Pilz PSEN rd1.2/PSEN rd1.2 F-FOV Operating Manual
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Pilz PSEN rd1.2/PSEN rd1.2 F-FOV Operating Manual

Pilz PSEN rd1.2/PSEN rd1.2 F-FOV Operating Manual

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Operating manual-1005736-EN-07
PSEN sensor technology

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Summary of Contents for Pilz PSEN rd1.2/PSEN rd1.2 F-FOV

  • Page 1 PSEN rd1.2/PSEN rd1.2 F-FOV Operating manual-1005736-EN-07 PSEN sensor technology...
  • Page 2 We do assure you that all persons are regarded without discrim- ination and on an equal basis. All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made for the user's internal purposes. Suggestions and comments for improving this documenta- tion will be gratefully received.
  • Page 3 Contents Glossary of terms 1. This manual 1.1 Information on this manual 2. Safety 2.1 Safety information 2.2 Conformity 3. Get to know PSEN rd1.2 systems 3.1 PSEN rd1.2 systems 3.2 Analysing units 3.3 Analysing unit inputs 3.4 Analysing unit outputs 3.5 Sensors 3.6 PSEN rd1 configurator 3.7 Fieldbus communication (PROFIsafe)

  • Page 4: Technical References

    10.1 Planned maintenance 10.2 Extraordinary maintenance 11. Technical references 11.1 Technical data 11.2 Terminal blocks and connector pin-outs 11.3 Electrical connections 11.4 Configuration configurator parameters 11.5 Digital input signals 12. Appendix 12.1 System software 12.2 Disposal 12.3 Service and warranty 12.4 Intellectual property 12.5 Checklist for installing ESPE Operating manual PSEN rd1.2 systems-5 meters range sensors...

  • Page 5: Glossary Of Terms

    Glossary of terms Activated output (ON-state) Output that switches from OFF to ON-state. Angular coverage Property of the field of view that corresponds to the coverage on the horizontal plane. Dangerous area Area to be monitored because it is dangerous for people. Deactivated output (OFF-state) Output that switches from ON to OFF-state.
  • Page 6 Glossary of terms Inclination Sensor rotation around the x-axis. The sensor inclination is the angle between a line perpendicular to the sensor and a line parallel to the ground. Machinery The system for which the dangerous area is monitored. Monitored area Area that is monitored by PSEN rd1.2 systems.

  • Page 7: Information On This Manual

    Operating manual - 5 meters Operating manual PSEN rd1.2 systems online PDF range sensors (this manual) EN-1005736-07 2024 PDF downloadable from the site www.pilz.com/manuals Operating manual - 9 meters Operating manual PSEN rd1.2 systems online PDF range sensors EN-1006765-03 2024 PDF downloadable from the site www.pilz.com/manuals...
  • Page 8 1.  This manual Publication Code Hardware version Firmware version Updates date AUG 2023 Operating manual Analysing units: Analysing units: Added analysing units: PSEN rd1.x SD I/O FSoE. PSENrd1.2 systems EN- Type A: 2.2 Type A: 2.0 Added sensors: PSEN rd1.2 F-FOV, PSEN rd1.2 1005736-05 F-FOV LR.

  • Page 9: Safety Information

    2. SAFETY 2.1 Safety information 2.1.1 SAFETY MESSAGES Warnings related to the safety of the user and of the equipment as envisaged in this document are as follows: WARNING! Indicates a hazardous situation which, if not avoided, may cause death or serious injury. NOTICE: indicates obligations that if not observed may cause harm to the equipment.
  • Page 10 2.  Safety 2.1.5 INTENDED USE PSEN rd1.2 systems is a human body detection system, certified SIL 2 according to IEC/EN 62061, PL d according to EN ISO 13849-1 and Performance Class D according to IEC TS 62998-1. It performs the following safety functions: Access detection function: access of one or more persons to a hazardous area deactivates the safety outputs to stop the moving parts of the machinery.

  • Page 11: Warranty And Liability

    2.  Safety 2.1.8 GENERAL WARNINGS Incorrect installation and configuration of the system decreases or inhibits the protective function of the system. Follow the instructions provided in this manual for correct installation, configuration and validation of the system. Changes to the system configuration may compromise the protective function of the system. After any changes made to the configuration, validate correct functioning of the system by following the instructions provided in this manual.
  • Page 12 Council. 2006/42/EC on machines 2014/53/EC on radio equipment The complete EC Declaration of Conformity is available on the Internet at www.pilz.com/manuals. Representative: Norbert Fröhlich, Pilz GmbH & Co. KG, Felix-Wankel-Str. 2, 73760 Ostfildern, Germany 2.2.3 UKCA This product(s) complies with following UK legislation:...
  • Page 13 2.  Safety Representative: Pilz Automation Technology, Pilz House, Little Colliers Field, Corby, Northamptonshire, NN18 8TJ United Kingdom, eMail: mail@pilz.co.uk. 2.2.4 OTHER CONFORMITIES AND NATIONAL CONFIGURATIONS For a complete, up-to-date list of product conformities and any national configurations, please refer to the National configuration addendum document.

  • Page 14: This Section Includes The Following Topics

    3. Get to know PSEN rd1.2 systems Contents This section includes the following topics: 3.1 PSEN rd1.2 systems 3.2 Analysing units 3.3 Analysing unit inputs 3.4 Analysing unit outputs 3.5 Sensors 3.6 PSEN rd1 configurator 3.7 Fieldbus communication (PROFIsafe) 3.8 Fieldbus communication (Safety over EtherCAT® - FSoE) 3.9 MODBUS communication 3.10 System configuration Product label description...

