SICK GLS621 User manual

OPERATING INSTRUCTIONS
GLS621
Line guidance and grid localization

Described product
GLS621
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........................................................................ 6
1.1 Information on the operating instructions.............................................. 6
1.2 Scope......................................................................................................... 6
1.3 Explanation of symbols............................................................................ 6
1.4 Further information................................................................................... 7
2 Safety information............................................................................ 8
2.1 Intended use............................................................................................. 8
2.1.1 Conditions for specified enclosure rating.............................. 8
2.1.2 Using the USB interface.......................................................... 8
2.2 Improper use............................................................................................. 8
2.3 Internet protocol (IP) technology.............................................................. 9
2.4 Limitation of liability................................................................................. 9
2.5 Modifications and conversions................................................................ 9
2.5.1 Exception: temporarily opening the cover on the device....... 10
2.6 Requirements for skilled persons and operating personnel.................. 10
2.7 Operational safety and particular hazards.............................................. 11
3 Product description........................................................................... 13
3.1 Type label.................................................................................................. 13
3.2 Scope of delivery....................................................................................... 13
3.3 Product characteristics............................................................................ 14
3.3.1 Device view............................................................................... 14
3.3.2 Display and operating elements............................................. 15
3.3.3 Acoustic status indicator......................................................... 17
3.3.4 Memory card............................................................................ 17
3.4 Function and use...................................................................................... 20
3.5 2D codes................................................................................................... 20
4 Transport and storage....................................................................... 22
4.1 Transport................................................................................................... 22
4.2 Unpacking.................................................................................................. 22
4.3 Transport inspection................................................................................. 22
4.4 Storage...................................................................................................... 22
5 Mounting............................................................................................. 24
5.1 Mounting instructions............................................................................... 24
5.2 Preparation for mounting......................................................................... 24
5.2.1 Installation requirements........................................................ 24
5.2.2 Mounting systems.................................................................... 24
5.3 Mounting location..................................................................................... 25
5.3.1 Determining alignment............................................................ 25
5.3.2 Working range.......................................................................... 25
5.3.3 Mounting angle........................................................................ 26
CONTENTS
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5.4 Mounting the device................................................................................. 28
6 Electrical installation........................................................................ 29
6.1 Safety......................................................................................................... 29
6.1.1 Conditions for specified enclosure rating.............................. 29
6.1.2 Note on the swivel connector.................................................. 29
6.1.3 Prerequisites for safe operation of the device....................... 30
6.2 Wiring instructions.................................................................................... 32
6.2.1 Data cables.............................................................................. 33
6.3 Connection diagrams............................................................................... 34
6.3.1 Service mode connection schematic..................................... 34
6.3.2 Connection principle for read mode....................................... 34
6.4 Pin assignments of electrical connections............................................. 35
6.5 Connecting the device.............................................................................. 36
6.5.1 Connecting the supply voltage................................................ 36
6.5.2 Wiring data interfaces............................................................. 37
6.5.3 Wiring the CAN interface......................................................... 38
6.5.4 Wiring the digital outputs........................................................ 38
7 Commissioning.................................................................................. 40
7.1 Configuring the device with SOPAS ET.................................................... 40
7.2 Initial commissioning................................................................................ 41
7.3 Coordinate system.................................................................................... 43
8 Maintenance...................................................................................... 44
8.1 Maintenance plan..................................................................................... 44
8.2 Cleaning..................................................................................................... 44
9 Troubleshooting................................................................................. 47
9.1 General faults, warnings, and errors....................................................... 47
9.2 Displaying the status log.......................................................................... 47
9.3 SICK service.............................................................................................. 47
9.4 Repairs...................................................................................................... 47
9.5 Returns...................................................................................................... 47
9.6 Replacing the device................................................................................ 48
10 Decommissioning............................................................................. 50
10.1 Disposal..................................................................................................... 50
11 Technical data.................................................................................... 51
11.1 Features.................................................................................................... 51
11.2 Mechanics/electronics............................................................................. 52
11.3 Performance............................................................................................. 52
11.4 Interfaces.................................................................................................. 53
11.5 Ambient data............................................................................................. 54
12 Accessories........................................................................................ 55
CONTENTS
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13 Annex.................................................................................................. 56
13.1 EU declaration of conformity / Certificates............................................. 56
13.2 Typical reference values during operation.............................................. 56
13.3 Signal assignment of cables with open cable end at one end.............. 58
13.3.1 “Power/SerialData/CAN/I/O” connection to customer-spe‐
cific connection equipment or control cabinet...................... 58
13.3.2 “Power/SerialData/CAN/I/O” connection to customer-spe‐
cific connection equipment or control cabinet...................... 59
13.4 Copyright notices...................................................................................... 60
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. For more information, refer to the operating
instructions of the specific machine or system.
