SICK sBot Speed - YA Operating Instructions Manual
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SICK sBot Speed - YA 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 – YA
Safety System

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Summary of Contents for SICK sBot Speed - YA

  • 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 – YA 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

    4.5.2 Interfaces and signals............. Testing plan....................8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA Subject to change without notice...
  • Page 4 12.1 Data sheet....................12.2 Response times..................O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...
  • Page 5 16.2 Requirements for automatic restart............16.3 Overview of sensors and actuators............8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...

  • Page 6: About This Document

    Operating instructions DX200 instructions for func‐ tional safety functions This document is included with the following SICK part numbers (this document in all available language versions): 8024617 Target groups and structure of these operating instructions These operating instructions are intended for the following target groups: project devel‐...

  • Page 7: Symbols And Document Conventions

    Guide for Safe Machinery (“Six steps to a safe machine”) ■ 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...

  • Page 8: Safety Information

    This safety system is only suitable for protecting against mechanical hazards caused by the movement 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 – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 9: Identifying Hazards

    8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...

  • Page 10: Safe State

    O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 11: Product Description

    Machines, devices, equipment, external auxiliary axes or sensors which support the robots in doing its task 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...
  • Page 12 Safety command devices Figure 2: Overall system overview O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 13: Safety System Function

    If the warning field is interrupted, the robot reduces its speed. If a protective field is interrupted, movement of the robot is stopped. 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...

  • Page 14: Product Characteristics

    Safety laser scanner Protective field Warning field Machine O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 15: Safety Functions

    "Response times", page 57 • "SafetyRatedMonitoredSpeed page", page 41 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA Subject to change without notice...
  • Page 16 For more information see "Project file logic", page O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...
  • Page 17 Request for the safety function 8760 times per year 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA Subject to change without notice...

  • Page 18: Additional Components Required

    Additional physical guards or non-separating guards (e.g. Fence, ) O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 19: Emergency Stop Pushbutton Requirements

    348799200 The robot controller must have at least firmware version DN1.83.00A(–)-00. 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...

  • Page 20: Physical Guard

    O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 21: Project Planning

    Performance level The calculation of the performance level can be carried out using the SISTEMA file. SICK provides you with a ZIP archive. The manufacturer of the machine must decide which measures should be taken against failures with the same cause.

  • Page 22: Design

    Each time the user mode is changed, the safety system must be manually reset. O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 23: Calculating Minimum Distance

    The actual stopping/run-down time of the robot must be checked with a measurement. 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...
  • Page 24 Height of the scan field of the 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 – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 25: Emergency Stop Pushbutton

    For the voltage supply (especially with separate voltage supply units), observe the notes in the operating instructions for the Flexi Soft safety controller. 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...
  • Page 26 Safe input 11 Safe input 21 SICK provides you with a detailed circuit diagram for the safety system as an EPLAN macro. O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...

  • Page 27: Interfaces And Signals

    Determination of the thorough checks must be documented in a traceable manner. 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...
  • Page 28 "Maintenance of the components", page 54 O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 29: For Mounting The Components

    If the height of the scan plane is greater than 300 mm, additional measures must be taken to prevent anyone from crawling beneath it. 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...

  • Page 30: Electrical Installation Of The Components

    Table 17: Modules of the safety controller Module 1 FX3-CPU0 main module O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...
  • Page 31 Safety laser scanner, pin 4 OSSD 2 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA Subject to change without notice...

  • Page 32: Further Connections Of The Individual Components

    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 – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 33: Configuration

    Configuration Overview of configuration Overview SICK provides you with product data in which a majority of the configuration is already implemented. You have to complete, verify and validate the configuration in accordance with the requirements of your application. Table 24: Required configuration software...

  • Page 34: Pre-Configured Project Files

    CONFIGURATION Pre-configured project files Reference source SICK provides you with the pre-configured project files in a ZIP archive. Export file In addition to the project files provided, an export file is available. This corresponds to the hardware configuration and logic of the project file, but can be imported into any Flexi Soft CPU module (from firmware version ≥...

