Pilz PSEN sc M 3 Series User manual

PSEN sc M 3/5 series
Operating Manual-1005055-EN-02
}PSEN sensor technology

Preface
This document is the original document.
All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made
for the user's internal purposes. Suggestions and comments for improving this documenta-
tion will be gratefully received.
Source code from third-party manufacturers or open source software has been used for
some components. The relevant licence information is available on the Internet on the Pilz
homepage.
Pilz®, PIT®, PMI®, PNOZ®, Primo®, PSEN®, PSS®, PVIS®, SafetyBUS p®,
SafetyEYE®, SafetyNET p®, the spirit of safety® are registered and protected trademarks
of Pilz GmbH & Co. KG in some countries.
SD means Secure Digital

Contents
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1 Introduction ............................................................................................................................7
1.1 Validity of documentation.......................................................................................................... 7
1.2 Using the documentation .......................................................................................................... 7
1.3 Definition of symbols................................................................................................................. 7
2 Overview .................................................................................................................................9
2.1 Device features......................................................................................................................... 9
2.2 Unit view ................................................................................................................................... 10
3 Safety ...................................................................................................................................... 12
3.1 Intended use ............................................................................................................................. 12
3.2 Safety regulations ..................................................................................................................... 13
3.2.1 Safety assessment ................................................................................................................... 13
3.2.2 Use of qualified personnel ........................................................................................................ 13
3.2.3 Warranty and liability ................................................................................................................ 13
3.2.4 Disposal .................................................................................................................................... 14
3.3 For your safety.......................................................................................................................... 14
4 Function description ............................................................................................................. 15
4.1 Basic function of the safety laser scanner ................................................................................ 15
4.1.1 Single connection ..................................................................................................................... 15
4.1.2 Series connection ..................................................................................................................... 16
4.2 Use of zone sets and monitoring cases.................................................................................... 17
4.3 Automatic and monitored start/restart....................................................................................... 17
4.4 Manual restart........................................................................................................................... 18
4.5 OSSD........................................................................................................................................ 18
4.6 Reset ........................................................................................................................................ 18
4.7 EDM.......................................................................................................................................... 19
4.8 Series connection ..................................................................................................................... 20
4.9 Wave......................................................................................................................................... 21
4.10 Muting ....................................................................................................................................... 21
4.11 Override .................................................................................................................................... 23
4.12 Stationary danger zone............................................................................................................. 23
4.13 Multiple evaluation .................................................................................................................... 24
4.14 Monitoring of reference outlines ............................................................................................... 24
4.15 Restore configuration................................................................................................................ 25
4.16 Examples of application............................................................................................................ 26
4.16.1 Horizontal application ............................................................................................................... 26
4.16.2 Vertical application.................................................................................................................... 27
4.16.3 Mobile application ..................................................................................................................... 27
4.16.4 Series connection ..................................................................................................................... 28
5 Project configuration ............................................................................................................. 29
5.1 Maintaining the safety distance ................................................................................................ 29
5.1.1 General ..................................................................................................................................... 29
5.1.2 Horizontal application with stationary danger zone .................................................................. 30
5.1.3 Horizontal application with automated guided vehicle systems................................................ 32
5.1.4 Vertical application.................................................................................................................... 34

