SICK sBot Speed CIP KU User manual

OPERATING INSTRUCTIONS
sBot Speed CIP – KU
Safety System

Described product
sBot Speed CIP – KU
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 modifica‐
tion, abridgment or translation of this document is prohibited without the express writ‐
ten 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 Purpose of this document........................................................................ 6
1.2 Scope......................................................................................................... 6
1.3 Target groups of these operating instructions........................................ 7
1.4 Symbols and document conventions...................................................... 7
1.5 Terminology used...................................................................................... 8
1.6 Further information................................................................................... 8
2 Safety information............................................................................ 9
2.1 General safety note.................................................................................. 9
2.2 Intended use............................................................................................. 9
2.3 Inappropriate use..................................................................................... 9
2.4 Requirements for the qualification of personnel.................................... 9
2.5 Safe state of the safety outputs.............................................................. 10
3 Product description........................................................................... 11
3.1 Design of the overall system.................................................................... 11
3.2 Functionality.............................................................................................. 11
3.3 Requirements for the application............................................................ 12
3.4 Product characteristics............................................................................ 12
3.4.1 Components............................................................................. 12
3.4.2 Human-robot interaction......................................................... 13
3.4.3 Functions of the safety system............................................... 13
3.4.4 Automated restart.................................................................... 14
4 Project planning................................................................................ 17
4.1 Manufacturer of the overall system......................................................... 17
4.1.1 Reasonably foreseeable misuse............................................. 17
4.2 Operating entity of the overall system..................................................... 18
4.3 Design........................................................................................................ 18
4.3.1 Design of the access point to the hazardous area (exam‐
ple)............................................................................................ 18
4.3.2 Position of the safety laser scanner....................................... 18
4.3.3 Protective field design............................................................. 21
4.3.3.1 Selecting the number of protective fields............. 21
4.3.3.2 Overlapping protective fields.................................. 23
4.3.3.3 Distance between the ends of protective fields
PF1 and PF2............................................................ 23
4.3.3.4 Minimum distances of protective fields PF1 and
PF2 to the hazardous area..................................... 24
4.3.3.5 Minimum distance to the hazardous area for
protective field PF3................................................. 29
4.3.4 Robot operating modes........................................................... 30
4.3.5 Warning signs for automated restart...................................... 30
4.3.6 Emergency stop pushbutton requirements............................ 30
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4.3.7 Requirements for the reset pushbutton and restart button. 31
4.4 Integrating the equipment into the electrical control............................. 31
4.4.1 Circuit diagram......................................................................... 31
4.5 Integration into the network..................................................................... 31
4.5.1 Interfaces................................................................................. 31
4.6 Testing plan............................................................................................... 33
5 Mounting............................................................................................. 34
5.1 For mounting the components................................................................. 34
6 Electrical installation........................................................................ 35
6.1 Electrical installation of the components................................................ 35
6.2 General requirements.............................................................................. 35
6.3 Safety controller pin assignment............................................................. 35
7 Configuration..................................................................................... 38
7.1 Requirements for software and firmware............................................... 38
7.2 Pre-configured project files...................................................................... 38
7.3 Overview of the software structure.......................................................... 39
7.4 Opening project file................................................................................... 40
7.5 Connection overview................................................................................ 41
7.6 Main module configuration...................................................................... 41
7.6.1 Verifying the logic..................................................................... 41
7.6.2 Jump addresses....................................................................... 41
7.6.2.1 Finding source and destination jump addresses
that belong together............................................... 41
7.6.3 In/out page.............................................................................. 41
7.6.4 Emergency stop page.............................................................. 42
7.6.5 Protective stop page................................................................ 42
7.6.6 SafetyRatedMonitoredSpeed page......................................... 43
7.6.7 SafeSequenceMonitoring page............................................... 43
7.6.8 Robot safety signals page....................................................... 44
7.6.9 Non-secure robot signals page............................................... 45
7.7 Configuring the safety laser scanner....................................................... 45
7.7.1 Resolution of the safety laser scanner................................... 45
7.7.2 Field sets and cut-off paths.................................................... 45
7.7.3 Configuring the safety system without protective field PF3.. 46
7.8 Transfer configuration.............................................................................. 46
8 Commissioning.................................................................................. 47
8.1 Safety......................................................................................................... 47
8.2 Overview of commissioning..................................................................... 47
8.3 Putting the robot controller into operation.............................................. 48
8.3.1 Configuring the IP address of the robot controller on the
