Pilz PSEN sc M 3.0 08-12 User manual

PSEN sc M 3.0/5.5 08-12
Operating Manual-1005055-EN-03
}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
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 3
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 Stationary and mobile danger zone .......................................................................................... 17
4.2.1 Horizontal application ............................................................................................................... 19
4.2.2 Vertical application.................................................................................................................... 19
4.2.3 Mobile application ..................................................................................................................... 20
4.3 Reference outline monitoring.................................................................................................... 20
4.4 Use of zone sets and switching of zone sets............................................................................ 21
4.5 Automatic and monitored start/restart....................................................................................... 21
4.6 Manual restart........................................................................................................................... 22
4.7 OSSD........................................................................................................................................ 22
4.8 Reset ........................................................................................................................................ 22
4.9 Coding against interference...................................................................................................... 23
4.10 EDM.......................................................................................................................................... 23
4.11 Wave......................................................................................................................................... 24
4.12 Rest condition ........................................................................................................................... 24
4.13 Muting ....................................................................................................................................... 24
4.14 Override .................................................................................................................................... 26
4.15 Multiple evaluation .................................................................................................................... 27
4.16 Restore configuration (Fast Replacement) ............................................................................... 27
4.17 Report generation ..................................................................................................................... 27
5 Project configuration ............................................................................................................. 28
5.1 Maintaining the safety distance ................................................................................................ 28
5.1.1 General ..................................................................................................................................... 28
5.1.2 Horizontal application with stationary danger zone .................................................................. 29
5.1.3 Horizontal application with automated guided vehicle systems................................................ 31
5.1.4 Vertical application.................................................................................................................... 33

Contents
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 4
5.2 Calculation of the overall response time................................................................................... 34
5.3 Switching of zone sets .............................................................................................................. 34
5.4 Monitoring of reference outlines ............................................................................................... 35
5.5 Area with limited detection capability........................................................................................ 37
5.6 Installation of several adjacent safety laser scanners .............................................................. 38
5.7 Ambient conditions ................................................................................................................... 39
5.8 Dust filtration............................................................................................................................. 40
5.9 Distance to intense light sources and to reflective surfaces ..................................................... 40
5.10 Distance from walls................................................................................................................... 42
5.11 Planning of safety and warning zones and zone sets............................................................... 42
5.12 Switchover time with zone selection ......................................................................................... 42
5.13 Determining the moment of switchover .................................................................................... 42
5.14 Muting ....................................................................................................................................... 43
5.14.1 General ..................................................................................................................................... 43
5.14.2 Muting in two directions ............................................................................................................ 44
5.14.3 Muting in one direction.............................................................................................................. 48
5.14.4 Dynamic muting ........................................................................................................................ 51
5.15 Override .................................................................................................................................... 51
5.16 Rest condition ........................................................................................................................... 52
6 Wiring ......................................................................................................................................54
6.1 General guidelines.................................................................................................................... 54
6.2 Connector assignment master unit ........................................................................................... 54
6.3 Connector assignment slave unit.............................................................................................. 56
6.4 Configurable inputs/outputs ...................................................................................................... 57
6.5 Configurable inputs................................................................................................................... 57
6.6 Wiring of the configurations ...................................................................................................... 58
6.7 Connect supply voltage and safety controller ........................................................................... 58
6.8 Connection to PSENscan Configurator .................................................................................... 60
6.8.1 Single connection ..................................................................................................................... 61
6.8.2 Series connection ..................................................................................................................... 62
6.9 Connections for muting sensors ............................................................................................... 63
7 Installation and alignment .................................................................................................... 64
7.1 Installation options .................................................................................................................... 64
7.2 Installation without PSEN sc bracket H .................................................................................... 64
7.3 Installation of the protective bracket PSEN sc bracket H at the safety laser scanner .............. 65
7.4 Installation on the floor.............................................................................................................. 66
7.5 Installation with setting of angle of inclination/roll angle - bracket PSEN sc bracket PR .......... 66
7.6 Installation with angle of inclination setting - holder PSEN sc bracket P .................................. 69
7.7 Set the angle of inclination of the safety laser scanner ............................................................ 69
7.8 Set the side inclination of the safety laser scanner................................................................... 70
7.9 Measures to safeguard unsecured areas ................................................................................. 71
8 PSENscan Configurator ........................................................................................................ 73
8.1 Basics ....................................................................................................................................... 73
8.2 Installation................................................................................................................................. 73
8.2.1 System requirements................................................................................................................ 73

