is only allowed if the protective field cannot be left in the direction of the hazardous point and if a person can be detected by the S200 at every point in the hazardous area!

Chapter 3 Safety Laser Scanner

Fig.13:

Schematic outline of



the operation with restart interlock

Product description

S200

Configuration of the S200 with restart interlock



WARNING

Note



The OSSDs on the S200 change to the OFF state to trigger a machine  or vehicle stop as soon as there is an object in the protective field . They do not change to the ON state , even if there is no longer an object in the protective field. The OSSDs only change to the

ON state if the operator operates the control switch for restart or reset.

Place the control switch for restart or reset in a suitable place!

Place the control switch for restart or reset outside the hazardous area such that it cannot be operated by a person in the hazardous area. Ensure that the person who operates the

control switch has a full view of the hazardous area.

Reset

The reset function is often also called “preparation for restart”. In these operating instructions the term reset is used.

If you want to activate the restart interlock on the S200 (internal) and also a restart interlock on the machine (external), then each restart interlock has its own control switch.

After operating the control switch for the internal restart interlock (with protective field unoccupied) …

 the S200 switches its OSSDs to the ON state.

 the LED

The external restart interlock prevents the machine from restarting. After resetting the S200 the operator must press the control switch to restart the machine controller.

 on the safety laser scanner illuminates green.





WARNING

Notes

Ensure that the correct sequence is followed!

The controller must be realised such that the machine only restarts if the S200 is first

reset and then the control switch for restarting the machine controller is operated.

 You will find examples on the connection of the internal restart interlock in chapter 6.2

“Connection diagrams” on page 48.

 If you do not use the internal restart interlock, leave the inputs disconnected (see

section 5.1.1 “Pin assignment on the system plug” on page 44).

You can configure the type of restart in the CDS.

Safety Laser Scanner Chapter 3

Tab.5:

Recommended



S200



WARNING

Product description

3.5.7 Multiple sampling

If multiple sampling is set, an object must be scanned several times before the S200

switches its OSSDs to the OFF state. In this way you can reduce the probability that welding sparks, insects or other particles, result in the shutdown of the plant.

If a multiple sampling of 3 is configured, for instance, an object must be detected three times in succession before the S200 switches the OSSDs to the OFF state.

he total response time is increased by the multiple sampling!

With a multiple sampling greater than 2, note that you must add a supplement to the basic response time (see section 11.2 “OSSD response times” on page 61)!

On the S200, a multiple sampling of 2 is the minimum setting. You can set the multiple sampling to up to 16 with the aid of the CDS.

multiple sampling

Recommendation

Recommended multiple sampling Application

2 times Stationary under clean ambient conditions

2 … 4 times Mobile

4 … 8 times Stationary under dusty ambient conditions

Using multiple sampling you can increase the availability of a plant.

You can configure multiple sampling in the CDS.

3.5.8 Stand-by mode

If, in mobile applications, vehicles are not moved for a time, the OSSDs and the laser on the S200 can be switched off. In this way the power consumption of the device is reduced.

Use this function if, e.g. you use several vehicles and do not move them for a time.

A dedicated STBY single-channel input is provided for switching to the stand-by mode (see

section 5.1.1 “Pin assignment on the system plug” on page 44).

3.5.9 Naming applications and laser scanners

A name can be assigned to the application configured and to the laser scanner(s). The names are saved in the devices after the configuration is transferred. The name chosen

may be, for example, the identifier for the vehicle, system or the machine.

You enter the application name and the name of the laser scanner used in the CDS.

Chapter 3 Safety Laser Scanner

Fig.14:

Status indicators on



Product description

S200

3.6 Indicators and outputs

3.6.1 LEDs and 7Csegment display

The LEDs and the 7<segment display indicate the operational status of the S200. They are

on the front face of the safety laser scanner.

the S200

Note

The symbols have the following meaning:

OSSDs in the OFF state (e.g. in case of object in the protective field, monitored contour changed, reset required, lock-out)

Warning field interrupted (object in warning field)

OSSDs in the ON state (no object in protective field)

Reset required

Optics cover contaminated

3.6.2 Outputs

Using the outputs on the S200 you shutdown the dangerous state on a machine, a plant or

a vehicle and evaluate the operational status of the S200. The S200 has the following outputs:

 OSSDs

 application diagnostic output “Warning field interrupted”

 application diagnostic output “error/contamination”

 application diagnostic output “Reset required”

The outputs are fed out at the system plug (see section 5.1 “System connection” on page 43).

All outputs are only allowed to be used for the purpose specified. Note that the signals at the application diagnostics outputs for “warning field”, “contamination of the optics

cover/error” and “reset required” are single-channel and therefore are not allowed to be used for tasks related to safety. For this reason the warning field is not allowed to be used

for tasks related to personnel protection.

Safety Laser Scanner Chapter 4

S200

Mounting

4 Mounting

This chapter describes the preparation and completion of the mounting of the S200 safety

laser scanner. Mounting requires three steps:

 definition of the application and the necessary mounting location for the laser scanner

 calculation of the protective field size

 mounting the safety laser scanner with or without mounting kits

No protective function without sufficient safety distance!



WARNING

Only if you configure the protective field such that there is an adequate safety distance to

the hazardous area, is protection by the S200 ensured.

Notes

 Mount the S200 in a dry place and protect the device from dirt and damage.

 Avoid the installation of the S200 in the vicinity of strong electric fields. These can, e.g.,

be produced by welding cables, induction cables in the immediate vicinity and also by

mobile telephones operated nearby.

 Ensure that there are no obstacles in the area to be monitored in the field of view of the

S200 that could cause interference or shadowing. Such shadowed areas cannot be monitored by the S200. If there are unavoidable shadowed areas, check whether there

is a risk. Take additional safety precautions as necessary.

 Keep the area to be monitored free of smoke, fog, steam or other forms of air impurities.

There must not be any condensation on the light output window. Otherwise the function of the S200 may be impaired and incorrect switching may occur.

 Avoid placing highly reflective objects in the scan plane of the S200. Examples:

Retroreflectors can affect the measurement results of the S200. Strongly reflective

objects within the protective field can blank part of the area to be monitored in certain circumstances.

 Mount the S200 such that it is not dazzled by incident sunlight. Do not position

stroboscopic and fluorescent lights or other strong light sources directly in the scan

plane as these may affect the S200 in specific circumstances.

 Mark the protective field on the floor, if appropriate for the application (see

IEC/EN 61496<1, chapter 7).

 Add the general protective field supplement of 100 mm to each protective field size

calculated. The maximum protective field range of the S200 must be sufficient to cover the calculated protective field size and the necessary supplements.

The following steps are necessary after mounting and installation:

 completing the electrical connections (chapter 5 “Electrical installation”)

 configuration of the protective field (chapter7 “Configuration”)

 commissioning and checking of the installation (chapter 8 “Commissioning”)

 checking the function and safe shutdown (section 8.3 “Test notes”)

Chapter 4 Safety Laser Scanner

Fig.15:

Horizontal stationary

Mounting

S200

4.1 Stationary application in horizontal operation

his type of protective device is suitable for machines and systems on which, e.g. a

T hazardous area is not completely enclosed by a guard.

application

Note



WARNING

For a horizontal stationary application determine …

 the protective field size to observe the necessary safety distance.

 the height of the scan plane.

 the restart behaviour.

 measures to protect any areas not covered by the S200.

Once you have defined the protective field size, mark the boundaries of the protective field

on the floor. In this way you will make the protective field boundaries visible for the operator and ease subsequent testing of the shape of the protective field.

4.1.1 Protective field size

The protective field must be so configured that a safety distance (S) to the hazardous area

is maintained. This safety distance ensures that the hazardous point can only be reached after the dangerous state of the machine has been completely stopped.

You can operate the S200 in stationary horizontal operation with 30, 40, 50 or 70 mm resolution. The maximum protective field range for the S200 is given by the resolution.

Ensure that a human leg can be detected with 70 mm resolution!

As per EN 999, mount the scan planes for horizontal stationary applications with 70 mm resolution at least 300 mm above the floor (see “Height of the scan plane at 70 mm

resolution” on page 31).

Safety Laser Scanner Chapter 4

Fig.16:

Safety distance S

ZG+ ZR+ CSK × (T

+ TS)

Dangerous state

S200

Mounting

The safety distance S depends on:

 approach speed of the body or parts of the body

 stopping/run-down time of the machine or system

(The stopping/run-down time is shown in the machine documentation or must be

determined by taking a measurement.)

 response time of the S200

 supplements for general measurement errors and any measurement errors related to

reflection

 supplement for prevention of reaching over

 height of the scan plane



WARNING

How to calculate the safety distance S:

 First, calculate S using the following formula:

S=(K × (T

+ TS)) + ZG+ ZR+ C

Where …

K = Approach speed (1600 mm/s, defined in EN 999)

= Stopping/run-down time of the machine or system

= Response time of the S200 and the downstream controller

= General safety supplement of the S200 = 100 mm

= Supplement for measurement error related to reflection

C = Supplement for prevention of reaching over

Response time T

The response time T

of the S200

of the S200 depends on …

 the basic response time of the S200.

 the multiple sampling set.

See section 11.2 “OSSD response times” on page 61.

Supplement Z

for measurement error related to reflection

Avoid mounting retroreflectors at a distance of less than one meter from the boundary of the protective field!

With retroreflectors positioned at a distance of less than 1 m from the boundary of the

protective field a supplement, Z

, of 200 mm must be added to the protective field.