smartPAD................................................................................. 48
8.3.2 Configuring the non-safe signals on the smartPAD............... 49
8.3.3 Preparing the project in KUKA.WorkVisual............................. 50
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8.3.4 Activate CIP Safety in KUKA.WorkVisual................................ 51
8.3.5 Configuration of KUKA.SafeOperation................................... 51
8.3.6 Setting the IP addresses in KUKA.WorkVisual....................... 52
8.3.7 Configuring the EFI-pro gateway as a target (slave).............. 52
8.3.8 Defining the IO mapping in KUKA.WorkVisual....................... 53
8.3.9 Configuring the Submit interpreter......................................... 53
8.3.10 Transferring the settings to the robot controller.................... 54
8.4 Configuring the safety network number in the robot controller............. 55
8.5 Check during commissioning and modifications.................................... 55
9 Maintenance...................................................................................... 56
9.1 Maintenance of the components............................................................ 56
10 Troubleshooting................................................................................. 57
10.1 Troubleshooting the components............................................................ 57
10.2 Checking the network connection........................................................... 57
11 Operation............................................................................................ 58
11.1 Operating the components...................................................................... 58
11.2 Regular thorough check........................................................................... 58
12 Technical data.................................................................................... 59
12.1 Data sheet................................................................................................. 59
12.2 Response time of safety system.............................................................. 59
13 Ordering information........................................................................ 61
13.1 Scope of delivery....................................................................................... 61
13.2 Ordering information................................................................................. 61
14 Accessories........................................................................................ 62
14.1 Connectivity............................................................................................... 62
14.2 Emergency stop and reset pushbutton................................................... 63
15 Spare parts......................................................................................... 64
15.1 sBot Speed CIP spare parts..................................................................... 64
16 Annex.................................................................................................. 65
16.1 Checklists.................................................................................................. 65
16.1.1 Checklist for initial commissioning and commissioning....... 65
CONTENTS
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1 About this document
1.1 Purpose of this document
These operating instructions contain the information required during the life cycle of the
safety system. This document describes:
•The individual components
•The project planning
•The mounting and electrical installation, insofar as special measures are neces‐
sary for the safety system
•The configuration
•The necessary thorough checks
•The commissioning
•The maintenance
•The troubleshooting
1.2 Scope
These operating instructions contain information regarding the sBot Speed CIP – KU
safety system.
NOTICE
The operating instructions of the components also apply.
The relevant information must be made available to the employees for all work per‐
formed on the safety system.
The following documents contain additional information:
Table 1: Documents available from SICK
Document type Title Part number
Operating instructions microScan3 EFI-pro 8021911
Operating instructions Flexi Soft modular safety con‐
troller hardware
8012999
Operating instructions Flexi Soft in the Flexi Soft
Designer software
8012998
Operating instructions Flexi Soft Gateways Hardware 8012662
Operating instructions Flexi Soft Gateways in the
Safety Designer configuration
software
8018170
Table 2: Robot controller documents
Document type Title Part number
Specification KR C4, KR C4 CK Spec KR C4 GI V17
Operating and programming
instructions for system inte‐
grators
KUKA System Software 8.3 KSS 8.3 SI V7
Mounting and operating
instructions
KUKA.SafeOperation 3.2 for
KUKA System Software 8.3
KST SafeOperation 3.2 V7
Documentation KR C4 EtherNet/IP 2.0 for
KUKA System Software 8.3
KR C4 EtherNet/IP 2.0 V2
This document is included with the following SICK part numbers (this document in all
available language versions):
8024755
1 ABOUT THIS DOCUMENT
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1.3 Target groups of these operating instructions
Some chapters of these operating instructions are intended for certain target groups.
However, the entire operating instructions are relevant for intended use of the product.
Table 3: Target groups and selected chapters of these operating instructions
Target group Chapters of these operating instructions
Project developers (planners, developers,
designers)
"Project planning", page 17
"Configuration", page 38
"Technical data", page 59
Installers "Mounting", page 34
Electricians "Electrical installation", page 35
Safety experts (such as CE authorized repre‐
sentatives, compliance officers, people who
test and approve the application)
"Project planning", page 17
"Configuration", page 38
"Commissioning", page 47
"Technical data", page 59
"Checklists", page 65
Operators "Operation", page 58
"Troubleshooting", page 57
Maintenance personnel "Maintenance", page 56
"Troubleshooting", page 57
1.4 Symbols and document conventions
The following symbols and conventions are used in this document:
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.
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LED symbols
These symbols indicate the status of an LED:
oThe LED is off.
ÖThe LED is flashing.
OThe LED is illuminated continuously.
1.5 Terminology used
Term Explanation
Safety System Combination of safety controller, safety sen‐
sors and logic.
Complete system Combination of safety system, process con‐
troller, machine and all other actuators, sen‐
sors and switching elements that interact in
the application.
Safety controller Controller for safety applications which logi‐
cally evaluates signals from safety sensors,
safety command devices and other sources
and securely switches the actuators of the
machine on and off via safety outputs.
Robot controller Programmable controller that controls and
monitors the actions of the robot.
1.6 Further information
www.sick.com
The following information is available via the Internet:
■Operating instructions and mounting instructions of SICK components suitable for
the safety system
■Safety Designer configuration software
■Guide for Safe Machinery (“Six steps to a safe machine”)
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2 Safety information
2.1 General safety note
The information and tools will not fulfill the safety requirements for your application
without further adjustments being made. The project planning provided by way of exam‐
ple is intended to serve as the basis to allow you to perform your own project planning
and programming in line with your specific requirements. What this means is that the
information and tools merely provide an example to demonstrate how a safety function
can be taken care of.