  • Page 15: Main Components

    3.  Get to know PSEN rd1.2 systems 3.1.3 Main components PSEN rd1.2 systems is composed of a analysing unit and up to six sensors. The PSEN rd1 configurator allows system operation configuration and checks. 3.1.4 Analysing unit and sensor compatibility The models and types of analysing unit and sensors are shown below, with their compatibility.
  • Page 16 3.  Get to know PSEN rd1.2 systems 3.1.6 Analysing unit - machinery communication The analysing units communicate with the machinery via I/O (see "Analysing unit inputs" on page 20 and "Analysing unit outputs" on page 21). Moreover, according to the model-type, the analysing unit is provided with: a safe communication on a Fieldbus interface.
  • Page 17 Off (bottom position) = resistance excluded M1 Status LED of hardware functions of the secondary micro-controller: slow flashing orange: normal behavior other status:contact Pilz M2 Status LED of hardware functions of the primary micro-controller: off: normal behavior steady red:contact Pilz Operating manual PSEN rd1.2 systems-5 meters range sensors...
  • Page 18 Off (bottom position) = resistance excluded M1 Status LED of hardware functions of the secondary micro-controller: slow flashing orange: normal behavior other status:contact Pilz M2 Status LED of hardware functions of the primary micro-controller: off: normal behavior steady red:contact Pilz Fieldbus port no.1 with LEDs (PROFIsafe or EtherCAT®...

  • Page 19: System Status Leds

    Note: F1 is the LED at the top, F6 is the LED at the bottom. Status Meaning F1 (power) Steady green Normal behavior Flashing green or Contact Pilz F2 (boot) Normal behavior Steady or flashing Contact Pilz yellow F3 (link) Data exchange is running with the host...

  • Page 20: Input Functions

    3.  Get to know PSEN rd1.2 systems Status Meaning Normal behavior Flashing red Invalid configuration: General Configuration Error. Possible reason: State change commanded by the master is impossible due to register or object settings Single flash red Local error: slave device application has changed the EtherCAT®...

  • Page 21: Redundancy Mode

    3.  Get to know PSEN rd1.2 systems System recondition Restart signal + System recondition In the PSEN rd1 configurator in Settings > Digital Input-Output, set the digital input function to Single channel (Category 2) and then choose the input function for each channel. 3.3.4 Redundancy mode Two types of redundancy mode are available for the dual channels input functions: Coherent redundancy...
  • Page 22 3.  Get to know PSEN rd1.2 systems Detection signal 1: (e.g., alarm signal) switches the selected output to OFF-state when a sensor detects a motion in detection field 1, receives a stop signal from the related input, or when there is a system failure. The selected output remains in OFF-state for at least 100 ms.

  • Page 23: Output Configurations

    3.  Get to know PSEN rd1.2 systems 3.4.3 Restart feedback signal option settings If at least one detection field in use is configured as Manual or Safe manual restart (in Settings > Restart function), the behavior of the Restart feedback signal depends on the option selected: Option Restart feedback signal behavior Standard...
  • Page 24 3.  Get to know PSEN rd1.2 systems 3.4.6 Dual channel safety output configuration The dual channel safety output is automatically obtained by the PSEN rd1 configurator and it only matches the single OSSD outputs as follows: OSSD 1 with OSSD 2 OSSD 3 with OSSD 4 In the dual channel safety output, the output status is the following: activated output (24 V DC): no motion detected and normal functioning...
  • Page 25 3.  Get to know PSEN rd1.2 systems 3.4.8 External resistor for OSSD outputs To guarantee the correct connection between the OSSDs of the analysing unit and an external device, it may be necessary to add an external resistor. If the pulse width set (OSSD Pulse width) is 300 μs, it is strongly recommended to add an external resistor to guarantee the discharge time of the capacitive load.
  • Page 26 3.  Get to know PSEN rd1.2 systems 3.5.3 Functions The sensors perform the following functions: Detect motion in their field of view. Send the motion detection signal to the analysing unit through CAN bus. Signal to the analysing unit through CAN bus the failures or faults detected on the sensor during diagnostics.
  • Page 27 (TLS). 3.6.3 Authentication The configurator can be downloaded free of charge at www.pilz.com/manuals. Different roles are available. The Administrator role is in charge of user management. All the passwords can be set through the configurator and then saved on the analysing unit.
  • Page 28 Technical support and maintenance Debug and statistical information Note*: Service user can be enabled/disabled by the administrator. Since only Pilz technicians are allowed to access as Service, the Service user is protected by an activation code. 3.6.5 Main menu Page...
  • Page 29 3.  Get to know PSEN rd1.2 systems 3.7 Fieldbus communication (PROFIsafe) 3.7.1 PROFIsafe support The safety communication using PROFIsafe is available on all the analysing units provided with the PROFIsafe interface. For details, see "Analysing units" on page 16. 3.7.2 Communication with the machinery The Fieldbus makes the following actions possible: Choose from 1 to 32 preset configurations dynamically.
  • Page 30 3.  Get to know PSEN rd1.2 systems Communication Data type Description direction Safe SYSTEM STATUS DATA from the analysing unit Analysing unit: internal status status of each of the four OSSDs status of each single channel and dual channel input Sensor: status of each detection field (target detected or not) or error status...

  • Page 31: Modbus Communication

    3.  Get to know PSEN rd1.2 systems 3.8.3 Data exchanged through FSoE The following table details the data exchanged through the Fieldbus communication: WARNING! The system is in the safe state if Byte 0 of the selected TxPDO has at least one of its bits equal to 0, except for bit 4, which can assume any value.

