operating instructions s100 laser scanner - sick usa | sick

O P E R A T I N G I N S T R U C T I O N S

S100

Laser scanner

EN

Fehler! Unbek

S100

2 © SICK AG • Subject to change without notice 8012238/YY30/2015-02-20

This document is protected by the law of copyright, whereby all rights established therein remain with the company SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Alteration or abridgement of the document is not permitted without the explicit written approval of the company SICK AG.

Operating instructions

S100

8012238/YY30/2015-02-20 © SICK AG • Subject to change without notice 3

Contents

Contents 1 Important safety notes ..................................................................................................... 6

2 About this document ......................................................................................................... 7 2.1 Function of this document .................................................................................... 7 2.2 Target group .......................................................................................................... 7 2.3 Scope ..................................................................................................................... 7 2.4 Depth of information ............................................................................................. 7 2.5 Abbreviations ......................................................................................................... 8 2.6 Symbols used ........................................................................................................ 8

3 On safety ............................................................................................................................. 9 3.1 Correct use ............................................................................................................ 9 3.2 Authorised personnel ............................................................................................ 9

3.2.1 Mounting and maintenance ............................................................... 9 3.2.2 Electrical installation and replacement ............................................. 9 3.2.3 Commissioning, operation and configuration ................................... 9

3.3 Applications of the device..................................................................................... 9 3.4 General safety notes and protective measures ................................................10 3.5 Environmental protection ...................................................................................11

3.5.1 Disposal .............................................................................................11 3.5.2 Separation of materials ....................................................................11

4 Product description .........................................................................................................12 4.1 Device components ............................................................................................12 4.2 Special features ..................................................................................................12 4.3 Function ...............................................................................................................13

4.3.1 Principles of operation ......................................................................14 4.3.2 Field set and switching fields ...........................................................15 4.3.3 Monitoring cases ...............................................................................16

4.4 Applications .........................................................................................................16 4.4.1 Warehouse bay checking ..................................................................16 4.4.2 Collision protection ...........................................................................17 4.4.3 Protection of the area behind a vehicle ...........................................17 4.4.4 Collision protection ...........................................................................18

4.5 Configurable functions ........................................................................................18 4.5.1 Naming applications and laser scanners ........................................18 4.5.2 Switching fields .................................................................................18 4.5.3 Resolution ..........................................................................................20 4.5.4 Application diagnostic output “error/contamination” .....................20 4.5.5 Restart ...............................................................................................20 4.5.6 Multiple sampling ..............................................................................21 4.5.7 Dazzle suppression ...........................................................................21 4.5.8 Monitoring cases on the S100 Professional ...................................21 4.5.9 Stand-by mode ..................................................................................21 4.5.10 Static control inputs on the S100 Professional ..............................22 4.5.11 CANopen ............................................................................................23

4.6 Status indicators .................................................................................................24

Fehler! Unbekannter Name für Dokument-Eigenschaft.

S100


Contents

5 Mounting .......................................................................................................................... 25 5.1 Definition of the size of the switching field for mobile applications ................ 26 5.2 Mounting steps ................................................................................................... 26

5.2.1 Direct mounting ................................................................................ 27 5.2.2 Mounting with mounting kit 1a or 1b .............................................. 27 5.2.3 Mounting with mounting kit 2 and 3 ............................................... 29 5.2.4 Using multiple S100 laser scanners ............................................... 29

6 Electrical installation ..................................................................................................... 32 6.1 System connection ............................................................................................. 32 6.2 System plug assembly ........................................................................................ 34

6.2.1 Cable glands ..................................................................................... 34 6.2.2 Wire cross-sections ........................................................................... 35

6.3 Pre-assembled system plugs ............................................................................. 35

7 Application examples and connection diagrams ........................................................ 36 7.1 Applications with the S100 Standard ................................................................ 36 7.2 Applications with the S100 Professional .......................................................... 37

8 Configuration ................................................................................................................... 38 8.1 Default delivery status........................................................................................ 38 8.2 Preparation of the configuration ........................................................................ 38 8.3 Configuration of the CANopen master............................................................... 39

9 Commissioning ................................................................................................................ 42 9.1 Initial commissioning .......................................................................................... 42 9.2 Re-commissioning .............................................................................................. 43

10 Care and maintenance ................................................................................................... 44 10.1 Cleaning optics cover ......................................................................................... 44 10.2 Replacing optics cover ....................................................................................... 44

11 Diagnostics ...................................................................................................................... 46 11.1 SICK support ....................................................................................................... 46 11.2 Error and status indications on the LEDs .......................................................... 46 11.3 Error and status indications on the 7segment display .................................... 48 11.4 Extended diagnostics ......................................................................................... 51

12 Technical specifications ................................................................................................ 52 12.1 Characteristics .................................................................................................... 52 12.2 Response times .................................................................................................. 53 12.3 Data sheet ........................................................................................................... 54 12.4 Dimensional drawings ........................................................................................ 60

12.4.1 S100 .................................................................................................. 60 12.4.2 Mounting kits .................................................................................... 60 12.4.3 Scan plane origin .............................................................................. 62

13 Ordering information ...................................................................................................... 63 13.1 Delivery S100 ..................................................................................................... 63 13.2 Available systems ............................................................................................... 63 13.3 Accessories/spare parts .................................................................................... 63

13.3.1 Mounting kits .................................................................................... 63 13.3.2 System plug S100 ............................................................................ 64 13.3.3 Service cable ..................................................................................... 64 13.3.4 Self assembly connecting cables .................................................... 64 13.3.5 Documentation ................................................................................. 64 13.3.6 Other .................................................................................................. 65

Operating instructions

S100


Contents

14 Annex ................................................................................................................................66 14.1 EC declaration of conformity ..............................................................................66 14.2 Glossary ...............................................................................................................67 14.3 List of tables ........................................................................................................68 14.4 List of illustrations ...............................................................................................69

Chapter 1 Operating instructions

S100


Important safety notes

1 Important safety notes

For use in NFPA79 applications only.

Use with an isolated source.

Protect cable with listed over-current protection rated: min. 32 V, max. 5 A

UL-listed adapters providing field wiring leads are available.

Refer to the product information. → See “www.sick.com/en“ > Search S100“ > Downloads > Documetation

Operating instructions Chapter 2

S100


About this document

2 About this document Please read this chapter carefully before working with this documentation and the S100.

2.1 Function of this document These operating instructions are designed to address the technical personnel of the machine manufacturer or the machine operator in regards to correct mounting, electrical installation, commissioning, operation and maintenance of the S100 laser scanner.

These operating instructions do not provide instructions for operating the machine, the system or the vehicle on which the laser scanner is, or will be, integrated. Information on this is to be found in the appropriate operating instructions for the machine, the system or the vehicle.

2.2 Target group These operating instructions are aimed at the planning engineers, machine designers and operators plants and systems on which one or more S100 laser scanners are to be operated. They also address people who integrate the S100 into a machine, a system or a vehicle, initialise its use, or who are in charge of servicing and maintaining the device.

2.3 Scope These operating instructions are only applicable to the S100 laser scanner with the following entry on the type label in the field Operating Instructions: 8012236

This document is part of SICK part number 8012236 (operating instructions “S100 Laser Scanner” in all available languages).

For the configuration and diagnostics of these devices you require CDS-S100 version 1.00 or higher. To determine the version of your software version, select the Module-Info... option in the ? menu.

2.4 Depth of information These operating instructions contain information on the S100 laser scanner. They have the following parts:

mounting

electrical installation

commissioning and configuration

care and maintenance

fault diagnosis and troubleshooting

part numbers

accessories

conformity and approval

Planning and using laser scanners such as the S100 also require specific technical skills which are not detailed in this documentation.

When operating the S100, the national, local and statutory rules and regulations must be observed.

We also refer you to the SICK AG homepage on the Internet at

www.sick.com

Here you will find information on:

application examples

these operating instructions in different languages for viewing and printing

Note

http://www.sick.com/


S100


About this document

2.5 Abbreviations American National Standards Institute

Automated Guided Vehicle

American Wire Gauge = standardisation and classification of wires and cables by type, diameter etc.

Controller Area Network

open protocol standard for CAN in automation engineering.

SICK Configuration & Diagnostic Software — S100 = software for configuration and diagnostics on the S100

CAN in Automation = CAN user’s and manufacturer’s association

electromagnetic compatibility

CANopen emergency messages = error messages over CANopen

electrical overhead conveyor

Electrostatic discharge

2.6 Symbols used Recommendations are designed to give you some assistance in your decision-making process with respect to a certain function or a technical measure.

Refer to notes for special features of the device.

Display indicators show the status of the 7segment display on the S100: Constant indication of characters, e.g. 8 Flashing indication of characters, e.g. 8 Alternating indication of characters, e.g. L and 2

The depiction of numbers on the 7segment display can be rotated by 180° with the aid of the CDS-S100. In this document the depiction of the numbers on the 7segment display is however always in the normal, non-rotated position.

LED symbols describe the status of an LED:

The “switching output in the OFF state” LED is illuminated continuously.

The “error/contamination” LED is flashing.

The LED is deactivated.

Instructions for taking action are shown by an arrow. Read carefully and follow the instructions for action.

Warning!

A warning indicates an actual or potential risk or health hazard. Observation and implementation of the warning will protect you from accidents.

Read carefully and follow the warning notices!

Information is displayed in the software indicating to you which settings you can make in the CDS-S100 (Configuration & Diagnostic Software — S100).

ANSI

AGV

AWG

CAN

CANopen

CDS-S100

CiA

EMC

EMCY

EOC

ESD

Recommendation

Note

, ,

Take action …

WARNING


S100


On safety

3 On safety This chapter deals with your own safety and the safety of the equipment operators.

Please read this chapter carefully before working with the S100.

3.1 Correct use The S100 laser scanner must be used only as defined in section 3.3 “Applications of the device” on page 9. It must be used only by qualified personnel on the machine where it has been installed and initialised by authorised personnel in accordance with these operating instructions.

Observe the requirements according to chapter 1 „Important safety notes“.