Supplement C for protection against reaching over

With a protective field installed horizontally, there is a risk that people may reach over the protective field and in this way reach the hazardous area before the S200 shuts down the

Chapter 4 Safety Laser Scanner

Fig.17:

Mounting variations

Tab.6:

Advantages and

C = 1200

C = 850

HD= 0

HD= 875

HSHSHD= 875

C = 850

Mounting

S200

dangerous state. For this reason the calculation of the safety distance must take into

ccount a supplement to prevent persons from finding themselves in a hazardous

situation by reaching over (see EN 294, table 1) before the S200 triggers.

The necessary supplement for the safety distance is dependent on the height of the scan plane for the protective field. At low heights  the supplement is larger than at greater heights  and .

for the scan plane

disadvantages of mounting variations



In summary there are three usual variations of mounting the scan plane for the S200. The

optimal variation depends on the related application. Tab. 6 provides assistance making the selection.

Mounting orientation Benefit Disadvantage

Laser scanner low (HS< 300 mm)

Inclination of the scanning plane low (HD HS)

Laser scanner high (HS> 300 mm)

Inclination of the scanning plane low (HD HS)

Low external effects due to dazzle, crawling beneath

not possible

Lower protective field supplement C

Higher supplement C

Danger of crawling beneath (at the front and side)





WARNING

Note

Laser scanner low (HS< 300 mm)

Inclination of the scanner plane high (HD> HS)

HD= Detection height

= Scanner mounting height

In case of scan planes at a height of more than 300 mm ensure that people cannot reach the hazardous area by crawling underneath the scan plane!

If you mount the protective device higher than 300 mm, you must prevent crawling

beneath by means of additional measures. For applications that are accessible to the public, the mounting height may need to be reduced to 200 mm (on this subject see the

appropriate regulations).

How to calculate the supplement C:

 If there is enough empty space in front of your machine or plant, use 1200 mm for the

supplement C.

 If the safety distance is to be kept as small as possible, calculate C using the following

formula:

C = 1200 mm – (0.4 × H Here H

The minimum supplement C to prevent reaching over is 850 mm (arm length).

is the height at which the protective field is mounted.

Lower protective field supplement C

)

Danger of crawling beneath (at the front), external effect

due to dazzle possible

Safety Laser Scanner Chapter 4

Fig.18:

Relationship between

S200

Mounting

Height of the scan plane at 70 mm resolution

Due to the radial sampling of the protective field, the optical resolution will be lower the

urther away you get from the safety laser scanner.

resolution and protective field mounting height



If you choose a resolution of 70 mm in the CDS for hazardous area protection, a human

leg may, in certain circumstances, not be detected (e.g. scan to left and right of the bone ).

If you mount the S200 higher, the scan plane is at fibula height and the leg is also detected with an object resolution of 70 mm .

Chapter 4 Safety Laser Scanner

Fig.19:

Access protection

Contour of the floor

Protective

Mounting

S200

4.2 Stationary vertical operation for access protection

ccess protection can be used when the access to the machine can be defined by physical

A means. For access protection the S200 detects the entry of an entire body.

Notes

 To ensure adequate access protection, a response time of  90 ms and a resolution of

70 mm or finer are required.

 To protect the protective device against unadvertent adjustment or manipulation, you

must use the contour of the surroundings as a reference for the S200 (see section 3.5.3

“Using the contour as a reference” on page 21).

4.2.1 Safety distance

For access protection, a safety distance (S) must be maintained between protective field and hazardous area. This safety distance ensures that the hazardous point can only be

reached after the dangerous state of the machine has been completely stopped.

field

as reference

The safety distance S as defined in EN 999 and EN 294 depends on:

 reach or approach speed

 stopping/run-down time of the machine or system

(The stopping/run-down time is shown in the machine documentation or must be

determined by taking a measurement. On request SICK service can perform a detailed stopping/run-down measurement on your plant.)

 response time of the S200

 supplement C against reaching through

Safety Laser Scanner Chapter 4

S200

Mounting

How to calculate the safety distance S:

 First, calculate S using the following formula:

=(K × (T

Where …

K = Approach speed (1600 mm/s, defined in EN 999)

Stopping/run-down time of the machine or system

= Response time of the S200

C = Supplement against reaching through (850 mm)

) + C

)



WARNING

Response time T

The total response time of the S200 must not be more than 80 ms for access protection!

If a critical response time is exceeded (for an object diameter of 70 mm and a speed of

1.6 m/s that is 90 ms) a person may no longer be detected under certain circumstances.

In specific cases agreed with the responsible authorities higher response times may be

allowed (for example by increasing the detection time available by positioning the scanner at an angle). In this case ensure that the areas the laser scanner cannot see are protected

by additional measures.

The response time TSof the S200 depends on …

 the basic response time of the S200.

 the multiple sampling set.

See section 11.2 “OSSD response times” on page 61.

of the S200

Chapter 4 Safety Laser Scanner

Fig.20:

Safety distance to

Contours

Mounting

S200

4.3 Stationary vertical operation for hazardous point protection

Hazardous point protection is necessary if the operator must remain near the dangerous

tate of the machine. Hand protection is required for hazardous point protection.

Note



WARNING

The S200 must therefore be configured with a resolution of at least 40 mm.

Never use the S200 for safety applications in which finger protection is required!

Due to the finest possible resolution of 30 mm, the S200 is not suitable for finger

protection.

To protect the protective device against unadvertent adjustment or manipulation, you

must use the contour of the surroundings as a reference for the S200 (see section 3.5.3 “Using the contour as a reference” on page 21).

4.3.1 Safety distance

For hazardous point protection, a safety distance must be observed between protective

field and hazardous point. This safety distance ensures that the hazardous point can only be reached after the dangerous state of the machine has been completely stopped.

the hazardous area



WARNING

Prevent reaching around or reaching behind the protective field!

Always mount the laser scanner such that reaching around and behind is impossible.

Provide suitable additional precautions as necessary.

as reference

The safety distance S as defined in EN 999 and EN 294 depends on:

 stopping/run-down time of the machine or system

(The stopping/run-down time is shown in the machine documentation or must be

determined by taking a measurement.)

 response time of the S200

 reach or approach speed

 resolution of the S200

Safety Laser Scanner Chapter 4

S200

Mounting

How to calculate the safety distance S:

 First, calculate S using the following formula:

= 2000 × (T

+ 8 × (d – 14 mm) [mm]

)

Where …

S = Safety distance [mm]

Stopping/run-down time of the machine or system

= Response time of the S200

d = Resolution of the S200 [mm]

ote

The reach/approach speed is already included in the formula.

 If the result S is  500 mm, then use the determined value as the safety distance.

 If the result S is > 500 mm, you may be able to reduce the safety distance using the

following calculation:

S = 1600 × (T

+ TS) + 8 × (d – 14 mm) [mm]

 If the new value S is > 500 mm, then use the newly calculated value as the minimum

safety distance.

 If the new value S is  500 mm, then use 500 mm as the minimum safety distance.

Notes

Response time T

The response time T

of the S200

of the S200 depends on …

 the basic response time of the S200.

 the multiple sampling set.

See section 11.2 “OSSD response times” on page 61.

4.4 Mobile applications

If the dangerous state is produced by a vehicle (e.g. AGV or fork lift), the hazardous area that is produced by the movement of the vehicle is protected by the S200.

 The safety level of the S200 corresponds to category 2 according to EN 954-1. It is only

allowed to be used in corresponding applications.

 The S200 may only be used to protect vehicles powered by electric motor.

 On automated guided systems the S200 is not allowed to be used to protect the main

direction of travel.

 For vehicle protection, observe DIN/EN 1525 “Safety of industrial trucks. Driverless

trucks and their systems”.

 If the application is to protect vehicles from collisions, then you may need to use

different assumptions.

Chapter 4 Safety Laser Scanner

Fig.21:

Unprotected areas

Fig.22:

Preventing

Mounting

S200

4.5 Methods of preventing unprotected areas

uring mounting the S200, areas may be found that are not covered by the safety laser

D scanner ().



Prevent or secure unprotected areas!



WARNING

 Mount the S200 such that there are no unprotected areas.

 For mobile applications, if the vehicle is accelerated to a maximum velocity of 0.3 m/s in

less than three seconds when in operation, you must prevent personnel from entering the unprotected areas by means of mechanical trim panels, switch strips or fitting the

S200 in the vehicle trim panels.

unprotected areas

Mount the S200 for example on a corner to prevent unprotected areas.

4.5.1 Near range

Make the near range impassible using a bar or a recess, or additionally protect the near range (5 cm wide area in front of the optics cover) using a proximity switch with 5 cm

acquisition range. The vehicle may then be accelerated as required.

Safety Laser Scanner Chapter 4

Fig.23:

Prevent crawling

S200

Mounting

4.6 Mounting steps

pecial features to note during mounting:



WARNING

beneath, standing behind, climbing over

 Mount the S200 such that it is protected from moisture, dirt and damage.

 Ensure that the entire field of view of the S200 is not restricted.

 Mount the laser scanner such that the indicators are easy to see.

 Always mount the S200 so that there is still enough space for mounting and removing

the system plug.

 Avoid excessive shock and vibration loading on the safety laser scanner.

 On applications that suffer from heavy vibration, prevent the fixing screws from coming

loose using screw locking devices.

 Regularly check the tightness of the fixing screws.

 Prevent personnel from being able to crawl beneath, stand behind or climb over the

protective field by means of appropriate mounting of the S200.

The origin of the scan plane is 116 mm above the bottom edge of the S200 (see section 11.5.3 “Scan plane origin” on page 73).

