SICK DL100 Pro User manual

OPERATING INSTRUCTIONS
DL100 Pro EtherNet/IP
Distance sensor

Described product
DL100 Pro EtherNet/IPTM
These operating instructions describe all DL100 Pro devices with an EtherNet/IPTM
interface and with the type designation DL100-2xxxx110 and firmware version
V001.004.001 or higher.
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be
reserved for SICK AG. Reproduction of this document or parts of this document is
only permissible within the limits of the legal determination of Copyright Law. Any modi‐
fication, abridgment or translation of this document is prohibited without the express
written permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.
Original document
This document is an original document of SICK AG.
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Contents
1 About this document........................................................................ 7
1.1 Information on the operating instructions.............................................. 7
1.2 Explanation of symbols............................................................................ 7
1.3 Scope of delivery....................................................................................... 8
1.4 Further information................................................................................... 8
2 Safety information............................................................................ 9
2.1 Intended use............................................................................................. 9
2.2 Improper use............................................................................................. 9
2.3 Cybersecurity............................................................................................ 9
2.4 Limitation of liability................................................................................. 9
2.5 Modifications and conversions................................................................ 10
2.6 Requirements for skilled persons and operating personnel.................. 10
2.7 Operational safety and particular hazards.............................................. 10
2.8 Warning signs on the device.................................................................... 11
2.9 UL conformity............................................................................................ 12
3 Function and use............................................................................... 13
3.1 Configuration............................................................................................. 13
3.2 Function..................................................................................................... 13
3.3 Type label.................................................................................................. 14
3.4 Display and control elements.................................................................. 14
3.4.1 LEDs.......................................................................................... 14
3.4.2 Display...................................................................................... 15
3.4.3 Operating pushbuttons............................................................ 16
4 Transport and storage....................................................................... 17
4.1 Transport................................................................................................... 17
4.2 Transport inspection................................................................................. 17
4.3 Storage...................................................................................................... 17
5 Mounting............................................................................................. 18
5.1 Mounting procedure................................................................................. 18
5.2 Mounting instructions............................................................................... 18
5.3 Select and mount the reflector ............................................................... 18
5.4 Placement of multiple distance sensors................................................. 21
5.5 Arranging the distance sensor to the adjacent optical data transmis‐
sion system............................................................................................... 23
5.5.1 Arrangement of ISD400-7xxx.................................................. 23
5.5.2 Assignment to ISD300, ISD400-1xxx or ISD400-6xxx.......... 24
5.6 Mounting the alignment bracket and distance sensor.......................... 25
5.7 Aligning the distance sensor and reflector with each other.................. 27
5.8 Received signal level................................................................................ 28
6 Electrical installation........................................................................ 30
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6.1 Safety......................................................................................................... 30
6.2 Wiring instructions.................................................................................... 30
6.3 Connecting the device electrically........................................................... 32
6.4 Connection diagrams............................................................................... 33
6.4.1 MF1, MF2 supply voltage connection diagram...................... 33
6.4.2 Ethernet connection diagram................................................. 33
7 Operation............................................................................................ 34
7.1 Parameter description.............................................................................. 34
7.1.1 Main menu............................................................................... 34
7.1.2 SwVers menu........................................................................... 35
7.1.3 HwVers menu........................................................................... 35
7.1.4 Menu menu.............................................................................. 35
7.1.5 More? menu............................................................................. 35
7.1.6 MFx On menu........................................................................... 36
7.1.7 MF1 menu................................................................................ 36
7.1.8 MF1 – Dist submenu............................................................... 36
7.1.9 MF1 – Speed submenu........................................................... 37
7.1.10 MF1 – Srvice submenu........................................................... 38
7.1.11 MF1 – LsrOff submenu........................................................... 39
7.1.12 MF1 – Preset submenu........................................................... 40
7.1.13 MF2 menu................................................................................ 41
7.1.14 Offset menu............................................................................. 41
7.1.15 SpecFu menu........................................................................... 42
7.1.16 Performing a reset................................................................... 43
8 Ethernet interface.............................................................................. 45
8.1 Features.................................................................................................... 45
8.2 IP network configuration.......................................................................... 45
9 SOPAS ET configuration software................................................... 46