  • Page 32: System Configuration

    3.  Get to know PSEN rd1.2 systems 3.9.3 Data exchanged through MODBUS The following table details the data exchanged through the MODBUS communication: Communication Data type Description direction Unsafe SYSTEM STATUS DATA from the analysing unit Analysing unit: internal status status of each of the four OSSDs status of each single channel and dual channel input revision information...
  • Page 33 3.  Get to know PSEN rd1.2 systems safety working mode (Access detection and restart prevention or  Always-on access detection) (see "Safety working modes and safety functions" on page 40) only for 5.x sensors: classic and corridor shapes (see "Advanced field of view (5.x sensors only)" on page 53) static object detection option (see "Restart prevention function: static object detection option"...
  • Page 34 3.  Get to know PSEN rd1.2 systems Case 3 Both digital inputs have been configured as Dynamic configuration switch, and the encoded channel option is disabled. Dynamic Input 1 (CH1 and Input 2 (CH1 and configuration CH2) CH2) number 0 = signal deactivated; 1 = signal activated Case 4 Both digital inputs have been configured as Dynamic configuration switch, and the encoded channel option is enabled.

  • Page 35: Functioning Principles

    4. Functioning principles Contents This section includes the following topics: 4.1 Sensor functioning principles 4.2 Detection fields 4.1 Sensor functioning principles 4.1.1 Introduction The sensor is an FMCW (Frequency Modulated Continuous Wave) radar device based on a proprietary detection algorithm. It is also a multi-target sensor that sends pulses and receives information, analyzing the reflection of the nearest moving target that it encounters within each detection field.
  • Page 36 4.  Functioning principles WARNING! Configure the detection fields and associate them with the dual channel safety outputs according to the risk assessment requirements. 4.2.2 Detection field parameters These are the programmable parameters for each detection field: angular coverage detection distance safety working mode (Access detection and restart prevention or Always-on access detection) (see "Safety working modes and safety functions"...
  • Page 37 4.  Functioning principles The detection distance of one or more fields can be 0 (e.g., detection field 3). The first detection field with a detection distance other than 0 (e.g., detection field 1) must have a minimum detection distance of 500 mm (for 3.x sensors) or 200 mm (for 5.x sensors).
  • Page 38 4.  Functioning principles In this example, both detection field 1 and 2 generate a detection signal, for target [A] and [B] respectively. In this example, detection field 1 generates a detection signal for target [A] but target [B] could not be detected. In the PSEN rd1 configurator, click on Settings >...
  • Page 39 4.  Functioning principles 4.2.6 Independent detection fields: a use case It can be useful to set the detection fields as independent, for example, if there is a scheduled temporary motion of an object in a detection field. An example can be a robotic arm moving from right to left within the detection field 1 only during a specific phase of the operative cycle.

  • Page 40: Safety Functions

    5. Safety functions Contents This section includes the following topics: 5.1 Safety working modes and safety functions 5.2 Safety working mode: Access detection and restart prevention (default) 5.3 Safety working mode: Always-on access detection 5.4 Restart prevention function: static object detection option 5.5 Features of the restart prevention function 5.1 Safety working modes and safety functions 5.1.1 Introduction...
  • Page 41 5.  Safety functions 5.2 Safety working mode: Access detection and restart prevention (default) 5.2.1 Introduction This safety working mode is composed of the following safety functions: access detection restart prevention 5.2.2 Safety function: access detection Access detection allows what follows: When... Then...

  • Page 42: Operation

    5.  Safety functions WARNING! If the Always-on access detection is selected, additional safety measures must be introduced to ensure the restart prevention function. 5.3.2 T  parameter If the safety working mode is Always-on access detection, when the system does not detect motion anymore, the OSSD outputs remain in OFF-state for the time set in the T parameter.
  • Page 43 5.  Safety functions A validation procedure (see "Validate the safety functions" on page 74) must be performed when one or more of the above conditions are met. If the conditions described above limit the performance of the sensor, take the following steps to reach an appropriate level of performance: Increase the Restart timeout parameter.
  • Page 44 5.  Safety functions 5.5.3 Precautions for preventing unexpected restarting To prevent unexpected restarting, if the sensor is installed at a height of less than 15 cm (5.9 in) from the ground to its center, a minimum distance of 50 cm (20 in) from the sensor must be guaranteed. Note: if the sensor is installed at a height of less than 15 cm (5.9 in) from the ground to its center, an option is to enable the masking function to generate a system error if a person stands in front of the sensor.

  • Page 45: Other Functions

    6. Other functions Contents This section includes the following topics: 6.1 Muting 6.2 Anti-tampering functions: anti-rotation around axes 6.3 Anti-tampering functions: anti-masking 6.4 Auto-resume (5.x sensors only) 6.5 Electromagnetic Robustness 6.1 Muting 6.1.1 Description The muting function is an additional safety-related function that inhibits the sensing capability of the sensor on which it is activated.
  • Page 46 6.  Other functions 6.1.4 Enable muting signal characteristics The muting function is enabled only if both logic signals of the dedicated input meet certain characteristics. Below is a graphic representation of the signal characteristics. In the PSEN rd1 configurator, in Settings > Digital Input-Output it is necessary to set the parameters that define the signal characteristics.
  • Page 47 6.  Other functions Note: when the position is modified with respect to the saved references (i.e., when a sensor is rotated) and the anti-rotation around axes function is enabled, the PSEN rd1.2 systems detects the tampering and sends the message within 5 s. The sensor can detect changes in rotation around the x-axis and the z-axis even if it is switched off.
  • Page 48 6.  Other functions 6.3.2 Environment memorization process The sensor starts the surrounding environment memorization process when the PSEN rd1 configurator configuration is saved. From that moment, it waits for the system to exit the alarm status and for the scene to be static up to 20 seconds, then scans and memorizes the environment.

  • Page 49: Function Limitations

    6.  Other functions To change the sensitivity level or disable the function, in the PSEN rd1 configurator, click Settings > Anti- tampering and search for Anti-masking sensitivity. To set the distance, in the PSEN rd1 configurator, click Settings > Anti-tampering and search for Anti-masking distance.

