SICK PLOC2D 4.1 Operating Instructions Manual
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SICK PLOC2D 4.1 Operating Instructions Manual

SICK PLOC2D 4.1 Operating Instructions Manual

2d vision for robot guidance
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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
PLOC2D 4.1
2D Vision for Robot Guidance

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Summary of Contents for SICK PLOC2D 4.1

  • Page 1 O P E R A T I N G I N S T R U C T I O N S PLOC2D 4.1 2D Vision for Robot Guidance...
  • Page 2 This document is an original document of SICK AG. 2011/65/EU O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...

  • Page 3: Table Of Contents

    6.1.1 Notes on electrical installation..........6.1.2 Wiring notes................8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 4 10.4 Mechanics and electronics..............10.5 Ambient data..................... Accessories..................75 O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...
  • Page 5 Register layout (using control bits)......... 12.2.4 Workflow (using control bits)........... 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 6: About This Document

    … indicates a potentially harmful situation, which may lead to material damage if not prevented. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...
  • Page 7 … highlights useful tips and recommendations as well as information for efficient and trouble-free operation. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 8: Safety Information

    O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...

  • Page 9: Modifications And Conversions

    8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 10: Qualification Requirements For Personnel

    Relevant applicable national regulations must be observed. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...

  • Page 11: Product Description

    Figure 1: Type label design for the sensor Type code Product identification number Serial number 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 12: Product Characteristics

    Integrable illumination unit (fixed) Illumination via 11 LEDs O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...

  • Page 13: Device View (Inspectorp63X)

    LEDs for status display (5 x 2 levels) ç 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 14: Device View (Inspectorp62X)

    Status display (LED) for microSD memory card ã O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...

  • Page 15: Device View (Inspectorp611)

    6 status LEDs to display the focus position and working distance, device status, and device function (3 display levels) Function button 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 16: Status Indicators And Functions

    The diagrams show the dimensions of the field of view for a certain working distance and lens focal length. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...
  • Page 17 Working distance in mm Field of view in mm 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 18 Working distance in mm Field of view in mm O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...
  • Page 19 Working distance in mm Field of view in mm 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 20 Working distance in mm Field of view in mm O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...
  • Page 21 Working distance in mm Field of view in mm 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 22 Field of view in mm2 Approximate resolution in mm/px O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...
  • Page 23 Working distance/focus position in mm With external illumination 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 24: Transport And Storage

    ■ components and packaging on a regular basis. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...

  • Page 25: Mounting

    The threaded mounting holes are located on the rear of the device. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 26: Mount The Optics

    Screw the lens unit into the C-mount thread. This will also lock the optional filter in place at the same time (if applicable). O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...
  • Page 27 Manually preset the sharpness and aperture of the lens unit. Mount the optics protective hood. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 28: Electrical Installation

    Any electrical connections that are not being used must be fitted with protective caps/plugs that are screwed tight (as in the delivery condition). O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...

  • Page 29: Wiring Notes

    The supply cable from the power system must be designed in accordance with the applicable standards. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 30 Figure 3: Ideal laying – Place cables in different cable channels Figure 4: Alternative laying – Separate cables with metallic separators O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...
  • Page 31 Figure 6: Shield connection in plastic housings 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 32: Prerequisites For The Safe Operation Of The Device In A System

    This measure achieves a high degree of resistance to electromagnetic interference. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...

  • Page 33: Connectors And Pin Assignment

    Figure 8: InspectorP63x connectors Power and I/O External illumination 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 34 Not connected TD+ (RS-422), Host TRD3_P ‒ ‒ O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...

  • Page 35: Connecting The Device

    8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 36: Conveyor Tracking

    On PLOC2D-63x devices, you can also use the separate external illumination connec‐ tion, see "Device view (InspectorP63x)", page O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...

  • Page 37: Operation

    The following user levels are available: 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 38: Configuration Workflow

    Click Acquire for a single image, or Continuous for a stream of images. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...