If the device is used for any other purposes or modified in any way — also during mounting and installation — any warranty claim against SICK AG shall become void.

3.2 Authorised personnel The S100 must only be installed, commissioned and serviced by adequately qualified personnel. The following qualifications are necessary for the various tasks:

3.2.1 Mounting and maintenance

basic technical training

knowledge of the current safety regulations in the workplace

3.2.2 Electrical installation and replacement

practical electrical training

knowledge of current electrical safety regulations

knowledge on the use and operation of devices in the related application

3.2.3 Commissioning, operation and configuration

knowledge on the use and operation of devices in the related application

knowledge on the software and hardware environment in the related application

basic knowledge of the Windows operating system used

3.3 Applications of the device The S100 laser scanner is used for protecting plant. It is intended to be used indoors. The S100 is not intended to be used outdoors.

The S100 is not a safety laser scanner and is therefore not allowed to be used for tasks related to the protection of people!

The S100 complies with the requirements in the standard on the radiated emissions as defined for class A (industrial application); the S100 is therefore only suitable for use in an industrial environment.

Note

Note


S100


On safety

Among other tasks, the S100 is suitable for

collision monitoring

distance monitoring

storage space check

checking for projections

object detection

collision protection

3.4 General safety notes and protective measures

Pay attention to the safety notes!

Please observe the following items in order to ensure the correct use of the S100 laser scanner.

This device meets the norms: CDRH 21 CFR 1040.10 and 1040.11 as well as IEC 608251 edition 1.2:200706. There the following note is required: “Caution — if devices for operation or adjustment different to those given here are used or other procedures are employed, hazardous exposure to radiation may occur!”

During the mounting, installation and usage of the S100, observe the standards and directives applicable in your country.

Manufacturers and operators of the machine on which the S100 is used are responsible for obtaining and observing applicable regulations and rules.

The notes, in particular the test notes (see chapter 9 “Commissioning” on page 42) in these operating instructions (e.g. on use, mounting, installation or integration into the machine controller) must be observed.

Changes to the configuration of the devices can degrade the function. After every change to the configuration you must therefore check the effectiveness of the device. When making configuration changes, please always use the password hierarchy provided by SICK to ensure that only authorised persons make changes to the configuration. The SICK service team is available to provide assistance if required.

The operating instructions must be made available to the operator of the machine where the S100 is used.

The external voltage supply of the devices should be capable of buffering brief mains voltage failures of 20 ms as specified in EN 60204. Suitable power supplies are available as accessories from SICK (see section 13.3 “Accessories/spare parts” on page 65).

WARNING


S100


On safety

3.5 Environmental protection The S100 laser scanner is constructed in such a way that it adversely affects the environment as little as possible and uses only a minimum of power and natural resources.

At work, always act in an environmentally responsible manner.

3.5.1 Disposal

Unusable or irreparable devices should always be disposed as per the applicable national regulations on waste disposal (e.g. European waste code 16 02 14).

We would be pleased to be of assistance on the disposal of this device. Contact us.

Information on the individual materials in the S100 is given in chapter 12 “Technical specifications” on page 54.

3.5.2 Separation of materials

Only authorised personnel are allowed to separate materials!

Caution is required when dismantling devices. There is a risk of injuries.

Before you send the devices for appropriate recycling, it is necessary to separate the different materials in the S100.

Separate the housing from the rest of the parts (in particular the circuit boards).

Send the separated parts for recycling as appropriate (see Tab. 1).

Components Disposal

Product

Housing Metal recycling (aluminium)

Motor bracket Metal recycling (cast zinc)

Optics cover Plastic recycling

Circuit boards, cables, connectors and electrical connecting pieces

Electronic recycling

Packaging

Cardboard, paper Paper/cardboard recycling

Polyethylene packaging Plastic recycling

Notes

WARNING

Tab. 1: Overview on disposal by components


S100


Product description

4 Product description This chapter provides information on the special features and properties of the S100 laser scanner. It describes the construction and the operating principle of the device.

Please read this chapter before mounting, installing and commissioning the device.

4.1 Device components The S100 laser scanner comprises three components:

the sensor with the opto-electronic acquisition system, the LEDs and the 7segment display

the optics cover with the window for the light output

the system plug with the configuration memory (the system plug contains all electrical connections)

4.2 Special features 270° scanning angle

0.5° angular resolution

switching fields up to 10 m can be configured

CANopen integrated

status display with LEDs and 7segment display

minimum response time 40 ms

configuration using PC or notebook with SICK Configuration & Diagnostic Software — S100

Configuration memory in the system plug. In case of device replacement, the existing configuration is automatically transferred to the S100 newly connected. In this way downtimes can be significantly reduced.

Optimal immunity to external light and dust due to dazzle and particle algorithms that can be configured as required.

Fig. 1: Device components

Optics cover

System plug

Sensor

LEDs and 7segment display

Window for light output


S100


Product description

S100 variants

To cover different applications, two S100 variants are available.

Functions Standard Professional

Maximum switching field range [m] 10 10

Object resolution [mm] Maximum/ 30/40/

50/70/150

Maximum/ 30/40/

50/70/150

Switching fields

at 0.5° angular resolution 2 8

at 1.0° angular resolution 2 16

Programmable monitoring cases 1 16

Switching output 1 “allocated switching field free”

Switching output 2 “allocated switching field free”

Maximum source switching current on the switching outputs 1 and 2 [mA]

250 250

Application diagnostic output 1 “allocated switching field interrupted”

Application diagnostic output 2 “allocated switching field interrupted”

Application diagnostic output “error/contamination”

Control inputs for switching between the monitoring cases.

– 4

Stand-by mode

CANopen

Configuration memory in the system plug

4.3 Function The S100 laser scanner can only operate correctly if the following conditions are met:

The control of the machine, system or vehicle must be electrical.

The S100 must be mounted and configured such that it detects objects as they enter the monitored area (see chapter 5 “Mounting” on page 25 and chapter 9 “Commissioning” on page 42).

Tab. 2: Functions of the S100 variants


S100


Product description

4.3.1 Principles of operation

The S100 is an optical sensor that scans its surroundings in two dimensions using infrared laser beams. It is used for protecting machines or vehicles.

The S100 works on the principle of time of flight measurement. It sends out very short pulses of light (S). At the same time an “electronic stopwatch” is started. When the light hits an object, it is reflected and received by the laser scanner (E). From the time between sending and reception (∆t) the S100 calculates the distance to the object.

In the S100 there is also a mirror rotating at constant speed that deflects the light pulses such that they cover an arc of 270° . In this way an object can be detected in the switching field within 270°. The first beam of a scan starts at –45° relative to the back of the laser scanner.

The S100 emits its pulse of light with an angular resolution of 0.5° (on the S100 Professional it is possible to switch to an angular resolution of 1° to be able to configure more than eight switching fields) .

Fig. 2: Principle of operation, time of flight measurement by the S100

Fig. 3: Principle of operation, rotation of the S100

∆t

S

Receive pulse

Send pulse

S100

E


S100


Product description

Due to its active scanning principle, the S100 does not require receivers or reflectors. This has the following advantages:

Your installation effort is lower.

You can easily adapt the monitored area to the monitored area on a machine.

In comparison with contact sensors, electro-sensitive scanning is nearly wear-free.

4.3.2 Field set and switching fields

The S100 monitors areas on a machine or vehicle with its switching fields and . As soon as the laser scanner detects an object in the switching field, it switches the allocated output 1 or 2 to the OFF state.

You can, for example, define one of the two switching fields such that the laser scanner detects an object before the actual monitored area is reached, e.g. for triggering a warning signal.

The maximum distance at which the laser scanner can detect an object is defined by the distance measuring range .

The two switching fields form a pair, the so-called field set. Depending on the variant used (see section 4.2 under “S100 variants” on page 13), you can define up to 16 field sets and save these in the laser scanner. In this way you can switch the S100 Professional laser scanner to a different field set in case of a change in the monitoring situation (see section 4.3.3 “Monitoring cases” on page 16).

You can configure and transfer these field sets to the S100 with the aid of the CDS-S100. If the area to be monitored changes, then you can re-configure the S100 in software without additional mounting effort.

Fig. 4: Switching field 1 and 2 as well as distance measuring range


S100


Product description

4.3.3 Monitoring cases

Depending on the variant used (see section 4.2 under “S100 variants” on page 13) up to 16 monitoring cases can be defined and selected during operation using static control inputs.

Monitoring case 1 (loading) with two small switching fields

Monitoring case 2 (transport) with two switching fields in the direction of movement

With the aid of a monitoring case you can define …

which switching fields are used for a field set.

which multiple sampling is applied to the related switching field.

the field conditions (control signals) for switching to the related field set.

4.4 Applications

4.4.1 Warehouse bay checking

By using two switching fields of different lengths at the same time, a signal can be sent to a control indicating whether a warehouse bay is free and and if so, to what depth.

Fig. 5: Two S100 each with two monitoring cases on a carriage

Fig. 6: Example warehouse bay checking

Switching field 1 Switching field 2


S100


Product description

4.4.2 Collision protection

The S100 is used for collision protection between vehicles on an electrical overhead conveyor. The laser scanner is, for example, integrated into the control such that the interruption of switching field 1 slows down the vehicle, the interruption of switching field 2 stops the vehicle.

4.4.3 Protection of the area behind a vehicle

The S100 supports the driver when reversing. Switching field 2 switches on a warning signal, switching field 1 reduces the vehicle speed to creep speed.

Fig. 7: Example collision protection

Fig. 8: Example protection of the area behind a vehicle




S100


Product description

4.4.4 Collision protection

The S100 prevents the collision of AGV. Switching field 2 slows down the movement of the vehicle, switching field 1 stops the vehicle. The switching fields in the example are at an angle upward, so that, for example, hanging objects can be detected.

4.5 Configurable functions

4.5.1 Naming applications and laser scanners

A name can be assigned to the application configured and to the laser scanner(s). The names are saved in the devices after the configuration is transferred. The name chosen may be, for example, the identifier for the vehicle, system or the machine.