9.1 Purpose..................................................................................................... 46
9.2 Connection of device to computer and establishment of connection.. 46
9.3 Logging into the device............................................................................. 47
9.4 Firmware update....................................................................................... 47
10 EtherNet/IP interface........................................................................ 50
10.1 Basics........................................................................................................ 50
10.1.1 Object model............................................................................ 50
10.1.2 Glossary.................................................................................... 51
10.1.3 Data types used....................................................................... 52
10.2 Supported features................................................................................... 53
10.3 Supported classes.................................................................................... 53
10.4 Identity Object class (class code 01h).................................................... 54
10.5 Assembly Object class (class code 04h)................................................. 54
10.6 Connection Manager Object class (class code 06h).............................. 57
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10.7 Position Sensor Object class (class code 23h)....................................... 57
10.7.1 Instance attributes of the position sensor............................. 57
10.7.2 Device-specific instance attributes........................................ 60
10.8 Preset – move to initialization position................................................... 66
10.8.1 Triggering static preset via multifunction input MF1............. 66
10.8.2 Triggering dynamic preset via cyclic I/O data of output
assembly.................................................................................. 67
10.8.3 Triggering static preset via explicit EtherNet/IP message
services.................................................................................... 67
10.8.4 Triggering autozero via explicit EtherNet/IP message serv‐
ices........................................................................................... 67
10.8.5 Resetting preset / autozero.................................................... 67
10.9 Commissioning in EtherNet/IP network.................................................. 68
10.9.1 Project planning with EDS file................................................. 68
10.9.2 Configuration as generic module............................................ 68
11 Maintenance...................................................................................... 71
11.1 Cleaning..................................................................................................... 71
11.2 Maintenance plan..................................................................................... 71
12 Troubleshooting................................................................................. 72
12.1 General faults, warnings, and errors....................................................... 72
12.2 Device status (LED PWR)......................................................................... 72
12.3 Warning messages................................................................................... 72
12.4 Error messages......................................................................................... 73
12.5 Communication problems........................................................................ 74
12.5.1 Ethernet problems................................................................... 74
12.5.2 EtherNet/IP faults.................................................................... 74
12.6 Returns...................................................................................................... 75
12.7 Repairs...................................................................................................... 75
12.8 Disposal..................................................................................................... 76
13 Technical data.................................................................................... 77
13.1 Optics......................................................................................................... 77
13.2 Performance data..................................................................................... 77
13.3 Supply........................................................................................................ 78
13.4 Inputs......................................................................................................... 78
13.5 Outputs...................................................................................................... 78
13.6 Interfaces.................................................................................................. 78
13.7 Ambient data............................................................................................. 78
13.8 Structural design...................................................................................... 79
13.9 Dimensional drawing................................................................................ 80
14 Accessories........................................................................................ 81
14.1 Mounting systems..................................................................................... 81
14.2 Cooler housing.......................................................................................... 82
14.3 Adapter Ethernet/IP.................................................................................. 82
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15 Annex.................................................................................................. 83
15.1 Menu structure......................................................................................... 83
15.2 Declarations of conformity and certificates............................................ 85
CONTENTS
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1 About this document
1.1 Information on the operating instructions
These operating instructions provide important information on how to use devices from
SICK AG.
Prerequisites for safe work are:
•Compliance with all safety notes and handling instructions supplied.
•Compliance with local work safety regulations and general safety regulations for
device applications
The operating instructions are intended to be used by qualified personnel and electrical
specialists.
NOTE
Read these operating instructions carefully to familiarize yourself with the device and its
functions before commencing any work.
The operating instructions are an integral part of the product. Store the instructions
in the immediate vicinity of the device so they remain accessible to staff at all times.
Should the device be passed on to a third party, these operating instructions should be
handed over with it.
These operating instructions do not provide information on operating the machine or
system in which the device is integrated. Information on this can be found in the
operating instructions for the machine or system.
1.2 Explanation of symbols
Warnings and important information in this document are labeled with symbols. Sig‐
nal words introduce the instructions and indicate the extent of the hazard. To avoid
accidents, damage, and personal injury, always comply with the instructions and act
carefully.
DANGER
… indicates a situation of imminent danger, which will lead to a fatality or serious
injuries if not prevented.