There are three possible ways of fixing the S200:

 direct mounting without mounting kit

 mounting with mounting kit 1a or 1b

 mounting with mounting kit 2 (only in conjunction with mounting kit 1a or 1b)

You will find the part numbers for the mounting kits in section 12.3.1 “Mounting kits” on page 74.

Note

Pay attention to the maximum torque of the M5 fixing screws on the S200 of max. 5.9 Nm.

Chapter 4 Safety Laser Scanner

Fig.24:

Direct mounting

Fig.25:

Mounting with

M5×8

Mounting kit

Threaded holes

M5×8

Mounting

S200

4.6.1 Direct mounting

The S200 has two threaded holes M5× 8 on the rear. Using them you can mount the S200

directly on the intended mounting surface. To avoid a possible tendency to vibrate, if necessary the reference surface on the rear can be used as the third mounting point .

mounting kit 1a

Notes



During mounting, please observe the dimensional drawings in chapter “Technical specifications” (see section 11.5 “Dimensional drawings” on page 71).

4.6.2 Mounting with mounting kit 1a or 1b

With the aid of mounting kit 1 you can mount the S200 indirectly on the mounting surface.

The mounting kit is available as mounting kit 1a without protection device for the optics cover and as mounting kit 1b with protection device for the optics cover.

Mounting screws

Safety Laser Scanner Chapter 4

Fig.26:

Mounting with

Mounting kit

Threaded holes

M5×8

Mounting screws

S200

mounting kit 1b incl. protection for the optics cover

Mounting

Note

 Mount mounting kit 1a or 1b on the mounting surface.

 Then mount the S200 on the mounting kit 1a or 1b.

During mounting, please observe the dimensional drawings in chapter “Technical

specifications” (see section 11.5 “Dimensional drawings” on page 71).

Chapter 4 Safety Laser Scanner

Fig.27:

Mounting with

Mounting kit

Mounting screws

Mounting kit

Threaded hole

Mounting kit

Mounting

Centring pin

Mounting

S200

4.6.3 Mounting with mounting kit 2 and 3

With the aid of mounting kits 2 and 3 (only in conjunction with mounting kit 1a or 1b) you

can align the S200 in two planes. The maximum adjustment angle is ±11° in both planes.

mounting kit 2

screws

Note

 Mount mounting kit 1a or 1b to the S200.

 Mount the mounting kit 3 on the mounting surface.

 Fit the centring pin (4 mm) in the central hole on mounting bracket 3.

 Fit mounting kit 2 to mounting kit 3 and mount it using two fixing screws M4× 10.

 Then mount the S200 on mounting kit 2 with the aid of the threaded holes in mounting

kit 1a.

 Adjust the S200 longitudinally and transversely and then tighten the six fixing screws on

the mounting kits.

During mounting, please observe the dimensional drawings in chapter “Technical specifications” (see section 11.5 “Dimensional drawings” on page 71).

4.6.4 Information label Important information

 On completion of mounting, you must affix the self-adhesive information label Important

information supplied:

– Use only the information label in the language which the operators of the machine can

read and understand.

– Place the information label such that it is clearly visible for the operators during

operation. The information label must not be covered even after additional items have

been mounted.

Safety Laser Scanner Chapter 4

Fig.28:

Opposite mounting

Fig.29:

Offset parallel

Fig.30:

Mounting on a cross

Fig.31:

Reverse mounting,

Min. 100

Min. 3

S200

Mounting

4.6.5 Using multiple S200 safety laser scanners

The S200 is so designed that mutual interference between several laser scanners is

unlikely. To completely exclude erroneous switching, you must mount the laser scanners as shown in the following examples.

Note

In any circumstance observe EN 999 when calculating the safety distance.

Use mounting kits 1 and 2 to adjust the laser scanners to different angles (see

section 12.3.1 “Mounting kits” on page 74).

mounting

parallel offset

Chapter 4 Safety Laser Scanner

Fig.32:

Reverse mounting of

Fig.33:

Reverse mounting of

Min. 100

two S200, with parallel offset

one S200, with parallel offset

Mounting

S200

Safety Laser Scanner Chapter 5

Fig.34:

Screw terminal strip

S200

Electrical installation

5 Electrical installation

Switch the entire machine/system off line!



WARNING

The machine/system could inadvertently start up while you are connecting the devices.

 To prevent an unintentional start, ensure that the entire machine/system is

isconnected during the electrical installation.

on the system plug

Notes

 Route all cables and connection cables such that they are protected from damage.

 Ensure that any control systems or other devices forming part of the safety installation

meet the stipulated category according to EN 954<1!

 If you use screened cable, lay the screen evenly around the cable gland.

 Ensure that the S200 is adequately protected electrically. You will find the electrical data

necessary for determining the correct fuse in section 11.4 “Data sheet” on page 65.

The electrical connections for the S200 are made at the system plug. A pre-assembled

connector variant and an un-assembled connector variant are available (see page 46).

5.1 System connection

You will find all inputs and outputs of the S200 on the 24-pin screw terminal connection + FE in the system plug.

Notes

 If the cable gland/blanking plug is missing or not tightened, or if fixing screws are

missing or not tightened on the system plug, the IP 65 enclosure rating is not met.

 All inputs and outputs on the S200 are to be used only in the context specified.

Chapter 5 Safety Laser Scanner

Tab.7:

Terminal assignment

Electrical installation

S200

5.1.1 Pin assignment on the system plug

at the system plug



WARNING

Pin Signal Function

FE Functional earth

1 +24V DC Supply voltage S200

2 0V DC Supply voltage S200

3 OSSD1 Output signal switching device

4 OSSD2 Output signal switching device

5 RESET Input, reset

6 EDM Input, external device monitoring

13 ERR Application diagnostic output — error/contamination

14 WF Application diagnostic output, object in warning field

15 RES_REQ Application diagnostic output, reset required

16 STBY Control input for the activation of the stand-by mode

5.1.2 OSSDs

Only ever connect one downstream switching element to an OSSD!

Each output signal switching device (OSSD) is only allowed to be connected to one switching element (e.g. relay or contactor). If several switching elements are required, you

must choose a suitable form of contact duplication.

5.1.3 Functional earth

To achieve the specified EMC safety, the functional earth FE must be connected (e.g. to the central earth star point on the vehicle or the system).

Safety Laser Scanner Chapter 5

Fig.35:

System plug SX0B-

S200

Electrical installation

5.2 System plug assembly

he system plug has holes for cable glands on the underside and on the rear.

system plug SX0B-A0000G

 1 cable gland with M16 cable gland

 1 cable gland without M16 cable gland (blanking plug)

 2 cable glands without M12 cable gland (blanking plugs)

Note

A0000G

You can also procure the S200 with pre-assembled system plug with varying cable lengths

(see section 5.3 “Pre-assembled system plugs” on page 46 and section 12.3.2 “System plug” on page 74).

Recommendation

If you do not want to assemble the system plug yourself, you will find suitable cables in the ordering information (see section 12.3.4 “Self assembly connecting cables” on page 75).

Chapter 5 Safety Laser Scanner

Tab.8:

Pin assignment:

pre-

Electrical installation

S200

5.3 Pre-assembled system plugs

o connect the S200, the following pre-assembled system plugs are available (see also

T section 12.3.2 “System plug” on page 74):

 SX0B-B1105G

– with 11 cores, unscreened (M16 cable gland)

– 5 m long

 SX0B-B1110G

– with 11 cores, unscreened (M16 cable gland)

– 10 m long

 SX0B-B1120G

– with 11 cores, unscreened (M16 cable gland)

– 20 m long

assembled system plug

Pin Signal Wire colour

FE Functional earth Green 

1 +24V DC Brown 

20V DC Blue 

3 OSSD1 Grey 

4 OSSD2 Pink 

5 RESET Red 

6 EDM Yellow 

13 ERR White/black 

14 WF White/brown 

15 RES_REQ Red/blue 

16 STBY White/green 

SX0B-B1105G

SX0B-B1110G

SX0B-B1120G

Application examples and

Fig.36:

Hazardous area

Fig.37:

Access protection

Protective field and warning field

Protective field – vertically

Floor as reference

Safety Laser Scanner Chapter 6

S200

connection diagrams

6 Application examples and connection diagrams

The examples shown are only provided as an aid for your planning. You may need to

consider additional protection measures for your application.

6.1 Stationary applications

6.1.1 Applications with one monitored area

protection

– horizontally mounted

The area is permanently monitored by the S200.

mounted

The access is monitored permanently. For safety against manipulation on the S200, e.g.

the floor is used as a reference. If the alignment of the S200 changes (e.g. due to changes to the bracket), the S200 switches its OSSDs to the OFF state.

Application examples and

Fig.38:

Connection diagrams

S200

Chapter 6 Safety Laser Scanner

Notes

connection diagrams

6.2 Connection diagrams

Only use relays/contacts with positively guided contacts. The protection elements



connected in parallel with the relays/contactors are used for arc-suppression.

 Ensure that there is adequate arc-suppression at the relays/contactors. Take into

account that arc-suppressors may lengthen the response time.

 The arc-supressors must be in parallel with the relays/contactors (not across the

contacts).

Sketch key

 1) = output circuits

These contacts are to be connected to the controller such that, with the output circuit open, the dangerous state is disabled. Observe the maximum values for the loading of

the outputs (see section 11.4 “Data sheet” on page 65).

 2) = functional earth (FE)

To achieve the specified EMC safety, the functional earth (FE) must be connected (e.g. to the central earth star point on the vehicle or the system).

 H2 = sensor for error/contamination

 H3 = sensor for Reset required

 H8 = sensor for warning field interruption

S200

for restart interlock and external device monitoring

6.2.1 Restart interlock and external device monitoring

S200 in conjunction with relays/contactors; operating mode: with restart interlock and external device monitoring.