You enter the application name and the name of the laser scanner used in the CDS-S100.

4.5.2 Switching fields

You configure the shape and size of each switching field in the CDS-S100. You can realise any field shape required.

The area to be monitored is scanned radially by the S100. The S100 cannot see through objects during this process. The area behind objects that are in the area to be monitored (pillars, grilles, etc.) can thus not be monitored.

The switching fields can cover an angle of up to 270°.

On the S100 Standard you can configure two switching fields.

On the S100 Professional you can …

– configure 8 switching fields with an angular resolution of 0.5°. – configure 16 switching fields with an angular resolution of 1.0°.

Two switching fields are always combined in one field set. These switching fields each switch the switching output 1 or 2.

Fig. 9: Example collision protection

Note



S100


Product description

Switching fields suggested by the laser scanner

The CDS-S100 can suggest the switching fields. The laser scanner scans the visible room contour several times. From the data obtained the CDS-S100 suggests the contour and size of the field.

In those places at which the room contour is smaller than the maximum switching field range (e.g. at ), the switching field corresponds to the room contour.

A general error tolerance of 100 mm is subtracted radially from the switching field contour. As a result the switching field is slightly smaller than the surface covered .

In the area where the room contour is larger than the switching field range , the switching field corresponds to the switching field range (see Tab. 3 on page 20).

Before commissioning, thoroughly check whether the size of the suggested switching fields matches the switching field size necessary for your application.

You can display a suggestion for a switching field in the field set editor in the CDS-S100.

Fig. 10: Reading switching fields

Note

Switching field


S100


Product description

4.5.3 Resolution

With its standard resolution, the S100 achieves a scanning range of up to 10 m.

Due to its radial beam path (see Fig. 3 on page 14) the object resolution of the laser scanner is highest in the near range. This resolution reduces with increasing distance from the laser scanner. The detection capability of the S100 is dependent on the remission value of the object to be detected and its distance from the laser scanner. The resolution is therefore defined by the object diameter, by the remission value and the distance to the laser scanner.

For information on the diameter and remission necessary for an object to be detected, refer to Fig. 30 on page 52.

In addition to the standard resolution, with the aid of the CDS-S100 you can configure the resolution for varying object diameters to be detected. Then only objects with a diameter ≥ than the resolution set are reliably detected.

If a fixed object resolution is selected, the possible switching field radius for this resolution is reduced to the following scanning ranges:

Resolution Scanning range for the resolution

30 mm 1.30 m

40 mm 1.70 m

50 mm 2.10 m

70 mm 3.00 m

150 mm 6.60 m

The switching fields that you configure in the field set editor can be larger than the scanning range stated. However, the resolution can only be guaranteed up to the distance given.

4.5.4 Application diagnostic output “error/contamination”

The S100 has a configurable application diagnostic output. The following configuration features are available in the CDS-S100:

window for light output contaminated

error

window for light output contaminated or error

inactive

4.5.5 Restart

On the S100 you can configure a restart delay of 0 to 60 seconds for the Switching outputs 1 and 2. The related switching output on the S100 changes to the ON state if there is no object in the switching field for the period defined.

You can configure the type of restart in the CDS-S100.

Tab. 3: Scanning ranges for the fixed resolutions that can be set

Note


S100


Product description

4.5.6 Multiple sampling

If multiple sampling is set, an object must be scanned several times before the S100 switches its switching outputs to the OFF state. In this way you can reduce the probability that welding sparks, insects or other particles, result in the shutdown of the plant.

If a multiple sampling of 3 (pre-setting = 2) is configured, for instance, an object must be detected three times in succession before the S100 switches the switching outputs to the OFF state.

The total response time is increased by the multiple sampling!

With a multiple sampling >1, note that you must add a supplement to the basic response time (see section 12.2 “Response times” on page 53)!

On the S100, a multiple sampling of 1 is the minimum setting. You can set the multiple sampling to up to 16 with the aid of the CDS-S100.

Using multiple sampling you can increase the availability of a plant.

You can configure the multiple sampling in the CDS-S100. You can set individual multiple sampling for each monitoring case.

4.5.7 Dazzle suppression

As supplied the S100 is configured without dazzle suppression.

If the S100 is dazzled by sunlight or by light sources, the outputs may be shut down. You can activate dazzle suppression, then the switching outputs will remain active even if the S100 is dazzled.

You can configure the dazzle suppression in the CDS-S100.

4.5.8 Monitoring cases on the S100 Professional

If you use the S100 Professional, you can define up to 16 monitoring cases. For each monitoring case, you assign a switching field to the two switching outputs 1 and 2.

You can also configure one or both switching outputs as always active. In this case the related switching outputs Q1 and Q2 remain in the ON state during the monitoring case.

If, within such a monitoring case, the device is switched to the stand-by mode, then the always active switching outputs also switch to the OFF state.

It is possible to switch between these monitoring cases during operation using static control inputs (see section 4.5.10 on page 22).

4.5.9 Stand-by mode

If, in mobile applications, vehicles are not moved for a time, the switching outputs and the laser on the S100 can be switched off. In this way the power consumption of the device is reduced.

Use this function if, e.g. you use several vehicles and do not move them for a time.

A dedicated STBY single-channel input is provided for switching to the stand-by mode (see section 6.1 under “Pin assignment on the system plug” on page 33).

WARNING

Recommendation

Note

Recommendation


S100


Product description

4.5.10 Static control inputs on the S100 Professional

Ensure that the circuit for the control inputs is suitable for the ambient conditions to be expected so that systematic and design-related effects and resulting errors on the switching of the monitoring cases can be excluded.

Ensure the control switches between the monitoring cases in time. Note that at the time of the switching there may be an object in the switching field. Detection of the object is possible by switching in time.

The S100 Professional has four control inputs via which the 16 possible monitoring cases can be switched:

Input E.g. monitoring case no.

A B C D

0 0 0 0 1

0 0 0 1 2

0 0 1 0 3

0 0 1 1 4

0 1 0 0 5

0 1 0 1 6

0 1 1 0 7

0 1 1 1 8

1 0 0 0 9

1 0 0 1 10

1 0 1 0 11

1 0 1 1 12

1 1 0 0 13

1 1 0 1 14

1 1 1 0 15

1 1 1 1 16

Input delay

The control that you want to use to switch the control inputs must be able to switch to the defined input condition within 10 ms. If this is not the case (e.g. due to bounce times on the switching contacts connected), you can increase the input delay in steps of 40 ms.

The following figures, based on experience, give input delays for various methods of switching:

Switching method Input delay required

Electronic control signals, switching signals without bounce time

10 ms

Electromechanical control (switches, relays, contactors)

30-150 ms

Control using independent sensors 130-480 ms

You can configure the control inputs of the S100 Professional in the CDS-S100.

If you have entered an input delay for the inputs on an S100 Professional, in some circumstances you may need to advance the timing for the monitoring case switching.

Tab. 4: Example for monitoring case switching with the S100 Professional

Tab. 5: Figure from experience for the necessary input delay

Note


S100


Product description

4.5.11 CANopen

The S100 supports CANopen as per the CiA standards DS301 and DS401. The S100 represents a so-called SDO server, is a SYNC consumer, an NMT slave and supports a PDO with a CAN message with 8 bytes of useful data in each transmission direction. The S100 supports the following operating modes:

Service Data Object (SDO)

Process Data Object (PDO)

Network Manangement Objects (NMO)

Heartbeat

Life/node guarding

Special Function Object (SFO)

– Synchronisation (SYNC) – Emergency Messages (EMCY)

Use the Electronic Data Sheet for the S100 to configure the master. The functionality and properties of the S100 are described in this data sheet in a standardised manner in ASCII format. The electronic data sheet for the S100 is on the CD-ROM for the CDS-S100 (Configuration & Diagnostic Software — S100).

Settings for CANopen

To use the CANopen interface, this interface must be activated and configured in the CDS-S100.

To be able to operate the S100 as a CANopen user, its address (node ID) and the baud rate for the network must be set. The baud rate must match the related setting in the network.

S100 communication over CANopen (sensor-side)

Cyclic data can be exchanged over CANopen.

The S100 outputs the following data:

status of the switching outputs Q1, 1, Q2, 2 as well as error/contamination (see Tab. 10 on page 39)

status of the inputs A, B, C, D (S100 Professional only) as well as of the Stand-by input (see Tab. 11 on page 40)

active switching fields for Q1 and Q2 (see Tab. 12 on page 40)

actual device status (see Tab. 13 on page 40)

The S100 can react to the following data:

input values on the inputs A, B, C, D (only S100 Professional) as well as the Stand-by input (see Tab. 14 on page 41)

The input data are only evaluated by the S100 if this action has been activated using the CDS-S100.

Error information over CANopen

As a CANopen slave, the S100 provides an emergency message. The CANopen error code 1000h (generic error) is used for the messages. Device-specific error codes are entered in the manufacturer-specific area available. You will find the error information in Tab. 21 on page 48.

Recommendation

Note


S100


Product description

4.6 Status indicators The S100 signals the operational status with the aid of the LEDs and the 7segment display. These are on the front face of the laser scanner.

The depiction of numbers on the 7segment display can be rotated by 180° with the aid of the CDS-S100 (Configuration & Diagnostic Software — S100). If the numbers are displayed rotated, the point on the 7segment display goes out:

Point visible: The bottom edge of the numbers on the 7segment display is pointing towards the bottom of the laser scanner.

Point not visible: The bottom edge of the numbers on the 7segment display is pointing towards the optics cover.

The symbols have the following meaning:

Both switching outputs in the ON state (no object in the switching field)

One of the switching outputs in the OFF state (e.g. with an object in the switching field)

Optics cover contaminated

Switching output 1 in the OFF state

Switching output 2 in the OFF state

Fig. 11: Status indicators on the S100


S100


Mounting

5 Mounting This chapter describes the preparation and completion of the mounting of the S100 laser scanner. Mounting requires four steps:

definition of the application and the necessary mounting location for the laser scanner

definition of switching field sizes

definition of the switching point between monitoring cases (only S100 Professional)

mounting the laser scanner with or without mounting kits

Mount the S100 in a dry place and protect the device from dirt and damage.