1.2 Scope
These operating instructions serve to incorporate the device into a customer system.
Instructions are given by stages for all actions required.
These operating instructions apply to all available device types of the product.
Available device types are listed on the online product page:
•www.sick.com/GLS6
1.3 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.
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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.
1.4 Further information
NOTE
Further documentation for the device can be found on the online product page at:
•www.sick.com/GLS6
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
•EU declarations of conformity for 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
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2 Safety information
2.1 Intended use
The GLS621 is an intelligent SICK-4Dpro sensor.
The GLS621 is used for automated localization of automated guided vehicle system
(AGV system) in warehouses, logistics and distribution. The device detects and decodes
2D codes which are attached in the form of a raster on the floor. Using the data
provided by the device, the AGV is localized and repositioned by a higher-level control
(e.g. PLC).
The device is primarily designed for use in industrial and logistics areas. The device
meets the applicable requirements for industrial robustness, interfaces and data pro‐
cessing.
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.
2.1.1 Conditions for specified enclosure rating
To ensure compliance with the specified IP65 enclosure rating of the device during
operation, the following requirements must be met: If these requirements are not met,
the device does not fulfill any specified enclosure rating.
•The cables plugged into the two electrical M12 connections must be screwed on
tightly.
•Any electrical M12 connections (Ethernet connection) that are not being used
must be sealed with a tightly-fastened protective cap (as in the delivery condition).
•The black cover (flap) on the rear of the device must be flush with the device and
screwed tight.
NOTICE
Operate the device with the black cover open only for a short time for the following
tasks as needed:
•Inserting or removing the optional memory card
•Temporary use of the USB interface as a service interface
During this time, protect the device against moisture and dust.
2.1.2 Using the USB interface
NOTE
The USB interface of the device is used in industrial environments only as a service
interface for temporary use (e.g. for configuration, troubleshooting). Permanent use in
operational use of the system as a host interface is not intended.
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.
•The device must not be operated in the temperature range below 0 °C.
•Any use of accessories not specifically approved by SICK AG is at your own risk.
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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 Internet protocol (IP) technology
NOTE
SICK uses standard IP technology in its products. The emphasis is placed on availability
of products and services.
SICK always assumes the following prerequisites:
•The customer ensures the integrity and confidentiality of the data and rights
affected by its own use of the aforementioned products.
•In all cases, the customer implements the appropriate security measures, such as
network separation, firewalls, virus protection, and patch management.
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
With special variants, where optional extras have been ordered, or owing to the latest
technical changes, the actual scope of delivery may vary from the features and illustra‐
tions shown here.
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.
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2.5.1 Exception: temporarily opening the cover on the device
NOTICE
The user may open the housing only in order to obtain temporary access to the USB
interface or the slot for the optional memory card, depending on type. For this purpose,
the corresponding black cover (flap) at the top of the device at the rear can be opened
temporarily.
In open state, the device does not conform to a specified enclosure rating. The device
should therefore be protected against moisture and dust during this time.
bOperate the device only for a short time without closed cover.
NOTE
The USB interface of the device is used in industrial environments only as a service
interface for temporary use (e.g. for configuration, troubleshooting). Permanent use in
operational use of the system as a host interface is not intended.
For further warranty provisions, see the General Terms and Conditions of SICK AG, e.g.
on the delivery note of the device.
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.
This product documentation refers to the following qualification requirements for the
various activities associated with the device:
■Instructed personnel have been briefed by the operator about the tasks assigned
to them and about potential dangers arising from improper action.
■Skilled personnel have the specialist training, skills, and experience, as well as
knowledge of the relevant regulations, to be able to perform tasks delegated to
them and to detect and avoid any potential dangers independently.
■Electricians have the specialist training, skills, and experience, as well as knowl‐
edge of the relevant standards and provisions, to be able to carry out work on
electrical systems and to detect and avoid any potential dangers independently.
The electrician must comply with the provisions of the locally applicable work
safety regulation.
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
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