Safety Laser Scanner Chapter 7

Fig.39:

Configuration

Configuration connection

S200

Configuration

7 Configuration

7.1 Default delivery status

The S200 is delivered in a non-configured default status.

 The operational status is Waiting for configuration.

 The output signal switching devices (OSSDs) are in the OFF state,

the red LED illuminates: .

 The 7<segment display indicates .

7.2 Preparation of the configuration

How to prepare the configuration:

 Make sure that the safety laser scanner has been correctly mounted and that the

electrical connections are correct and in place.

 Have the necessary tools at hand.

To configure the safety laser scanner you need:

 CDS (Configuration & Diagnostic Software) on CD<ROM, version 3.3 or higher

 user manual for CDS on CD<ROM

 PC/notebook with Windows 98/NT 4/2000 Professional/ME/XP and a serial RS<232

interface (PC/Notebook not included)

 service cable between PC and S200 (not in the delivery)

connection

Notes

How to configure the S200 with the aid of the CDS:

For configuration and diagnostics using the CDS, connect the PC to the configuration connection.

Two service cables of different length are available for the connection of the PC/notebook

to the S200 (see 12.3 on page 74).

 Ensure that the service cable is not laid in close proximity to high power electrical drives

or cables carrying high power. In this way you will avoid EMC effects on the service cable.

 The service cable is only allowed to be connected for configuration and diagnostics. The

service cable must be disconnected and the protective cap fitted in operation.

To configure the device, please read the user manual for the CDS (Configuration &

Diagnostic Software) and use the online help function of the programme.

Chapter 8 Safety Laser Scanner

Tab.9:

7$segment display

Commissioning

S200

8 Commissioning

8.1 Initial commissioning

Commissioning requires a thorough check by qualified personnel!



WARNING

Before you operate a system protected by the S200 safety laser scanner for the first time,

make sure that the system is first checked and released by qualified personnel. The result of the test must be documented. Please read the notes in chapter 2 “On safety” on

page 8.

 Prior to releasing the machine, check whether the access to the hazardous area or the

hazardous point is completely monitored by the protective devices. Following approval of the machine also check at regular intervals (e.g. in the morning at the start of work)

whether the S200 correctly switches the OSSDs to the OFF state as soon as there is an object in the protective field. This test should be performed along all protective field

boundaries as per the specific regulations for the application (see section 8.3 “Test notes” on page 52).

during and after the power up sequence on initial commissioning

8.1.1 Power up sequence

After power up the S200 runs through a power up cycle. During the power up cycle, the

7<segment display indicates the device status.

During the initial commissioning of an S200 the following indications are possible:

Step Display Meaning

1 , , , ,

, , , 

2  Power up cycle, during initial

Other display Safety lock activated. Malfunction in

Power-up cycle, testing the 7<segment

display. All segments are activated sequentially.

commissioning: device in configuration mode

external conditions or in the device

itself. See section 10.4 “Error and status indications on the 7<segment

display” on page 58.

Safety Laser Scanner Chapter 8

Tab.10:

LED indication

after

Tab.11:

7$segment displ

S200

Commissioning

the power up sequence

Note

Step Display Meaning

The duration of power up depends on the volume of the configuration data and can take

up to 25 seconds.

 

  

Other display Safety lock activated. Malfunction (see

Device self-test

Device status waiting for configuration or object in the protective field, OSSDs

in the OFF state

section 10.3 “Error and status indications on the LEDs” on page 56)

8.2 Re-commissioning

Commissioning requires a thorough check by qualified personnel!

Before you re-commission a system protected by the S200 safety laser scanner for the

first time, make sure that the system is first checked and released by qualified personnel. The result of the test must be documented. Please read the notes in chapter 2 “On safety”

on page 8.

 Prior to releasing the machine, check whether the access to the hazardous area or the

hazardous point is completely monitored by the protective devices. Following approval of the machine also check at regular intervals (e.g. in the morning at the start of work)

whether the S200 correctly switches the OSSDs to the OFF state as soon as there is an object in the protective field. This test should be performed along all protective field

boundaries as per the specific regulations for the application (see section 8.3 “Test notes” on page 52).

during and after the power up sequence on recommissioning

8.2.1 Power up sequence

After power up the S200 runs through a power up cycle. During the power up cycle, the

7<segment display indicates the device status.

During the re-commissioning of an S200 the following indications are possible:

Step Display Meaning

1 , , ,,

, , , 

2 No display



Other display Safety lock activated. Malfunction (see section 10.3 “Error

Power up cycle, testing the 7<segment display. All segments

are activated sequentially.

Device ready for operation

Device ready for operation but object in the protective field

and status indications on the LEDs” on page 56).

Chapter 8 Safety Laser Scanner

Tab.12:

LED indication after

Commissioning

S200

the power up sequence

Display Meaning

  







 



  









Other display Safety lock activated. Malfunction (see section 10.3 “Error

Power up cycle, step 1

Power up cycle, step 2

The device is operational, object in protective field and warning field.

Or: The device is operational, object in warning field.

r: The device is operational, no object in protective field

O and warning field.

Or: The device is operational, no object in protective field and warning field. Reset required

and status indications on the LEDs” on page 56)

8.3 Test notes

8.3.1 Pre-commissioning tests

The purpose of the pre-commissioning tests is to confirm the safety requirements

specified in the national/international rules and regulations (EC Conformity). This applies particularly to the safety requirements in the machine directive or work equipment

directive.



WARNING

Note

Ensure that you do not place anybody at risk during initial commissioning of the machine!

Always expect that the machine, plant or the protective device does not yet behave as you

have planned.

 Ensure that there are no persons in the hazardous area during initial commissioning.

 Check the effectiveness of the protective device mounted to the machine, using all

selectable operating modes as specified in the checklist in the annex (see section 13.2

“Manufacturer’s checklist” on page 77).

 Make sure that the operating personnel of the machine protected by the safety laser

scanner are properly instructed by specialist personnel before being allowed to operate the machine. Instructing the operating personnel is the responsibility of the machine

owner.

 Ensure that the information label Important information, which is included with the

laser scanner on delivery, is affixed to the machine in a place where it is clearly visible for the operators. Ensure that the operators have the possibility to perform this daily

check correctly.

 The annex to this document includes a checklist for review by the manufacturer and

OEM. Use this checklist as a reference before commissioning the system for the first time (see section 13.2 “Manufacturer’s checklist” on page 77).

 Document the adjustment of the scanner and the results of the testing during initial

commissioning in a traceable manner. For this purpose also print out the complete

configuration of the scanner (including protective field shapes) and include these with the documentation.

Your SICK subsidiary will be pleased to provide you with advice on initial commissioning.

Safety Laser Scanner Chapter 8

S200



WARNING

Commissioning

8.3.2 Regular inspection of the protective device by qualified personnel

 Check the system following the inspection intervals specified in the national rules and

regulations. This procedure ensures that any changes on the machine or manipulations of the protective device after the first commissioning are detected.

 If major changes have been made to the machine or the protective device, or if the

safety laser scanner has been modified or repaired, check the plant again as per the

checklist in the annex (see section 13.2 “Manufacturer’s checklist” on page 77).

8.3.3 Daily testing of the protective device by a specialist or authorised personnel

The effectiveness of the protective device must be checked daily by a specialist or by authorised personnel. The test must also be performed if the operating mode is changed.

No further operation if errors occur during the test!

If any one of the following points is not met, it is not permitted to continue to work on the machine or operate the vehicle. In this case the installation of the S200 must be checked

by specialised personnel (see section 8.3.2 “Regular inspection of the protective device by qualified personnel” on page 53).

 Check the mechanical installation to ensure that all mounting screws are secure and

that the is properly aligned S200.

 Check each S200 device for visible changes such as damage, manipulation etc.

 Switch on the machine/plant.

 Watch the LEDs on each S200.

 If not at least one LED of each S200 is permanently lit when the machine/plant is

switched on, it is to be assumed that there is a fault in the machine or plant. In this case the machine must be shut down immediately and checked by a specialist.

 Deliberately obstruct the protective field without risk to any personnel while the machine

is running in order to test the effectiveness of the entire system. The LEDs of the S200

device must change from green to red and the dangerous movement must stop immediately.

Repeat this test at different points in the danger area and on all S200 devices . If you discover any non-conformance of this function, the machine/plant must be shut down

immediately and checked by a specialist.

 For stationary applications, check that the danger area marked out on the floor matches

the shape of the protective field stored in the S200 and that any gaps are protected by additional safety measures. In the case of mobile applications, check that the moving

vehicle actually stops in a timely manner at the protective field boundaries which are set in the S200 and listed on the information label on the vehicle or in the configuration

protocol. If you discover any non-conformance of this function, the machine/plant/vehicle must be stopped immediately and checked by a specialist.

Chapter 9 Safety Laser Scanner

Care and maintenance

S200

9 Care and maintenance

Do not make any repairs to the device!



WARNING

Note

The S200 does not contain any repairable components. For this reason do not open the

200 components and only replace the parts that are described in the following chapters

as replaceable.

Switch the entire machine/system off line!

The system could inadvertently start up while you are replacing the optics cover. As a matter of principle, always isolate the machine from the power supply during all work on

the machine and safety laser scanner.

9.1 Cleaning optics cover

The S200 safety laser scanner is largely maintenance-free. The optics cover on the safety laser scanner should however be cleaned regularly and if it is contaminated.

 Do not use aggressive detergents.

