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Summary of Contents for Sylvac SCAN S145
- Page 1 Automation Manual for SCAN S145 Robot...
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Page 2: Table Of Contents
Schematic Diagram of Sylvac Solution Safety System Functioning of the safety system Activating the robot mode Connections of the Scan S145 Description of the D-SUB 15p safety connector Functioning of the safety system with a robot Safety application diagram with a robot... -
Page 3: Schematic Diagram Of Sylvac Solution
1. SCHEMATIC DIAGRAM OF SYLVAC SOLUTION Camera/controler Modbus Modbus TCP/IP TCP/IP Cable I/O OPC/UA Profinet... -
Page 4: Safety System
- Or/and the side door open - Or/and the light curtains are switched off The power in the Scan is switched off, the motors are no longer under power and the Scan S145 switches in a fault condition. To restore the power in Scan S145 and be able to continue the measurements, two actions are necessary required (in this order) : 1. -
Page 5: Activating The Robot Mode
To automate the Scan with a standard robot, move jumper J7 to the left. Now the Scan S145 is in fault mode, you must connect a robot to its D-SUB 15p safety connector and carry out the operations in Section 2.5. -
Page 6: Connections Of The Scan S145
2.3 2.3. Connections of the Scan S145 RJ45 inputs for the controller and the camera. D-SUB 37p input/output connector for automation. D-SUB 15p safety connector for automation. Air inlet for pneumatic chuck control. 2.4 Description of the D-SUB 15p safety connector All inputs and outputs, to and from the Scan, must either be at +24V (binary 1) or at GND (binary 0). -
Page 7: Functioning Of The Safety System With A Robot
PIN #8 PIN #1 FEMALE PIN #15 PIN #9 Function Description Direction Type Input +24V robot (common with +24V_ROB Input persistent the I/O connector) SCAN_OK1 Safety output Scan ready 1 Output persistent SCAN_OK2 Safety output Scan ready 2 Output persistent ROBOT_OK1 Safety input robot ready 1 Input... - Page 8 In addition, the robot will be able to provide two «muting» signals that will temporarily disable operation of the light curtain to allow time for the robot to put down a part and exit. For the robot to be able to send these signals to Scan S145, it must be provided with a +24V supply on +24V_ROB...
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Page 9: Safety Application Diagram With A Robot
2.6 Safety application diagram with a robot Scan ON Scan OK Scan Faulty B.2.0 Check E-Stop B.2.1 Check Top B.2.2 and Door Check Light B.2.3 Curtain Check Robot B.2.4 Security Rearm B.2.5 Remote mode ON Scan ready to operate with the robot Muting-Signals ON Scan Faulty... -
Page 10: Description Of The Safety Application Diagram With A Robot
2.7 Description of the safety application diagram with a robot Each signal refers to a pin of the D-SUB 15p safety connector. Each signal must remain in the last defined state if not otherwise specified. Binary 1 defines a state where there is +24V present. Binary 0 defines a state where there is GND. -
Page 11: Chronogram Of Safety Operation With A Robot
2.8 Chronogram of safety operation with a robot Light curtain mode Time (10s) Light curtain status Robot muting signals Safety relay status Status of Trapdoor, Door, Robot, Emergency Stop Restart signal 1. Normal operation, no fault. 2. Light curtain disabled, crossing the barrier no longer creates an error. 3. -
Page 12: Safety Schematic Diagram With A Robot
2.9 Safety schematic diagram with a robot... -
Page 13: Remote Mode
3. REMOTE MODE Before starting any command with the Scan, regardless of the communication protocol chosen, the robot must check that “Remote Mode” is activated. To activate the remote mode, go to the ReflexScan main screen (Home) and click on the Remote Mode button. The robot can also choose to send the “Remote Lock”... -
Page 14: Program Mapping
