SICK nanoScan3 I/O User manual

OPERATING INSTRUCTIONS
nanoScan3 I/O
Safety laser scanners

Product described
nanoScan3 I/O
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 Scope......................................................................................................... 7
1.2 Target groups of these operating instructions........................................ 7
1.3 Further information................................................................................... 7
1.4 Symbols and document conventions...................................................... 7
2 Safety information............................................................................ 9
2.1 General safety notes................................................................................ 9
2.2 Intended use............................................................................................. 10
2.3 Inappropriate use..................................................................................... 10
2.4 Requirements for the qualification of personnel.................................... 10
3 Product description........................................................................... 12
3.1 Device overview........................................................................................ 12
3.2 Structure and function............................................................................. 12
3.3 Product characteristics............................................................................ 14
3.3.1 Variants.................................................................................... 14
3.3.2 System plug.............................................................................. 14
3.3.3 Field types................................................................................ 15
3.4 Example applications............................................................................... 15
4 Project planning................................................................................ 18
4.1 Manufacturer of the machine.................................................................. 18
4.2 Operating entity of the machine.............................................................. 18
4.3 Design........................................................................................................ 18
4.3.1 Protection from interference................................................... 19
4.3.2 Preventing unprotected areas................................................. 20
4.3.3 Reference contour monitoring................................................ 21
4.3.4 Monitoring case switching time.............................................. 23
4.3.5 Minimum distance for stationary applications...................... 24
4.3.6 Supplement ZRfor reflection-based measurement errors.... 25
4.3.7 Hazardous area protection...................................................... 25
4.3.8 Hazardous point protection..................................................... 29
4.3.9 Access protection.................................................................... 31
4.3.10 Mobile hazardous area protection.......................................... 33
4.4 Integrating the equipment into the electrical control............................. 37
4.4.1 Electromagnetic compatibility................................................. 38
4.4.2 Voltage supply.......................................................................... 38
4.4.3 USB connection....................................................................... 39
4.4.4 OSSDs....................................................................................... 39
4.4.5 Control inputs........................................................................... 40
4.4.6 Universal inputs, universal outputs, universal I/Os.............. 42
4.4.7 Restart interlock...................................................................... 43
4.4.8 External device monitoring (EDM).......................................... 45
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4.5 Testing plan............................................................................................... 46
4.5.1 Planning the thorough check during commissioning and in
certain situations..................................................................... 46
4.5.2 Planning the regular thorough check..................................... 47
4.5.3 Notes on the tests................................................................... 48
5 Mounting............................................................................................. 51
5.1 Safety......................................................................................................... 51
5.2 Unpacking.................................................................................................. 51
5.3 Fitting the system plug............................................................................. 51
5.4 Mounting the device................................................................................. 52
6 Electrical installation........................................................................ 53
6.1 Safety......................................................................................................... 53
6.2 Connecting................................................................................................ 53
6.2.1 Connecting cable with M12 plug connector, 8-pin................ 53
6.2.2 Connecting cable with M12 plug connector, 17-pin.............. 54
6.2.3 Connecting cable with flying leads, 17-wire........................... 56
6.2.4 Network connection................................................................. 57
7 Configuration..................................................................................... 58
7.1 Delivery state............................................................................................ 58
7.2 Safety Designer configuration software.................................................. 58
7.2.1 Installing Safety Designer....................................................... 58
7.2.2 Projects..................................................................................... 58
7.2.3 User interface.......................................................................... 59
7.2.4 User groups.............................................................................. 60
7.2.5 Settings.................................................................................... 61
7.2.6 Configuration............................................................................ 61
7.3 Overview.................................................................................................... 64
7.4 Network settings....................................................................................... 65
7.4.1 Ethernet.................................................................................... 65
7.5 Reading configuration.............................................................................. 65
7.6 Identification............................................................................................. 66
7.7 Application................................................................................................ 66
7.8 Monitoring plane....................................................................................... 67
7.9 Contour as Reference field...................................................................... 69
7.10 Fields......................................................................................................... 70
7.10.1 Creating field set templates.................................................... 73
7.10.2 Importing and exporting field sets and fields........................ 73
7.10.3 Background image................................................................... 73
7.10.4 Settings for the field editor..................................................... 74
7.10.5 Editing fields using coordinates.............................................. 74
7.10.6 Drawing in points that cannot be monitored......................... 76
7.10.7 Enable propose field................................................................ 76
7.11 Inputs and outputs, local......................................................................... 78
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7.11.1 Outputs..................................................................................... 79
7.11.2 Inputs........................................................................................ 79