Contents
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 5
8.2.2 Install PSENscan Configurator ................................................................................................. 73
8.2.3 Ethernet Connections ............................................................................................................... 74
8.2.3.1 Factory default settings for the IP addresses ........................................................................... 74
8.2.3.2 Create firewall rule.................................................................................................................... 74
8.2.3.3 Connect automatically .............................................................................................................. 74
8.3 Download configuration to device............................................................................................. 75
8.4 Create backup copy of a configuration ..................................................................................... 75
8.5 Manage password .................................................................................................................... 76
8.6 Reset password ........................................................................................................................ 76
9 First commissioning .............................................................................................................. 77
9.1 Requirements for commissioning ............................................................................................. 77
9.2 System connection ................................................................................................................... 77
9.3 Configuration of zones.............................................................................................................. 78
9.3.1 Example for an 8-pin connection .............................................................................................. 79
9.3.2 Example for an 12-pin connection ............................................................................................ 82
9.4 Testing ...................................................................................................................................... 85
10 Operation ................................................................................................................................87
10.1 Display of the monitoring status................................................................................................ 87
10.2 Display during normal operation ............................................................................................... 87
10.3 Diagnostic information .............................................................................................................. 89
10.3.1 Error.......................................................................................................................................... 89
10.3.2 Warnings................................................................................................................................... 91
10.3.3 Information................................................................................................................................ 92
10.3.4 Log file ...................................................................................................................................... 92
10.4 Text messages in the display ................................................................................................... 93
10.5 Restore configuration................................................................................................................ 94
10.6 Reset ........................................................................................................................................ 95
10.7 Activate rest condition............................................................................................................... 96
10.8 Deactivate rest condition .......................................................................................................... 96
11 Safety checks, maintenance and repair .............................................................................. 97
11.1 Cleaning.................................................................................................................................... 97
11.2 Checks...................................................................................................................................... 98
11.2.1 Regular check........................................................................................................................... 98
11.2.2 Check after plant/machine modification.................................................................................... 98
11.3 Maintenance ............................................................................................................................. 98
11.3.1 Exchange PSEN sc head ......................................................................................................... 98

Contents
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 6
12 Dimensions ............................................................................................................................102
13 Technical details order no. 6D000016-6D000017 ................................................................ 106
14 Technical details order no. 6D000020-6D000021 ................................................................ 109
15 Safety characteristic data ..................................................................................................... 112
16 Network data ..........................................................................................................................113
17 Order reference ......................................................................................................................114
17.1 System...................................................................................................................................... 114
17.2 Accessories .............................................................................................................................. 114
18 Appendix ................................................................................................................................116
18.1 Check list .................................................................................................................................. 116
19 Identification ..........................................................................................................................119
20 EC declaration of conformity ................................................................................................ 120

Introduction
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 7
1 Introduction
1.1 Validity of documentation
This documentation is valid for the product PSEN sc M 3.0/5.5 08-12 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
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 8
INFORMATION
This gives advice on applications and provides information on special fea-
tures.

Overview
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 9
2 Overview
2.1 Device features
The safety laser scanners of the PSEN sc M 3.0/5.5 08-12 series are electrosensitive pro-
tective equipment (ESPE type: 3) in accordance with EN 61496-3 for workspaces in which
machines, robots, and automated systems could endanger the physical integrity of operat-
ors.
}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: max. 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
}Transferable configuration by saving the configuration in an exchangeable memory mod-
ule

Overview
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 10
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
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 11
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 3.0/5.5 08-12 series waits for manual restart
off and lights up green:
No object detected in safety zone,
PSEN sc M 3.0/5.5 08-12 series is ready for operation
off and lights up red:
Object detected in safety zone,
PSEN sc M 3.0/5.5 08-12 series in OFF state

Safety
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 12
3 Safety
3.1 Intended use
The safety laser scanners of the PSEN sc M 3.0/5.5 08-12 series are electrosensitive pro-
tective equipment of ESPE type 3. They are used to protect personnel and systems. The
safety laser scanners are designed to
}safeguard the danger zone,
}secure hazardous areas of vehicles and
}protect the access 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 [ 106]).
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
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 13
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
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 operating manual,
}the operating personnel are not suitably qualified, or
}changes of any kind were made that this document does not describe.

