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SICK PLR3200 Series Operating Instructions Manual
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SICK PLR3200 Series Operating Instructions Manual

SICK PLR3200 Series Operating Instructions Manual

Robot guidance system
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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
PLR3200
Robot Guidance Systems

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Summary of Contents for SICK PLR3200 Series

  • Page 1 O P E R A T I N G I N S T R U C T I O N S PLR3200 Robot Guidance Systems...
  • 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 modi‐...
  • Page 3 Overview of the user interface..........7.1.3 User levels................7.1.4 Language settings..............8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 4 12.3 PROFINET and EtherNet/IP communication specification..... 12.3.1 Register layout................. O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 5 Message from PLR to robot............. 12.5.3 Mode IDs.................. 12.5.4 Status IDs................. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 6 … highlights useful tips and recommendations as well as information for efficient and trouble-free operation. O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 7 Before calling, make a note of all type label data such as type code, serial number, etc. to ensure faster processing. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 8 In the case of any other use or in the event of any modifications to system components or to the SICK software, any warranty claims against SICK AG shall be null and void. For applications outside the described scope, the product is neither adequate nor admitted.
  • Page 9 Never look into the light beam The type label identifies the product and the laser output data. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 10 O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 11 The accessible radiation from LEDs of risk group 0 does not pose a risk to human eyes or skin. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 12 For internal illumination, only units provided by SICK for that purpose may be used. O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 13 For each part measurement, the PLR acquires two images: a shape image and a laser image. The shape image is used to locate the part shape or pattern. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 14 Sliding nuts, M5 Printed PLR Quickstart (part no. 8023734) O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 15 3.3.2.1 PLR3200-01(L) 150 ± 0,05 Ø 8,1 ± 0,2 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 16 Locate failed SD card error Not implemented Not implemented O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 17 X1 - X5 Not implemented O = illuminated, Ö = flashing 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 18 For storage periods of longer than 3 months, check the general condition of all ■ 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 | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 19 Figure 5: How to fit a sliding nut into the rail on the PLR sensor 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 20 (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 | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 21 The supply cable from the power system must be designed in accordance with the applicable standards. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 22 Figure 8: 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 | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 23 Figure 10: Shield connection in plastic housings 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 24 Risk of injury and damage caused by electrical current! As a result of equipotential bonding currents between the SICK device and other grounded devices in the system, faulty grounding of the SICK device can give rise to the following dangers and faults: Dangerous voltages are applied to the metal housings ■...
  • Page 25 As a result, equalizing currents can no longer flow via the cable shields and metal housing. NOTICE The power supply for the SICK device and the connected peripheral devices must also guarantee the required level of insulation. Under certain circumstances, a tangible potential can develop between the insulated metal housings and the local ground potential.
  • Page 26 O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 27 Settings panel The PLR user interface consists of the following parts: 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 28 Unlocks the Installa‐ (password: main) tion, Alignment, Job, Run, and System workflow steps. Service For SICK service users only. Additional settings are available for this user level. The settings are not documented in this document. 7.1.4 Language settings The PLR user interface is available in English and German.
  • Page 29 .161,113.592 XML example <message><name>Alignment.Align</name><align- ment>1</alignment><x>113.054</x><y>120.878</ y><z>-529.698</z><r1>-0.759</r1><r2>0.161</ r2><r3>113.592</r3></message> 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 30 System.Ftp.Export,run/*,latest_located ce,destination XML example <message><name>Sys- tem.Ftp.Export</name><source>run/*</ source><destination>latest_located</destina- tion></message> O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 31 The index of the current alignment. The value of this parame‐ ter is always 1. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 32 Robot position (degrees) relative to a fixed world coordinate system. O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 33 NO_VALID_ALIGNMENT Alignment not found. 9203 NO_VALID_JOB Job not found. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 34 Run job Start continuous operation O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 35 The purpose of this workflow step is to align the PLR and robot coordinate systems using an alignment target (part no. 5332927). User level Maintenance is required. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 36 (A through D). When the target is not being used, protect it against damage and dirt. O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 37  command including the robot's current position in the Alignment.Align original, uncorrected alignment frame. