SICK S200 Operating Instructions Manual
S200
Safety Laser Scanner
OPERATING INSTRUCTIONS
GB
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.
2 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011692/02-06-06
Safety Laser Scanner
S200
Contents
Contents
1 About this document.........................................................................................................6
.1 Function of this document....................................................................................6
1
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
8011692/02-06-06 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 3
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
4.4 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
4 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011692/02-06-06
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
8011692/02-06-06 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 5
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
6 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011692/02-06-06
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).
8011692/02-06-06 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 7
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.
8 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011692/02-06-06
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 61496 part 1 and SIL1 in accordance with IEC 61508. The
t
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 60825<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 60825<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.
8011692/02-06-06 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 9
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
e
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 60204. 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
10 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011692/02-06-06
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
8011692/02-06-06 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 11
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 12100)
Industrial automation systems — Safety of integrated manufacturing systems —- Basic
requirements (ISO 11161)
Safety of machinery — Electrical equipment of machines — Part 1: General requirements
(IEC/EN 60204)
Safety of machinery. Safety distances to prevent hazardous points being reached by the
upper limbs (EN 294, IEC 13852)
Safety requirements for robots (EN 775, ISO 10218)
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 13855)
Safety of machinery — Principles for risk assessment (EN 1050, ISO 14121)
Safety of machinery — Safety-related parts of control systems — Part 1: General
principles for design (EN 954 part 1, ISO 13849 part 2)
Safety of machines — electro-sensitive protective equipment — part 1: General
requirements (IEC/EN 61496<1) as well as part 3: Special requirements for AOPDDR
(IEC 61496<3)
Safety of machinery — Application of protective equipment to detect the presence of
persons (IEC/TS 62046)
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”.
12 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011692/02-06-06
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
8011692/02-06-06 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 13
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
1)
8 m
Object resolution 30/40/50/70 mm
ield sets 1
F
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).
14 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011692/02-06-06
1)
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,
S
Receive pulse
Send pulse
S300
E
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
t
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 !
8011692/02-06-06 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 15
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:
h
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.
16 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011692/02-06-06
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.
8011692/02-06-06 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 17
Chapter 3 Safety Laser Scanner
Fig.7:
Hazardous point
Fig.8:
Access protection
Contour
Contour of the floor
Protective
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
C
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
18 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011692/02-06-06
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.
8011692/02-06-06 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 19
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).
20 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011692/02-06-06
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 61496<3 you must always configure the protective field with the contour as
reference function.
8011692/02-06-06 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 21
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
I
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
a
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.
22 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011692/02-06-06
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
or
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!
8011692/02-06-06 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 23
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.
24 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011692/02-06-06
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!
T
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
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.
8011692/02-06-06 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 25
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.
26 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011692/02-06-06
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