7.11.3 Further settings for some signals........................................... 80
7.12 Monitoring cases...................................................................................... 81
7.12.1 Settings for monitoring case tables........................................ 82
7.12.2 Several monitoring case tables.............................................. 83
7.12.3 Settings for monitoring cases................................................. 83
7.12.4 Input condition......................................................................... 83
7.12.5 Cut-off paths............................................................................ 84
7.12.6 Field sets.................................................................................. 84
7.13 Simulation................................................................................................. 85
7.14 Data output............................................................................................... 86
7.15 Transferring a configuration..................................................................... 87
7.15.1 Verify configuration.................................................................. 87
7.16 Starting and stopping safety function..................................................... 88
7.17 Report........................................................................................................ 89
7.18 Service....................................................................................................... 90
7.18.1 Restart device.......................................................................... 90
7.18.2 Factory settings........................................................................ 90
7.18.3 Managing passwords............................................................... 91
7.18.4 Optics cover calibration........................................................... 91
8 Commissioning.................................................................................. 93
8.1 Safety......................................................................................................... 93
8.2 Overview.................................................................................................... 93
8.3 Alignment.................................................................................................. 93
8.4 Switching on.............................................................................................. 93
8.5 Check during commissioning and modifications.................................... 94
9 Operation............................................................................................ 95
9.1 Safety......................................................................................................... 95
9.2 Regular thorough check........................................................................... 95
9.3 Status indicators....................................................................................... 95
9.4 Status indicator with the display.............................................................. 96
10 Maintenance...................................................................................... 100
10.1 Safety......................................................................................................... 100
10.2 Regular cleaning....................................................................................... 100
10.3 Replacing the optics cover....................................................................... 101
10.4 Replacing the safety laser scanner......................................................... 103
10.4.1 Replacing the safety laser scanner without system plug...... 103
10.4.2 Replacing the safety laser scanner with system plug........... 104
10.5 Replacing the system plug....................................................................... 104
10.6 Regular thorough check........................................................................... 105
11 Troubleshooting................................................................................. 106
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11.1 Safety......................................................................................................... 106
11.2 Detailed diagnostics using the display.................................................... 106
11.3 Fault indication on the display................................................................. 107
11.4 Diagnostics using Safety Designer.......................................................... 109
11.4.1 Data recorder........................................................................... 110
11.4.2 Event history............................................................................. 111
11.4.3 Message history....................................................................... 113
12 Decommissioning............................................................................. 114
12.1 Disposal..................................................................................................... 114
13 Technical data.................................................................................... 115
13.1 Version numbers and functional scope.................................................. 115
13.2 Data sheet................................................................................................. 115
13.2.1 nanoScan3 I/O........................................................................ 115
13.3 Response times........................................................................................ 120
13.4 Course of the OSSD test over time.......................................................... 120
13.5 Sensing range........................................................................................... 121
13.6 Dimensional drawings.............................................................................. 124
14 Ordering information........................................................................ 125
14.1 Scope of delivery....................................................................................... 125
14.2 Ordering information................................................................................. 125
15 Spare parts......................................................................................... 126
15.1 Additional spare parts.............................................................................. 126
16 Accessories........................................................................................ 127
16.1 System plug............................................................................................... 127
16.2 Brackets.................................................................................................... 128
16.3 Alignment aid............................................................................................ 128
16.4 Cleaning agent.......................................................................................... 128
16.5 Test rods.................................................................................................... 128
17 Glossary.............................................................................................. 129
18 Annex.................................................................................................. 133
18.1 Conformities and certificates................................................................... 133
18.1.1 EU declaration of conformity................................................... 133
18.1.2 UK declaration of conformity.................................................. 133
18.2 Note on standards.................................................................................... 133
18.3 Licenses.................................................................................................... 135
18.4 Checklist for initial commissioning and commissioning........................ 136
19 List of figures..................................................................................... 137
20 List of tables....................................................................................... 139
CONTENTS
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1 About this document
1.1 Scope
Product
This document applies to the following products:
•Product code: nanoScan3 I/O
•“Operating instructions” type label entry: 8024594
Document identification
Document part number:
•This document: 8024596
•Available language versions of this document: 8024594
You can find the current version of all documents at www.sick.com.
