SICK DL100 Pro User manual

OPERATING INSTRUCTIONS
DL100 Pro CANopen
Distance sensor

Described product
DL100 Pro CANopen
These operating instructions describe all DL100 Pro devices with a CANopen interface
with type designation Dl100-2xxxxx09 from firmware version V001.004.005 onwards
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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Subject to change without notice

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 specific 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
6.4.3 CANopen connection diagram................................................ 33
7 Operation............................................................................................ 35
7.1 Parameter description.............................................................................. 35
7.1.1 Main menu............................................................................... 35
7.1.2 SwVers menu........................................................................... 36
7.1.3 HwVers menu........................................................................... 36
7.1.4 Menu menu.............................................................................. 36
7.1.5 CANopen menu........................................................................ 36
7.1.6 More? menu............................................................................. 37
7.1.7 MFx On menu........................................................................... 38
7.1.8 MF1 menu................................................................................ 38
7.1.9 MF1 – Dist submenu............................................................... 39
7.1.10 MF1 – Speed submenu........................................................... 40
7.1.11 MF1 – Srvice submenu........................................................... 41
7.1.12 MF1 – LsrOff submenu........................................................... 42
7.1.13 MF1 – Preset submenu........................................................... 43
7.1.14 MF2 menu................................................................................ 43
7.1.15 Offset menu............................................................................. 44
7.1.16 SpecFu menu........................................................................... 45
7.1.17 Performing a reset................................................................... 46
8 Ethernet interface.............................................................................. 48
8.1 Features.................................................................................................... 48
8.2 IP network configuration.......................................................................... 48
9 SOPAS ET configuration software................................................... 49
9.1 Purpose..................................................................................................... 49
9.2 Connection of device to computer and establishment of connection.. 49
9.3 Logging into the device............................................................................. 49
9.4 Firmware update....................................................................................... 50
10 CANopen interface............................................................................ 53
10.1 Basics........................................................................................................ 53
10.2 General CANopen installation notes....................................................... 54
10.3 General information about CANopen communication........................... 54
10.3.1 CiA 301 communication profile.............................................. 54
10.3.2 CiA 406 device profile............................................................. 55
10.3.3 Object directory........................................................................ 55
10.3.4 EDS file..................................................................................... 55
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10.3.5 Telegram structure:.................................................................. 55
10.3.6 Structure of 11-bit CAN ID....................................................... 56
10.3.7 Identifier priority...................................................................... 56
10.3.8 Communication objects.......................................................... 57
10.3.9 COB-ID...................................................................................... 57
10.3.10 CANopen services and CAN IDs.............................................. 58
10.3.11 NMT network management..................................................... 59
10.3.12 PDO and SDO........................................................................... 59
10.3.13 Synchronous and asynchronous PDOs................................... 61
10.4 DL100 Pro CANopen communication..................................................... 62
10.4.1 Object directory overview........................................................ 62
10.4.2 Communication segment (1000h to 1FFFh)......................... 70
10.4.3 Manufacturer-specific segment (2000h to 5FFFh)............... 76
10.4.4 Device profile CiA 406 absolute linear encoder (6000h to
9FFFh)...................................................................................... 78
10.4.5 TPDO Behavior at distance value........................................... 83
10.4.6 Dynamic mapping.................................................................... 83
10.4.7 Emergency messages (EMCY messages).............................. 85
10.5 Commissioning in the CANopen network................................................ 88
10.5.1 Address assignment (node ID)............................................... 88
10.5.2 Baud rate setting..................................................................... 89
10.5.3 Configuration of process data objects (TPDOs)..................... 91
11 Maintenance...................................................................................... 93
11.1 Cleaning..................................................................................................... 93
11.2 Maintenance plan..................................................................................... 93
12 Troubleshooting................................................................................. 94
12.1 General faults, warnings, and errors....................................................... 94
12.2 Device status (LED PWR)......................................................................... 94
12.3 Warning messages................................................................................... 94
12.4 Error messages......................................................................................... 95
12.5 Communication problems........................................................................ 96
12.5.1 Ethernet problems................................................................... 96
12.5.2 Bus status (LED STA)............................................................... 96
12.6 Returns...................................................................................................... 97
12.7 Repairs...................................................................................................... 98
12.8 Disposal..................................................................................................... 98
13 Technical data.................................................................................... 99
13.1 Optics......................................................................................................... 99
13.2 Performance data..................................................................................... 99
13.3 Supply........................................................................................................ 100
13.4 Inputs......................................................................................................... 100
13.5 Outputs...................................................................................................... 100
13.6 Interfaces.................................................................................................. 100
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13.7 Ambient data............................................................................................. 100
13.8 Structural design...................................................................................... 101
13.9 Dimensional drawing................................................................................ 102
14 Accessories........................................................................................ 103
14.1 Mounting systems..................................................................................... 103
14.2 Cooler housing.......................................................................................... 104
15 Annex.................................................................................................. 105
15.1 Menu structure......................................................................................... 105
15.2 Declarations of conformity and certificates............................................ 108
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 the handling and safe
operation of 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
Table 1: Scope of delivery
No. of
units
Component Note
1 Device in the version ordered Depending on version
Protective caps For connections (on the device)
1 Printed safety notes, multilin‐
gual
Brief information and general safety notes
1.4 Further information
More information can be found on the product page.
The call is made via the SICK Product ID: pid.sick.com/{P/N}/{S/N}
{P/N} corresponds to the part number of the product, see type label.
{S/N} corresponds to the serial number of the product, see type label (if indicated).
The following information is available depending on the product:
•Data sheets
•This document in all available language versions
•CAD files and dimensional drawings
•Certificates (e.g., declaration of conformity)
•Other publications
•Software
•Accessories
1 ABOUT THIS DOCUMENT
8O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen 8015418/19HA/2022-12-15 | SICK
Subject to change without notice

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 the documentation must be strictly observed.
■Shut down the product immediately in case of damage.
2.3 Cybersecurity
Overview
To protect against cybersecurity threats, it is necessary to continuously monitor and
maintain a comprehensive cybersecurity concept. A suitable concept consists of organi‐
zational, technical, procedural, electronic, and physical levels of defense and considers
suitable measures for different types of risks. The measures implemented in this
product can only support protection against cybersecurity threats if the product is used
as part of such a concept.
You will find further information at www.sick.com/psirt, e.g.:
•General information on cybersecurity
•Contact option for reporting vulnerabilities
•Information on known vulnerabilities (security advisories)
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
SAFETY INFORMATION 2
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■Unauthorized conversions or repair
■Technical modifications
■Use of unauthorized spare parts, consumables, and accessories
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 2: 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 specific hazards
Please observe the safety notes and the warnings listed here and in other sections
of this product documentation to reduce the possibility of risks to health and avoid
dangerous situations.
2 SAFETY INFORMATION
10 O P E R A T I N G I N S T R U C T I O N S | DL100 Pro CANopen 8015418/19HA/2022-12-15 | SICK
Subject to change without notice