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5.2 Calculation of the overall response time................................................................................... 35
5.3 Reference outline monitoring.................................................................................................... 35
5.4 Area with limited detection capability........................................................................................ 35
5.5 Installation of several adjacent safety laser scanners .............................................................. 36
5.6 Ambient conditions ................................................................................................................... 37
5.7 Distance to intense light sources and to reflective surfaces ..................................................... 37
5.8 Distance from walls................................................................................................................... 40
5.9 Planning of safety and warning zones and zone sets............................................................... 41
5.10 Switchover time with zone selection ......................................................................................... 41
5.11 Determining the moment of switchover .................................................................................... 41
5.12 Dust filtration............................................................................................................................. 42
5.13 Muting ....................................................................................................................................... 43
5.13.1 General ..................................................................................................................................... 43
5.13.2 Muting in one direction.............................................................................................................. 44
5.13.3 Muting in two directions ............................................................................................................ 45
5.13.4 Dynamic muting ........................................................................................................................ 46
5.14 Override .................................................................................................................................... 46
6 Wiring ......................................................................................................................................48
6.1 General guidelines.................................................................................................................... 48
6.2 Connector pin assignment ........................................................................................................ 48
6.2.1 Master unit ................................................................................................................................ 48
6.2.2 Slave unit .................................................................................................................................. 50
6.2.3 Configurable inputs................................................................................................................... 51
6.2.4 Configurable inputs/outputs ...................................................................................................... 51
6.3 Wiring of the configurations ...................................................................................................... 51
6.4 Connect supply voltage and safety controller ........................................................................... 51
6.5 Connection to PSENscan Configurator .................................................................................... 53
6.5.1 Single connection ..................................................................................................................... 54
6.5.2 Series connection ..................................................................................................................... 55
6.6 Connections for muting sensors ............................................................................................... 56
7 Installation and alignment .................................................................................................... 57
7.1 Installation options .................................................................................................................... 57
7.2 Installation without PSEN sc bracket H .................................................................................... 57
7.3 Installation of the protective bracket PSEN sc bracket H at the safety laser scanner .............. 58
7.4 Installation with setting of angle of inclination/roll angle - bracket PSEN sc bracket PR .......... 59
7.5 Installation with angle of inclination setting - holder PSEN sc bracket P .................................. 61
7.6 Set the angle of inclination of the safety laser scanner ............................................................ 62
7.7 Set the side inclination of the safety laser scanner................................................................... 62
7.8 Measures to safeguard unsecured areas ................................................................................. 63
8 PSENscan Configurator ........................................................................................................ 65
8.1 Basics ....................................................................................................................................... 65
8.2 Installation................................................................................................................................. 65
8.2.1 System requirements................................................................................................................ 65
8.2.2 Install PSENscan Configurator ................................................................................................. 65
8.2.3 Ethernet Connections ............................................................................................................... 66

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8.2.3.1 Factory default settings for the IP addresses ........................................................................... 66
8.2.3.2 Create firewall rule.................................................................................................................... 66
8.2.3.3 Connect automatically .............................................................................................................. 66
8.3 Download configuration to device............................................................................................. 67
8.4 Create backup copy of a configuration ..................................................................................... 68
9 First commissioning .............................................................................................................. 69
9.1 Requirements for commissioning ............................................................................................. 69
9.2 System connection ................................................................................................................... 69
9.3 Configuration of zones.............................................................................................................. 70
9.3.1 Example for an 8-pin connection .............................................................................................. 70
9.3.2 Example for an 12-pin connection ............................................................................................ 72
9.4 Testing ...................................................................................................................................... 75
10 Operation ................................................................................................................................77
10.1 Display during normal operation ............................................................................................... 77
10.2 Display of the monitoring status................................................................................................ 78
10.3 Diagnostic information .............................................................................................................. 79
10.3.1 Error.......................................................................................................................................... 79
10.3.2 Warnings................................................................................................................................... 81
10.3.3 Information................................................................................................................................ 82
10.4 Text messages in the display ................................................................................................... 82
10.5 Restore configuration................................................................................................................ 83
10.6 Reset ........................................................................................................................................ 85
11 Safety checks, maintenance and repair .............................................................................. 86
11.1 Cleaning.................................................................................................................................... 86
11.2 Checks...................................................................................................................................... 87
11.2.1 Regular check........................................................................................................................... 87
11.2.2 Check after plant/machine modification.................................................................................... 87
11.3 Maintenance ............................................................................................................................. 87
12 Dimensions ............................................................................................................................88
13 Technical details order no. 6D000016-6D000017 ................................................................ 91
14 Technical details order no. 6D000020-6D000021 ................................................................ 94
15 Safety characteristic data ..................................................................................................... 97
16 Network data ..........................................................................................................................98
17 Order reference ......................................................................................................................99
17.1 System...................................................................................................................................... 99
17.2 Accessories .............................................................................................................................. 99
18 Appendix ................................................................................................................................101
18.1 Check list .................................................................................................................................. 101

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19 Identification ..........................................................................................................................104
20 EC declaration of conformity ................................................................................................ 105

