SICK sBot Speed CIP KU Operating Instructions Manual
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SICK sBot Speed CIP KU Operating Instructions Manual

SICK sBot Speed CIP KU Operating Instructions Manual

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O P E R A T I N G I N S T R U C T I O N S
sBot Speed CIP – KU
Safety System

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Summary of Contents for SICK sBot Speed CIP KU

  • Page 1 O P E R A T I N G I N S T R U C T I O N S sBot Speed CIP – KU Safety System...
  • Page 2 This work is protected by copyright. Any rights derived from the copyright shall be reserved for SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Any modifica‐...

  • Page 3: Table Of Contents

    4.3.6 Emergency stop pushbutton requirements......8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...
  • Page 4 Preparing the project in KUKA.WorkVisual......O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...
  • Page 5 16.1.1 Checklist for initial commissioning and commissioning..8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...

  • Page 6: About This Document

    KR C4 EtherNet/IP 2.0 for KR C4 EtherNet/IP 2.0 V2 KUKA System Software 8.3 This document is included with the following SICK part numbers (this document in all available language versions): 8024755 O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU...

  • Page 7: Target Groups Of These Operating Instructions

    ✓ The check mark denotes the result of an instruction. 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU...

  • Page 8: Terminology Used

    Programmable controller that controls and monitors the actions of the robot. Further information www.sick.com The following information is available via the Internet: Operating instructions and mounting instructions of SICK components suitable for ■ the safety system Safety Designer configuration software ■...

  • Page 9: Safety Information

    Incorrect use, improper modification or manipulation of the safety system will invalidate any warranty from SICK; in addition, any responsibility and liability of SICK for damage and secondary damage caused by this is excluded.

  • Page 10: Safe State Of The Safety Outputs

    Voltage supply of the safety controller or the safety laser scanner interrupted O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 11: Product Description

    Product description Design of the overall system Design of the overall system The overall system comprises a total of three components: • Safety system (from SICK) • Robot • Safety command devices The safety system ends at all inputs and outputs that are not used to wire the compo‐...

  • Page 12: Requirements For The Application

    Pushbutton for restart Robot controller type KR C4 The robot controller is not part of the SICK safety system. Safety-relevant functions for the entire system are however executed in the robot controller. O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU...

  • Page 13: Human-Robot Interaction

    PRODUCT DESCRIPTION Table 5: Software Name Availability Pre-configured project file for Safety Designer SICK provides you with a ZIP archive when you with the following components: purchase the safety system. • Logic for safety controller • Configuration file of the safety laser scan‐...

  • Page 14: Automated Restart

    Figure 2: Movement path of a person for automated restart O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...
  • Page 15 Protective field PF2 is interrupted without protective field PF1 having been inter‐ rupted prior to this. 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU...
  • Page 16 Error status due to invalid protective field interruption sequence O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 17: Project Planning

    • Transparent objects are not detected. 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...

  • Page 18: Operating Entity Of The Overall System

    Position the safety laser scanner so that it meets all of the following criteria: O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...
  • Page 19 Safety laser scanner 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...
  • Page 20 Figure 9: Possible positions of the safety laser scanner when used with a physical guard Safety laser scanner O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 21: Protective Field Design

    There is never more than one person in the safety laser scanner’s monitored ° area. 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...
  • Page 22 The safety system evaluates the following cases as a person standing behind the pro‐ tective device: O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 23: Overlapping Protective Fields

    TZ of the microScan3 Core EFI-Pro safety laser scanner with protective field range of 5.5 m: 65 mm 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU...

  • Page 24: Minimum Distances Of Protective Fields Pf1 And Pf2 To The Hazardous Area

    PF1 and PF2 (S Diff O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...
  • Page 25 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU...
  • Page 26 "Response time of safety system", page 59 O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...
  • Page 27 • "Response time of safety system", page 59 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...
  • Page 28 The changes described here have no effect on the safety of the robot, but do affect the availability of the robot. O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 29: Minimum Distance To The Hazardous Area For Protective Field Pf3

    Minimum distance to hazardous area The protective field PF3 must be large enough that a person cannot step over the pro‐ tective field without interrupting it when doing so. SICK recommends a minimum size of 750 mm. 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP –...

  • Page 30: Robot Operating Modes

    The emergency stop pushbuttons must be pressed and tested at least every 12 months. O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 31: Requirements For The Reset Pushbutton And Restart Button

    Secure network: EtherNet/IP™ – CIP Safety™ • Non-secure network: EtherNet/IP™ 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...
  • Page 32 EXT_START Bit 0.3 $IN[3] CONF_MESS O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 33: Testing Plan

    (e.g., damage or manipula‐ tion). 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU...

