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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 scanGrid2 CANopen Safe multibeam scanner...
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Original document This document is an original document of SICK AG. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
4.5.3 Checksum calculation............. 4.5.4 Object directory................ Testing plan....................8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
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Starting and stopping the safety function (Safety Designer)....Commissioning.................. 86 Safety......................Overview....................Alignment....................O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
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17.1 Compliance with EU directives..............110 17.2 Note on standards..................111 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
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List of figures..................113 List of tables..................114 O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
Safety Assistant (app for transferring configurations and diagnosing safety solu‐ tions from SICK AG) 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Ö The LED is flashing. O The LED is illuminated continuously. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
The total time required to poll all sensor modules determines the scan cycle time. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
CANopen® is a registered trademark, licensed by CiA - CAN in Automation e.V., Germany. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
The N-Mark is a trademark or registered trademark of NFC Forum, Inc. in the United States and in other countries. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen...
Figure 7: Access protection: detection of a person before they access a hazardous area O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
Avoid contamination of the front screen and water drops on the front screen. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
You can avoid mutual interference in many cases by setting the configurable multiple sampling to a value greater than 1. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
Mounting the safe multibeam scanner in the machine paneling 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
The input signals for monitoring case switching are transmitted via CANopen. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
Recommended distance of the protective field from the wall. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
A vehicle’s braking distance does not increase linearly with increasing speed, but rather in a squared relationship. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
= protective field length in millimeters (mm) • = stopping distance in millimeters (mm) O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
In many cases, a mounting height (height of the scan plane) of 150 mm above the floor is suitable. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
The protective field is orthogonal to the approach direction and the safe multi‐ beam scanner is mounted before or after the passage. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
TZ by supplement Z = 220 mm. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
TZ (100 mm). In sum, this results in a required protective field supplement of 320 mm for the relevant applications. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
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The approach speed is already included in the formula. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Bit 7 Bit 8 Selected moni‐ toring case O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
The protective device does not have an internal EDM. You must therefore implement the EDM externally via the controller. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Monitoring case 7 Input 7 Monitoring case 8 O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
0 = No undervoltage multibeam scanner 1 = Undervoltage 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
8: 0 = Interrupted 1 = Free O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
Description 0x6204 Distance value (mm) for segment 1 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Description 0x6204 Distance value (mm) for segment 29 O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
The TSRDO object uses the indexes 0x6200 to 0x6203. The object consists of eight entries, each 8 bits in size. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
5: 0 = Interrupted 1 = Free O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
SDOs is allowed but not via PDOs. The NMT slave can be switched from another state into this state. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
The following protocols are supported in this CANopen PCS implementation: 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
ID 2. The data type of the data to be read is UDINT. The client sends: O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
SRDO - SRVT 20 ms Available for every SRDO 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
0x1000 0x00 RO Device Type UNSIGNED32 No device profile supported O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
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Time time of the heart‐ beat timer 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
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0x02 RW tx : refresh-time UNSIGNED16 rx : SCT O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
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Communication Parameter 0x00 RO Number of UNSIGNED8 entries 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
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Inhibit Time UNSIGNED16 0x05 RW Event timer UNSIGNED16 O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
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Parameter mission 0x00 RO Number of UNSIGNED8 Entries 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
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0x62040310 UNSIGNED32 0x04 const Mapping Entry 4 0x62040410 UNSIGNED32 O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
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0x62041610 UNSIGNED32 0x03 const Mapping Entry 3 0x62041710 UNSIGNED32 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Device data 0x00 RO NoOfObjects UNSIGNED8 0x01 RO UNSIGNED8 O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
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0x14 RO Range19 UNSIGNED16 0x15 RO Range20 UNSIGNED16 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
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0x07 RO SignalStrength6 UNSIGNED8 0x08 RO SignalStrength7 UNSIGNED8 O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
After changes to the configuration or the safety function 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
"Thorough check of the area to be protected", page 57 O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
The safe multibeam scanner can be mounted on the machine either directly or with the help of the optionally available alignment bracket. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
"Dimensional drawings", page 103 • "Accessories", page 105 O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
CAN HIGH CAN signal CAN LOW CAN signal 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
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(typ. 120 Ω) must be added externally at each end of the CAN bus line. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen...
