Practical Agv Application (Example) - Siemens SIMATIC FS600 Instruction Manual

The following points also apply for the switchover:
• The switchover must be made within 40 ms, i.e. after 40 ms one of the input
connections shown in Table 6.1-2 must be valid and provided stable. During the
switchover time the old zone pair is monitored; the new one after max. 80 ms.
• The switchover process executed by the control unit must concur with the laser
scanner's configuration, which was set beforehand with SIMATIC FS600
Parameterization Software LS4soft.
If these points are not observed the laser scanner will fail within 40 ms and will show this
with the additional 2 Hz flashing of the green LED 1.
6.2

Practical AGV Application (Example)

The following example shows the sequence of zone pair changeovers for an efficiently
implemented AGV under consideration of the ambient conditions. Please observe the
particular danger zone analysis for each detection zone in combination with the
corresponding route segments. Also note the safe sequences of changeovers and
starts. For information on programming the startup detection zones (detection zones
enabled for starting up the scanner) and on determining the sequence in which the
detection zones are to be activated, please see the "SIMATIC FS600 Parameterization
Software LS4soft" user's manual.
Activating
an FP
FP1
FP2
FP3
FP1
FP = 1 x detection zone + 1 x warning zone
Table 6.2-1:
If the AGV is controlled by a PLC, for instance, which corresponds to Cat. 3 or higher
according to DIN EN 954-1, the previous zone pair (FP) can be deactivated immediately
after the next zone pair has been activated, with no time delay.
This results in a faster switching sequence.
The applicable safety guidelines and standards as well as the operating instructions for
the systems must be strictly complied with.
AGV position
Straight section
2 m before the curve
Beginning of the curve
Straight section
Practical AGV Application
Deactivating AGV control of
an FP position
High speed
FP1 Low speed
FP2 Steering lock - curve
FP3 Steering lock - straight
High speed
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