Avoid the installation of the S100 in the vicinity of strong electric fields. These can, e.g., be produced by welding cables, induction cables in the immediate vicinity and also by mobile telephones operated nearby.

Ensure that there are no obstacles in the area to be monitored in the field of view of the S100 that could cause interference or shadowing. Such shadowed areas cannot be monitored by the S100. If there are unavoidable shadowed areas, check whether there is a risk. Take additional safety precautions as necessary.

Keep the area to be monitored free of smoke, fog, steam or other forms of air impurities. There must not be any condensation on the light output window. Otherwise the function of the S100 may be impaired and incorrect switching may occur.

Avoid placing highly reflective objects in the scan plane of the S100. Examples: Retroreflectors can affect the measurement results of the S100. Highly reflective objects within the switching field can blank part of the area to be monitored in certain circumstances.

Mount the S100 such that it is not dazzled by incident sunlight. Do not position stroboscopic and fluorescent lights or other strong light sources directly in the scan plane as these may affect the S100 in specific circumstances.

The following steps are necessary after mounting and installation:

completing the electrical connections (chapter 6 “Electrical installation”)

configuration of the switching field (chapter 8 “Configuration”)

commissioning and checking of the installation (chapter 9 “Commissioning”)

Notes


S100


Mounting

5.1 Definition of the size of the switching field for mobile applications

To be able to prevent collisions between vehicles or vehicles and fixed objects, the length and width of the switching field must be adequately dimensioned.

When calculating the length of the switching field, take into account the vehicle’s stopping distance. This comprises

braking distance, to be found in the vehicle documentation

distance covered during the response time of the vehicle controller, to be found in the vehicle documentation

the distance covered during the laser scanner’s response time

The distance covered during the laser scanner’s response time depends on the laser scanner’s response time and the maximum speed of the vehicle in your mobile application.

You will find the response time TS for the laser scanner in section 12.2 “Response times” on page 53.

We recommend a supplement of 100 mm to the switching field length to stop the vehicle before a possible collision.

If there are retroreflectors in the vehicles’ path or if it is to be expected that the vehicle braking force will fade, you may need to increase the recommended supplement in certain circumstances.

The width of the switching field should cover the width of the vehicle. In addition, you should configure a supplement of 100 mm on each side.

5.2 Mounting steps

Special features to note during mounting:

Mount the S100 such that it is protected from moisture, dirt and damage.

Ensure that the entire field of view of the S100 is not restricted.

Mount the laser scanner such that the indicators are easy to see.

Always mount the S100 so that there is still enough space for mounting and removing the system plug.

Avoid excessive shock and vibration loading on the laser scanner.

On applications that suffer from heavy vibration, prevent the fixing screws from coming loose using screw locking devices.

Regularly check the tightness of the fixing screws.

The origin of the scan plane is 116 mm above the bottom edge of the S100 (see section 12.4.3 “Scan plane origin” on page 62).

There are three possible ways of fixing the S100:

direct mounting without mounting kit

mounting with mounting kit 1a or 1b

mounting with mounting kit 2 (only in conjunction with mounting kit 1a or 1b)

You will find the part numbers for the mounting kits in section 13.3.1 “Mounting kits” on page 63.

Pay attention to the maximum torque of the M5 fixing screws on the S100 of max. 5.9 Nm.

Notes

WARNING

Note


S100


Mounting

5.2.1 Direct mounting

The S100 has two threaded holes M5×8 on the rear. Using them you can mount the S100 directly on the intended mounting surface. To avoid a possible tendency to vibrate, if necessary the reference surface on the rear can be used as the third mounting point .

During mounting, please observe the dimensional drawings (see section 12.4 “Dimen-sional drawings” on page 60).

5.2.2 Mounting with mounting kit 1a or 1b

With the aid of mounting kit 1 you can mount the S100 indirectly on the mounting surface. The mounting kit is available as mounting kit 1a without protection device for the optics cover and as mounting kit 1b with protection device for the optics cover.

Fig. 12: Direct mounting

Notes

M5×8


S100


Mounting

Mount mounting kit 1a or 1b on the mounting surface.

Then mount the S100 on the mounting kit 1a or 1b.


Fig. 13: Mounting with mounting kit 1a

Fig. 14: Mounting with mounting kit 1b incl. protection for the optics cover

Note

Mounting kit 1a

Threaded holes M5×8

Fixing screws

Mounting kit 1b

Fixing screws

Threaded holes M5×8 Fixing screws

Fixing screws


S100


Mounting

5.2.3 Mounting with mounting kit 2 and 3

With the aid of mounting kits 2 and 3 (only in conjunction with mounting kit 1a or 1b) you can align the S100 in two planes. The maximum adjustment angle is ±11° in both planes.

Mount mounting kit 1a or 1b to the S100.

Mount the mounting kit 3 on the mounting surface.

Fit the centring pin (4 mm) in the central hole on mounting bracket 3.

Fit mounting kit 2 to mounting kit 3 and mount it using two fixing screws M4×10.

Then mount the S100 on mounting kit 2 with the aid of the threaded holes in mounting kit 1a.

Adjust the S100 longitudinally and transversely and then tighten the six fixing screws on the mounting kits.


5.2.4 Using multiple S100 laser scanners

The S100 is so designed that mutual interference between several laser scanners is unlikely. To completely exclude erroneous switching, we recommend mounting the laser scanners as shown in the following examples.

Use mounting kits 1 to 3 to adjust the laser scanners to different angles (see section 13.3.1 “Mounting kits” on page 63).

Fig. 15: Mounting with mounting kit 2

Note

Mounting kit 1a

Fixing screws

Mounting kit 2

Threaded hole M4

Mounting kit 3

Fixing screws

Centring pin


S100


Mounting

Fig. 16: Opposite mounting

Fig. 17: Offset parallel mounting

Fig. 18: Mounting on a cross

Fig. 19: Reverse mounting, parallel offset

Fig. 20: Reverse mounting of two S100, with parallel offset

Min. 100 mm

Min. 100 mm

Min. 3°

Min. 3°

Min. 100 mm


S100


Mounting

Fig. 21: Reverse mounting of one S100, with parallel offset

Min. 100 mm


S100


Electrical installation

6 Electrical installation

Switch the entire machine/system off line!

The machine/system could inadvertently start up while you are connecting the devices.

To prevent an unintentional start, ensure that the entire machine/system is disconnected during the electrical installation.

Route all cables and connection cables such that they are protected from damage.

If you use screened cable, lay the screen evenly around the cable gland.

Ensure that the S100 is adequately protected electrically. You will find the electrical data necessary for determining the correct fuse in section 12.3 “Data sheet” on page 54.

Observe the requirements according to chapter 1 „Important safety notes“.

The electrical connections for the S100 are made at the system plug. A pre-assembled connector variant and an un-assembled connector variant are available (see page 35).

6.1 System connection You will find all inputs and outputs of the S100 on the 24-pin screw terminal connection + FE in the system plug.

The system connection pin assignments vary depending on the S100 variant.

If the cable gland/blanking plug is missing or not tightened, or if fixing screws are missing or not tightened on the system plug, the IP 65 enclosure rating is not met.

All inputs and outputs on the S100 are to be used only in the context specified.

WARNING

Notes

Fig. 22: Screw terminal connection in the system plug

Notes


S100



Pin assignment on the system plug

Pin Signal Function

Stan

dard

Prof

essi

onal

FE Functional earth

1 +24 V DC Supply voltage S100

2 0 V DC Supply voltage S100

3 1 Switching output 1

4 2 Switching output 2

5 IN A Static control input A

6 IN B Static control input B

7 IN C Static control input C

8 IN D Static control input D

9 – Reserved

10 – Reserved

11 – Reserved

12 – Reserved

13 ERR Application diagnostic output error/contamination

14 1 Application diagnostic output, switching output 1 inverted

15 2 Application diagnostic output, switching output 2 inverted

16 STBY Control input for the activation of the stand-by mode

17 CAN_LO CANopen connection

18 CAN_HI

19 – Reserved

20 CAN_GND CANopen connection

21 – Reserved

22 – Reserved

23 – Reserved

24 – Reserved

To achieve the specified EMC safety, the functional earth FE must be connected (e.g. to the vehicle’s or system’s central earth star point).

For CANopen the CANground is generally to be connected. It is only possible to avoid the use of the CANground in fully electrically isolated CANopen networks.

For CANopen cables more than 30 m long, either the device itself or the screen on the CANopen cable must be earthed in the proximity of the cable entry into system plug.

A label is included with the laser scanner delivery for the correct labelling of the pins. Please affix this label to the system plug used.

Tab. 6: Terminal assignment on the system plug

Note


S100



6.2 System plug assembly The system plug has cable entries for cable glands on the underside and on the rear:

system plug SX0B-A0000G for S100 Standard and S100 Professional: – 1 cable entry with M16 cable gland – 1 cable entry without M16 cable gland (blanking plug)

– 2 cable entries without M12 cable gland (blanking plugs)

You can also procure the S100 with pre-assembled system plug with varying cable lengths (see section 6.3 “Pre-assembled system plugs” on page 35 and section 13.3.2 “System plug S100” on page 64).

The length of the spare cable should be such that the system plug cannot inadvertently be plugged into a neighbouring S100!

From experience 20 to 30 cm spare cable at the laser scanner have proven to adequate. In this way you avoid the inadvertent connection of the system plug to a neighbouring S100 and operation of an S100 with an incorrect configuration. The spare cable enables you to change the S100 with ease if necessary.

6.2.1 Cable glands

Depending on the application use suitable cable glands on the bottom or rear. For the CANopen cables you must choose EMC proof cable glands.

Cable gland Cable diameter Usage

M16 (included in the system plug delivery)

5-9 mm system cables for supply voltage, outputs, inputs

M16, EMC proof (included in the S100 delivery)1)

5-9 mm CANopen

1) Can be used with the M12 to M16 adapter in the S100 delivery.