WARNING
… indicates a potentially dangerous situation, which may lead to a fatality or serious
injuries if not prevented.
CAUTION
… indicates a potentially dangerous situation, which may lead to minor/slight injuries if
not prevented.
NOTICE
… indicates a potentially harmful situation, which may lead to material damage if not
prevented.
NOTE
… highlights useful tips and recommendations as well as information for efficient and
trouble-free operation.
ABOUT THIS DOCUMENT 1
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1.3 Scope of delivery
Included in scope of delivery:
■Distance sensor
■Protective caps for connections (on the device)
■Printed Safety Notes, multilingual (brief information and general safety notes)
1.4 Further information
NOTE
Further documentation for the device can be found on the online product page at:
•www.sick.com/DX100
There, additional information has been provided depending on the product, such as:
•Model-specific online data sheets for device types, containing technical data,
dimensional drawing, and specification diagrams
•Declarations of conformity and certificates of the product family
•Dimensional drawings and 3D CAD dimension models of the device types in
various electronic formats
•Other publications related to the devices described here
•Publications dealing with accessories
1 ABOUT THIS DOCUMENT
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2 Safety information
2.1 Intended use
The long range distance sensor is intended for non-contact measurement of distan‐
ces to system components that are in linear motion. The distance measurement is
performed on a reflector.
SICK AG assumes no liability for losses or damage arising from the use of the product,
either directly or indirectly. This applies in particular to use of the product that does not
conform to its intended purpose and is not described in this documentation.
2.2 Improper use
Any use outside of the stated areas, in particular use outside of the technical specifica‐
tions and the requirements for intended use, will be deemed to be incorrect use.
•The device does not constitute a safety component in accordance with the respec‐
tive applicable safety standards for machines.
•The device must not be used in explosion-hazardous areas, in corrosive environ‐
ments or under extreme environmental conditions.
•Any use of accessories not specifically approved by SICK AG is at your own risk.
WARNING
Danger due to improper use!
Any improper use can result in dangerous situations.
Therefore, observe the following information:
■Product should be used only in accordance with its intended use.
■All information in these operating instructions must be strictly observed.
■Shut down the product immediately in case of damage.
2.3 Cybersecurity
To protect against cybersecurity threats, it is necessary to continuously monitor and
maintain a comprehensive and holistic cybersecurity concept. A suitable concept com‐
prises organizational, technical, procedural, electronic, and physical levels of defense
and provides suitable measures for different types of risks. SICK's products and solu‐
tions must be viewed as a component of this concept.
Information on Cybersecurity can be found at: www.sick.com/psirt .
2.4 Limitation of liability
Relevant standards and regulations, the latest technological developments, and our
many years of knowledge and experience have all been taken into account when
compiling the data and information contained in these operating instructions. The
manufacturer accepts no liability for damage caused by:
■Non-adherence to the product documentation (e.g., operating instructions)
■Incorrect use
■Use of untrained staff
■Unauthorized conversions or repair
■Technical modifications
■Use of unauthorized spare parts, consumables, and accessories
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2.5 Modifications and conversions
NOTICE
Modifications and conversions to the device may result in unforeseeable dangers.
Interrupting or modifying the device or SICK software will invalidate any warranty claims
against SICK AG. This applies in particular to opening the housing, even as part of
mounting and electrical installation.
2.6 Requirements for skilled persons and operating personnel
WARNING
Risk of injury due to insufficient training.
Improper handling of the device may result in considerable personal injury and material
damage.
■All work must only ever be carried out by the stipulated persons.
The following qualifications are required for various activities:
Table 1: Activities and technical requirements
Activities Qualification
Mounting, maintenance ■Basic practical technical training
■Knowledge of the current safety regulations in the workplace
Electrical installation,
device replacement
■Practical electrical training
■Knowledge of current electrical safety regulations
■Knowledge of the operation and control of the devices in their
particular application
Commissioning, configura‐
tion
■Basic knowledge of the computer operating system used
■Basic knowledge of the design and setup of the described
connections and interfaces
■Basic knowledge of data transmission
Operation of the device for
the particular application
■Knowledge of the operation and control of the devices in their
particular application
■Knowledge of the software and hardware environment for the
particular application
2.7 Operational safety and particular hazards
Please observe the safety notes and the warnings listed here and in other sections
of this production documentation to reduce the possibility of risks to health and avoid
dangerous situations.