1.2 Target groups of these operating instructions
Some sections of these operating instructions are intended for certain target groups.
However, the entire operating instructions are relevant for intended use of the product.
Table 1: Target groups and selected sections of these operating instructions
Target group Sections of these operating instructions
Project developers (planners, developers,
designers)
"Project planning", page 18
"Configuration", page 58
"Technical data", page 115
"Accessories", page 127
Installers "Mounting", page 51
Electricians "Electrical installation", page 53
Safety experts (such as CE authorized repre‐
sentatives, compliance officers, people who
test and approve the application)
"Project planning", page 18
"Configuration", page 58
"Commissioning", page 93
"Technical data", page 115
"Checklist for initial commissioning and com‐
missioning", page 136
Operators "Operation", page 95
"Troubleshooting", page 106
Maintenance personnel "Maintenance", page 100
"Troubleshooting", page 106
1.3 Further information
www.sick.com
The following information is available via the Internet:
•Data sheets and application examples
•CAD files and dimensional drawings
•Certificates (such as the EU declaration of conformity)
•Guide for Safe Machinery. Six steps to a safe machine
•Safety Designer (software for configuring safety solutions made by SICK AG)
1.4 Symbols and document conventions
The following symbols and conventions are used in this document:
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Safety notes and other notes
DANGER
Indicates a situation presenting imminent danger, which will lead to death or serious
injuries if not prevented.
WARNING
Indicates a situation presenting possible danger, which may lead to death or serious
injuries if not prevented.
CAUTION
Indicates a situation presenting possible danger, which may lead to moderate or minor
injuries if not prevented.
NOTICE
Indicates a situation presenting possible danger, which may lead to property damage if
not prevented.
NOTE
Indicates useful tips and recommendations.
Instructions to action
bThe arrow denotes instructions to action.
1. The sequence of instructions for action is numbered.
2. Follow the order in which the numbered instructions are given.
✓The check mark denotes the result of an instruction.
LED symbols
These symbols indicate the status of an LED:
oThe LED is off.
ÖThe LED is flashing.
OThe LED is illuminated continuously.
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2 Safety information
2.1 General safety notes
Product integration
DANGER
The product can not offer the expected protection if it is integrated incorrectly.
bPlan the integration of the product in accordance with the machine requirements
(project planning).
bImplement the integration of the product in accordance with the project planning.
Laser class 1
CAUTION
If any operating or adjusting devices other than those specified in this document are
used or other methods are employed, this can lead to dangerous exposure to radiation.
bOnly use the operating or adjusting devices specified in this document.
bOnly follow the methods specified in this document.
bDo not open the housing, except for the purposes of the installation and mainte‐
nance work specified in these operating instructions.
LASER
1
Figure 1: Laser class 1
This device complies with the following standards:
•IEC60825-1:2014
•21CFR1040.10 and 1040.11, except compliance with IEC60825-1:2014, as
described in Laser Notice No.56 dated 08.05.2019
The laser is eye-safe.
The laser marking is located on the underside of the safety laser scanner.
Mounting and electrical installation
DANGER
Death or severe injury due to electrical voltage and/or an unexpected startup of the
machine
bMake sure that the machine is (and remains) disconnected from the voltage
supply during mounting and electrical installation.
bMake sure that the dangerous state of the machine is and remains switched off.
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Repairs and modifications
DANGER
Improper work on the product
A modified product may not offer the expected protection if it is integrated incorrectly.
bApart from the procedures described in this document, do not repair, open, manip‐
ulate or otherwise modify the product.
2.2 Intended use
The safety laser scanner is an electro-sensitive protective device (ESPE) and is suitable
for the following applications:
•Hazardous area protection
•Hazardous point protection
•Access protection
•Mobile hazardous area protection (protection of automated guided vehicles)
The product must not be used in safety functions.