Introduction
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1 Introduction
1.1 Validity of documentation
This documentation is valid for the product PSEN sc M 3/5 series from Version 0.0.
This operating manual explains the function and operation, describes the installation and
provides guidelines on how to connect the product.
1.2 Using the documentation
This document is intended for instruction. Only install and commission the product if you
have read and understood this document. The document should be retained for future ref-
erence.
1.3 Definition of symbols
Information that is particularly important is identified as follows:
DANGER!
This warning must be heeded! It warns of a hazardous situation that poses
an immediate threat of serious injury and death and indicates preventive
measures that can be taken.
WARNING!
This warning must be heeded! It warns of a hazardous situation that could
lead to serious injury and death and indicates preventive measures that can
be taken.
CAUTION!
This refers to a hazard that can lead to a less serious or minor injury plus
material damage, and also provides information on preventive measures
that can be taken.
NOTICE
This describes a situation in which the product or devices could be dam-
aged and also provides information on preventive measures that can be
taken. It also highlights areas within the text that are of particular import-
ance.

Introduction
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INFORMATION
This gives advice on applications and provides information on special fea-
tures.

Overview
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2 Overview
2.1 Device features
The safety laser scanners of the PSEN sc M 3/5 series are electrosensitive protective
equipment (ESPE type: 3) in accordance with EN 61496-3 for workspaces in which ma-
chines, robots, and automated systems could endanger the physical integrity of operators.
}Four safety laser scanners can be connected in series (1 master and 3 slaves)
}In a series connection with the master and slave units the devices can be combined
freely in the range and the assigned detection capability the PSENscan Configurator
}Detection capability: 40 mm, 70 mm
}2 protective zones independent of each other (one OSSD pair per protective zone)
}LED display and display for status information
}Scan angle: 275°
}Infrared laser beams build up a 2-dimensional protected area
}Separation of the protected area in a safety zone and a warning zone
}Number of zone sets [ 15] that can be switched
– PSEN sc M with 8-pin connection = 3
– PSEN sc M with 12-pin connection= 10
}Enhanced availability by configurable multiple evaluation
}The safety laser scanner can be installed and operated overhead.
}Muting
– Muting in one direction
– Muting in two directions
– Dynamic muting

Overview
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2.2 Unit view
[1]
[2]
[3]
[4]
[5]
Legend
[1] Metal cover upper side
[2] Front panel (exit laser beams)
[3] Display for device messages
[4] LEDs as status indicator
[5] Buttons for scrolling in the display or to confirm the message in the display
Scroll up
Confirm message in the display
Scroll down

Overview
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Legend
Status of the OSSD 1/2 Lights up green: No object detected in safety zone
Lights up red: Object detected in safety zone
Not used
Status of the warning zone 2 off: No object detected in warning zone 2
Lights up yellow: Object detected in warning zone 2
Status of the warning zone 1 off: No object detected in warning zone 1
Lights up yellow: Object detected in warning zone 1
Locking Lights up yellow and
lights up red:
No object detected in safety zone, PSEN sc M 3/5
series waiting for manual restart
off and lights up green:
No object detected in safety zone, PSEN sc M 3/5
series is ready for operation
off and lights up red:
Object detected in safety zone, PSEN sc M 3/5
series in OFF state

Safety
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3 Safety
3.1 Intended use
The safety laser scanners of the PSEN sc M 3/5 series are electrosensitive protective
equipment of ESPE type 3. They are used to protect personnel and systems. The safety
laser scanners are designed to
}safeguard danger zones within buildings,
}safeguard danger zones of vehicles and
}access protection within buildings.
The safety laser scanner may only be used for personal protection on machinery if
}the hazardous state can be removed by the safety laser scanner and
}the starting of the machine is controlled by the safety laser scanner and
}the safety assessment prescribes no better detection capability than 40 mm, 70 mm.
The safety level PL d (Cat. 3)/SIL CL 2 is only achieved if
}The safety outputs must be processed safety-related in 2-channel mode.
The restart of the machine or vehicle can be performed using a manual or an automatic re-
start.
}It must not be possible to operate the pushbutton for manual restart from inside the
danger zone. The pushbutton must be located at a position from which there is a full, un-
obstructed view of the danger zone.
Prevent circumvention of the safety zone. This means that other electrosensitive protective
equipment and protective measures may be required in addition to the safety laser scanner.
These should be determined via a safety assessment based on the specific application
range and specific local conditions (e.g. official specifications).
Refer to IEC/TS 62046 to determine other necessary safeguards for securing the danger
zone.
Their application must fulfil the site’s relevant national regulations (e.g.EN60204-1,
NFPA79:17-7).
The following is deemed improper use in particular
}Any component, technical or electrical modification to the product,
}Use of the product outside the areas described in this manual,
}Use of the product outside the technical details (see Technical details [ 91]).
NOTICE
EMC-compliant electrical installation
The product is designed for use in an industrial environment. The product
may cause interference if installed in other environments. If installed in other
environments, measures should be taken to comply with the applicable
standards and directives for the respective installation site with regard to in-
terference.

