SICK InspectorP Rack Fine Positioning User manual

OPERATING INSTRUCTIONS
InspectorP Rack Fine Positioning
2D machine vision

Described product
InspectorP Rack Fine Positioning
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.
1) 1)
1) Valid for device type InspectorP63x only.
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Contents
1 About this document........................................................................ 5
1.1 Information on the operating instructions.............................................. 5
1.1.1 Related applicable documents............................................... 5
1.2 Explanation of symbols............................................................................ 5
1.3 Further information................................................................................... 6
2 Safety information............................................................................ 7
2.1 Intended use............................................................................................. 7
2.2 Improper use............................................................................................. 7
2.3 Cybersecurity............................................................................................ 7
2.4 Limitation of liability................................................................................. 7
2.5 Modifications and conversions................................................................ 8
2.6 Requirements for skilled persons and operating personnel.................. 8
2.7 Operational safety and specific hazards................................................. 8
3 Product description........................................................................... 9
3.1 Scope of delivery....................................................................................... 9
3.2 Function and use...................................................................................... 9
3.3 Positioning mark....................................................................................... 10
3.4 Target region............................................................................................. 11
3.5 Single-deep rack storage.......................................................................... 11
3.6 Single- and double-deep rack storage.................................................... 12
4 Mounting............................................................................................. 13
4.1 Mounting requirements............................................................................ 13
4.2 Mounting the polarizing filter................................................................... 14
4.3 Mounting the device................................................................................. 16
5 Electrical installation........................................................................ 17
5.1 Notes on electrical installation................................................................ 17
5.2 Ethernet interface..................................................................................... 17
5.3 Digital inputs and digital outputs............................................................. 17
6 Commissioning.................................................................................. 18
6.1 Software.................................................................................................... 18
6.1.1 SICK AppManager.................................................................... 18
6.1.2 SOPASair.................................................................................. 18
6.2 SICK AppManager user interface............................................................ 18
6.3 Changing the IP address.......................................................................... 19
6.4 Establishing a PROFINET connection...................................................... 19
6.5 Parameterization using SOPASair............................................................ 20
6.5.1 SOPASair user interface.......................................................... 20
6.5.2 Opening the SOPASair user interface..................................... 20
6.5.3 User levels................................................................................ 20
6.5.4 Setting the user interface language....................................... 21
CONTENTS
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6.5.5 Loading the device defaults.................................................... 21
6.5.6 Setting the positioning mark................................................... 21
6.5.7 Performing a fine adjustment................................................. 21
6.5.8 Performing a calibration.......................................................... 22
6.5.9 Fine adjustment and calibration............................................. 23
6.5.10 Evaluation mode...................................................................... 24
6.5.11 Setting the evaluation mode................................................... 25
6.5.12 Adjusting the size of the target region.................................... 26
6.5.13 Shifting the target region......................................................... 26
6.5.14 Optimizing image brightness................................................... 26
6.5.15 Setting the communication protocol...................................... 27
6.5.16 Image transfer FTP.................................................................. 27
6.5.17 Additional parameters............................................................. 27
6.5.18 Completing the parameterization........................................... 27
6.6 Saving the parameter set on the computer............................................ 28
6.7 Saving the parameter set to a microSD memory card........................... 28
6.8 Installing firmware updates...................................................................... 29
7 Specification of the interface and interaction with the control‐
ler......................................................................................................... 30
7.1 Communication sequence....................................................................... 30
7.2 Interfaces.................................................................................................. 30
7.2.1 Ethernet interface.................................................................... 30
7.2.2 Digital inputs and digital outputs........................................... 31
7.3 Commands from the controller to the device......................................... 31
7.4 Response from the device to the controller............................................ 34
7.5 Interpretation of the position correction values..................................... 35
7.6 Control via digital inputs and digital outputs.......................................... 35
8 Cleaning.............................................................................................. 38
9 Accessories........................................................................................ 39
10 Annex.................................................................................................. 40
10.1 Parameter................................................................................................. 40
10.2 Declarations of conformity and certificates............................................ 44
10.3 Licenses.................................................................................................... 45
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.
1.1.1 Related applicable documents
Carefully read through the relevant document below for the device type being using
before commencing any work on the device. Download the documents from the Internet
at www.sick.com. To do so, enter the part number in the search field.
Part number Document
8024439 InspectorP621, operating instructions
8027368 InspectorP621, Lector621: V2D621x-xxxxxx6x, cold store usage, addendum
to operating instructions
8019946 InspectorP63x Flex C-mount and S-mount, operating instructions
8018486 VI55I ring illumination unit, Technical Information
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.
ABOUT THIS DOCUMENT 1
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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.
1.3 Further information
NOTE
Further documentation for the device can be found on the online product page at:
•www.sick.com/InspectorP_Rack_Fine_Positioning
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
InspectorP Rack Fine Positioning is suitable for rack fine positioning applications. The
device consists of a combination of an InspectorP 2D vision sensor (InspectorP621,
InspectorP63x) and a SensorApp (Rack Fine Positioning).