Note

WARNING

Fig. 23: System plug SX0B-A0000G for S100 Standard and S100 Professional

Tab. 7: Use the cable glands supplied


S100



6.2.2 Wire cross-sections

Use the following wire cross-sections for the individual connections:

Cable Recommended wire cross-sections

Screened

System cables for supply voltage, outputs, static inputs

9-15 cores, 0.5-1 mm²

No2)

CANopen 3 × 0.22 mm² Yes

If you do not want to assemble the system plug yourself, you will find suitable cables in the ordering information (see section 13.3.4 “Self assembly connecting cables” on page 64).

6.3 Pre-assembled system plugs To connect the S100 variants, the following pre-assembled system plugs are available (see also section 13.3.2 “System plug S100” on page 64):

For S100 Standard: SX0B-B1105G, SX0B-B1110G and SX0B-B1120G

With 11 cores, unscreened (cable gland M16), 5, 10 or 20 m long

For S100 Professional: with static inputs SX0B-B1505G and SX0B-B1510G

With 15 cores, unscreened (cable gland M16), 5 or 10 m long

Pin Signal Wire colour SX0B

-B11

05G

SX

0B-B

1110

G

SX0B

-B11

20G

SX0B

-B15

05G

SX

0B-B

1510

G

FE Green

1 +24 V DC Brown

2 0 V DC Blue

3 Switching output 1

Grey

4 Switching output 2

Pink

5 IN A Red

6 IN B Yellow

7 IN C White/Blue

8 IN D White/Grey

9 – White/Violet

10 – White

13 ERR White/Black

14 1 White/Brown

15 2 Red/Blue

16 STBY White/Green

2) Screening is recommended if there is a significant EMC interference in the area.

Tab. 8: Recommended wire cross-sections

Recommendation

Tab. 9: Pin assignment pre-assembled system plug


S100


Application examples and connection diagrams

7 Application examples and connection diagrams The examples shown are only provided as an aid for your planning. You may need to consider additional protection measures for your application.

Ensure that there is adequate arc-suppression at the relays/contactors. Take into account that arc-suppressors may lengthen the response time.

The arc-suppressors must be in parallel with the relays/contactors (not across the contacts).

7.1 Applications with the S100 Standard

Warehouse bay monitoring by S100 on a shelving access device.

S100 Standard in connection with relays/contactors on the switching outputs Q1 and Q2. The LEDs H4 and H3 connected to the outputs 1 and 2 indicate the status of the related switching output. The LED H2 connected to the application diagnostic output indicates the state (error/contamination) of the S100.

Notes

Fig. 24: Application with a S100 Standard

Fig. 25: Connection diagram S100 Standard

S100 Standard

2)

S100


S100


Application examples and connection diagrams

7.2 Applications with the S100 Professional

Distance monitoring by S100 Professional on an electrical overhead conveyor.

S100 Professional in connection with relays/contactors, switching field switching using static inputs A, B, C and D. The LEDs H4 and H3 connected to the outputs 1 and 1 indicate the status of the related switching output. The LED H2 connected to the application diagnostic output indicates the state (error/contamination) of the S100.

Fig. 26: Application with a S100 Professional

Fig. 27: Connection diagram S100 Professional

S100 Professional

S100


S100


Configuration

8 Configuration

8.1 Default delivery status The S100 is delivered in a non-configured default state.

The operational status is Waiting for configuration.

The switching outputs are in the OFF state, the red LED illuminates: .

The 7segment display indicates .

The CANopen interface is deactivated.

8.2 Preparation of the configuration

How to prepare the configuration:

Make sure that the laser scanner has been correctly mounted and that the electrical connections are correct and in place.

Have the necessary tools at hand.

To configure the laser scanner you need:

CDS-S100 (Configuration & Diagnostic Software — S100) On CDROM from version 1.0

user manual for CDS-S100 on CDROM

PC/notebook with serial RS232 interface, operating system Windows 7/XP/Vista/NT or 2000 and Microsoft.Net Framework 2.0, (PC/notebook not included)

required memory capacity: 300 MB

working memory and frequency: 1 GB RAM, 1 GHz

minimum resolution: 1024 px x 768 px

service cable for connecting PC and S100 (not in the delivery)

How to configure the S100 with the aid of the CDS-S100:

For configuration and diagnostics using the CDS-S100, connect the PC to the configuration connection.

Two service cables of different length are available for the connection of the PC/notebook to the S100 (see 13.3 on page 63).

Fig. 28: Configuration connection

Configuration connection


S100


Configuration

Ensure you do not lay the service cable close to powerful electrical drives or cables carrying high currents. In this way you will avoid EMC effects on the service cable.

The service cable is only allowed to be connected for configuration and diagnostics. The service cable must be disconnected and the protective cap fitted in operation.

To configure the device, please read the user manual for the CDS-S100 (Configuration & Diagnostic Software — S100) and use the online help function of the program.

8.3 Configuration of the CANopen master Use the Electronic Data Sheet for the S100 to configure the master. The functionality and properties of the S100 are described in this data sheet in a standardised manner in ASCII format. The Electronic Data Sheet for the S100 is on the CDS-S100 CDROM supplied. (Configuration & Diagnostic Software — S100).

Data transfer over CANopen

Byte Bit Description

0 0 State of switching output Q1 0: Q1 inactive (switching field interrupted) 1: Q1 active (switching field free)

0 1 State of output 1 0: 1 inactive (switching field free) 1: 1 active (switching field interrupted)

0 2 State of switching output Q2 0: Q2 inactive (switching field interrupted) 1: Q2 active (switching field free)

0 3 State of output 2 0: 2 inactive (switching field free) 1: 2 active (switching field interrupted)

0 4-5 State of application diagnostic output “error/contamination” 0: Optics cover contaminated, no operation 1: Optics cover contaminated, still in operation 2: Device in the system status lockout 3: No error/no contamination

0 6-7 Reserved

Notes

Tab. 10: Status of the outputs (CAN IO State — Outputs)


S100


Configuration


1 0 State of control input A (S100 Professional only) 0: LOW 1: HIGH

1 1 State of control input B (S100 Professional only) 0: LOW 1: HIGH

1 2 State of control input C (S100 Professional only) 0: LOW 1: HIGH

1 3 State of control input D (S100 Professional only) 0: LOW 1: HIGH

1 4-6 Reserved

1 7 State of control input Stand-by mode 0: LOW 1: HIGH


2 0-4 Active switching field for switching output Q1 0 to 15: switching field 1 to 16

2 5-7 Reserved

3 0-4 Active switching field for switching output Q2 0 to 15: switching field 1 to 16

3 5-7 Reserved


4 0-3 Device status 0: Device ready for operation 1: Waiting for configuration 2: System status lockout 3: Initialisation of the device 4: Waiting for valid input signals 5: Calibrating the optics cover

4 4-7 Reserved

5-7 0-7 Reserved

Tab. 11: Status of the inputs (CAN IO State — Inputs)

Tab. 12: Active switching fields (CAN Field Data)

Tab. 13: Device status (CAN Device State)


S100


Configuration


0 0 State of control input A (S100 Professional only) 0: LOW 1: HIGH

0 1 State of control input B (S100 Professional only) 0: LOW 1: HIGH

0 2 State of control input C (S100 Professional only) 0: LOW 1: HIGH

0 3 State of control input D (S100 Professional only) 0: LOW 1: HIGH

0 4-6 Reserved

0 7 State of control input Stand-by mode 0: LOW 1: HIGH

1-7 0-7 Reserved

Tab. 14: Status of the virtual inputs (CAN Virtual Input State)


S100


Commissioning

9 Commissioning

9.1 Initial commissioning After power up the S100 runs through a power up cycle. During the power up cycle, the 7segment display indicates the device status.

During the initial commissioning of an S100 the following indications are possible:

Step Display Meaning

1 , , , , , , ,

Power-up cycle, testing the 7segment display. All segments are activated sequentially.

2 Power up cycle, during initial commissioning: device in configuration mode

Other display Interlock activated. Malfunction in external conditions or in the device itself. See section 11.3 “Error and status indications on the 7segment display” on page 48.


1 Device self-test

2 Device self-test

3 Device status waiting for configuration or object in the switching field, switching outputs in the OFF state

Other display Interlock activated. Malfunction (see section 11.2 “Error and status indications on the LEDs” on page 46).

The duration of power up depends on the volume of the configuration data and can take up to 25 seconds.

Tab. 15: 7segment display during and after the power up sequence on initial commissioning

Tab. 16: LED indication after the power up sequence

Note


S100


Commissioning

9.2 Re-commissioning If the S100 has already been placed in operation once, however the device has been temporarily replaced in the meantime, the S100 reads the configuration saved from the system connector remaining on the machine or system.

The following indications are possible:


1 , , ,, , , ,

Power-up cycle, testing the 7segment display. All segments are activated sequentially.

2 Waiting for device on the CAN bus

3

or

Waiting for valid local inputs

or

Waiting for valid virtual inputs via CANopen. is indicated in the CAN state Preoperational, in the CAN state Operational. (Only possible with S100 Professional.)

or

Device in the CAN Preoperational state

4 No display

or

Device ready for operation

or

Device ready for operation but object in the switching field


Display Meaning

Power-up cycle, step 1

Power-up cycle, step 2

The device is ready, no object in one of the switching fields.

Or: The device is ready, object in the switching field that is allocated to switching output Q1.

Or: The device is ready, object in the switching field that is allocated to switching output Q2.


Tab. 17: 7segment display during and after the power up sequence on re-commissioning

Tab. 18: LED indication after the power up sequence


S100


Care and maintenance

10 Care and maintenance

Do not make any repairs to the device!

The S100 does not contain any repairable components. For this reason do not open the S100 components and only replace the parts that are described in the following chapters as replaceable.

Switch the entire machine/system off line!

The system could inadvertently start up while you are replacing the optics cover. As a matter of principle, always isolate the machine from the power supply during all work on the machine and laser scanner.

10.1 Cleaning optics cover The S100 laser scanner is largely maintenance-free. The optics cover on the laser scanner should however be cleaned regularly and if it is contaminated.