  • Page 50: Sensor Position

    7. Sensor position Contents This section includes the following topics: 7.1 Basic concepts 7.2 Sensor field of view 7.3 Advanced field of view (5.x sensors only) 7.4 Dangerous area calculation 7.5 Calculation of range of distances 7.6 Sensor position recommendations 7.7 Installations on moving elements (Mobile application) 7.8 Outdoor installations 7.1 Basic concepts 7.1.1 Determining factors...
  • Page 51 7.  Sensor position The standard shapes of the field of view are described below. For 5.x sensors, the Classic and Corridor shapes are available (see "Advanced field of view (5.x sensors only)" on page 53). 7.2.2 Areas and dimensions of the field of view The sensor field of view is composed of two areas: detection field [A]: where detection of objects similar to humans in any position is guaranteed tolerance area [B]: where the actual detection of a moving object/person depends on the characteristics of...
  • Page 52 7.  Sensor position 7.2.4 Dimensions for the restart prevention function Note: the tolerance area dimensions described are related to the detection of humans. The horizontal tolerance area is 40° greater than the angular coverage set. Side view Top view 7.2.5 Position of the field of view The field of view is shifted of 2.5°.
  • Page 53 7.  Sensor position Side view with sensor inclination 0°. 7.3 Advanced field of view (5.x sensors only) 7.3.1 Introduction For each sensor, two field of view shapes are available: Classic Corridor 7.3.2 Classic field of view The classic shape allows you to choose the standard shape of the field of view and, if desired, to make it asymmetric.
  • Page 54 7.  Sensor position Conditions: The sensor axis must always be included in all the detection fields. The angular coverage of each detection field must be wider than, or equal to, the angular coverage of the following detection fields. The minimum corridor width is 20 cm (7.87 in). 7.4 Dangerous area calculation 7.4.1 Introduction The dangerous area of the machinery to which PSEN rd1.2 systems is applied must be calculated according to...
  • Page 55 Note: [A], [B], [C] and [D] are examples to define H and not suggestions on how to install the sensor. For details about the calculation of H, please refer to the application notes downloadable from the site www.pilz.com/manuals. For details about the difference between the two approaches, please refer to standard ISO 13855.

  • Page 56: Installation Configurations

    7.  Sensor position 7.5 Calculation of range of distances 7.5.1 Introduction The range of detection distances for a sensor depends on the inclination (α) and the installation heights (h) of the sensor. The detection distance of each detection field (Dalarm) depends on a distance d that must be within the range of distances allowed.
  • Page 57 7.  Sensor position Below is an example for configuration 3, with D = 0.9 m and D = 1.6 m. 7.5.5 Calculate the real detection distance The actual detection distance Dalarm is the value to be entered on the Configuration page of the PSEN rd1 configurator.
  • Page 58 7.  Sensor position Below is an example: WARNING! The angular coverage in the first 800 mm (31.5 in) of the field of view must be at least 60°. If this specification cannot be respected, take precautions to avoid the access of a human in the first 800 mm (31.5 in) of the field of view.

  • Page 59: Speed Limits

    7.  Sensor position 7.7.2 Speed limits The detection is guaranteed only if the speed of the vehicle or part of the machinery is: for detection distance less than or equal to 4 m (13.12 ft), from 0.1 m/s (0.33 ft/s) to 3 m/s (9.84 ft/s) for detection distance greater than 4 m (13.12 ft), from 0.1 m/s (0.33 ft/s) to 2 m/s (6.56 ft/s) Note: only the speed of the vehicle or of the part of machinery is considered.
  • Page 60 7.  Sensor position 7.8.2 Recommendations for covering the sensor Below are some recommendations for creating and installing a sensor cover: height from sensor: 15 cm (6 in) width: minimum 30 cm (11.8 in), maximum 40 cm (15.7 in) protrusion from the sensor: minimum 15 cm (6 in), maximum 20 cm (7.9 in) water outflow: at the sides or behind but not in front of the sensor (the cover should be arched and/or tilted backwards) 7.8.3 Recommendations for positioning the sensor...
  • Page 61 Note: if the installation fails, the dependencies needed by the configurator may be missing. Update your operating system or contact Pilz to receive assistance. 1. Download the configurator from the www.pilz.com/manuals website and install it on the computer. 2. With Microsoft Windows operating system, download and install from the same site also the driver for USB connection.
  • Page 62 8.  Installation and use procedures 8.2.2 Install the analysing unit WARNING! To prevent tampering, make sure the analysing unit is only accessible to authorized personnel (e.g., key-locked electrical panel) 1. Mount the analysing unit on the DIN rail. 2. Make electrical connections (see "Terminal blocks and connector pin-outs" on page 104 and "Electrical connections"...
  • Page 63 8.  Installation and use procedures 8.2.3 Mount 3-axes bracket Note: for an example of sensor installation, see "Examples of sensor installation" on page 66. The bracket that allows rotation around the z-axis (roll) is an accessory in the package. To mount it: 1.