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 38 Adjust the following parameters to optimize the feature localization for each job: O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 39 Select a job in the Job list. Click Show laser cross to switch on the laser cross. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 40 ° 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 | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 41 Store the current position as Teach Position. Send a command to the PLR. Job.Teach 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 42 The procedure comprises the following steps: O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 43 Measurement complete Figure 24: Flow chart of normal operation 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 44 The log displays the result for each measurement: Measurement passed Measurement failed Reposition needed O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 45 Reposition complete Figure 26: Flow chart of repositioning 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 46 7.3.6.2 Network settings NOTE To identify the IP address of the RG system, download and run the SICK AppManager (available at www.sick.com). The Device search section displays the IP addresses for all devices on the network. Device IP configuration Configure the IP settings for the RG system in this section: •...
  • Page 47 Big-endian: Most significant byte first A description of the options is shown when they are selected. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 48 Mouse over the registers to see the parameter used for that specific bit or byte. O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 49 Figure 29: Restart button in user interface • Send the robot interface command System.Restart.Software 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 50 NOTE Static charge may cause dust particles to stick to the inspection window. This effect can be avoided by using an anti-static cleaning agent in combination with the SICK lens cloth (can be obtained from www.sick.com). O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 51 MAINTENANCE NOTE If the inspection window is scratched or damaged (cracked or broken), the window must be replaced. Contact SICK Service to arrange this. Cleaning procedure CAUTION Laser and LED safety "Operational safety and particular hazards", page 9 for information regarding laser and LED safety.
  • Page 52 Restore the system configuration from a backup. Perform hand-eye alignment. O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 53 Perform a new hand-eye alignment using the new sensor. Back up and restore the RG system using the PLxManager • Download the PLxManager tool available from supportportal.sick.com. • To back up and restore the RG system from a backup, follow the instructions in the PLxManager user interface.
  • Page 54 Figure 32: Hercules acting as a robot to test the PLR communication interface O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 55 Figure 33: Hercules acting as PLR to test robot communication interface Repairs Repair work on the device may only be performed by qualified and authorized personnel from SICK AG. Interruptions or modifications to the device by the customer will invalid‐ ate any warranty claims against SICK AG. Returns Do not dispatch devices to the SICK Service department without consultation.
  • Page 56 Separate the recyclable materials by type and place them in recycling containers. O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 57 For nominal voltage. At maximum voltage (28.8 V) the current is 1.4 A. The enclosure rating is not evaluated by UL. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 58 Due to the scaling error, the measurement accuracy decreases with increasing distance from the measurement area. O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 59 Accessories 11.1 General All accessories for the product can be found at www.sick.com/PLR. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 60 12.2 Licenses SICK uses open-source software. This software is licensed by the rights holders using the following licenses among others: the free licenses GNU General Public License (GPL Version2, GPL Version3) and GNU Lesser General Public License (LGPL), the MIT license, zLib license, and the licenses derived from the BSD license.
  • Page 61 16-bit unsigned integer representing the telegram ID. 8-39 Not used 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 62 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 | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 63 The data is divided into four sections: • Command control bits • Result control bits 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 64 A 32-bit signed integer representing the x 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 | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 65 Initially, all control bits and data fields are assumed to be 0 by the RG system. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 66 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 | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 67 Three options are available on the Systems page: 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 68 X, Y, Z, A, B and C as attributes xxx.xxxx [deg] <VISION><PAR> Not used <VISION><T> O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 69 Three options are available on the System page: 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 70 [int] integer, otherwise zero <VISION><INFO> Status/Error information text string O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 71 The following status IDs are returned by the PLR when acknowledging the instruction sent by the robot. 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200...
  • Page 72 If an error occurs when the PLR performs a task, it returns an error message indicating the cause of failure. O P E R A T I N G I N S T R U C T I O N S | PLR3200 8023736/1GAT/2022-06 | SICK Subject to change without notice...
  • Page 73 APPENDIX 8023736/1GAT/2022-06 | SICK O P E R A T I N G I N S T R U C T I O N S | PLR3200 Subject to change without notice...
  • Page 74 E-Mail mail@sick-sk.sk Hungary Slovenia Phone +36 1 371 2680 Phone +386 591 788 49 E-Mail office@sick.hu E-Mail office@sick.si India South Africa Phone +91 22 4033 8333 Phone +27 11 472 3733 Further locations at www.sick.com E-Mail info@sick-india.com E-Mail info@sickautomation.co.za SICK AG  |  Waldkirch  |  Germany  |  www.sick.com...

This manual is also suitable for:

Plr3200-01Plr3200-02Plr3200-01lPlr3200-02l