Do not use aggressive cleaning agents.

Do not use abrasive cleaning agents.

Static charges cause dust particles to be attracted to the optics cover. You can diminish this effect by using the anti-static plastic cleaner (SICK Part No. 5600006) and the SICK lens cloth (Part No. 4003353) (see section 13.3 “Accessories/spare parts” on page 63).

How to clean the optics cover:

Use a clean and soft brush to remove dust from the optics cover.

Now wipe the window for light output on the optics cover with a clean and damp cloth.

10.2 Replacing optics cover

Perform an optics cover calibration with the aid of the CDS-S100 after the replacement of the optics cover!

The level of contamination is measured continuously during the operation of the S100. For this purpose the optics cover calibration must first be performed; this then serves as a reference for the contamination measurement (status = not contaminated). The optics cover calibration is only allowed to be performed with a new optics cover! The new optics cover must be free of contamination at the time of the optics cover calibration. The optics cover calibration should be performed at room temperature (10-30 °C)!

If the optics cover is scratched or damaged, you must replace the optics cover. Order the replacement optics cover from SICK (see section 13.3 “Accessories/spare parts” on page 63).

The optics cover on the S100 is an optical part that must not be soiled or scratched on replacement.

The optics cover is only allowed to be replaced by authorised personnel in a dust and dirt-free environment.

Never replace the optics cover during ongoing operation, as internal parts may be irreparably damaged in certain circumstances and dust particles may enter the device.

It is imperative that you avoid contamination of the inside, e.g. with fingerprints.

WARNING

Note

WARNING

Notes


S100


Care and maintenance

Do not use any additional sealant for sealing the optics cover, e.g. silicon, as these substances may affect the optics.

Mount the optics cover as per the following instructions to ensure that the housing is sealed to IP 65.

How to replace the optics cover:

Only use a new optics cover (see 13.3.6 on page 65).

When replacing the optics cover, take ESD protection measures.

Set a torque wrench to 1.2 Nm (hand-tight) and have this at hand.

Disconnect the system plug and remove the S100.

Take the S100 to a clean place (office, repair shop or similar).

First clean the outside of the S100. This prevents foreign bodies entering the device when it is opened.

Undo the fixing screws to for the optics cover.

Then remove the optics cover.

Check whether the mirror on the motor is clean and remove any contamination with an optic brush.

Take the new optics cover out of the packaging and remove the protection for the seal.

Remove any remnants of packaging.

Place the optics cover on the laser scanner and fit the new fixing screws to .

When fitting the new cover, ensure the arrow on the top of the cover points to the front and that the optics cover is fully in contact without a gap.

Then tighten the front screws with the torque set.

Make sure the optics cover is free of dirt and that it is not damaged.

Re-commissioning the S100:

Correctly re-mount the S100 (see chapter 5 “Mounting” on page 25).

Connect the S100 system plug. After power up the S100 automatically reads the saved configuration from the system plug (see section 9.2 “Re-commissioning” on page 43).

Then perform an optics cover calibration with the aid of the CDS-S100.

Notes

Fig. 29: Undo the fixing screws for the front screen


S100


Diagnostics

11 Diagnostics This chapter describes how to identify and remedy errors and malfunctions during the operation of the laser scanner.

11.1 SICK support If you cannot remedy an error with the help of the information provided in this chapter, please contact your local SICK representative.

Make a note of the telephone number of your SICK subsidiary so that you or other users have this number easily at hand. You will find the telephone number on the rear of these operating instructions.

Telephone number of your SICK subsidiary

11.2 Error and status indications on the LEDs This section describes the meaning of the indications and LED error messages and how you can respond. You will find a description of the indicators in section 4.6 “Status indicators” on page 24, the connections for the outputs in section 6.1 “System connection” on page 32.

Display Output level Possible cause

On switching output Q1

On switching output 1

Object in switching field 1

switching output Q1 in the OFF state

switching output 1 in the ON state

On switching output Q2

On switching output 2

Object in switching field 1

switching output Q2 in the OFF state

switching output 2 in the ON state

On switching outputs Q1 and Q2

On switching outputs 1 and 2

Switching fields free

switching outputs Q1 and Q2 in the ON state

switching outputs 1 and 2 in the OFF state

Tab. 19: Status indicators during operation


S100


Diagnostics

Display Output level Possible cause Rectification of the error

On switching outputs

On application diagnostic output

No operating voltage, or voltage too low

Check the voltage supply and activate, if necessary.


No error


Optics cover contaminated, no operation

Clean the optics cover.


1 Hz

Optics cover contaminated, still in operation

Clean the optics cover.


4 Hz

System error Pay attention to the error display of the 7segment display or carry out a diagnostics with the aid of the CDS-S100.

If necessary, switch the device off and back on again.

Tab. 20: LED error messages


S100


Diagnostics

11.3 Error and status indications on the 7segment display

The system status lockout

In case of certain faults or an erroneous configuration, the system may change to the lockout system status. The 7segment display on the laser scanner then indicates , , , , , , , , , , , or . To place the device back in operation, proceed as follows:

Rectify the cause of the fault as per Tab. 21.

Switch the power supply for the S100 off and back on again.

Or

Restart the laser scanner with the aid of the CDS-S100.

This section explains the meaning of the error displays on the 7segment display and how to respond to the messages. You will find a description of the positions and symbols on the S100 in section 4.6 “Status indicators” on page 24.

Display/

(EMCY)

Possible cause Rectification of the error

, , , , , , ,

Power-up cycle — all segments are activated sequentially.

No error

Object in switching field Q1

No error

Object in switching field Q2

No error

Initialising the device The display goes out automatically when the S100 is initialised.

If the display does not go off:

Check the system configuration with the aid of the CDS-S100. Transfer the corrected configuration to the S100 again.

(1010h)

Waiting for valid local input signals

The display goes off automatically when an input signal is present that corresponds to a configured monitoring case.


Check the cabling.

Check the control signals for correct switching behaviour.


Check the CANopen communication to the bus master.

Tab. 21: Error and status indications on the 7segment display

EMCY = emergency messages on the CAN bus


S100


Diagnostics

Display/

(EMCY)


or Waiting for valid, virtual input signals on the CAN bus

The display goes off automatically when an input signal is present that corresponds to a configured monitoring case.

is indicated in the CAN state Preoperational, in the CAN state Operational.


Check the cabling.

Check the CAN communication.

Check the provision of the virtual input signals.

Check the control signals for correct switching behaviour.


(1020h)

Waiting for configuration or configuration not completed

No error

Prepare a configuration with the aid of the CDS-S100 (Configuration & Diagnostic Software — S100) or transfer an existing configuration to the S100.

Device in the CAN Preoperational state

No error

Initiate the CAN Operational state via the CAN master.

CAN communication stopped

This state can only be initiated by the CAN master. The device no longer outputs any data and only accepts state changes to Preoperational and Operationalfrom the CAN master.

At least one CAN error counter has exceeded the warning threshold.

Check whether the device is connected to the CAN bus.

Check whether a CAN master is active.

Check the termination of the CAN bus.

The display goes out after the S100 has received enough messages over CANopen to reset the error counter.

An expected result in the CAN communica-tion has not occurred (node guarding or heartbeat message).

Check the CAN communication.

The display goes out after the S100 has received enough messages over CANopen to reset the error counter.

The CAN controller is on the Bus-off state.

Check the CAN cable for short-circuit between the cable or to ground.


S100


Diagnostics

Display/

(EMCY)


(1030h)

S100 faulty Switch off the supply voltage of the S100 for at least 2 seconds and switch it on again.


Send the S100 to the manufacturer for repair.

Configuration memory in the system plug faulty

Overcurrent on switching output Q1

Check the switching element connected (contactor, relay). Replace, if necessary.

Check the wiring for short-circuit to 0 V.

Overcurrent on switching output Q2

Check the switching element connected (contactor, relay). Replace, if necessary.

Check the wiring for short-circuit to 0 V.

(1050h)

Device is dazzled Check whether the S100 is being dazzled by an external light source, e.g. floodlights, infrared light sources, stroboscopic light, sun. etc. If necessary, re-mount the device.

(1060h)

Temperature error. The operating temperature of the S100 has exceeded the permissible range.

Check whether the S100 is operated as per the permissible ambient conditions.

(1070h)

Input signal for an undefined monitoring case

Check the path of the vehicle.

Or:

Check the operating process of the monitored machine or system.

If necessary, check the configuration of the monitoring cases with the aid of the CDS-S100.

(1080h)

Stand-by mode, the switching outputs are in the OFF state, the laser is switched off.

No error. If the criteria for the stand-by mode are withdrawn, readiness for operation is re-established.


Check the level on the input STBY.

(1090h)

Window for light output on the optics cover contaminated

Clean the window for the light output on the optics cover.

(10A0h)

Front screen calibration not completed successfully

Check the front screen for contamination.

or

Check the mounting of the front screen.

If you have problems during troubleshooting, contact SICK support. Keep a copy of the print out of the results of the diagnostics at hand.

Note


S100


Diagnostics

11.4 Extended diagnostics The CDS-S100 software supplied with the device (Configuration & Diagnostic Software — S100) includes extended diagnostic options. It allows you to narrow down the problem if the error is non-specific or if you experience usage downtime problems. Detailed information to be found …

in the online help for the CDS-S100 (Configuration & Diagnostic Software — S100).

in the user manual for the CDS-S100.


S100


Technical specifications

12 Technical specifications

12.1 Characteristics

Remission Material

Approx. 2% Black shoe leather

Approx. 5% Mat black paint

Approx. 20% Grey cardboard

Approx. 80% Writing paper

Approx. 100% White plaster

>300% Reflective films

>2000% Reflectors

Fig. 30: Diagram of the object diameter necessary for switch off and the necessary remission

Tab. 22: Examples for levels of remission of various materials

Rem

issi

on [%

]

1 10

100 10

50 500

30 3

Obj

ect d

iam

eter

[mm

] Scanning range [m] Object diameter

Object remission

50 5

300 30

10 1 0 5

1.8

5

8

Object diameter determined in the near range by approaching


S100



12.2 Response times

The total response time of your application is dependent on …

the basic response time of the S100.

the multiple sampling set.