 Do not use abrasive cleaning agents.

Static charges cause dust particles to be attracted to the optics cover. You can diminish this effect by using the anti-static plastic cleaner (SICK Part No. 5600006) and the SICK

lens cloth (Part No 4003353) (see section 12.3 “Accessories/spare parts” on page 74).



WARNING

Notes

How to clean the optics cover:

 Use a clean and soft brush to remove dust from the optics cover.

 Now wipe the window for light output on the optics cover with a clean and damp cloth.

9.2 Replacing optics cover

Perform an optics cover calibration with the aid of the CDS after the replacement of the optics cover!

The level of contamination is measured continuously during the operation of the S200. For

this purpose the optics cover calibration must first be performed; this then serves as a reference for the contamination measurement (status = not contaminated).

The optics cover calibration is only allowed to be performed with a new optics cover! The new optics cover must be free of contamination at the time of the optics cover calibration.

The optics cover calibration should be performed at room temperature (10<30 °C)!

If the optics cover is scratched or damaged, you must replace the optics cover. Order the

replacement optics cover from SICK (see section 12.3 “Accessories/spare parts” on page 74).

 The optics cover on the S200 is an optical part that must not be soiled or scratched on

replacement.

 The optics cover is only allowed to be replaced by specialist personnel in a dust and dirt-

free environment.

 Never replace the optics cover during ongoing operation, as internal parts may be

irreparably damaged in certain circumstances and dust particles may enter the device.

 It is imperative that you avoid contamination of the inside, e.g. with fingerprints.

Safety Laser Scanner Chapter 9

Fig.40:

Undo the fixing



S200

Notes

screws for the front screen

Care and maintenance

 Do not use any additional sealant for sealing the optics cover, e.g. silicon, as these

ubstances may affect the optics.

Mount the optics cover as per the following instructions to ensure that the housing is



sealed to IP 65.

This is how you replace the optics cover:

 Only use a new optics cover (see 12.3.8 on page 75).

 When replacing the optics cover, take ESD protection measures.

 Set a torque wrench to 1.2 Nm (hand-tight) and have this at hand.

 Disconnect the system plug and remove the S200.

 Take the S200 to a clean place (office, repair shop or similar).

 First clean the outside of the S200. This prevents foreign bodies entering the device

when it is opened.

 Undo the fixing screws  to  for the optics cover.







 Then remove the optics cover.

 Check whether the mirror on the motor is clean and remove any contamination with an

optic brush.

 Take the new optics cover out of the packaging and remove the protection for the seal.

 Remove any remnants of packaging.

 Place the optics cover on the laser scanner and fit the new fixing screws  to .

 When fitting the new cover, ensure the arrow on the top of the cover points to the front

and that the optics cover is fully in contact without a gap.

 Then tighten the front screws with the torque set.

 Make sure the optics cover is free of dirt and that it is not damaged.

Re-commissioning the S200:

 Correctly re-mount the S200 (see chapter 4 “Mounting” on page 27).

 Connect the S200 system plug.

 Then perform an optics cover calibration with the aid of the CDS.

Chapter 10 Safety Laser Scanner

Tab.13:

Status indicat

ors

Diagnostics

S200

10 Diagnostics

This chapter describes how to identify and remedy errors and malfunctions during the

operation of the safety laser scanner.

10.1 In the event of faults or errors

Do not operate if behaviour is unclear!



WARNING

Stop the machine, the system or the vehicle if you cannot clearly identify or allocate an

error and if you cannot safely remedy the malfunction.

10.2 SICK support

If you cannot remedy an error with the help of the information provided in this chapter, please contact your local SICK representative.

Make a note of the telephone number of your SICK subsidiary so that you or other users have this number easily at hand. You will find the telephone number on the rear of these

operating instructions.

during operation

Telephone number of your SICK subsidiary

10.3 Error and status indications on the LEDs

This section describes the meaning of the indications and LED error messages and how

you can respond. You will find a description of the indicators in section 3.6 “Indicators and outputs” on page 26, the connections for the outputs in section 5.1 “System connection”

on page 43.

Display Output level Possible cause

 



At the OSSDs Object in the protective field, OSSDs in the OFF

state

At the OSSDs Protective field unoccupied, OSSDs in ON

state

At the warning field

output

Object in warning field

Safety Laser Scanner Chapter 10

Tab.14:

LED error messages

S200

Diagnostics

Display Output level Possible cause Remedying the error

  







At the OSSDs

On the application

diagnostic output

At the Res_Req output

1 Hz

On the

error/contamination

output

On the application

diagnostic output

On the application

diagnostic output

1 Hz

On the application

diagnostic output

4 Hz

No operating voltage, or voltage too low

eset required  Operate the control

Optics cover

contaminated, no operation

Optics cover

contaminated, still in operation

System error  Pay attention to the

 Check the voltage

supply and activate,

if necessary.

switch for restarting

or resetting.

No error

 Clean the optics

cover.

 Clean the optics

cover.

error display of the

7<segment display or carry out a

diagnostics with the aid of the CDS.

 If necessary, switch

the device off and

back on again.

Chapter 10 Safety Laser Scanner

Tab.15:

Error and status

Diagnostics

S200

10.4 Error and status indications on the 7Csegment display

The lock-out operational status

In case of certain faults or an erroneous configuration, the system can go into the lock<out status. The 7<segment display on the safety laser scanner then indicates , , , , ,

, , , , , ,  or . To place the device back in operation, proceed as follows:



Rectify the cause of the fault as per Tab. 15.



 Switch the power supply for the S200 off and back on again.

Restart the laser scanner with the aid of the CDS.

This section explains the meaning of the error displays on the 7<segment display and how to respond to the messages. You will find a description of the positions and symbols on the

S200 in section 3.6 “Indicators and outputs” on page 26.

indications on the 7$segment display

Display Possible cause Remedying the error

, , ,, , , , 

 Object in protective

 Initialising the device  The display goes out automatically when the

 Waiting for

 or



 Error in control switch

   S200 faulty  Send the S200 to the manufacturer for

Power-up cycle — all segments are

activated sequentially.

field

configuration or

configuration not completed

EDM error  Check whether the contactors are working

for restarting or resetting

No error

S200 has been initialised.

If the display  does not go off:

 Check the system configuration with the aid

of the CDS. Transfer the corrected configuration to the S200 again.

No error

 Prepare a configuration with the aid of the

CDS (Configuration & Diagnostic Software) or transfer an existing configuration to the

S200.

correctly or if they are wired incorrectly and

rectify any error.

 If  is displayed: Switch the device off and

back on again.

 Check the functionality of the control switch.

The button may be defective or operated.

 Check the wiring of the control switch for

short-circuit to 24 V.

repair.

   Overcurrent on OSSD

connection 1

   Short-circuit to 24 V at

OSSD connection 1

 Check the switching element connected

(contactor, relay). Replace, if necessary.

 Check the wiring for short-circuit to 0 V.

 Check the wiring for short-circuit to 24 V.

Safety Laser Scanner Chapter 10

S200

Diagnostics

Display Possible cause Remedying the error

   Short-circuit to 0 V at

OSSD connection 1

   Overcurrent on OSSD

connection 2

   Short-circuit to 24 V at

SSD connection 2

   Short-circuit to 0 V at

OSSD connection 2

   Short-circuit between

OSSD connection 1 and 2

   General OSSD wiring

error

   Maximum measuring

range exceeded

 Check the wiring for short-circuit to 0 V.

 Check the switching element connected

(contactor, relay). Replace, if necessary.

 Check the wiring for short-circuit to 0 V.

 Check the wiring for short-circuit to 24 V.

 Check the wiring for short-circuit to 0 V.

 Check the wiring and rectify the error.

 Check the complete wiring of the OSSDs.

 For the correct function of the safety laser

scanner, always ensure that measured

values are received within a sector of 90°. In this sector the laser scanner must detect,

e.g., building walls within its maximum measuring range of 30 m.

   Device is dazzled  Check whether the S200 is being dazzled by

an external light source, e.g. headlight, infrared light sources, stroboscopic light,

sun etc. If necessary, re-mount the device.

   Temperature error. The

operating temperature

of the S200 has exceeded the

permissible range.

   Invalid configuration of

the EDM

   There is a short-circuit

between the input for

the control switch for restarting or resetting

and another input or output.

 Check whether the S200 is operated as per

the permissible ambient conditions.

 Verify that the EDM on the machine

controller is connected.

 Check the cabling for cross-circuits.

Chapter 10 Safety Laser Scanner

Diagnostics

S200

Display Possible cause Remedying the error

Note

 Stand-by mode,

the OSSDs are in the

OFF state, the laser is switched off.

 



   Dazzling of the

If you have problems during troubleshooting, contact SICK support. Keep a copy of the

print out of the results of the diagnostics at hand.

indow for light output

W on the optics cover

contaminated

contamination measurement (there

may not be an optics cover fitted)

No error. If the criteria for the stand-by mode are withdrawn, readiness for operation is re-

established. If the display  does not go off:

 Check the level on the STBY input.

Clean the window for the light output on the



optics cover.

 Check whether the S200 is being dazzled by

an external light source, e.g. headlight, infrared light source, stroboscopic light, sun

etc.

 Fit the new optics cover (then perform optics

cover calibration).

10.5 Extended diagnostics

The CDS software supplied with the device (Configuration & Diagnostic Software) includes extended diagnostic options. It allows you to narrow down the problem if the error is non-

specific or if you experience usage downtime problems. Detailed information to be found …

 in the online help for the CDS (Configuration & Diagnostic Software).

 in the user manual for the CDS.