  • Page 34: Mounting

    Information is included in the operating instructions for the components. O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 35: Electrical Installation

    Safety laser scanner > switch Robot controller > switch 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...
  • Page 36 Connection Function Emergency stop pushbutton O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...
  • Page 37 Not assigned Q1 … Q4 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...

  • Page 38: Configuration

    Software Tested version KUKA WorkVisual 4.0.29 Pre-configured project files SICK provides you with the preconfigured project file in a ZIP archive when you pur‐ chase the safety system. Checksum of the preconfigured project file: • In the delivery condition: 0xCFC93FEE •...

  • Page 39: Overview Of The Software Structure

    ↓ Protective field is interrupted. 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...

  • Page 40: Opening Project File

    The device overview view opens. O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 41: Connection Overview

    • Jump addresses for external signals 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...

  • Page 42: Emergency Stop Page

    This page contains the logic for the protective stop. O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 43: Safetyratedmonitoredspeed Page

    • "Automated restart", page 14 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...

  • Page 44: Robot Safety Signals Page

    Function block AND 5 Output Output 1 O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 45: Non-Secure Robot Signals Page

    VRED (PF1) STOP (PF2) RESET (PF3) 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...

  • Page 46: Configuring The Safety System Without Protective Field Pf3

    Transmit configuration to the Flexi Soft main module (see operating instructions 8013926). O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 47: Commissioning

    192.168.1.10 Finish configuration of the logic of the safety controller. 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU...

  • Page 48: Putting The Robot Controller Into Operation

    192.168.1.10 Subnet mask: 255.255.255.0 Example: O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 49: Configuring The Non-Safe Signals On The Smartpad

    $EXT_START $MOVE_ENABLE $CONF_MESS $DRIVES_ON Example: 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...

  • Page 50: Preparing The Project In Kuka.workvisual

    Management). Example: KUKA Option package O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 51: Activate Cip Safety In Kuka.workvisual

    Select Global Parameters. Select the Local safety configuration tab. 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...

  • Page 52: Setting The Ip Addresses In Kuka.workvisual

    192.168.1.10 Example: 8.3.7 Configuring the EFI-pro gateway as a target (slave) Approach In the browser, go to http://www.sick.com/1069070. Select Downloads > Software. Download the EDS file. In KUKA.WorkVisual, select the Hardware tab in the Project Structure area. Right-click on EtherNet/IP.

  • Page 53: Defining The Io Mapping In Kuka.workvisual

    0.4 VRED input. Signal level HIGH activates the reduction of the speed. 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU...

  • Page 54: Transferring The Settings To The Robot Controller

    Click on the Deploy button. ✓ The wizard opens. O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 55: Configuring The Safety Network Number In The Robot Controller

    Carry out the checks according to the instructions from the manufacturer of the machine and from the operating entity. 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU...

  • Page 56: Maintenance

    Information is included in the operating instructions for the components. O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 57: Troubleshooting

    If a connection exists, it is displayed in the CIP Safety Supervisor Status line as Executing. 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU...

  • Page 58: Operation

    O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 59: Technical Data

    The safety outputs via the network are logic 0. The external supply voltage must jumper a brief power failure of 20 ms as specified in IEC 60204-1. Suit‐ able power supply units are available as accessories from SICK. 12.2 Response time of safety system...
  • Page 60 Response time of the robot • Robot stopping/run-down time O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 61: Ordering Information

    Safety system sBot Speed CIP – KU software package 1614144 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU...

  • Page 62: Accessories

    Ethernet cable, D-cod‐ Suitable Suitable Suitable ing on RJ45, D-coding on RJ45 Not available from SICK Connectivity for safety laser scanner supply Table 40: Ordering information for connecting cable, M12, 4-pin, A-coding Part Type code Part number Female connector, angled, 5 m cable, flying...

  • Page 63: Emergency Stop And Reset Pushbutton

    6041507 Reset pushbutton ER12-SB3C4 6051330 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...

  • Page 64: Spare Parts

    EFI-pro safety laser scanner MICS3-ABAZ55ZA1P01 1092538 O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...

  • Page 65: Annex

    Note the designations of the tested emergency stop pushbuttons here. 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU...
  • Page 66 PF1. O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK Subject to change without notice...
  • Page 67 Actuate the restart button. Comments: 8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU Subject to change without notice...
  • Page 68 E-Mail office@sick.com.gr E-Mail info@sick.ru Vietnam Hong Kong Singapore Phone +65 6744 3732 Phone +852 2153 6300 Phone +65 6744 3732 E-Mail sales.gsg@sick.com E-Mail ghk@sick.com.hk E-Mail sales.gsg@sick.com Detailed addresses and further locations at www.sick.com SICK AG | Waldkirch | Germany | www.sick.com...

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