4. PROGRAM MAPPING To be able to load programs from I/Os or Modbus, you have to assign them in the Setup of the «Automation» plugin using the “Service->Plugin->Automation->Setup” menu, then in the “Programs Mapping” tab. For the I/Os, each program can be assigned to a 3-bit binary code, allowing up to 7 programs with code 111 indicating no active program. -
Page 15: Wired Solution
5. WIRED SOLUTION The Scan can be controlled by electrical signals grouped on two D-SUB connectors. This approach is the most direct to implement, but also the most limited in its possibilities. For example, it is not possible to exchange analog values (e.g. axes position). Note that the number of available functions depends directly on the number of input/output signals of the Scan. -
Page 16: Description Of The Diagnostics I/O
5.3 Description of the I/O diagnostics Inputs Type Name Details Commands Park Axis All axes move to their parking position. Start Program Starts the loaded program. Start Calibration Starts a calibration cycle. Status Remote Lock Locks the Scan in remote mode. Program Loading Select Program 0 3-bit code (0 to 7) for program selection. -
Page 17: Description Of The Main D-Sub 37P I/O Pins
Loaded Program 1 Loaded Program 2 Results “True” state when the program has finished its execution and the Result Ready results are ready. No Result “True” state when the program has not returned any results. “True” state when all measurement results are within the Pass tolerances defined by the loaded program. - Page 18 IN1 Park axis Rising edge IN2 Start Program Rising edge IN3 Start Calibration Rising edge IN4 Remote Lock Persistent IN5 Select Program 0 Persistent IN6 Select Program 1 Persistent IN7 Select Program 2 Persistent IN8 Load Program Rising edge IN9 Lock Tailstock Rising edge IN10 ...
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Page 19: Opc/Ua Server
6. OPC/UA SERVER OPC UA is a communication protocol for the automation industry using an Ethernet port. It is the most flexible automation solution supported by the Scan (e.g. access to the details of a measurement result). Note that the Scan only supports the binary protocol opc.tcp. The first time you use it, you must activate the OPC Server to be able to use the protocol. -
Page 20: Diagnostics
6.2 Diagnostics 6.3 Methods Methods Description Clear All Runs Clear all runs from the memory Close Chuck Close the pneumatic chuck Get Programs Get the list of available programs Get Results Get the last measurement results Load Program Load a program using the program file name Lock Tailstock Move down and lock the tailstock Move Rotation To Position... -
Page 21: Nodes
Position of the Slide [mm] Tailstock Position of the Tailstock [mm] ApplicationMode Application Mode (e.g. Composer, ReflexClick, Replay, Remote) ApplicationVersion Version of SYLVAC-REFLEX Scan Calibrated Calibration state ChuckStatus The status of the pneumatic chuck ('Unknown', 'Closed', 'Open') IsParked Is machine in park position state... -
Page 22: Modbus Tcp/Ip Server
7. MODBUS TCP/IP SERVER The Scan incorporates a Modbus TCP/IP Server that allows access to the main functions of the Scan. When first used, Modbus must be enabled to use the protocol. Go to the Setup of the “Automation” plugin from the menu“Service->Plugin->Automation->Setup” and check Modbus Enable in the Modbus tab. -
Page 23: Diagnostics
7.2 Diagnostics 7.3 Input table (Coils, Read-Write, FC1, FC5, FC15) Variable Description Address Park Axis Move the machine to the parking position Start Program Start the measurement of the part Start Calibration Start the calibration of the machine Lock «Remote Mode» from the scan (e.g.: robot Remote Lock working) Load Program by Id... -
Page 24: Input Table (Holding Register, Read-Write, Fc3, Fc6, Fc16)
7.4 Input table (Holding Register, Read-Write, FC3, FC6, FC16) Variable Description Address Type Size Program Id to Load ID of the program to be loaded uint16 2 bytes Program Name to Load Name of the program to be loaded utf8[20] 20 bytes Choose the position of the slide for Slide Target Position... -
Page 25: Output Table (Input Register, Read-Only, Fc4)