Safety Laser Scanner Chapter 11

Fig.41:

Diagram of scanning

Reflectivity [%]

Scanning range [m]

Black shoe leather

0.112100.2

0.5125102050520

100

200

500

Mat black paint

White plaster

Writing paper

Reflectors

2000

Protective field

Warning field

S200

Technical specifications

11 Technical specifications

11.1 Characteristics

ranges for various reflectances

Reflective films > 300%

Grey cardboard

11.2 OSSD response times

The total response time of your application is dependent on …

 the basic response time of the S200.

 the multiple sampling set.

 the OSSDs used.

How to calculate the total response time T

=tB+ T

MFA

Where …

= Basic response time = 80 ms

= Supplement due to multiple sampling > 2

MFA

Chapter 11 Safety Laser Scanner

Tab.16:

Supplements for

Technical specifications

S200

Multiple sampling

On the S200 at least double multiple sampling is always set. For a multiple sampling of 3

r higher you must add a supplement of 80 ms to the basic response time.

multiple sampling

Multiple sampling Supplement Basic response time + supplement

2 times (basic setting) 0 ms 80 ms

3 times 40 ms 120 ms

4 times 80 ms 160 ms

5 times 120 ms 200 ms

6 times 160 ms 240 ms

7 times 200 ms 280 ms

8 times 240 ms 320 ms

9 times 280 ms 360 ms

10 times 320 ms 400 ms

11 times 360 ms 440 ms

12 times 400 ms 480 ms

13 times 440 ms 520 ms

14 times 480 ms 560 ms

15 times 520 ms 600 ms

16 times 560 ms 640 ms

Safety Laser Scanner Chapter 11

Fig.42:

Diagram of the test

40 ms

120ms120ms120msApprox.

OSSD1

OSSD2

S200

Technical specifications

11.3 Timing behaviour of the OSSDs

he S200 tests the OSSDs immediately after switch on and then at regular intervals. For

T this purpose the S200 briefly switches off both OSSDs (for 300 µs) and checks whether

the OSSDs switch to the OFF state during this time.

Note

pulses at the OSSDs

Ensure that the safety inputs on the controller used do not respond to these test pulses

and as a result cause the machine or system to unintentionally shutdown!

35 ms

  

Approx. 35 ms after the switch on of the OSSDs, the S200 performs the first voltage test  and then after a half basic response time (40 ms) performs a second voltage test .

After a further half basic response time of the S200 there is a shut-down test  , 120 ms later a further voltage test . Then the S200 performs a shut-down test and a voltage test

alternately at an interval of 120 ms. Fig. 43, Fig. 44 and Fig. 45 show the pulse durations for the individual tests.

Chapter 11 Safety Laser Scanner

Fig.43:Voltage test after

Fig.44:

Shut-down test

Fig.45:

Voltage test

600µs300µs300

µs

OSSD1

OSSD2

600µs300µs300µsOSSD1

OSSD2

300µsOSSD1

OSSD2

switching on the OSSDs

Technical specifications

S200

Safety Laser Scanner Chapter 11

Tab.17:

Data sheet

S200

Technical specifications

11.4 Data sheet

Minimum Typical Maximum

General data

Laser protection class Laser class 1 (IEC 60825<1:2001.

Complies with 21 CFR 1040.10 and

1040.11)

Enclosure rating IP 65 (EN 60529)

Protection class according to DIN VDE 0106, DIN EN 50178

Type according to IEC 61496<12

Functional safety of electrical, electronic and

programmable electronic safety-related systems (IEC/EN 61508)

Operating temperature range –10 °C +50 °C

Storage temperature range –25 °C +70 °C

Humidity (taking into account the operating temperature range)

Vibration IEC/EN 61496<1, section 5.1.2 and

Frequency range 10 Hz 150 Hz

Amplitude 0.35 mm or 5 g

Shock resistance According to IEC/EN 61496<1,

Single shock 15 g, 11 ms

Continuous shock 10 g, 16 ms

Sender Pulsed laser diode

Wavelength 895 nm 905 nm 915 nm

Divergence of the collimated beam (solid

angle)

Pulse duration 4.5 ns

Average output power 1.5 µW

Light spot size at optics cover 8 mm

Size of light spot at 1.5 m scanning range 28 mm

SIL1

max. 24 h

IEC/EN 61496<1, section 5.1.2 and

5.4.2, as well as IEC 61496<3, section 5.4.2

5.4.4.1, as well as IEC 61496<3,

section 5.4.4.1

section 5.1 and 5.4.4.2, as well as IEC 61496<3, section 5.4.4.2

14 mrad

Chapter 11 Safety Laser Scanner

Technical specifications

S200

Minimum Typical Maximum

Housing

Material Aluminium die-cast

Colour RAL 1021 (rape yellow)

Optics cover

Material Polycarbonate

Surface finish Outside with scratch-resistant coating

System plug ESD protected

Material Aluminium die-cast

Colour RAL 9005 (black)

Dimensions S200

Height 152 mm

Width 102 mm

Depth 105 mm

Total weight (without connecting cables) 1.2 kg

Functional data

Resolution 30, 40, 50, 70 mm

Protective field of the S200

At 30 mm resolution 1.25 m

At 40, 50, 70 mm resolution 1.50 m

Scan angle 270°

Reflectivity 1.8% Several

1000%

(reflec-

)

tors

Angular resolution 0.5°

Protective field supplement generally

100 mm

necessary

Supplement for retroreflectors in scan plane

200 mm at a distance of less than 1 m to the protective

field boundary

Evenness of the scan field at 1.5 m ±50 mm

Distance from mirror axis of rotation (zero

55 mm

point on the X< and Y axis) to the rear of the device

Distance between centre of the scan plane

116 mm

and the bottom edge of the housing

Warning field

8 m

Distance measuring range 30 m

Without fixing screws and projection of cable glands with system plug mounted.

Complies with Diamond Grade 3000X™ (approx. 1250 cd/lx × m²).

The detection capability of the warning field is dependent on the remission of the objects to be detected (see section 11.1 on page 61).

Safety Laser Scanner Chapter 11

S200

Technical specifications

Minimum Typical Maximum

Number of multiple samplings

216

(configurable via CDS)

Power-up delay

Of a configured device 15 s 25 s

Restart after (configurable) 2 s 60 s

Electrical data

Supply voltage (SELV)

Permissible residual ripple

Switch on current

)

16.8 V 24 V 30 V

±5 %

2 A

Operating current at 24 V without output load 0.25 A 0.33 A

Operating current with max. output load 1.65 A

Power consumption without output load 6 W8 W

Power consumption with maximum output

40 W

load

Electrical connection System plug with screw terminal

connections

Technical specifications, screw type

terminal FE

Cross-section of rigid cores 0.3 mm² 1.6 mm²

Cross-section of flexible cores

0.3 mm² 1.6 mm²

American Wire Gauge (AWG) 22 14

Insulation stripping length for the cores 5 mm

Screw tightening torque 0.5 Nm

Technical specifications, screw terminals

Cross-section of rigid cores 0.14 mm² 1.5 mm²

Cross-section of flexible cores

0.14 mm² 1.0 mm²

American Wire Gauge (AWG) 26 16

Insulation stripping length for the cores 5 mm

Screw tightening torque 0.22 Nm 0.3 Nm

Cable length for power supply tolerance ±10%

For wire cross-section 1 mm² 50 m

For wire cross-section 0.5 mm² 25 m

For wire cross-section 0.25 mm² 12 m

The voltage supply must be capable of buffering brief mains voltage failures of 20 ms as specified in EN 60204. Suitable power supplies are available as accessories from SICK (Siemens series 6 EP 1 — as per DIN 40839<1, test pulse 5 (Load Dump) limited to 58 V, tested!)

The absolute voltage level must not drop below the specified minimum voltage.

The load currents for the input capacitors are not taken into account.

Core terminating sleeves are not required.

Chapter 11 Safety Laser Scanner

Technical specifications

S200

Minimum Typical Maximum

Cable length for power supply tolerance ±5%

For wire cross-section 1 mm² 60 m

For wire cross-section 0.5 mm² 30 m

For wire cross-section 0.25 mm² 15 m

Cable length for power supply tolerance ±1%

For wire cross-section 1 mm² 70 m

For wire cross-section 0.5 mm² 35 m

For wire cross-section 0.25 mm² 17 m

Input for control switch for restarting or resetting

Input resistance when HIGH 2 k

Voltage for HIGH 11 V 24 V 30 V

Voltage for LOW –3 V 0 V 5 V

Input capacitance 15 nF

Static input current 6 mA 15 mA

Input EDM

Input resistance when HIGH 2 k

Voltage for HIGH 11 V 24 V 30 V

Voltage for LOW –3 V 0 V 5 V

Input capacitance 15 nF

Static input current 6 mA 15 mA

Stand-by mode input

Input resistance when HIGH 2 k

Voltage for HIGH 11 V 24 V 30 V

Voltage for LOW –3 V 0 V 5 V

Input capacitance 15 nF

Static input current 6 mA 15 mA

Safety Laser Scanner Chapter 11

Technical specifications

S200

Minimum Typical Maximum

OSSDs

Output signal switching device pair 2 PNP semiconductors, short-circuit

protected

, cross-circuit monitored

HIGH switching voltage at 250 mA UV– 2.7 V U

Switching voltage LOW 0 V 0 V 3.5 V

Source switching current

Leakage current

6 mA 0.25 A

250 µA

Load inductance 2.2 H

Load capacity 2.2 µF at

50 

Switching sequence (without switching) 5 1/

Permissible cable resistance

Test pulse width

14)

13)

2.5 

230 µs 300 µs

Test frequency 120 ms

Switching time of the OSSDs from red to

120 ms

green

Time offset on switching the OSSDs between

2 ms

OSSD2 and OSSD1

Application diagnostics outputs warning field, contamination of the optics cover/error, reset

required

HIGH switching voltage at 200 mA UV– 3.3 V U

Source switching current 100 mA 200 mA

Current limiting (after 5 ms at 25° C) 600 mA 920 mA

Power up delay 1.4 ms 2 ms

Switch off delay 0.7 ms 2 ms

10)

Applies to the voltage range between Vsand 0 V.