InspectorP Rack Fine Positioning is used for storage and conveyor applications. The
device supports the precise positioning of automated storage and retrieval systems
used for storing and retrieving load carriers. It supports positioning operations for
single-deep rack storage, and combined single-deep and double-deep rack storage
applications.
Management, commissioning and operation of the device is performed on a computer
using the SICK AppManager and SOPASair software programs. The device sends the
results to a higher-level controller (e.g., PLC) via the host interface for further central‐
ized processing.
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:
SAFETY INFORMATION 2
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■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
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
■Knowledge of the programming of image-processing systems
and network components
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
The product documentation for the device contains detailed safety information. The
product documentation can be downloaded from the Internet at see "Related applica‐
ble documents", page 5.
2 SAFETY INFORMATION
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3 Product description
3.1 Scope of delivery
The delivery of the device includes the following components:
Table 2: Scope of delivery
No. of
units
Component Note
1 Device in the version ordered InspectorP62x device types:
•V2D621P-xxxxBxxS51 (single-deep)
•V2D621P-xxxxFxxS51 (double-deep)
InspectorP63x device types:
•V2D631P-xxIxCxxS50 (single-deep)
•V2D631P-xxWxExxS50 (double-deep)
2 Sliding nut with 5.5 mm-deep
M5 threaded mounting hole
Positioned in the slot on the right side of the device.
Alternative mounting option for the device instead
of tapped blind hole. Use in pairs.
1 Hex key SW2 1) For manual actuation of the focus screw
4 Label (round, self-adhesive) 1) Protects the focus setting when using an S-mount
lens. The image sharpness is adjusted using the
manual focus screw. Apply the adhesive label over
the access opening for the focus screw on the top
of the device.
1 Printed safety notes, multilin‐
gual
Brief information and general safety notes
1) Valid for device type V2D631P only.
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.
3.2 Function and use
Temperature-, load- and steel construction-dependent influencing factors result in vary‐
ing geometric conditions at transfer points in storage and conveyor systems. These con‐
ditions make safe automated positioning of automated storage and retrieval systems
more difficult when storing and retrieving load carriers.
Figure 1: Negative influencing factors during automated positioning processes
InspectorP Rack Fine Positioning supports the precise positioning of automated storage
and retrieval systems used for storing and retrieving load carriers.
PRODUCT DESCRIPTION 3
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The device is delivered with pre-mounted illumination, pre-focused optics, pre-installed
software and pre-configured defaults. This enables quick and easy commissioning. The
device is mounted to the automated storage and retrieval system. The device captures
images during storage and retrieval. While doing so, it detects a hole or round reflector
as a positioning mark in the rack. Based on this positioning mark, the device sends to a
higher-level controller (e.g., PLC) the difference between the current position and target
position of the automated storage and retrieval system. The controller then initiates fine
positioning of the automated storage and retrieval system. This prevents load carriers
from colliding with the racks.
Either holes or round SICK PL22-x reflectors can be used as positioning marks. Posi‐
tioning operations for single-deep rack storage, and combined single-deep and double-
deep rack storage applications are supported. In single deep racks, the shelf has space
for a storage unit. In double deep racks, two storage units are operated one behind
another, whereby the shelf is twice as deep.
Depending on the application (type of positioning mark, rack storage), there are differ‐
ences in system design such as the selection of the lens focal length and the use of
lighting filters. The accuracy and tolerance when detecting the positioning mark and
in the subsequent position correction depends on the working distance, the sensor
resolution, and the ambient conditions. Each application situation must be considered
individually.
3.3 Positioning mark
Drill holes
Holes can be used as positioning marks for single-deep rack storage, and combined
single-deep and double-deep rack storage applications.
Requirements
•Diameter of the hole: 8 mm to 15 mm (typically 10 mm to 13 mm)
•Surface characteristics of the steel around the hole: diffuse, lightly reflective
(recommendation: hot-dip galvanized steel)
•Reduce the effect of any fully reflective surfaces behind the hole by using a matt
black spray paint or by covering them with adhesive tape.
Reflectors
Round SICK PL22-x reflectors can only be used as positioning marks for single-deep
rack storage. The surface characteristics of the steel around the reflector have a
negligible effect.
NOTE
InspectorP621: Only the red LEDs on the device are active. The blue LEDs are deacti‐
vated automatically.
SICK PL22-x reflectors
•PL22-1 (part number: 1003546)
•PL22-2 (part number: 1003621)
•PL22-3 (part number: 1004488)
•PL22-4 (part number: 5327829)
The SICK PL22-x reflectors are available as accessories on the Internet at
www.sick.com. Enter the part number in the search field.
3 PRODUCT DESCRIPTION
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