2 SAFETY INFORMATION
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CAUTION
Optical radiation: Class 2 Laser Product
The human eye is not at risk when briefly exposed to the radiation for up to 0.25
seconds. Exposure to the laser beam for longer periods of time may cause damage to
the retina. The laser radiation is harmless to human skin.
■Do not look into the laser beam intentionally.
■Never point the laser beam at people's eyes.
■If it is not possible to avoid looking directly into the laser beam, e.g., during
commissioning and maintenance work, suitable eye protection must be worn.
■Avoid laser beam reflections caused by reflective surfaces. Be particularly careful
during mounting and alignment work.
■Do not open the housing. Opening the housing may increase the level of risk.
■Current national regulations regarding laser protection must be observed.
Caution – Use of controls or adjustments or performance of procedures other than
those specified herein may result in hazardous radiation exposure.
It is not possible to entirely rule out temporary disorienting optical effects, particularly
in conditions of dim lighting. Disorienting optical effects may come in the form of
dazzle, flash blindness, afterimages, photosensitive epilepsy, or impairment of color
vision, for example.
WARNING
Electrical voltage!
Electrical voltage can cause severe injury or death.
■Work on electrical systems must only be performed by qualified electricians.
■The power supply must be disconnected when attaching and detaching electrical
connections.
■The product must only be connected to a voltage supply as set out in the require‐
ments in the operating instructions.
■National and regional regulations must be complied with.
■Safety requirements relating to work on electrical systems must be complied with.
WARNING
Risk of injury and damage caused by potential equalization currents!
Improper grounding can lead to dangerous equipotential bonding currents, which may
in turn lead to dangerous voltages on metallic surfaces, such as the housing. Electrical
voltage can cause severe injury or death.
■Work on electrical systems must only be performed by qualified electricians.
■Follow the notes in the operating instructions.
■Install the grounding for the product and the system in accordance with national
and regional regulations.
2.8 Warning signs on the device
A class 2 laser is installed in the device. The housing is labeled with a warning sign.
SAFETY INFORMATION 2
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Complies with 21 CFR 1040.10
and 1040.11 except for
deviations pursuant to laser
notice
No. 50,
date June 24, 2007
EN/IEC 60825-1:2014
MEAN OUTPUT P
O
<1mW
CW-MODULATION ± 0.85 PO
WAVELENGTH = 655nm
FREQUENCY ≥ 90 MHz
1
2
3
Figure 1: Warning symbol on the device: Class 2 Laser Product (EN/IEC 60825-1:2014), identical
laser class for issue EN/IEC 60825-1:2007
1Complies with 21 CFR 1040.10 and 1040.11 except for the listed tolerances in the
document “Laser Notice No. 50, dated June 24, 2007.
2Laser radiation – Never look into the light beam – Class 2 Laser Product (EN/IEC
60825-1:2014)
3Laser output aperture
2.9 UL conformity
NFPA79 applications only. Adapters including field wiring cables are available.
For more information visit:
bwww.sick.com/DX100
2 SAFETY INFORMATION
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3 Function and use
3.1 Configuration
1 2 3 4
1 1
1 1
3
4
2
8
5
5
6
6
7
Figure 2: Distance sensor structure
1M5 threaded mounting hole
2Device zero point
3Sender optical axis
4Receiver optical axis
5Hole for the star grip screw of the optional alignment bracket
6Latch hook for alignment bracket
7Electrical connection
8Display and control elements
3.2 Function
The device consists of a laser, receiving optics and an integrated evaluation unit. The
laser emits a light beam which is reflected back to the receiving optics by the reflector.
The integrated evaluation unit determines the distance between the sensor and the
reflector using phase-correlated time-of-flight measurement.
For the measurement, either the reflector or the device can move in a linear fashion
along the laser beam.
The measured distance is transmitted via the data interface and can be used for
control purposes or in a position control loop, for example.
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3.3 Type label
The type label gives information for identification of the device.