  • Page 35: Overview Of Software Structure

    (SAFF safeguarding executes a protective stop. fence) 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA Subject to change without notice...

  • Page 36: Project File Logic

    Figure 12: Logic of the project file - person stands next to robot O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 37: Main Module Configuration

    Among other things, jump addresses are used to connect the various pages of logic with each other. 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...

  • Page 38: Verification Of The Logics

    ProtectiveStop Protective stop with automatic restart O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...
  • Page 39 The emergency stop pushbutton is monitored using test pulses and the discrepancy time (maximum 1 s) is checked. 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...
  • Page 40 The safety relay is monitored by the predefined EDM function block. O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...
  • Page 41 You can configure the delay time in the Off-delay timer 0 function block with the Delay time parameter. 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...
  • Page 42 If the warning field clears within 500 ms (high), then the sequence is invalid and SequenceValid is on low. O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 43: Configuring The Safety Laser Scanner

    Configuring the safety laser scanner 7.6.1 Pre-configured project file SICK provides you with product data in which a majority of the configuration is already implemented. You have to complete, verify and validate the configuration in accordance with the requirements of your application.
  • Page 44 "Mounting the safety laser scan‐ ner", page O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...
  • Page 45 Configuring the large protective field Figure 19: microScan3 Core I/O configuration overview 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...
  • Page 46 Figure 21: microScan3 Core I/O configuration overview O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...
  • Page 47 The protective field affects OSSD pair 1 and the warning field affects Uni-Out 1. Figure 22: Configuration view monitoring cases 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...

  • Page 48: Configuration Of The Robot Controller

    The Update the file? dialog box appears. 10. Press YES. Example: O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 49: Configuring Condition File For Protective Stop

    The values should be as low as possible. Example: 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA Subject to change without notice...

  • Page 50: Configuring The Condition File For Safety-Rated Monitored Speed

    1.00 sec 1) 2) INPUT SIGNAL O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...
  • Page 51 Under INPUT SIGNAL, the STATUS column has the following values: Line Symbol bit0 bit1 bit2 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA Subject to change without notice...

  • Page 52: Commissioning

    O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 53: Operating The Components

    Press the reset button. ✓ Robot can start. 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA Subject to change without notice...

  • Page 54: Maintenance Of The Components

    Pressing the emergency stop pushbutton stops the robot immediately in a safe manner O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...
  • Page 55 ° Replace the information labels if missing, damaged or illegible. 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA Subject to change without notice...

  • Page 56: Troubleshooting

    O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 57: Technical Data

    The safety-related semiconductor outputs are in the OFF state (low). 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 times The response time of the safety system is composed of the following times: •...
  • Page 58 Time for processing and output of the microScan3 Core I/O (10 ms) O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 59: Ordering Information

    Table 36: Software sBot Speed – YA ordering information Description Part number Safety system sBot Speed - YA software package 1614202 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...

  • Page 60: Spare Parts

    UE410-4RO4 Relay module 6032676 O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 61: Accessories

    ES21-SB10E1 6041507 Reset pushbutton ER12-SB3C4 6051330 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA Subject to change without notice...

  • Page 62: Annex

    30 s. Press restart button on robot. O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...
  • Page 63 DELAY TIME parameter. Tools may be necessary to avoid hazardous situations. 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA...
  • Page 64 Tools may be necessary to avoid hazardous situations. O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...

  • Page 65: Requirements For Automatic Restart

    Emergency stop pushbutton outside the haz‐ ardous area 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA Subject to change without notice...
  • Page 66 KF111 Q4 B2 (SAFF safeguarding fence) O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 8024620/16AH/2019-12-02 | SICK Subject to change without notice...
  • Page 67 ANNEX 8024620/16AH/2019-12-02 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA 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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