  • Page 64: Install The Sensors

    8.  Installation and use procedures 8.2.4 Install the sensors Note: for an example of sensor installation, see "Examples of sensor installation" on page 66. Note: the usage of a thread-locking fluid on the threads of fasteners is suggested, especially when the sensor is installed on a moving or vibrating part of the machinery.
  • Page 65 8.  Installation and use procedures 5. Loosen the tamper-proof screws to tilt the 6. Tilt the sensor to the desired inclination (see sensor. "Sensor position" on page 50). Note: a notch is equal to a 10° of inclination. For a finer regulation of the sensor inclination with a 1°...
  • Page 66 8.  Installation and use procedures 8.2.5 Examples of sensor installation NOTICE: refer to the sensor LED position to identify the sensor field of view (see "Position of the field of view" on page 52). Floor installation Wall installation (for example for access control of an entrance). Operating manual PSEN rd1.2 systems-5 meters range sensors 66 | 1005736-EN-07...
  • Page 67 8.  Installation and use procedures Note: install the sensor so that the field of view is tilted towards the outside of the hazardous area to avoid false alarms (see"Position of the field of view" on page 52). Installation on the machinery. 8.2.6 Connect the sensors to the analysing unit Note: the total maximum length of the CAN bus line is 80 m (262.5 ft).
  • Page 68 8.  Installation and use procedures Chain with analysing unit at the end of the chain and a sensor with bus terminator (more than two sensors) Note: for cables specifications see "CAN bus cables recommended specifications" on page 103. In order to have enough voltage at the sensors, consider the following rules: Max.
  • Page 69 8.  Installation and use procedures 8.3 Set the sensor inclination with a 1° precision 8.3.1 Procedure 1. Remove the tamper-proof screws and remove 2. Remove the internal adjustment ring from the the sensor from the bracket. bracket. 3. Reinsert the adjustment ring in the bracket 4.
  • Page 70 8.  Installation and use procedures 5. Tilt the sensor downward or upward the 6. Tighten the screws. number of notches corresponding to the tens place value of the desired angle (for example, for an inclination angle of +38°, the tens place value is 3: tilt the sensor upward three notches).
  • Page 71 8.  Installation and use procedures Example 1 (upward): +62° In this example, the rear of the case is facing the following angles: 1°, 2°, 3°, 4°, 5°. Side 1 Side 2 Example 2 (downward): -37° In this example, the front of the case is facing the following angles: 5°, 6°, 7°, 8°, 9°. Side 1 Side 2 Operating manual PSEN rd1.2 systems-5 meters range sensors...
  • Page 72 8.  Installation and use procedures 8.3.4 Example: set the sensor inclination to +62° 1. Insert the adjustment ring in the hole corresponding to 2°. Side 1 Side 2 2. Insert the sensor in the bracket with the rear of the sensor facing the 2° angle. 3.
  • Page 73 8.  Installation and use procedures for both automated guided vehicles and vehicles with driver, select Vehicle. Note: the algorithms are optimized to minimize the interference between sensors based on the installation conditions. Even though this choice does not affect the performance and the robustness, it is mandatory to select the correct application type.
  • Page 74 8.  Installation and use procedures 3. Click Settings > Node ID Assignment. 4. Proceed according to the type of assignment: If the assignment is... Then... manual 1. Click DISCOVER CONNECTED SENSORS to display the connected sensors. 2. To assign a Node ID, click Assign for the unassigned Node ID in the Configured sensors list.
  • Page 75 8.  Installation and use procedures In stationary applications, all the tests share these parameters: Target type Human Target speed In the range [0.1, 1.6] m/s ([0.33, 5.25] ft/s), with particular attention to the minimum and the maximum speeds. Acceptance The system reaches the safe state via digital outputs or Fieldbus when the target accesses criteria the area during the test.
  • Page 76 8.  Installation and use procedures Validation test The validation procedure of the PSEN rd1.2 systems system is reported below: 1. Identify the test positions, including those locations where the operator should normally be located during the production cycle: boundaries of the dangerous area intermediate points between sensors positions that are partially hidden by already present or presumed obstacles during the operating cycle...
  • Page 77 8.  Installation and use procedures Position 2: position hidden from the operator’s viewpoint at “Position 1”. Any other similar hidden position should be tested. Position 3: position at the center distance between two sensors and/or close to the boundaries of the dangerous area (e.g., along safety fences).

  • Page 78: Manage The Configuration

    8.  Installation and use procedures 8.6 Manage the configuration 8.6.1 Configuration checksums In the PSEN rd1 configurator in Settings > Configuration checksums, it is possible to consult: the configuration report hash, a unique alphanumeric code associated with a report. It is computed considering the entire configuration, plus the time of the APPLY CHANGES operation, and the name of the computer which did it dynamic configuration checksum, associated with a specific dynamic configuration.

  • Page 79: Other Procedures

    8.  Installation and use procedures 8.7 Other procedures 8.7.1 Change language 1. Click 2. Select the desired language. The language changes automatically. 8.7.2 Restore factory default settings WARNING! The system is provided without any valid configuration. Therefore the system maintains the safe state at the first start-up until a valid configuration is applied through the PSEN rd1 configurator by clicking APPLY CHANGES.
  • Page 80 8.  Installation and use procedures For the default values of the parameters, see "Configuration configurator parameters" on page 113. 8.7.5 Identify a sensor In Settings > Node ID Assignment or Configuration, click Identify by LED near the desired sensor Node ID: the LED on the sensor flashes for 5 seconds.

  • Page 81: Troubleshooting Procedures

    9.5 ERROR events (sensor) 9.6 ERROR events (CAN bus) 9.1 Troubleshooting procedures Note: if requested by Pilz, in Settings > Activity History, click Download sensor debug info to download the files and forward them to Pilz for debugging. 9.1.1 Analysing unit LED For more details about the LEDs in the analysing unit, see "Analysing units" on page 16 and "System status LEDs"...
  • Page 82 Check the status of the analysing unit terminal block and peripherals is in connections. error If the problem persists, please contact Pilz. Steady red CAN ERROR Communication Check connections of all error with at least sensors in the chain starting one sensor from the last sensor in error.

  • Page 83: Sensor Led

    PSEN rd1 other in configurator, connect to the sequence device and proceed with the automatic recovery procedure. If the issue persists, please contact Pilz. All LEDs In Dashboard > System Configuration not yet Configure the system. status icons applied to the analysing unit.