How to calculate the total response time TS:

TS = tB + TMFA

Where …

tB = Basic response time = 40 ms

TMFA = Supplement due to multiple sampling > 1

Multiple sampling

Double multiple sampling is set on the S100 from the factory. For a multiple sampling of 2 or higher you must add a supplement of 40 ms to the basic response time.

Multiple sampling Supplement Basic response time + supplement

1 time 0 ms 40 ms

2 times (default) 40 ms 80 ms

3 times 80 ms 120 ms














Tab. 23: Supplements for multiple sampling


S100



12.3 Data sheet

Minimum Typical Maximum

General data

Laser protection class as per IEC 608251:2001

Laser class 1 (complies with 21 CFR 1040.10 and 1040.11)

Enclosure rating according to EN 60529 IP 65

Protection class according to EN 50178:199710

II

Ambient operating temperature –10 °C +50 °C

Storage temperature –25 °C +70 °C (≤ 24 h)

Humidity non-condensing (taking into account the operating temperature range)

95%

Vibration as per IEC 60068-2-6

Frequency range 10 Hz 150 Hz

Amplitude 0.35 mm or 5 g

Shock resistance according to IEC 60068229

Single shock 15 g, 11 ms

Continuous shock 10 g, 16 ms

Sender Pulsed laser diode

Wavelength 895 nm 905 nm 915 nm

Divergence of the collimated beam (solid angle)

14 mrad

Pulse duration 4.5 ns

Average output power 1.76 mW

Light spot size at optics cover 8 mm

Size of light spot at 2.0 m scanning range 28 mm

Size of light spot at 10.0 m scanning range 140 mm

Housing

Material Aluminium die-cast

Colour RAL 9005 (black)

Optics cover

Material Polycarbonate

Surface finish Outside with scratch-resistant coating

System plug ESD protected

Material Aluminium die-cast

Colour RAL 9005 (black)

Tab. 24: Data sheet S100


S100




Dimensions S1003)

Height 152 mm Width 102 mm

Depth 105 mm

Total weight (without connecting cables) 1.2 kg

Functional data

S100 switching field 10 m

Resolution See Fig. 30 on page 52.

Configurable resolution 30, 40, 50, 70, 150 mm

Scanning range at 30 mm resolution 1.30 m





Scan angle 270°

Remission at 2 m 1.8% Several 1000% (re-flectors4))

Angular resolution 0.5° 1.0°

Recommended supplement for retroreflectors in scan plane at a distance of less than 1 m to the switching field boundary

200 mm

Measurement error

Systematic error

Without reflectors in the measurement area

±15 mm

With reflectors in the measurement area ±30 mm

Statistical error (at 21 °C)

at 1 σ ±85) mm

at 5 σ ±40 mm

Evenness of the scan field at 2 m ±50 mm

Distance from mirror axis of rotation (zero point on the X and Y axis) to the rear of the device

55 mm

Distance between centre of the scan plane and the bottom edge of the housing

116 mm

Distance measuring range 30 m

Number of multiple samplings (configurable via CDS-S100)

1 16

3) Without fixing screws and projection of cable glands with system plug mounted. 4) Complies with Diamond Grade 3000X™ (approx. 1250 cd/lx × m²). 5) Without reflector in the measurement area.


S100




Power-up delay

Of a configured device 15 s

If the configuration is read from the system plug

25 s

Restart after (configurable) 0 s 60 s

Electrical data

Supply voltage (SELV)6) 16.8 V 24 V 30 V

Permissible residual ripple7) ±5%

Switch on current8) 2 A

Operating current at 24 V without output load 0.25 A 0.33 A

Operating current with maximum output load 1.65 A

Power consumption without output load 6 W 8 W

Power consumption with maximum output load

40 W

Electrical connection System plug with screw terminal connections

Technical specifications, screw type terminal FE

Cross-section of rigid cores 0.3 mm² 1.6 mm²

Cross-section of flexible cores9) 0.3 mm² 1.6 mm²

American Wire Gauge (AWG) 22 14

Insulation stripping length for the cores 5 mm

Screw tightening torque 0.5 Nm

Technical specifications, screw terminals

Cross-section of rigid cores 0.14 mm² 1.5 mm²

Cross-section of flexible cores10) 0.14 mm² 1.0 mm²

American Wire Gauge (AWG) 26 16

Insulation stripping length for the cores 5 mm

Screw tightening torque 0.22 Nm 0.3 Nm

Cable length for power supply tolerance ±10%

For wire cross-section 1 mm² 50 m

For wire cross-section 0.5 mm² 25 m


6) The voltage supply must be capable of buffering brief mains voltage failures of 20 ms as specified in

EN 60204. Suitable power supplies are available as accessories from SICK (tested as per DIN 408391, test pulse 5 (load dump) limited to 58 V).

7) The absolute voltage level must not drop below the specified minimum voltage. 8) The load currents for the input capacitors are not taken into account. 9) Core terminating sleeves are not required. 10) Core terminating sleeves are not required.


S100












Stand-by mode input

Input resistance when HIGH 2 k

Voltage for HIGH 11 V 24 V 30 V

Voltage for LOW –3 V 0 V 5 V

Static input current 6 mA 15 mA

Static control inputs

Input resistance when HIGH 2 k

Voltage for HIGH 11 V 24 V 30 V

Voltage for LOW –3 V 0 V 5 V

Static input current 6 mA 15 mA

Input frequency (max. switching sequence or frequency)

1/tUFVz + 40 ms

(tUFVz = time set for advancing the timing for the switching)

Application diagnostic output error/contamination

HIGH switching voltage at 200 mA UV – 3.3 V UV

Source switching current 100 mA 200 mA

Current limiting (after 5 ms at 25° C) 600 mA 920 mA

Power up delay 1.4 ms 2 ms

Switch off delay 0.7 ms 2 ms

Switching outputs Q1 and Q2 PNP semiconductors, short-circuit protected11)

HIGH switching voltage at 250 or 150 mA UV – 2.7 V UV

Switching voltage LOW 0 V 0 V 3.5 V

Source switching current12) 6 mA 0.25 A

Leakage current 250 µA

Load inductance 2.2 H

Load capacity 2.2 µF at 50

Switching sequence (without switching) 5 1/s

Permissible cable resistance 2.5

11) Applies to the voltage range between Vs and 0 V. 12) Switching currents up to 500 mA are allowed briefly (≤100 ms).


S100




Application diagnostics outputs 1 and 2

HIGH switching voltage at 200 mA UV – 3.3 V UV

Source switching current 100 mA 200 mA

Current limiting (in accordance with 5 ms at 25°C)

600 mA 920 mA

Power up delay 1.4 ms 2 ms

Switch off delay 0.7 ms 2 ms

Configuration and diagnostics interface

Communication protocol RS232 (proprietary)

Transmission speed 38400 Baud

Cable length at 38400 Baud and 0.25 mm² cables

15 m

Galvanic de-coupling No

Output TxD HIGH 5 V 15 V

Output TxD LOW –15 V –5 V

Voltage range RxD –15 V 15 V

Switching threshold RxD LOW –15 V 0.4 V

Switching threshold RxD HIGH 2.4 V 15 V

Short-circuit current at TxD –60 mA 60 mA

Max. voltage level at RxD –15 V 15 V

Max. voltage level at TxD –11 V 11 V


S100




CANopen connection

Baud rate 10 kBit/s 1 Mbit/s

Address range 1 127

Number of bus users 64

Wire cross-section of the connecting cable 0.22 mm2

Cable length at 0.22 mm² cables

up to 500 kBit/s

up to 800 kBit/s

up to 1 MBit/s

40 m

30 m

15 m

Galvanic de-coupling Yes

Type of connecting cable Twisted pairs with copper braid screen

Characteristic impedance of the connecting cable

108 120 132

CAN_HI output voltage 2.0 V 4.5 V

CAN_LO output voltage 0.5 V 3.0 V

Differential input voltage (recessive) –1.0 V 0.5 V

Differential input voltage (dominant) 0.9 V 5.0 V

Short-circuit current CAN_HI –200 mA

Short-circuit current CAN_LO 200 mA

Maximum voltage at CAN_HI 30 V –30 V

Maximum voltage at CAN_LL –30 V 30 V

Terminating resistance External


S100



12.4 Dimensional drawings

12.4.1 S100

12.4.2 Mounting kits

Fig. 31: Dimensional drawing S100 (mm)

Fig. 32: Dimensional drawing, mounting kit 1a (mm)

DIN 74F5

16

21.9

15.9

110.2

74.7

49 15.7

4

73

24

79.3 25

M5×7.5

10.5

54.5

106

5

∅ 9

4 102

36.5

73

79.3

116

152

M5

×7.

5 49

±0

.2

Part number 2034324


S100



Fig. 33: Dimensional drawing, mounting kit 1b (mm)

Fig. 34: Dimensional drawing, mounting kit 2 (mm)

110.2

∅ 100

DIN 74F5

15.7 49

74.7

15.9

109.6 4

48

73

19.7

78.2 40.7

37.7

33.4

18

18

19.7

139.4

130

118.5 4

Part number 2034325

Part number 2039302


S100



12.4.3 Scan plane origin

Fig. 35: Dimensional drawing, mounting kit 3 (mm)

Fig. 36: Dimensional drawing of the scan plane with mounting kit 1a (mm)

41

5

20.5

158.8

150

130

146

116 23.8

36.4

130

73

74.7

69

.7

59.7

126

106 54

.5

Min. 15 Min. 15 Max

. 200

270°

Part number 2039303


S100


Ordering information

13 Ordering information

13.1 Delivery S100 laser scanner

operating instructions and CDS-S100 (Configuration & Diagnostic Software — S100) on CD-ROM

adapter for cable entry from M12 to M16

EMC-proof M16 cable gland

System plugs not included.