8
5
9
1
2
3
74
ß
6
Figure 3: Type label
1Type code
2Part number
3Electrical data and environmental data
4MAC address
5Pin assignment
6Interface
7Pictogram: Distance sensor reflector operation
82D code with part number and serial number
9Manufacturer, place of manufacture
ßSerial number, year and month of manufacture
3.4 Display and control elements
2
1
3
EscSet
PWR
MF1/2
LNK2 LNK1
Net
EtherNet/IP
Mod
Figure 4: Display and control elements
1LEDs
2Display
3Pushbuttons
3.4.1 LEDs
The status of the device and the status of all interfaces is displayed by LEDs in
accordance with the following table.
3 FUNCTION AND USE
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Table 2: LEDs
LED Description
PWR Device status display
For measures, see "Troubleshooting", page 72.
■LED off: No operation
■LED green: Interference-free operation
■LED flashes orange: Warning
■LED flashes red: Error
MF1/2 The status (output level) of the MF1 multifunctional input/output and MF2
multifunctional output
MF1 MF2
LED off LOW LOW
Blue LED HIGH LOW
Yellow LED LOW HIGH
LED, white HIGH HIGH
LNK1 / LNK2 Connection status (link) Ethernet port 1 and port 2
■LED flashes orange: Data exchange active
■LED green: Connection (link) to the next participant available.
■LED off: No physical connection to the next participant available. For
measures, see "Ethernet problems", page 74.
Net EtherNet/IP network status
For measures, see "EtherNet/IP faults", page 74.
■LED off: No operation; no Ethernet connection available; no IP address
assigned
■LED green flashing: Ethernet connection available and IP address
assigned, but no CIP connection established
■LED green lit up: At least one CIP connection present
■LED red flashing: Timeout in Exclusive Owner CIP connection
■LED lights up red: Double assignment of IP address detected
■LED green/red flashing (1x): Device self-test
Mod EtherNet/IP module status
For measures, see "EtherNet/IP faults", page 74.
■LED off: No operation
■LED green flashing: No Ethernet connection available; device not config‐
ured
■LED green lit up: Device in operation
■LED flashes red: Incorrect or inconsistent configuration
■LED red lit up: Serious unrecoverable error
■LED green/red flashing (1x): Device self-test
3.4.2 Display
The device has a display which provides a range of information. You can also call up
and set parameters using the display.
Symbols for operating modes
The device has two different operating modes, “measured value display” and “menu
display”, which are indicated on the display by the symbols RUN and MEN.
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Table 3: Symbols for operating modes
Icon Description
EscSet
250000
RUN
The device is in “measured value display” operating mode
when it is switched on. The RUN symbol and the current dis‐
tance value are displayed. This operating mode enables you
to display other process values.
EscSet
Menu
MEN
The MEN symbol is displayed in “menu display” operating
mode. In this operating mode, device parameters can be read
out or set depending on the interface.
When it comes to setting parameters in devices with fieldbus
interface, make sure to observe the notes in see "Operation",
page 34.
NOTE
In the display, distance values always have the resolution “mm”, speed values the reso‐
lution “mm/s”. Positive numerical values do not have a sign, negative numerical values
have the “-” sign. This limits the display range to 5 decimal places when numerical
values are negative. In the “measured value display” operating mode, the sign and
the highest decimal place are cut off and replaced by a "!" when the value -99,999 is
undercut.
3.4.3 Operating pushbuttons
The device can be operated using the following 4 pushbuttons:
Table 4: Pushbuttons
Button Description
■Scroll through process values or (main) menu
■Reduce value
■Scroll through process values or (main) menu
■Increase value.
■Enter menu operation
■Switches to the next lower menu level
■Confirm selection
■Leave value/option input of a parameter without saving.
■Jump back to the next highest menu level or to the measured value display.
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4 Transport and storage
4.1 Transport
For your own safety, please read and observe the following notes:
NOTICE
Damage to the product due to improper transport.
■The device must be packaged for transport with protection against shock and
damp.
■Recommendation: Use the original packaging as it provides the best protection.
■Transport should be performed by trained specialist staff only.
■The utmost care and attention is required at all times during unloading and
transportation on company premises.
■Note the symbols on the packaging.
■Do not remove packaging until immediately before you start mounting.
4.2 Transport inspection
Immediately upon receipt in Goods-in, check the delivery for completeness and for any
damage that may have occurred in transit. In the case of transit damage that is visible
externally, proceed as follows:
•Do not accept the delivery or only do so conditionally.