  • Page 39: Calibration

    Calibration must not be performed on pre-calibrated PLOC2D variants. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 40 A colored circle and a colored grid are displayed in the image window to indicate O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...
  • Page 41 1. Plausibility checks on estimated focal length and optical image center are recommended. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 42: Hand-Eye Alignment

    17. Note that the illustration is not to scale and can not be used for alignment. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...
  • Page 43 Do not remove or reposition the alignment target after sensor alignment until the robot work plane has been defined. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 44 Move the robot to a new pose. Do not move the alignment target. The target should be completely visible in the camera image. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...
  • Page 45 Click Clear to remove the whole region. ° 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 46 User level Service is required. Figure 20: Verification threshold slider O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...

  • Page 47: Job Configuration

    Select a work plane in the Work plane list. Adjust Score threshold if needed. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 48 Click Clear to remove the applied region. ° O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...
  • Page 49 In a job exclusion region, a defined part of this job is never reported as a result. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 50 Algorithm In the Advanced section, adjust the Max rotation and Z-offset parameters. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...

  • Page 51: Run Jobs

    Figure 24: Result information for a located part 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 52 To accept results partially in an exclusion region, disable Reject matches on image border. User level Service required. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...

  • Page 53: System Settings

    Use the System tab to adjust system settings and monitor the system log. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 54 Click the toggle to enable Set time automatically. Enter Network Time server IP address and Port. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...
  • Page 55 Version 1: Using control bits: Select this option for existing installations using com‐ mand control bits. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 56 Runtime and system status, i.e. result data bytes 12 and 13, are visualized in the right-most area. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...
  • Page 57 Control lights 16-bit registers Data fields 64-byte registers 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 58: Robot System Workflow

    Run.Locate sequence. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...

  • Page 59: Coordinate Representation

    SICK Support Portal. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 60 Acquire a new image and align sensor to work plane alignment target. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...
  • Page 61 All results from all used jobs are returned as a comma- separated list. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 62 Alignment.Verify,align CSV: Alignment.Verify,1 ment XML: <message><name>Alignment.Verify</ name><alignment>1</alignment></message> O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...
  • Page 63 XML: <message><name>System.Restart.Software</ name><reason>Initiated by robot program</ reason></message> 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 64 Specifies the folder name where exported files are saved on the FTP server. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...
  • Page 65 Specifies the job folder name on the FTP server, when using the Job.Import command. time Part localization time. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 66 O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...

  • Page 67: Maintenance

    SICK lens cloth (can be obtained from www.sick.com). 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 68: Back Up And Restore

    PLxManager and find instruc‐ tions on how to create a backup and restore PLOC2D. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...

  • Page 69: Troubleshooting

    Before contact, make a note of all type label data such as type code, serial number, etc. to ensure faster processing. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 70: Replace Device

    As they are categorized as elec‐ tronic waste, the device must never be disposed of with household waste. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...
  • Page 71 Separate the recyclable materials by type and place them in recycling containers. ► 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 72: Technical Data

    InspectorP63x: 1.3 MP (InspectorP631), 1.9 MP (InspectorP632) InspectorP62x: 1.3 MP InspectorP611: 1.2 MP O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...

  • Page 73: Interfaces

    InspectorP65x + P62x: IP65 InspectorP63x: IP67 InspectorP611: IP54 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 74: Ambient Data

    Notes regarding adequate dissipation of lost heat: see "Mounting requirements", page 25 O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK Subject to change without notice...

  • Page 75: Accessories

    Blue medium, Blue narrow Variants with an InspectorP62x sensor Infrared, Red/Blue 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...

  • Page 76: Appendix

    Preferences tab). Printed copies of the license texts are also available on request. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...

  • Page 77: Profinet And Ethernet/Ip Communication Specification

    An 8-bit unsigned integer representing the match number in prioritized order (for the command Run.Locate). 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 78 A 32-bit signed integer representing the first rotation of the robot frame in thousands of a degree. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...

  • Page 79: Workflow

    • Command control bits • Result control bits 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 80 A 32-bit signed integer representing the y value of the robot frame in thousands of a millimeter. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...

  • Page 81: Workflow (Using Control Bits)

    Initially, all control bits and data fields are assumed to be 0 by the RG system. 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 82 Then the process starts over from step 1. O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK...
  • Page 83 PROC=0 PROC=0 OK=1 NOK=1 [0010001] [0100001] Result ok? 8020736/1K3Z/2023-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 Subject to change without notice...
  • Page 84 Phone +7 495 283 09 90 E-Mail info@sick.com 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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