System plugs without cable and pre-assembled system plugs are available from SICK AG (see section 13.3.2 “System plug S100” on page 64). For further information see section 6.2 “System plug assembly” on page 34 and section 6.3 “Pre-assembled system plugs” on page 35.

13.2 Available systems Device type Part Part number

S10B-9011BA S100 Standard 1042266

S10B-9011DA S100 Professional 1042267

13.3 Accessories/spare parts

13.3.1 Mounting kits

Part Part number

Mounting kit 1a: mounting bracket for direct mounting at the rear on wall or machine.

2034324

Mounting kit 1b: mounting bracket for direct mounting at the rear on wall or machine, with protection for the optics cover.

2034325

Mounting kit 2: mounting bracket only in conjunction with mounting bracket 1a or 1b. Cross-wise adjustment possible.

2039302

Mounting kit 3: mounting plate only in conjunction with mounting bracket 2. Length-wise adjustment possible.

2039303

Note

Tab. 25: Part numbers systems

Tab. 26: Part numbers mounting kit


S100



13.3.2 System plug S100

System plug Features Description Part number

SX0B-A0000G One cable gland M16 and one blanking plug M12, on the rear

Without cable 2032807

SX0B-B1105G Pre-assembled, 5 m long cable, 11 cores

2032859


2032860


2032861

SX0B-B1505G One cable gland M16 and one blanking plug M12, on the rear

Pre-assembled, 5 m long cable, 15 cores

2034264


2034265

13.3.3 Service cable

Part Part number

Service cable approx. 2 m: For connecting the configuration connection to the serial interface on the PC, M8×4-pin/DSub 9-pin (DIN 41642)

6021195

Service cable approx. 10 m: For connecting the configuration connection to the serial interface on the PC, M8×4-pin/DSub 9-pin (DIN 41642)

2027649

USB service cable approx. 2 m: For connecting the configuration connection to the USB interface on the PC M8�×4-pin/USB-A plug

6034574

USB service cable approx.10 m: For connecting the configuration connection to the USB interface on the PC M8�×4-pin/USB-A plug

6034575

USB/RS-232 adapter: USB-A plug to D-Sub socket, 9-pin 6035396

13.3.4 Self assembly connecting cables

Part Part number

15-pin, Wire cross-section 0.56 mm² (AWG 20), on 100 m reel 6030795

CANopen cable, By the meter (2 × 2 × 0.22 mm2) 6035263

M16 EMC-proof cable gland for CANopen connections, permissible cable diameter 3-6.5 mm

5318530

Adapter for cable entry from M12 to M16 5320690

M12 EMC-proof cable gland for EFI connections, permissible cable diameter 3-6.5 mm, height 19 mm

5308757

M12 EMC-proof cable gland for EFI connections, permissible cable diameter 3-6.5 mm, height 25 mm

5314772

13.3.5 Documentation

Part Part number

CDS-S100 (Configuration & Diagnostic Software — S100) on CD-ROM including online documentation and operating instructions in all available languages

2042818

Tab. 27: Part numbers system plugs S100

Tab. 28: Part numbers service cables

Tab. 29: Part numbers self assembly connecting cables

Tab. 30: Part numbers documentation


S100



13.3.6 Other

Part Part number

Spare parts set for optics cover with replacement seal and screws 2039248

Plastic cleaner and care product, anti-static, 1 litre 5600006

Lens cloth for cleaning the optics cover 4003353

Power supplies 24 V, 2.1 A , 100/240 V AC, 50 W 7028789

Power supplies 24 V, 3.9 A 24 V, 120/240 V AC, 95 W 7028790

LS70b: Scan finder 6020756

Tab. 31: Part numbers miscellaneous


S100


Annex

14 Annex

14.1 EC declaration of conformity

You can obtain the complete EC declaration of conformity via the SICK homepage on the Internet at: www.sick.com

Note

http://www.sick.com/


S100


Annex

14.2 Glossary CANopen is a layer-7 communication protocol based on CAN that is primarily used in automation engineering.

The monitoring cases are switched using the control inputs. The S100 Professional has four static control inputs.

Two switching fields form a pair, the so-called field set.

A field set is allocated to a monitoring case. Monitoring case switching is performed using the control inputs. In this way the S100 can be adapted to the operating mode of the machine or plant that it monitors.

Plastic part with window for light output. The optics cover is available as a spare part.

Reflection of luminance. A measure of the remission is the level of remission defined as the ratio of the luminance reflected from a surface in the measuring direction and the luminance of a completely matt white surface (white standard).

The minimum size of an object that is acquired by the laser scanner and is guaranteed by the manufacturer.

The switching field protects an area around the machine or a vehicle. As soon as the laser scanner detects an object in the switching field, it switches the related switching output to the OFF state.

Contains the configuration memory and all electrical connections. In this way the S100 can be easily replaced. After re-commissioning the configuration is read from the system plug; the S100 is then, normally, ready for use.

CANopen

Control input

Field set

Monitoring case

Optics cover

Remission

Resolution/ object resolution

Switching field

System plug


S100


Annex

14.3 List of tables Tab. 1: Overview on disposal by components .................................................................... 11

Tab. 2: Functions of the S100 variants .............................................................................. 13

Tab. 3: Scanning ranges for the fixed resolutions that can be set ................................... 20

Tab. 4: Example for monitoring case switching with the S100 Professional ................... 22

Tab. 5: Figure from experience for the necessary input delay .......................................... 22

Tab. 6: Terminal assignment on the system plug .............................................................. 33

Tab. 7: Use the cable glands supplied ............................................................................... 34

Tab. 8: Recommended wire cross-sections ....................................................................... 35

Tab. 9: Pin assignment pre-assembled system plug ......................................................... 35

Tab. 10: Status of the outputs (CAN IO State — Outputs) .................................................... 39

Tab. 11: Status of the inputs (CAN IO State — Inputs) ......................................................... 40

Tab. 12: Active switching fields (CAN Field Data) ................................................................ 40

Tab. 13: Device status (CAN Device State) .......................................................................... 40

Tab. 14: Status of the virtual inputs (CAN Virtual Input State)............................................ 41

Tab. 15: 7segment display during and after the power up sequence on initial commissioning ........................................................................................................ 42

Tab. 16: LED indication after the power up sequence ........................................................ 42

Tab. 17: 7segment display during and after the power up sequence on re-commissioning ........................................................................................................ 43

Tab. 18: LED indication after the power up sequence ........................................................ 43

Tab. 19: Status indicators during operation......................................................................... 46

Tab. 20: LED error messages ................................................................................................ 47

Tab. 21: Error and status indications on the 7segment display ........................................ 48

Tab. 22: Examples for levels of remission of various materials.......................................... 52

Tab. 23: Supplements for multiple sampling ....................................................................... 53

Tab. 24: Data sheet S100 ..................................................................................................... 54

Tab. 25: Part numbers systems ............................................................................................ 63

Tab. 26: Part numbers mounting kit ..................................................................................... 63

Tab. 27: Part numbers system plugs S100 .......................................................................... 64

Tab. 28: Part numbers service cables .................................................................................. 64

Tab. 29: Part numbers self assembly connecting cables .................................................... 64

Tab. 30: Part numbers documentation ................................................................................ 64

Tab. 31: Part numbers miscellaneous .................................................................................. 65


S100


Annex

14.4 List of illustrations Fig. 1: Device components .................................................................................................12

Fig. 2: Principle of operation, time of flight measurement by the S100 .........................14

Fig. 3: Principle of operation, rotation of the S100 ..........................................................14

Fig. 4: Switching field 1 and 2 as well as distance measuring range ..............................15

Fig. 5: Two S100 each with two monitoring cases on a carriage.....................................16

Fig. 6: Example warehouse bay checking .........................................................................16

Fig. 7: Example collision protection ...................................................................................17

Fig. 8: Example protection of the area behind a vehicle ..................................................17

Fig. 9: Example collision protection ...................................................................................18

Fig. 10: Reading switching fields .........................................................................................19

Fig. 11: Status indicators on the S100 ................................................................................24

Fig. 12: Direct mounting .......................................................................................................27

Fig. 13: Mounting with mounting kit 1a ...............................................................................28

Fig. 14: Mounting with mounting kit 1b incl. protection for the optics cover ....................28

Fig. 15: Mounting with mounting kit 2 .................................................................................29

Fig. 16: Opposite mounting ..................................................................................................30

Fig. 17: Offset parallel mounting ..........................................................................................30

Fig. 18: Mounting on a cross ................................................................................................30

Fig. 19: Reverse mounting, parallel offset ..........................................................................30

Fig. 20: Reverse mounting of two S100, with parallel offset .............................................30

Fig. 21: Reverse mounting of one S100, with parallel offset .............................................31

Fig. 22: Screw terminal connection in the system plug ......................................................32

Fig. 23: System plug SX0B-A0000G for S100 Standard and S100 Professional .............34

Fig. 24: Application with a S100 Standard ..........................................................................36

Fig. 25: Connection diagram S100 Standard ......................................................................36

Fig. 26: Application with a S100 Professional ....................................................................37

Fig. 27: Connection diagram S100 Professional ................................................................37

Fig. 28: Configuration connection ........................................................................................38

Fig. 29: Undo the fixing screws for the front screen ...........................................................45

Fig. 30: Diagram of the object diameter necessary for switch off and the necessary remission ................................................................................................52

Fig. 31: Dimensional drawing S100 (mm) ...........................................................................60

Fig. 32: Dimensional drawing, mounting kit 1a (mm) .........................................................60

Fig. 33: Dimensional drawing, mounting kit 1b (mm) .........................................................61

Fig. 34: Dimensional drawing, mounting kit 2 (mm) ...........................................................61

Fig. 35: Dimensional drawing, mounting kit 3 (mm) ...........................................................62

Fig. 36: Dimensional drawing of the scan plane with mounting kit 1a (mm) ....................62


S100


Annex

SICK AG | Waldkirch | Germany | www.sick.com

8012

238/

YY30

/201

5-02

-20

∙ 8M

_TM

_AK

(201

5-02

) ∙ A

4 sw

int4

3

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