Node ID ° Baud rate ° NMT Autostart ° 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Maintenance per‐ allowed. sonnel user group is allowed. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
Safety Designer, see the operating instructions for the Safety Designer, part no. 8018178. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Report: Here you can view the configuration of the device (see "Report (Safety Designer)", page 82). O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
"Reading and transferring the configuration using the Safety Assistant app", page 70 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
• "Verifying the configuration in Safety Designer", page 69 O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
Safety Designer displays the verification report. Thoroughly review the verification report. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
On the Overview page you will find information about your project and the device as well as current data of the device. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
(see "Monitoring cases", page 75). 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Draw rectangle Delete selected object Zoom in Zoom out 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
First set the multiple sampling for all fields in the General field settings area. If necessary, you can make changes to each individually at a later date. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
You can create different monitoring cases in the monitoring case table. You have the following options for each monitoring case: 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
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The field sets that have been created are listed in the Field sets area. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
RSRDO and change the CANopen parameters for the RSRDO (see "Receive SRDO (RSRDO)", page 81). 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
• Heartbeat time: Enter a value between 0 and 65,355 ms. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
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RPDO automatically receives an event (transmission period). 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Event timer: Enter a value between 0 and 65,535 for the time, after the elapse of which the TPDO automatically sends a TPDO (transmission period). O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
SRDO and activate it. Once you have activated a TSRDO, you can adjust the CANopen parameters for the TSRDO (e.g., the COB-ID). 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Update after making changes to the configuration, you will receive an updated report. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
If there are problems with the device, you can Restarting the device completely. This has the following effects. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Use the buttons on the toolbar of the device window to do this. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
Starts the safety function. Stop Stops the safety function. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
After the device is switched on, the STATE LED and the SAFE OUT LED light up briefly and the safe multibeam scanner initializes itself. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
Carry out the checks according to the instructions from the manufacturer of the machine and from the operating entity. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Figure 23: Status indicators SAFE OUT LED STATE LED " O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
Recommendation: Use anti-static cleaning agents. Recommendation: Use anti-static plastic cleaners and lens cloths from SICK. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
Carry out the checks according to the instructions from the manufacturer of the machine and from the operating entity. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Recoverable error • Configuration error • Device error O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
The USB connection may only be used temporarily and only for configuration and diagnostics. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Depending on the utilization of the interface, the measurement data may not be trans‐ mitted and shown for every scan cycle. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
TROUBLESHOOTING Figure 25: Live view 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
• Check why a signal change occurred on the safety output O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
However, you will receive more information if the safe multibeam scanner is supplied with voltage. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
SICK will be glad to help you dispose of these devices on request. O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
No safety-related data are transmitted via CANopen Safety. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Common-mode operating -25 V ... 25 V range O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
5M1 (IEC 60721-3-5) Single shock 50 m/s , 11 ms 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
= Time for the CAN transmission of the PDO/SRDO in milliseconds CANtransmission O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
Includes the generally necessary protective field supplement TZ. 13.4 Dimensional drawings Figure 27: Dimensional drawing 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Type code Part number scanGrid2 CANopen SG2-AAA00011CB0000 1109414 O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
Part number Anti-static plastic cleaner 5600006 Lens cloth 4003353 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
Test rod 50 mm 2095105 Test rod 70 mm 2095139 O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
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(for example OFF state of the OSSD pair). O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
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The warning field must not be used for safety applications. 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
(part number: see the type label entry in the “Ident. no.” field). O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
ISO 13849-1 GB/T 16855.1 ISO 13855 GB/T 19876 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
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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 | scanGrid2 CANopen 8025990/2021-03-03 | SICK...
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25. Live view........................95 26. Replay.......................... 96 27. Dimensional drawing....................103 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
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53. General data....................... 99 54. Safety-related parameters..................99 O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen 8025990/2021-03-03 | SICK Subject to change without notice...
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69. Ordering information, test rods................106 70. Note on standards....................111 8025990/2021-03-03 | SICK O P E R A T I N G I N S T R U C T I O N S | scanGrid2 CANopen Subject to change without notice...
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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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