7.6 Output table (Input Register, Read-Only, FC4) Variable Description Address Type Size Loaded Program Id ID of the loaded program uint16 2 bytes Loaded Program Name Name of the loaded program utf8[20] 20 bytes Slide Position Current position of the slide [mm] float32 4 bytes Rotation Position... -
Page 26: Profinet Via Gateway
8. PROFINET VIA GATEWAY The Scan machine can be controlled by a Profinet bus using a gateway Moxa MGate 5103 that converts Mod- busTCP<>Profinet I/O Device. When RS+ software is installed, the configuration files needed for the gateway are copied to the disk in the ‘Resources\Profinet’... -
Page 27: Gateway Configuration
8.2. Gateway configuration The gateway is configured via its web portal. To set the gateway into ‘configuration’ mode, you must first switch it off, ensuring to disconnect all its Ethernet cables. You must then wait about ten seconds for the ‘beep’ when the power is restored before reconnecting the network cable between the gateway and the Scan computer. -
Page 28: Changing The Ip Address
8.3 Changing the IP address It is possible that the installation at the customer’s site requires working in a different subnet. In this case, it is necessary to modify the IP address of the gateway, as well as the parameters of the four ModbusTCP com- mands. -
Page 29: I/O Data Mapping
8.4 I/O data mapping The mapping between the Modbus data and the two Profinet frames is handled automatically by the gateway. The position of each data in the frames will depend directly on the address of the Modbus registers. -
Page 31: Example Of A Robot Sequence
9. EXAMPLE OF A ROBOT SEQUENCE Robot action Scan action Robot sequence S145 Scan machine specific action 1. The Robot takes a part to mesure 2. The Robot loads the program 3. The Robot approaches the Scan 4. The Robot unlocks the Scan Tailstock 5. -
Page 32: I/O Sequence
9.1 I/O sequence The Robot takes a part to be measured (Close gripper) 1.Turn “Select Program 0” = ON 2.Turn “Select Program 1” = OFF 3.Turn “Select Program 2” = OFF 4.Wait for “Machine Ready” = ON 5.Turn “Load Program” = ON 6.Wait for “Loaded Program 0”... -
Page 33: Modbus Tcp/Ip Sequence
9.2 Modbus TCP/IP sequence The Robot takes a part to measure 1. Program Id to Load = 1 2. Load Program by ID= ON 3. Wait MachineReady = ON 4. Load Program by ID= OFF 5. WAIT Loaded Program Id = 1 The Robot approaches with the part in front of the scan 6. -
Page 34: Opc/Ua Sequence
9.3 OPC/UA sequence The Robot takes the part to measure 1. Load Program (GoldPart.rsd) 2. WAIT LoadedProgram = GoldPart.rsd The Robot approaches the part in front of the scan 3. UnlockTailstock 4. WAIT TailstockStatus =Unlocked 11. Turn «ROB_MUT1» = ON 12. -
Page 35: Pneumatic System
10. PNEUMATIC SYSTEM 10.1 Features 2-position Electrovalves with dual control (bistable). Operating pressure range: 0.1 to 0.7 MPa (1 to 7 bar). Ambient and compressed air temperature: -10 to 50 °C. Maximum response time: 15 ms. Maximum operating frequency: 10 Hz. 10.2 Pneumatic connections The Scan machine must be supplied with a +24V supply on +24V_ROB pin 1... -
Page 36: Troubleshooting
2. You can view the logs at ReflexScan -> Service -> Logs. 3. Logs are also stored in the folder ‘C:\ProgramData\SYLVAC\SYLVAC-REFLEX Scan\Logs’. 4. When you contact the Sylvac Service Team, try always to attach the log file corresponding to the problem together with the corresponding time stamp. - Page 37 12.3.3 There is no signal from the robot 1. Contact the integrator of the robot. 2. Try to turn ON one output on the robot. 3. Check there is +24V on the appropriate pin. 4. Turn OFF one output on the Robot. 5.
- Page 38 12.3.7 The security is OFF when the robot enters the Scan S145 1. The Muting signals must be ON when the robot goes into the Scan. 2. The Muting signals don’t work if the Scan S145 status is false (emergency stop button active, light curtain interrupted, top or electronic door open).
- Page 40 Changes without prior notice Sous réserve de toute modification Änderungen vorbehalten Edition : 2023.06 / 681-106-03-110...
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