11)

Switching currents up to 500 mA are allowed briefly (100 ms).

12)

In the case of a fault (0-V cable open circuit) maximally the leakage current flows in the OSSD cable. The downstream controller must detect this status as LOW. A FPLC (fail-safe programmable logic controller) must be able to identify this status.

13)

Make sure to limit the individual line core resistance to the downstream controller to this value to ensure that a cross-circuit between the outputs is safely detected. (Also note EN 60204<1.)

14)

When active, the outputs are tested cyclically (brief LOW). When selecting the downstream controllers, make sure that the test pulses do not result in deactivation.

Chapter 11 Safety Laser Scanner

Technical specifications

S200

Minimum Typical Maximum

Configuration and diagnostics interface

Communication protocol RS<232 (proprietary)

Transmission speed 38400 Baud

Cable length at 38400 Baud and 0.25-mm² cables

Galvanic de-coupling No

Output TxD HIGH 5 V15 V

Output TxD LOW –15 V –5 V

Voltage range RxD –15 V 15 V

Switching threshold RxD LOW –15 V 0.4 V

Switching threshold RxD HIGH 2.4 V 15 V

Short-circuit current at TxD –60 mA 60 mA

Max. voltage level at RxD –15 V 15 V

Max. voltage level at TxD –11 V 11 V

15 m

Safety Laser Scanner Chapter 11

Fig.46:

S200

dimensional

Fig.47:

Dimensional drawing,

21.9

15.9

10.5



M5 × 7.5

Technical specifications

S200

11.5 Dimensional drawings

11.5.1 S200

drawing (mm)

79.3

±0.2

M5 × 7.5

102

54.5

106

mounting kit 1a

11.5.2 Mounting kits

74.7

152

36.5

116

15.7

79.3

DIN74$F5

110.2

Chapter 11 Safety Laser Scanner

Fig.48:

Dimensional drawing,

Fig.49:

Dimensional drawing,



15.9

19.7

37.7

33.41818

19.7

Technical specifications

S200

mounting kit 1b

mounting kit 2

74.7

109.6

15.7

100

110.2

DIN74$F5

40.7

78.2

139.4

130

118.5

Safety Laser Scanner Chapter 11

Fig.50:

Dimensional drawing,

Fig.51:

Dimensional drawing

20.5

146

130

54.5

270°

Technical specifications

S200

mounting kit 3

158.8

150

of the scan plane with mounting kit 1a (mm)

11.5.3 Scan plane origin

130

23.8

116

36.4

74.7

69.7

59.7

126

106

Max. 200

Min. 15Min. 15

Chapter 12 Safety Laser Scanner

Tab.18:

Part number of the

Tab.19:

Part numbers

Tab.20:

Part numbers

Ordering information

S200

12 Ordering information

12.1 Delivery S200

 safety laser scanner

 operating instructions and CDS (Configuration & Diagnostic Software) on CD-ROM

 information label Important information

Note

System plugs not included.

System plugs without cable and pre-assembled system plugs are available from SICK AG (see section 12.3.2 “System plug” on page 74). For further information see section 5.2

“System plug assembly” on page 45 and section 5.3 “Pre-assembled system plugs” on page 46.

12.2 Available systems

system

mounting kit

Device type Part Part number

S20B-1011BA S200 1026823

12.3 Accessories/spare parts

12.3.1 Mounting kits

Mounting kit Description Part number

1a Mounting bracket for direct mounting at the rear

on wall or machine.

1b Mounting bracket for direct mounting at the rear

on wall or machine, with protection for the optics cover.

2 Mounting bracket only in conjunction with

mounting bracket 1a or 1b. Cross-wise

adjustment possible.

3 Mounting plate only in conjunction with mounting

bracket 2. Length-wise adjustment possible

12.3.2 System plug S200

2034324

2034325

2039302

2039303

system plugs S200

System plug Features Description Part number

SX0B-A0000G Without cable 2032807

SX0B-B1105G Pre-assembled, 5 m long

SX0B-B1110G Pre-assembled, 10 m long

SX0B-B1120G

One M16 cable gland and one M12 blanking plug,

on the rear

cable, 11 cores

Pre-assembled, 20 m long cable, 11 cores

2032859

2032860

2032861

Safety Laser Scanner Chapter 12

Tab.21:

Part numbers

Tab.22:Part numbers

Tab.23:

Part numbers

Tab.24:

Part numbers safety

Tab.25:

Part numbers safety

Tab.26:

Part numbers

S200

Ordering information

12.3.3 Service cable

service cables

connecting cables

documentation

Part Description Part number

Service cable 2 m For connecting the configuration connection to

6021195

the serial interface on the PC M8, 4 pin/D<Sub 9 pin (DIN 41642) approx. 2 m

Service cable 8 m For connecting the configuration connection to

2027649

the serial interface on the PC M8, 4 pin/D<Sub 9 pin (DIN 41642) approx. 8 m

12.3.4 Self assembly connecting cables

Part Part number

15-core, cross-section 0.56 mm² ( AWG 20) in 100-m reel 6030795

12.3.5 On the documentation

Part Part number

CDS (Configuration & Diagnostic Software) for S200 on CD-ROM

2032314 including online documentation and operating instructions in all

available languages

12.3.6 Safety relays

relays

controllers

miscellaneous

Part Description Part number

UE10<3OS2 Safety relay UE10<3OS with two screw type

6024917

terminals

UE10<3OS3 Safety relay UE10<3OS with three plug-in

6024918

terminals

12.3.7 Safety controllers

Part Description Part number

UE440-A0410 Safety controller for multifunctional applications 1023859

UE470-A0410 Safety controller for press applications 1023862

12.3.8 Miscellaneous

Part Description Part number

Optics cover Spare parts set for optics cover with replacement

2039248

seal and screws

Plastic cleaner Plastic cleaner and care product, anti-static,

5600006

1 litre

Lens cloth Cloth for cleaning the optics cover 4003353

Power supply, 2.5 A Power supply, 24 V DC, 2.5 A 6010361

Power supply, 4 A Power supply, 24 V DC, 4 A 6010362

Chapter 13 Safety Laser Scanner

Annex

S200

13 Annex

13.1 Declaration of conformity

Note

You can obtain the complete EC declaration of conformity via the SICK homepage on the

Internet at: www.sick.com

Safety Laser Scanner Chapter 13

S200

Annex

13.2 Manufacturer’s checklist



Checklist for the manufacturer/installer for the installation of electro-sensitive protective equipment (ESPE)

Details about the points listed below must be present at least during initial commissioning — they are, however, dependent on the respective application, the specifications of which are to be controlled by the manufacturer/installer.

his checklist should be retained and kept with the machine documentation to serve as reference during recurring

T tests.

1. Have the safety rules and regulations been observed in compliance with the directives/standards

applicable to the machine?

2. Are the applied directives and standards listed in the declaration of conformity? Yes  No 

3. Does the protective device comply with the required control category? Yes  No 

4. Is the access to the hazardous area/hazardous point only possible through the protective field of

the ESPE?

5. Have measures been taken to prevent and monitor unauthorised presence in the hazardous area

when hazardous area/hazardous point protection (mechanical point-of-operation guarding), and

have these been secured against removal?

6. Are additional mechanical protective measures fitted and secured against manipulation which

prevent reaching under, over or around the ESPE?

7. Has the maximum stopping and/or stopping/run-down time of the machine been measured,

specified and documented (at the machine and/or in the machine documentation)?

8. Has the ESPE been mounted such that the required safety distance from the nearest hazardous

point has been achieved?

9. Are the ESPE devices correctly mounted and secured against manipulation after adjustment? Yes  No 

10. Are the required protective measures against electric shock in effect (protection class)? Yes  No 

11. Is the control switch for resetting the protective device (ESPE) or restarting the machine present

and correctly installed?

12. Are the outputs of the ESPE (OSSDs) integrated in compliance with the required control category

and does the integration comply with the circuit diagrams?

13. Has the protective function been checked in compliance with the test notes of this

documentation?

14. Are the given protective functions effective at every setting of the operating mode selector switch? Yes  No 

15. Are the switching elements activated by the ESPE, e.g. contactors, valves, monitored? Yes  No 

16. Is the ESPE effective over the entire period of the dangerous state? Yes  No 

17. Once initiated, will a dangerous state be stopped when switching the ESPE on or off and when

changing the operating mode, or when switching to another protective device?

18. Has the information label “Important Information” for the daily check been attached so that it is

easily visible for the operator?

This checklist does not replace the initial commissioning, nor the regular inspection by specialist personnel.

Yes  No 

Chapter 13 Safety Laser Scanner

Annex

S200

13.3 Glossary

ctive opto-electronic protective device responsive to diffuse reflection = active opto-

AOPDDR

External device

monitoring (EDM)

Field set

Optics cover

OSSD

Protective field

Reflectivity

Resolution/

object resolution

Restart interlock

Warning field

A electronic protective device responsive to diffuse reflection (e.g. S200, see also IEC 61496<3)

(External device monitoring) A device that electronically monitors the relay or contactor

operated by the protective device prior to each new start.