Safety
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Foreseeable misuse
}The safety laser scanner may not be accessed and may not be used as a step.
}The PSEN sc bracket H mounted on the safety laser scanner may not be accessed and
not be used as a step
}The safety laser scanner may not be used at an ambient temperature below 0°.
}The safety laser scanner may not be built into an additional housing.
3.2 Safety regulations
3.2.1 Safety assessment
Before using a device it is necessary to perform a safety assessment in accordance with
the Machinery Directive.
Functional safety is guaranteed for the product as a single component. However, this does
not guarantee the functional safety of the overall plant/machine. In order to achieve the re-
quired safety level for the overall plant/machine, define the safety requirements for the
plant/machine and then define how these must be implemented from a technical and organ-
isational standpoint.
3.2.2 Use of qualified personnel
The products may only be assembled, installed, programmed, commissioned, operated,
maintained and decommissioned by competent persons.
A competent person is a qualified and knowledgeable person who, because of their train-
ing, experience and current professional activity, has the specialist knowledge required. To
be able to inspect, assess and operate devices, systems and machines, the person has to
be informed of the state of the art and the applicable national, European and international
laws, directives and standards.
It is the company’s responsibility only to employ personnel who
}Are familiar with the basic regulations concerning health and safety / accident prevention,
}Have read and understood the information provided in the section entitled Safety
}Have a good knowledge of the generic and specialist standards applicable to the specific
application.
3.2.3 Warranty and liability
All claims to warranty and liability will be rendered invalid if
}The product was used contrary to the purpose for which it is intended,
}Damage can be attributed to not having followed the guidelines in the manual,
}Operating personnel are not suitably qualified,
}Any type of modification has been made (e.g. exchanging components on the PCB
boards, soldering work etc.).

Safety
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3.2.4 Disposal
}In safety-related applications, please comply with the mission time TM in the safety-related
characteristic data.
}When decommissioning, please comply with local regulations regarding the disposal of
electronic devices (e.g. Electrical and Electronic Equipment Act).
3.3 For your safety
INFORMATION
Laser radiation of the safety laser scanner
The safety laser scanner of the PSEN sc M 3/5 series corresponds to the
laser class 1 in accordance with EN 60825-1. Additional measures to shield
the laser beams are not required (eye-safe).

Function description
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4 Function description
4.1 Basic function of the safety laser scanner
4.1.1 Single connection
The safety laser scanner monitors an area that is covered by the light beam emitted by the
safety laser scanner.
[1]
[2]
[3]
[4]
[5]
Fig.: Operating principle safety laser scanner
Legend
[1] Danger zone
[2] Area covered by the laser beam
[3] Safety laser scanner
[4] Safety zone
[5] Warning zone
The area can be divided into a safety zone and a warning zone.
If an object or a person enters the warning zone, corresponding actions can be triggered
(e.g. switch on indicator light unit).
If an object or a person violates the safety zone, the OSSDs switch to an OFF state.

Function description
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4.1.2 Series connection
In a series connection, each of the connected safety laser scanners monitors the area that
is covered by the light beam emitted from the safety laser scanner.
[3]
[2]
[2]
[2]
[2]
[3]
[4]
[4]
[4]
[4]
[5]
[5]
[5]
[5]
[1]
Fig.: Operating principle safety laser scanner with series connection
Legend
[1] Danger zone
[2] Area covered by the laser beam
[3] Safety laser scanner
[4] Safety zone
[5] Warning zone
The areas can be subdivided independently of each other for every safety laser scanner in
a safety zone and a warning zone.
When an object or a person intrudes into the warning zone or safety zone, the status of the
relevant safety laser scanner is changed, shown in the display and signalled to the master.
Depending on the violated zone, the master triggers the actions provided for the violated
zone.
For a violated safety zone, the OSSDs switch to the OFF state, for a violated warning zone
an indicator light unit can be switched on, for example.