The safety laser scanner must only be used within the limits of the prescribed and
specified technical data and operating conditions at all times.
Incorrect use, improper modification or manipulation of the safety laser scanner will
invalidate any warranty from SICK; in addition, any responsibility and liability of SICK for
damage and secondary damage caused by this is excluded.
2.3 Inappropriate use
The safety laser scanner works as an indirect protective measure and cannot provide
protection from pieces thrown from the application nor from emitted radiation. Trans‐
parent objects are not detected.
The safety laser scanner is not suitable for the following applications, among others:
•Outdoors
•Underwater
•In explosion-hazardous areas
2.4 Requirements for the qualification of personnel
The product must be configured, installed, connected, commissioned, and serviced by
qualified safety personnel only.
Project planning
You need safety expertise to implement safety functions and select suitable products
for that purpose. You need expert knowledge of the applicable standards and regula‐
tions.
Mounting, electrical installation and commissioning
You need suitable expertise and experience. You must be able to assess if the machine
is operating safely.
Configuration
You need suitable expertise and experience. You must be able to assess if the machine
is operating safely.
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Operation and maintenance
You need suitable expertise and experience. You must be instructed in machine oper‐
ation by the machine operator. For maintenance, you must be able to assess if the
machine is operating safely.
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3 Product description
3.1 Device overview
Overview















Figure 2: Device overview
1LED ON status
2LED OFF status
3LED restart interlock/warning field
4Optics cover
5USB connection
6Display
7Network light emitting diodes
8Pushbutton
9System plug
Complementary information
Position and direction information in this document:
•The top is the side of the device on which the optics cover is located.
•The bottom is the side of the device opposite the optics cover.
•The front is the side of the device on which the display is located. The 90° angle of
the sector of a circle scanned by the device points in this direction.
•The back is the side of the device opposite the display. The sector of a circle not
scanned by the device lies in this direction.
Further topics
•"Connecting", page 53
•"Status indicators", page 95
3.2 Structure and function
The safety laser scanner is an electro-sensitive protective device (ESPE) which scans its
surroundings two-dimensionally using infrared laser beams.
The safety laser scanner forms a protective field using the invisible laser beams. This
protective field protects the hazardous area and enables hazardous point protection,
access protection or hazardous area protection. As soon as an object is situated in the
protective field, the safety laser scanner signals the detection by means of a signal
change at the safety output. The machine or its control must safely analyze the signals
(for example using a safe control or safety relays) and stop the dangerous state.
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The safety laser scanner operates on the principle of optical time-of-flight measure‐
ment. It emits light pulses in regular, very short intervals. If the light strikes an object,
it is reflected. The safety laser scanner receives the reflected light. The safety laser
scanner calculates the distance to the object based on the time interval between the
moment of transmission and moment of receipt (∆t).


t
t
∆t


Figure 3: Principle of time-of-flight measurement
1Transmitted light pulse
2Reflected light pulse
A rotating mirror is situated in the safety laser scanner. The mirror deflects the light
pulses so that they scan a fan-shaped area.
227,5°
0°
90°
-47,5°

Figure 4: Light pulses scan an area
1Angular resolution: the angular distance (in degrees) between 2 distance measurements
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Scan cycle time and resolution
The time that the mirror requires for one rotation is called the scan cycle time. The
number of light pulses per unit of time is constant. The scan cycle time and the number
of light pulses per unit of time determine the angular resolution. The scanning range
for a given object resolution depends on the angular resolution. The object resolution
indicates the minimum size that an object must be to allow it to be detected safely. The
scan cycle time also influences the response time.
The resolution in protective fields can be set to various values according to the
intended purpose.
Geometry of the scan plane
The laser beams emitted cover a sector of a circle, so an object can be detected in an
area of up to 275°.
The sector of a circle covered ranges from –47.5° to 227.5°, where 90° denotes the
axis of the safety laser scanner from the back to the front. When viewing the safety
laser scanner from above, the direction of rotation of the mirror and the deflected light
pulses is counterclockwise, see figure 4, page 13.