  • Page 84: Other Problems

    Machinery in safe No power supply Check electrical connection. status without Contact Pilz if necessary. motion in the Failure of the analysing unit or Check the status of the LEDs on the analysing unit (see detection field one or more sensors "Analysing unit LED"...

  • Page 85: Event Log Management

    9.  Troubleshooting 9.2 Event log management 9.2.1 Introduction The event log recorded by the system can be downloaded from the PSEN rd1 configurator in a PDF file. The system saves up to 4500 events, divided in two sections. In each section the events are displayed from the most recent to the least recent.

  • Page 86: Event Description

    9.  Troubleshooting Example: Rel. 0 d 00:01:32 Note: when a new system configuration is performed, even the older timestamps are updated in absolute time format. Note: during system configuration, the analysing unit is receiving the local time of the machine where the software is running.

  • Page 87: Log File Example

    9.  Troubleshooting 9.2.8 Log file example Event logs of ISC NID UP304 updated 2020/11/18 16:59:56 [Section 1 - Event logs] 2020/11/18 16:53:49 [ERROR] SENSOR#1 CAN ERROR (Disappearing) 2020/11/18 16:53:44 [ERROR] SENSOR#1 CAN ERROR (Code: 0x0010) COMMUNICATION LOST 2020/11/18 16:53:25 [INFO] ANALYSING UNIT System configuration #16 2020/11/18 16:53:52 [ERROR] SENSOR#1...
  • Page 88 9.  Troubleshooting Event Type MODBUS connection INFO Session authentication INFO Validation INFO Log download INFO For further information about the events, see "INFO events" on the next page and " ERROR events (analysing unit)" on page 91. 9.2.10 Verbosity level There are six verbosity levels for the log. The verbosity can be set during the configuration of the system via the PSEN rd1 configurator (Settings >...

  • Page 89: Factory Reset

    9.  Troubleshooting ANALYSING UNIT Detection exit (field #n) SENSOR #k Detection exit 9.3 INFO events 9.3.1 System Boot Every time the system is powered up, the event is logged reporting the incremental count of the boot from the beginning of the life of the device. Format: System Boot #n Example: 2020/11/18 16:47:25...

  • Page 90: Fieldbus Connection

    9.  Troubleshooting Example: 2020/11/18 16:47:25 [INFO] SENSOR #1 Detection access (field #1, 1200 mm/30°) 9.3.7 Detection exit After at least one detection access event, a detection exit event related to the same field is logged when the detection signal returns to its default no-motion status. Depending on the selected verbosity level additional parameters are logged: the detection field number, the sensor which detected the motion.
  • Page 91 9.  Troubleshooting Example: 2020/11/18 16:47:25 [INFO] ANALYSING UNIT Session OPEN via USB 9.3.13 Validation Every time a validation activity starts or ends on the device, it is logged. The interface used (USB/ETH) is logged as well. Format: Validation STARTED/ENDED via USB/ETH Example: 2020/11/18 16:47:25 [INFO]...
  • Page 92 9.  Troubleshooting 9.4.4 Peripheral error (PERIPHERAL ERROR) Error detected by diagnostics relative to the micro-controller, its internal peripherals or memories. 9.4.5 Configuration errors (FEE ERROR) Indicates that the system must still be configured. This message can appear when the system is first turned on or after reset to default values.
  • Page 93 WARNING! No sensor errors are available if the sensor is in muting. Note: if requested by Pilz, in Settings > Activity History, click Download sensor debug info to download the files and forward them to Pilz for debugging. 9.5.2 Sensor configuration error (SENSOR CONFIGURATION ERROR) Error occurred on the sensors during the configuration process or at the system power up.
  • Page 94 9.  Troubleshooting Error Meaning SEQUENCE, Sequence error occurred during the sensor configuration STREAM SEQUENCE, STREAM END, STREAM CRC MISSING SENSORS Too many sensors are missing during the system recondition 9.5.3 Misconfiguration error (MISCONFIGURATION ERROR) The misconfiguration error occurs when the sensor does not have a valid configuration or it has received an invalid configuration from the analysing unit.
  • Page 95 9.  Troubleshooting 9.5.9 Temperature errors (TEMPERATURE ERROR) Error Meaning BOARD TEMPERATURE TOO LOW Board temperature below minimum BOARD TEMPERATURE TOO HIGH Board temperature above maximum CHIP TEMPERATURE TOO LOW Internal chip below minimum CHIP TEMPERATURE TOO HIGH Internal chip above maximum IMU TEMPERATURE TOO LOW IMU below minimum IMU TEMPERATURE TOO HIGH IMU above maximum...

  • Page 96: Planned Maintenance

    10. Maintenance Contents This section includes the following topics: 10.1 Planned maintenance 10.2 Extraordinary maintenance 10.1 Planned maintenance Generic maintenance technician The generic maintenance technician is a person qualified only to perform basic maintenance without the administrator privileges required to modify the configuration of PSEN rd1.2 systems through the configurator. 10.1.1 Cleaning Keep the sensor clean and free of any work residues and conductive material to prevent masking and/or poor system operation.

  • Page 97: Extraordinary Maintenance

    PSEN rd1.2 systems through the PSEN rd1 configurator and perform maintenance and troubleshooting. 10.2.2 Analysing unit firmware update 1. Download the latest PSEN rd1 configurator version from the www.pilz.com/manuals website and install it on your computer. 2. Connect to the analysing unit via Ethernet and log in as Administrator role.
  • Page 98 10.  Maintenance 3. To perform the backup, insert a microSD card into the analysing unit memory card slot. Note: the microSD card is not supplied with the analysing unit. For details about the microSD card specifications, see "microSD card specifications" below 4.