Protective field and warning field form a pair, the so-called field set.

Plastic part with window for light output. The optics cover is available as a spare part.

(Output signal switching device) The OSSD output is the switching output on the S200.

This is a semiconductor output and is periodically tested for correct function. The S200 has two OSSD outputs that operate in parallel; for safety reasons these must be evaluated

using two channels.

The protective field secures the hazardous area on a machine or vehicle. As soon as the

safety laser scanner detects an object in the protective field, it switches the OSSDs to the OFF state and thus initiates the shutdown of the machine or stop of the vehicle.

Reflection of luminance. A measure of the reflectivity is the reflectance defined as the ratio of the luminance reflected from a surface in the measuring direction and the luminance of

a completely matt white surface (white standard).

The minimum size of an object that is acquired by the protective device and is guaranteed

by the manufacturer.

The restart interlock is a protective device. In certain situations it prevents the machine

from automatically restarting. This applies, e.g., after the scanner function has triggered during a dangerous machine state, after a change to the operating mode or the method of

activation of the machine, or after the change to the start control device on the machine.

The warning field is a field with a radius of up to 8 m (see section 11.1 “Characteristics” on

page 61). Using this field larger areas can be controlled and simple switching functions (e.g. warning functions) triggered. The warning field is not allowed to be used for tasks

related to personnel protection.

Safety Laser Scanner Chapter 13

S200

Annex

13.4 List of tables

ab. 1: Overview on disposal by components ....................................................................11

Tab. 2: Functions of the S200.............................................................................................14

Tab. 3: Maximum protective field ranges at different resolutions....................................20

Tab. 4: Behaviour of the S200 on a contactor malfunction..............................................22

Tab. 5: Recommended multiple sampling..........................................................................25

Tab. 6: Advantages and disadvantages of mounting variations .......................................30

Tab. 7: Terminal assignment at the system plug ...............................................................44

Tab. 8: Pin assignment: pre-assembled system plug ........................................................46

Tab. 9: 7<segment display during and after the power up sequence on initial

commissioning.........................................................................................................50

Tab. 10: LED indication after the power up sequence.........................................................51

Tab. 11: 7<segment display during and after the power up sequence on re-

commissioning.........................................................................................................51

Tab. 12: LED indication after the power up sequence.........................................................52

Tab. 13: Status indicators during operation .........................................................................56

Tab. 14: LED error messages ................................................................................................57

Tab. 15: Error and status indications on the 7<segment display.........................................58

Tab. 16: Supplements for multiple sampling .......................................................................62

Tab. 17: Data sheet S200 .....................................................................................................65

Tab. 18: Part number of the system......................................................................................74

Tab. 19: Part numbers mounting kit .....................................................................................74

Tab. 20: Part numbers system plugs S200 ..........................................................................74

Tab. 21: Part numbers service cables ..................................................................................75

Tab. 22: Part numbers connecting cables ............................................................................75

Tab. 23: Part numbers documentation .................................................................................75

Tab. 24: Part numbers safety relays .....................................................................................75

Tab. 25: Part numbers safety controllers .............................................................................75

Tab. 26: Part numbers miscellaneous ..................................................................................75

Chapter 13 Safety Laser Scanner

Annex

S200

13.5 List of illustrations

ig. 1: Device components ................................................................................................13

Fig. 2: Principle of operation, time of flight measurement by the S200 ......................... 15

Fig. 3: Principle of operation, rotation of the S200.......................................................... 15

Fig. 4: Protective field, warning field and distance measuring range ............................. 16

Fig. 5: Hazardous area protection with one monitored area........................................... 17

Fig. 6: Point-of-operation guarding.................................................................................... 17

Fig. 7: Hazardous point protection .................................................................................... 18

Fig. 8: Access protection.................................................................................................... 18

Fig. 9: Reading protective field or warning field ............................................................... 19

Fig. 10: Schematic diagram of contour as reference......................................................... 21

Fig. 11: Contour as reference for vertical operation...........................................................21

Fig. 12: Contour as reference for horizontal operation...................................................... 22

Fig. 13: Schematic outline of the operation with restart interlock .................................... 24

Fig. 14: Status indicators on the S200 ............................................................................... 26

Fig. 15: Horizontal stationary application ...........................................................................28

Fig. 16: Safety distance S ....................................................................................................29

Fig. 17: Mounting variations for the scan plane................................................................. 30

Fig. 18: Relationship between resolution and protective field mounting height ..............31

Fig. 19: Access protection.................................................................................................... 32

Fig. 20: Safety distance to the hazardous area.................................................................. 34

Fig. 21: Unprotected areas ..................................................................................................36

Fig. 22: Preventing unprotected areas................................................................................ 36

Fig. 23: Prevent crawling beneath, standing behind, climbing over.................................. 37

Fig. 24: Direct mounting....................................................................................................... 38

Fig. 25: Mounting with mounting kit 1a ..............................................................................38

Fig. 26: Mounting with mounting kit 1b incl. protection for the optics cover.................... 39

Fig. 27: Mounting with mounting kit 2 ................................................................................40

Fig. 28: Opposite mounting.................................................................................................. 41

Fig. 29: Offset parallel mounting .........................................................................................41

Fig. 30: Mounting on a cross ...............................................................................................41

Fig. 31: Reverse mounting, parallel offset.......................................................................... 41

Fig. 32: Reverse mounting of two S200, with parallel offset............................................. 42

Fig. 33: Reverse mounting of one S200, with parallel offset ............................................ 42

Fig. 34: Screw terminal strip on the system plug ...............................................................43

Fig. 35: System plug SX0B-A0000G.................................................................................... 45

Fig. 36: Hazardous area protection..................................................................................... 47

Fig. 37: Access protection.................................................................................................... 47

Fig. 38: Connection diagrams for restart interlock and external device monitoring ........ 48

Fig. 39: Configuration connection........................................................................................49

Fig. 40: Undo the fixing screws for the front screen........................................................... 55

Fig. 41: Diagram of scanning ranges for various reflectances .......................................... 61

Fig. 42: Diagram of the test pulses at the OSSDs .............................................................. 63

Safety Laser Scanner Chapter 13

S200

Annex

Fig. 43: Voltage test after switching on the OSSDs.............................................................64

Fig. 44: Shut-down test.........................................................................................................64

Fig. 45: Voltage test ..............................................................................................................64

Fig. 46: S200 dimensional drawing (mm) ...........................................................................71

Fig. 47: Dimensional drawing, mounting kit 1a ..................................................................71

ig. 48: Dimensional drawing, mounting kit 1b ..................................................................72

ig. 49: Dimensional drawing, mounting kit 2.....................................................................72

Fig. 50: Dimensional drawing, mounting kit 3.....................................................................73

Fig. 51: Dimensional drawing of the scan plane with mounting kit 1a (mm)....................73

Chapter 13 Safety Laser Scanner

Annex

S200

Safety Laser Scanner Chapter 13

S200

Annex

02 A4 sw int26

The specified product features and technical data do not represent any guarantee

Subject to change without notice

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8011692/02-06-06

SICK AG | Waldkirch | Germany | www.sick.com

SICK S200 Operating Instructions Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 About this document

1.1 Function of this document

1.2 Target group

1.3 Scope

1.4 Depth of information

1.5 Abbreviations

1.6 Symbols used

2 On safety

2.1 Correct use

2.2 Specialist personnel

2.3 Applications of the device

2.4 General safety notes and protective measures

2.5 Environmental protection

2.5.1 Disposal

2.5.2 Separation of materials

2.6 Applicable directives and standards

3 Product description

3.1 Device components

3.2 Special features

3.3 Function

3.3.1 Principles of operation

3.3.2 Field set comprising of protective field and warning field

3.4 Applications

3.4.1 Stationary applications

3.4.2 Mobile applications

3.5 Configurable functions

3.5.1 Field set

3.5.2 Application and resolution

3.5.3 Using the contour as a reference

3.5.4 External device monitoring (EDM)

3.5.5 Application diagnostic output “Error/contamination”

3.5.6 Restart

3.5.7 Multiple sampling

3.5.8 Stand-by mode

3.5.9 Naming applications and laser scanners

3.6 Indicators and outputs

3.6.2 Outputs

4 Mounting

4.1 Stationary application in horizontal operation

4.1.1 Protective field size

4.2 Stationary vertical operation for access protection

4.2.1 Safety distance

4.3 Stationary vertical operation for hazardous point protection

4.3.1 Safety distance

4.4 Mobile applications

4.5 Methods of preventing unprotected areas

4.5.1 Near range

4.6 Mounting steps

4.6.1 Direct mounting

4.6.2 Mounting with mounting kit 1a or 1b

4.6.3 Mounting with mounting kit 2 and 3

4.6.4 Information label Important information

4.6.5 Using multiple S200 safety laser scanners

5 Electrical installation

5.1 System connection

5.1.1 Pin assignment on the system plug

5.1.2 OSSDs

5.1.3 Functional earth

5.2 System plug assembly

5.3 Pre-assembled system plugs

6 Application examples and connection diagrams

6.1 Stationary applications

6.1.1 Applications with one monitored area

6.2 Connection diagrams

6.2.1 Restart interlock and external device monitoring

7 Configuration

7.1 Default delivery status

7.2 Preparation of the configuration

8 Commissioning

8.1 Initial commissioning

8.1.1 Power up sequence

8.2 Re-commissioning

8.2.1 Power up sequence

8.3 Test notes

8.3.1 Pre-commissioning tests

8.3.2 Regular inspection of the protective device by qualified personnel