3.3 Product characteristics
3.3.1 Variants
The device is available in various variants. You will find an overview of important
distinguishing features of the variants in the following.
Performance package
The Core and Pro performance packages feature a number of configurable fields and a
number of safety switching functions.
•nanoScan3 core I/O: 8 fields, 1 OSSD pair
•nanoScan3 Pro I/O: 128 fields, 2 OSSD pairs
Integration in the control
The device communicates with the control as follows:
•I/O: local inputs and outputs (incl. OSSDs)
Connection type
Some variants are available with different connection types:
•Connecting cable with M12 round connector
•Connecting cable with flying leads
Ethernet connection for configuration and data output
The device is available with or without Ethernet connection for configuration, diagnos‐
tics and data output.
Further topics
•"Ordering information", page 125
3.3.2 System plug
The safety laser scanner requires a system plug.
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The safety laser scanner’s configuration memory is integrated in the system plug. The
system plug and all connecting cables can remain at the installation site when the
safety laser scanner is replaced. The system plug is detached from the defective safety
laser scanner and connected to the new safety laser scanner. The new safety laser
scanner reads the configuration from the configuration memory when switched on.
3.3.3 Field types
During operation, the safety laser scanner uses its laser beams to continuously check
whether people or objects are present in one or more areas. The areas to be checked
are called fields. A distinction is made between the following field types, depending on
the application type:
•Protective field
•Contour as Reference field
•Contour detection field
•Warning field
Table 2: Field types and their function
Protective field Contour as Reference
field
Contour detection field Warning field
Safe switch off (accord‐
ing to ISO 13849-1)
Yes (PL d) Yes (PL d) Yes (PL d) No
Maximum scanning
range of the safety
laser scanner
3.0m 3.0m 3.0m 10m
Purpose Detection and protec‐
tion of people
Tamper protection Contour monitoring Functional use (not
safety application)
Description The protective field is
the area in which the
test object specified
by the manufacturer is
detected by the elec‐
tro-sensitive protective
equipment (ESPE). As
soon as the electro-sen‐
sitive protective device
detects an object in
the protective field, it
switches the associated
safety outputs to the
OFF state. This signal
can be passed to con‐
trollers resulting in the
dangerous state com‐
ing to an end, e.g. to
stop the machine or the
vehicle.
The contour as refer‐
ence field monitors a
contour of the environ‐
ment. The safety laser
scanner switches all
safety outputs to the
OFF state if a con‐
tour does not match
the set parameters,
because, for example,
the mounting of the
safety laser scanner
has been changed.
The contour detection
field monitors a contour
of the environment. The
electro-sensitive protec‐
tive device switches
the associated safety
outputs to the OFF
state if a contour does
not correspond to the
set specifications, e.g.
because a door or flap
is open.
The warning field mon‐
itors larger areas than
the protective field.
Simple switching func‐
tions can be triggered
with the warning field,
e.g. a warning light
or an acoustic signal
can be triggered if
a person approaches,
even before the person
enters the protective
field.
3.4 Example applications
Hazardous area protection
In hazardous area protection, people are detected if they stay in a defined area.
This type of protective device is suitable for machines, where it is possible to see a
hazardous area completely from the reset pushbutton. When the hazardous area is
entered, a stop signal is triggered and starting is prevented.
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Figure 5: Hazardous area protection:detection of the presence of a person in the hazardous
area
Hazardous point protection
In hazardous point protection, the approach is detected very close to the hazardous
point.
The advantage of this type of protective device is that it is possible to have a short
minimum distance and the operator can work more ergonomically.
Figure 6: Hazardous point protection: Hand detection
Access protection
In access protection, people are detected if their whole body passes through the
protective field.
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This type of protective device is used for the protection of access to hazardous areas.
A stop signal is initiated if the hazardous area is entered. A person standing behind the
protective device will not be detected by the ESPE.
Figure 7: Access protection:detection of a person when accessing a hazardous area
Mobile hazardous area protection
Mobile hazardous area protection is suitable for AGVs (automated guided vehicles) and
forklift trucks to protect people when vehicles are moving or docking at a fixed station.
The safety laser scanner monitors the area in the direction of travel and stops the
vehicle as soon as an object is located in the protective field.