  • Page 99: Table Of Contents

    11. Technical references Contents This section includes the following topics: 11.1 Technical data 11.2 Terminal blocks and connector pin-outs 11.3 Electrical connections 11.4 Configuration configurator parameters 11.5 Digital input signals Operating manual PSEN rd1.2 systems-5 meters range sensors | 99 1005736-EN-07...

  • Page 100: Technical Data

    11.  Technical references 11.1 Technical data Class (IEC TS 62998-1) Communication CAN complies with standard EN 50325-5 11.1.1 General specifications protocol (sensors- analysing unit) Detection Motion detection algorithm based on method FMCW radar Mission time 20 years Frequency Working band: 60.6-62.8 GHz MTTF 42 years Maximum radiated power: 16 dBm mean...
  • Page 101 11.  Technical references 11.1.4 Analysing unit features Operating From -30 to +60 °C (from -22 to +140 °F) temperature Outputs Configurable as follows: Storage From -40 to +80 °C (from -40 to +176 °F) 4 Output Signal Switching Devices temperature (OSSDs) (used as single channels) 2 dual channel safety outputs Note*: the unit shall be supplied by an isolated...

  • Page 102: Sensor Features

    11.  Technical references 11.1.5 Sensor features Connectors 2 5-pin M12 connectors (1 male and 1 female) CAN bus 120 Ω (not supplied, to be installed with a termination bus terminator) resistance Power supply 12 V DC ± 20%, through analysing unit Consumption Average 2.2 W Peak 3.4 W...
  • Page 103 11.  Technical references 11.1.6 CAN bus cables 11.1.8 Non tamper-proof screws recommended specifications specifications Section 2 x 0.50 mm2 (21 AWG) power supply Hex button head screw 2 x 0.22 mm (24 AWG) data line Type Two twisted pairs (power supply and data) and one drain wire (or shield) Connectors 5-pole M12 (see "Connectors M12 CAN...

  • Page 104: Terminal Blocks And Connector Pin-Outs

    11.  Technical references 11.2 Terminal blocks and 11.2.2 Voltage and current limits for digital inputs connector pin-outs The digital inputs (input voltage 24 V DC) adhere to the following voltage and current limits, in 11.2.1 Digital inputs and outputs accordance with standard IEC/EN 61131-2:2003. terminal block Type 3 Voltage limits...
  • Page 105 11.  Technical references 11.2.5 Connectors M12 CAN bus Male connector Female connector Function Shield to be connected to the functional earth on the power supply terminal block of the analysing unit. +12 V dc CAN H CAN L Operating manual PSEN rd1.2 systems-5 meters range sensors | 105 1005736-EN-07...

  • Page 106: Electrical Connections

    11.  Technical references 11.3 Electrical connections 11.3.1 Connection of safety outputs to the Programmable Logic Controller Note: for the connection to input to PNOZmulti or PSSu2 systems, activate in the corresponding function block the suppression of the test pulses. Digital I/O settings (through the PSEN rd1 configurator) Digital input #1 Not configured Digital input #2 Not configured Digital output #1 Detection signal 1...
  • Page 107 11.  Technical references 11.3.2 Connection of safety outputs to an external safety relay Digital I/O settings (through the PSEN rd1 configurator) Digital input #1 Not configured Digital input #2 Not configured Digital output #1 Detection signal 1 Digital output #2 Detection signal 1 Digital output #3 Not configured Digital output #4 Not configured Operating manual PSEN rd1.2 systems-5 meters range sensors...
  • Page 108 11.  Technical references 11.3.3 Connection of stop signal (Emergency button) Note: the indicated emergency button opens the contact when pressed. Note: the cables used for wiring the digital inputs must have a maximum length of 30 m (98.4 ft). Digital I/O settings (through the PSEN rd1 configurator) Digital input #1 Not configured Digital input #2 Stop signal Digital output #1 Not configured...
  • Page 109 11.  Technical references 11.3.4 Connection of restart signal (dual channel) Note: the button indicated for the restart signal closes the contact when pressed. Note: the cables used for wiring the digital inputs must have a maximum length of 30 m (98.4 ft). Digital I/O settings (through the PSEN rd1 configurator) Digital input #1 Not configured Digital input #2 Restart signal...
  • Page 110 11.  Technical references 11.3.5 Connection of the muting input and output (one group of sensors) Note: the cables used for wiring the digital inputs must have a maximum length of 30 m (98.4 ft). Digital I/O settings (through the PSEN rd1 configurator) Digital input #1 Muting group 1 Digital input #2 Not configured Digital output #1 Not configured...
  • Page 111 11.  Technical references 11.3.6 Connection of the muting input and output (two groups of sensors) Note: the cables used for wiring the digital inputs must have a maximum length of 30 m (98.4 ft). Digital I/O settings (through the PSEN rd1 configurator) Digital input #1 Muting group 1 Digital input #2 Muting group 2 Digital output #1 Not configured...
  • Page 112 11.  Technical references 11.3.7 Detection signal 1 and 2 connection Digital I/O settings (through the PSEN rd1 configurator) Digital input #1 Not configured Digital input #2 Not configured Digital output #1 Detection signal 1 Digital output #2 Detection signal 1 Digital output #3 Detection signal 2 Digital output #4 Detection signal 2 Operating manual PSEN rd1.2 systems-5 meters range sensors 112 |...