Safety
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 14
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 3.0/5.5 08-12 series corres-
ponds to the laser class 1 in accordance with EN 60825-1. Additional meas-
ures to shield the laser beams are not required (eye-safe).

Function description
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 15
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.
[2]
[3]
[4]
[5]
[1]
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
[6] Additional protective equipment for securing the danger zone that is not covered
by the safety laser scanner
The area can be divided into a safety zone and a warning zone.
If an object or a person violates the safety zone, the OSSDs switch to an OFF state.
When at least one warning output was selected during the configuration of outputs, actions
can be triggered (e.g. switching on indicator light unit), when an object or a person enters
the warning zone.

Function description
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 16
You can specify for each warning output whether activation is to occur when a Low signal
or a High signal is present.
4.1.2 Series connection
The series connection of safety laser scanners means using several safety laser scanners
in a configuration. The OSSD are in the controlling master unit that is connected to the
evaluation device.
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 safety zones and warning zones can be defined independently of each other for each
safety laser scanner.
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 relevant configured actions.

Function description
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 17
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.
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
In a series connection, the safety outputs of a safety laser scanner PSEN sc M 3.0/5.5
08-12 series are connected to an evaluation device. On this safety laser scanner, max.
three safety laser scanners PSENscS3/5can be connected in series. The safety laser
scanner PSEN sc M 3.0/5.5 08-12 series is the master unit, the other safety laser scanners
PSENscS3/5connected to the master unit are slave units (see Order
references [ 114]).
A safety laser scanner PSENscS3/5may only be connected to a safety laser scanner
PSEN sc M 3.0/5.5 08-12 series.
PSENscan Configurator
PSEN sc 3/5 M/ME
PSEN sc 3/5 S
Safety controller
4.2 Stationary and mobile danger zone
Using the safety laser scanner, you can monitor a stationary or mobile danger zone, e.g.
the environment of a machine that is installed in a fixed position or an area in front of an
automated guided vehicle.
The monitored area can be divided into subsections, for which monitoring can be activated
and deactivated each.

Function description
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 18
[1]
[3]
[2]
Legend
[1] Danger zone
[2] Configured zone 1, monitoring not activated
[3] Configured zone 2, monitoring not activated
If a violation of the protective zone is detected, the evaluation device switches off the out-
puts configured for this. The machine is brought to a safe condition via the connected
OSSDs.
If a violation of the warning zone is detected, the actions configured in PSENscanConfigur-
ator are performed. A visual or audible signal can be activated as advance warning.
When using 2 warning zones, different reactions can be configured.

Function description
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 19
4.2.1 Horizontal application
[1]
[2]
Fig.: Application example PSENscan safety laser scanner - horizontal configuration
Legend
[1] Warning zone
[2] Safety zone
4.2.2 Vertical application
[1]
Fig.: Application example PSENscan safety laser scanner - vertical configuration
Legend
[1] Protective zone

Function description
Operating Manual PSEN sc M 3.0/5.5 08-12
1005055-EN-03 | 20
4.2.3 Mobile application
[1]
[2]
[3]
Fig.: Application example PSENscan safety laser scanner - mobile configuration
Legend
[1] Warning zone 1
[2] Warning zone 2
[3] Protective zone
The safety laser scanner scans the area in front of an automated guided vehicle system to
prevent collisions. When an object or a person is detected, the safety laser scanner sends
a signal to the automated guided vehicle system.
}When the warning zone is violated, an alarm of the automated guided vehicle system can
be triggered. The person can leave the route or remove the object from the route.
}When the protective zone is violated, a stop of the automated guided vehicle is triggered.
}The size of the protective zone is calculated from the hazard source, not from the dis-
tance to the safety laser scanner.
4.3 Reference outline monitoring
For vertical applications, national and international standards recommend monitoring a ref-
erence outline.
The reference outline is configured during the first installation of PSEN sc M 3.0/5.5 08-12
series. The distances measured during configuration are used as reference values for mon-
itoring the reference outline.