Figure 8: Mobile hazardous area protection:detection of a person when a vehicle approaches
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4 Project planning
4.1 Manufacturer of the machine
The manufacturer of the machinery must carry out a risk assessment and apply appro‐
priate protective measures. Further protective measures may be required in addition to
the product.
The product must not be tampered with or changed, except for the procedures descri‐
bed in this document.
The product must only be repaired by the manufacturer of the product or by someone
authorized by the manufacturer. Improper repair can result in the product not providing
the expected protection.
4.2 Operating entity of the machine
Changes to the electrical integration of the product in the machine controller and
changes to the mechanical mounting of the product necessitate a new risk assess‐
ment. The results of this risk assessment may require the entity operating the machine
to meet the obligations of a manufacturer.
After each change to the configuration, it is necessary to check whether the protective
measure provides the necessary protection. The person making the change is responsi‐
ble for ensuring that the protection measure provides the necessary protection.
The product must not be tampered with or changed, except for the procedures descri‐
bed in this document.
The product must only be repaired by the manufacturer of the product or by someone
authorized by the manufacturer. Improper repair can result in the product not providing
the expected protection.
4.3 Design
Important information
DANGER
Hazard due to lack of effectiveness of the protective device
Persons or parts of the body to be protected may not be recognized or not recognized in
time in case of non-observance.
bMake sure that there are no mirrors or other highly reflective objects in the
protective field of the safety laser scanner.
bMake sure that there is no smoke in the protective field of the safety laser scan‐
ner.
bPrevent interference in the optical beam path. If, for example, the device is instal‐
led in a paneling, the viewing slit must be sufficiently large.
bDo not use an additional front screen.
bEnsure that there are no small objects (e.g. cables) in the protective field of the
safety laser scanner, even if they do not trigger a field interruption.
4 PROJECT PLANNING
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Prerequisites
•No obstacles interfere with the view in the protective field of the safety laser
scanner. Where there are unavoidable obstacles, additional protective measures
are applied.
•If people can stay between the protective device and the hazardous point without
being detected, additional protective measures (e.g. restart interlock) are applied.
•Reaching under, over and around, crawling beneath and stepping over the safety
laser scanner, as well as moving it, are prevented.
Figure 9: Prevent crawling beneath
Figure 10: Prevent stepping over
Complementary information
Certain optical and electromagnetic ambient conditions can affect the safety laser
scanner and thus reduce the availability of the machine.
Examples:
•Condensation on the optics cover
•Strong electrical fields (e.g. welding cables or induction cables)
Further topics
•"Mounting", page 51
•"Dimensional drawings", page 124
4.3.1 Protection from interference
Influence by laser
Laser sources located close to the machine can influence the safety laser scanner and
thus reduce the availability of the machine.
Measures to increase availability:
bAvoid laser sources in the scan plane.
bSet multiple sampling to the highest value permitted in your application, taking the
minimum distances into account, see "Multiple sampling", page 68.
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Influence by strong light sources
Strong external light sources in the scan plane can influence the safety laser scanner
and thus reduce the availability of the machine.
Measures to increase availability:
bAvoid external light sources in the scan plane.
bAvoid direct sunlight in the scan plane.
bDo not position halogen lights, infrared light sources or stroboscopes directly on
the scan plane.
Mutual interference from safety laser scanners
Due to the safeHDDM® scanning technology, mutual interference of multiple safety
laser scanners is unlikely. If many safety laser scanners are operated at the same
level in a stationary application, they may nevertheless interfere with one another. We
recommend selecting a suitable mounting method to avoid mutual interference.
Suitable mounting methods:
bOffset mounting so that the scan planes are on different planes
bSlightly inclined, tilted mounting, so that the scan planes intersect one another
4.3.2 Preventing unprotected areas
Overview
The safety laser scanner must be mounted so that people cannot enter unsecured
areas.
Undetected areas
There may be areas behind the safety laser scanner which cannot be detected by the
safety laser scanner. The undetected areas become larger if the safety laser scanner is
mounted using a mounting kit.
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

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Figure 11: Unsecured areas
1Length of the undetected area
2Width of the undetected area
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