  • Page 113: Configuration Configurator Parameters

    11.  Technical references 11.3.8 Diagnostic output connection Note: the cables used for wiring the digital inputs must have a maximum length of 30 m (98.4 ft). Digital I/O settings (through the PSEN rd1 configurator) Digital input #1 Not configured Digital input #2 Not configured Digital output #1 Not configured Digital output #2 Not configured Digital output #3 System diagnostic signal...
  • Page 114 11.  Technical references Parameter Default value Sensors model and type 5 meters range sensors, 9 meters range 5 meters range sensors sensors Country Europe, Rest of the certified countries or Europe, Rest of the list of countries certified countries Application type selection Stationary, Mobile, Vehicle Stationary Configuration...
  • Page 115 11.  Technical references Parameter Default value Static object detection (for each detection Enabled, Disabled Disabled field of each sensor) Restart timeout (for each detection field of 100 ms 60000 ms 4000 ms each sensor) 100 ms 60000 ms 100 ms Settings >...
  • Page 116 11.  Technical references Parameter Default value Settings > Restart function Detection field 1, 2, 3, 4 Automatic, Manual, Safe manual Automatic Settings > Activity History Log verbosity level Settings > Detection field groups Detection field 1, 2, 3, 4 (for each sensor) None, Group 1, Group 2, Both None Admin >...

  • Page 117: Digital Input Signals

    11.  Technical references Parameter Default value Admin > SD Card Automatic backup creation Enabled, Disabled Disabled Users data included Enabled, Disabled Disabled Enable restore by button Enabled, Disabled Enabled 11.5 Digital input signals 11.5.1 Stop signal Part Description Detection signal Both deactivate on the falling edge of, at least, one of the two input channels of the input signal.
  • Page 118 11.  Technical references 11.5.2 Muting (with/without pulse) Without pulse (redundancy mode coherent) Part Description Diff Less than 100 ms. If the value is greater than 100 ms, the diagnostic alarm starts and the system deactivates the safety outputs. Muting signal Interchangeable channel.
  • Page 119 11.  Technical references Part Description Diff Less than 100 ms. If the value is greater than 100 ms, the diagnostic alarm starts and the system deactivates the safety outputs. Muting status They are enabled as long as channel 1 of the Muting signal is at a high logic level (1) and channel 2 is at a low logic level (0).
  • Page 120 11.  Technical references 11.5.3 Restart signal (dual channel, redundancy mode coherent) Part Description Detection signal The Detection signal 1 and Detection signal 2 outputs go to ON-state as soon as the last channel has correctly completed the transition 0 -> 1 -> 0. Detection signal Restart signal Interchangeable channel.
  • Page 121 11.  Technical references 11.5.4 Restart signal (dual channel, redundancy mode inverted) Part Description Detection signal The Detection signal 1 and Detection signal 2 outputs go to ON-state as soon as the last channel has correctly completed the transition. Detection signal Restart signal Channel 1 of the Restart signal must have a transition of logical level 0 ->...
  • Page 122 11.  Technical references 11.5.5 Restart signal (single channel) Part Description Detection signal The Detection signal 1 and Detection signal 2 outputs go to ON-state as soon as the Restart signal has correctly completed the transition 0 -> 1 -> 0. Detection signal Restart signal The channel must have a transition of logical level 0 ->...
  • Page 123 11.  Technical references 11.5.7 System recondition (dual channel, redundancy mode inverted) Part Description System Channel 1 of System recondition must have a transition of logical level 0 -> 1 -> 0. Channel 2 recondition CH1 of System recondition must have a transition of logical level 1 -> 0 -> 1. They must stay at a high logical level (t) for at least 10 s and less than 30 s.
  • Page 124 11.  Technical references Part Description Diff Less than 100 ms. If the value is greater than 100 ms, the system maintains the outputs deactivated. 11.5.10 Restart signal + System recondition (dual channel, redundancy mode inverted) Part Description Channel 1 of the Restart signal must have a transition of logical level 0 -> 1 -> 0. Channel 2 of Restart signal must have a transition of logical level 1 ->...
  • Page 125 11.  Technical references 11.5.12 Dynamic configuration switch (redundancy mode coherent) With one input With two inputs (encoded channels disabled) Part Description Diff Less than 100 ms. If the value is greater than 100 ms, the diagnostic alarm starts and the system deactivates the safety outputs.
  • Page 126 11.  Technical references 11.5.13 Dynamic configuration switch (redundancy mode inverted) With one input With two inputs Part Description Diff Less than 100 ms. If the value is greater than 100 ms, the diagnostic alarm starts and the system deactivates the safety outputs. Dynamic For details about the dynamic configuration number and the encoded channels option, see configuration...

  • Page 127: System Software

    12.1.6 Backward compatibility Backward compatibility is guaranteed. 12.1.7 Change control Any change proposal suggested by the integrator or the end user should be forwarded to Pilz and evaluated by the Product Owner. 12.1.8 Implemented security measures Firmware upgrade packages are managed by Pilz and are signed to prevent the use of unverified binary files.

  • Page 128: Disposal

    For more detailed information about disposal, contact the waste disposal services or the representative from whom you purchased the product. 12.3 Service and warranty 12.3.1 Customer service Pilz GmbH & Co. KG Felix-Wankel-Straße 2 73760 Ostfildern - Deutschland Tel: +49 711 3409-222 Fax: +49 711 3409-133 email: support@pilz.com...
  • Page 129 12.  Appendix Question Yes No Has the ESPE been mounted such that the required minimum distance from the nearest hazardous point has been achieved? Are the ESPE devices properly mounted and secured against manipulation after adjustment? Are the required protective measures against electric shock in effect (protection class)? Is the control switch for resetting the protective devices (ESPE) or restarting the machine present and correctly installed? Are the outputs of the ESPE integrated according to the required PL/SIL in accordance with EN ISO...
  • Page 130 We are represented internationally. Please refer to our homepage www.pilz.com for further details or contact our headquarters. Headquarters: Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, E-Mail: info@pilz.com, Internet: www.pilz.com...

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