Function description
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4.2 Use of zone sets and monitoring cases
A safety zone and one or two warning zone(s) constitute a zone set.
A monitoring case is a defined signal at the control inputs for the current machine state. For
one specific machine state, one specific monitoring case can be assigned.
The safety laser scanner uses the defined signal at the control inputs to activate the zone
set, which is assigned to this monitoring case and therefore to a specific machine state.
When a machine has e.g. different operating statuses, a safety laser scanner can be used
to monitor several operating statuses.
When using two zone sets, the monitoring of zone set 1 can be switched to the monitoring
of zone set 2. The switching is controlled by the configurable inputs.
The standard behaviour when switching the monitoring cases does not plan an overlap of
the zone sets.
}Max. number of zone sets
– PSEN sc M with use of 8-pin connection: 3
– PSEN sc M with use of 12-pin connection: 10
}Max. number of inputs for switching zone sets
– PSEN sc M with use of 8-pin connection: 3
– PSEN sc M with use of 12-pin connection: 5
4.3 Automatic and monitored start/restart
Automatic start/restart
After switching on the safety laser scanner or re-release of the safety zone, the safety laser
scanner automatically starts, and the OSSDs switch to the ON state under these condi-
tions:
}Both OSSDs are wired correctly and
}No fault has occurred and
}the safety zone is free.
If the safety zone is violated, the OSSDs switch to the OFF state.
Monitored manual start/restart
The OSSDs switch to the ON state during operation under the following conditions:
}Both OSSDs are wired correctly and
}No fault has occurred and
}The safety zone is free and
}at least 80 ms have elapsed since switching to the OFF state and
}The start button has been operated and then released again for a min. 0.5 s and a max. 5
s. The start occurs with a falling edge.

Function description
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4.4 Manual restart
OSSD
ts
On
Off
Free
Interrupted
Start button
Operated
Not operated
Safety zone
Locking status
Free
Not free
Fig.: Timing diagram for manual restart
Legend
tsOperate the start button for 0.5s to 5s to trigger a manual restart
4.5 OSSD
The switched-on OSSD outputs are permanently checked by monitored test pulses. In the
case of detected errors at the OSSD outputs the safety laser scanner switches to the error
status.
4.6 Reset
The Reset function can be used to set the safety laser scanner back to normal operation,
when the safety laser scanner has changed to an error state because of a non-critical error.
The reset pushbutton has to be connected to the reset input.
To trigger a reset, the reset pushbutton has to be pressed for at least 500 ms.

Function description
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OSSD
Fig.: Timing diagram reset
4.7 EDM
Contactors outside the safety laser scanner can be monitored (External Device Monitoring
= EDM, also known as feedback loop monitoring).
EDM only needs to be activated if the contactors are controlled directly.
A test is performed to see that the N/C contacts switch if the state of the OSSDs changes
and so is used to monitor and detect malfunctions on the contactors. If a malfunction is de-
tected, the safety laser scanner switches to a safe condition and stops the connected ma-
chine. This check is carried out each time the OSSDs are triggered and before restarting.
The EDM function is available:
}Only when using the 12-pin connection
}Only for the OSSD pairs 1 and 2.

Function description
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OSSD
EDM
2
t1t
On
Off
24 V
0 V
Fig.: Timing diagram for EDM
Legend
t1After the OSSD outputs are switched on, the EDM circuit must open within 350 ms
t2After the OSSD outputs are switched off, the EDM circuit must close within 100 ms
Use control elements whose dynamics match the times stated at t1 and t2.
The function is activated or deactivated with the Wiring [ 48].
4.8 Series connection
In a series connection, the safety outputs of a safety laser scanner PSENscM3/5are con-
nected to an evaluation device. On this safety laser scanner,max. three safety laser scan-
ners PSENscS3/5can be connected in series. The safety laser scanner
PSENscM3/5is the master unit, the other safety laser scanners PSENscS3/5connec-
ted to the master unit are slave units (see Order references [ 99]).
A safety laser scanner PSENscS3/5may only be connected to a safety laser scanner
PSENscM3/5.
Functions of the master unit in the series connection
}Supply voltage for the connected slave units
}Connection to PSENscan Configurator
}Control of the slave units in accordance with the functionality configured in PSENscan
Configurator