•Note the scope of damage on the transport documents or on the transport compa‐
ny's delivery note.
•File a complaint.
NOTE
Complaints regarding defects should be filed as soon as these are detected. Damage
claims are only valid before the applicable complaint deadlines.
4.3 Storage
Store the device under the following conditions:
•Do not store outdoors.
•Store in a dry area that is protected from dust.
•Do not expose to any aggressive substances.
•Protect from sunlight.
•Avoid mechanical shocks.
•Storage temperature: see "Technical data", page 77.
•Relative humidity: see "Technical data", page 77.
•For storage periods of longer than 3 months, check the general condition of all
components and packaging on a regular basis.
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5 Mounting
5.1 Mounting procedure
1. Choose a mounting site bearing in mind the mounting instructions, see "Mounting
instructions", page 18.
2. Selecting and mounting the reflector, see "Select and mount the reflector ",
page 18.
3. Mounting alignment bracket and distance sensor, see "Mounting the alignment
bracket and distance sensor", page 25.
4. Establishing electrical connection, see "Electrical installation", page 30.
5. Aligning distance sensor and reflector to one another see "Aligning the distance
sensor and reflector with each other", page 27.
5.2 Mounting instructions
•Observe the technical data.
•Protect the sensor from direct sunlight.
•To prevent condensation, avoid exposing the device to rapid changes in tempera‐
ture.
•The mounting site has to be designed for the weight of the device.
•Use a sensor with optional heater at low ambient temperatures such as in cold
storage.
•Use a sensor with an optional cooler housing at higher temperatures.
•Maintain a sufficient distance to other distance sensors, see "Placement of multi‐
ple distance sensors", page 21.
•Maintain a sufficient distance to the data transmission photoelectric sensors, see
"Arranging the distance sensor to the adjacent optical data transmission system",
page 23.
5.3 Select and mount the reflector
NOTE
You can find suitable reflectors and suitable reflective tape at www.sick.com/DX100.
Reflector size
■Select a reflector size that always allows the entire light spot to hit the reflector.
■If the reflector is mounted to a vehicle and the distance sensor is secured in place
at a fixed location, you can calculate the minimum size of the reflector using the
distance-based light spot size, see "Optics", page 77.
■If the distance sensor is installed onto a vehicle, a larger reflector is typically nec‐
essary for taking into account the rolling movements of the vehicle and therefore
of the laser.
NOTE
The reflector must always be at least 100 mm x 100 mm in size, even if the light
spot is smaller due to a shorter measuring distance.
Reflector tilt
bTo avoid direct surface reflections, mount the reflector with a tilt of approx.
+1° … +3° in one of the 2 axes (horizontal or vertical).
5 MOUNTING
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1
2
3
4
Set Esc
<
<
Figure 5: Reflector tilt
1Distance sensor
2Tilt of the vertical axis of the reflector approx. +1°…+3°
3Reflector
4Tilt of the horizontal axis of the reflector approx. +1°…+3°
■Shiny surfaces that are parallel to the laser beam axis may cause beam switching
or light scatter and lead to incorrect measurements as a result. Therefore, align
the reflector by giving it a 1 ... 3° tilt away from shiny surfaces into the free space.
Shiny surfaces include, for example, storage profiles, pallets with stretch film,
poles or rails.
■If the sensor is mounted in the driving axis of an automated storage and retrieval
system, tilt the reflector toward the ceiling away from the rail .see figure 6,
page 20.
■If the sensor is mounted in the stroke axis of an automated storage and retrieval
system, tilt the reflector away from the mast system see figure 7, page 21.
MOUNTING 5
8016994/19HB/2022-03-15 | SICK O P E R A T I N G I N S T R U C T I O N S | DL100 Pro EtherNet/IP 19
Subject to change without notice

Set Esc
<
<
ca. 1° … 3°
1
2
3
4
5
Figure 6: Reflector tilt for shiny surfaces and horizontal driving axis
1Device
2Shiny surface suchas a shelving section, stretch wrap
3Reflector
4Tilt of approx. 1° to 3°
5Shiny surface suchas a rail
5 MOUNTING
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Subject to change without notice