When it comes to your own project planning and programming, you will need to rely on
qualified staff given that it is your responsibility to ensure that the following require‐
ments are complied with at the very least:
bCarrying out a risk assessment
bTaking into account applicable standards
bVerifying and validating the safety functions.
2.2 Intended use
The safety system provides protection against mechanical hazards (crushing, shearing,
impact) caused by movement of the robot arm by means of area safeguarding. The
safety system can only be used in certain applications (see "Requirements for the appli‐
cation", page 12).
The safety system 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 system 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 application nor from emitted radiation. Transparent
objects are not detected.
If necessary, you must take additional measures to provide protection against hazards
that do not result from movement of the robot arm.
The safety system is not suitable for the following applications (this list is not exhaus‐
tive):
•Outdoors
•Underwater
•In explosion-hazardous areas
2.4 Requirements for the qualification of personnel
The safety system must be configured, installed, connected, commissioned, and ser‐
viced by qualified safety personnel only.
Integration
For integration, a person is considered qualified when he/she has expertise and experi‐
ence in the selection and use of protective devices on machines and is familiar with the
relevant technical rules and national work safety regulations.
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2.5 Safe state of the safety outputs
If the safety outputs via the network are logic 0, this leads to robot downtime.
The safe state of the safety outputs is initiated in the following cases:
•PF2 protective field interruption
•Invalid sequence of the protective field interruption for automated restart
•Emergency stop pushbutton actuated
The following errors are recognized and also lead to the safety outputs via the network
being logic 0:
•Internal error at the safety controller or one of its components
•Internal error on the safety laser scanner
•Connection between the safety controller and safety laser scanner interrupted
•Voltage supply of the safety controller or the safety laser scanner interrupted
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3 Product description
3.1 Design of the overall system
Design of the overall system
The overall system comprises a total of three components:
•Safety system (from SICK)
•Robot
•Safety command devices
The safety system ends at all inputs and outputs that are not used to wire the compo‐
nents of the safety system.
The safety-related machine controller parts (SRP/CS) are distributed among the safety
system and robot controller.
Robot system
Robot controller
Safety
laser scanner Safety controller
Safety system
Overall system
Reset
pushbutton
Safety command devices
Emergency
stop
pushbutton
Restart
pushbutton
EFI-pro
EtherNet/IP™ CIP Safety
P™ C
EtherNet/I
EtherNe
EtherNet/IP™ CIP Safety
EtherNet/IP™
EtherNet/I
EtherNet/IP™
Figure 1: Construction of the entire system
Further topics
•"Components", page 12
•"Interfaces", page 31
3.2 Functionality
Overview
The safety system detects people in a monitored area. When a person approaches the
robot, the safety system decreases the robot speed until it comes to a standstill.
Functionality
The safety laser scanner monitors the access area of the hazardous area with several
protective fields. When a person approaches the robot, the protective fields are inter‐
rupted one after another.
The robot speed is reduced if the first protective field is interrupted. If the second pro‐
tective field is interrupted, the safety system triggers a protective stop.
If the person moves away from the robot, the protective fields become free again one
after another. Restarting the robot is possible when all of the protective fields are free.
The safety system monitors the sequence in which each protective field is interrupted
and becomes free again. A valid sequence leads to an automated restart.
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Complementary information
If a person approaches and then moves away from the robot, the protective fields must
be interrupted and become free again in a specific sequence (safe sequence monitor‐
ing). In the event of a sequence error, it cannot be ensured that the person has left
again. The safety system will switch to the safe state in this event. Automated robot
restart is prevented.
Further topics
•"Functions of the safety system", page 13
•"Automated restart", page 14
3.3 Requirements for the application
•The robot controller must be a KUKA type KR C4 and support the following
options:
°KUKA.SafeOperation
°KUKA.EtherNet/IP™ M/S
°CONFIGURATION CIP Safety™
•Robots and humans perform their work in the same workspace, but at different
times (cooperation, see "Human-robot interaction", page 13).
•The robot works at a fixed position.
•Access to the hazardous area must be designed so that the protective fields of the
safety laser scanner cover the entire access area of the hazardous area. A person
cannot enter or reach into the hazardous area without interrupting the protective
fields.
•Bypassing the protective field (e.g. by reaching around or stepping over it) is not
possible and this is ensured by additional measures as necessary.
•The area to be monitored is free from all airborne particles or process residues in
its operational status.
3.4 Product characteristics
3.4.1 Components
Components relevant for the safety system
Table 4: Hardware
Component Part of the safety
system?
Included in scope
of delivery
Flexi Soft safety controller
•FX3-CPU0 main module
•Gateway FX3-GEPR0
•Expansion module FX3-XTIO
•FX3-MPL0 system plug
Yes Yes
microScan3 Core EFI-pro safety laser scanner Yes Yes
Emergency stop pushbutton No No
Reset pushbutton No No
Pushbutton for restart No No
Robot controller type KR C4 No1) No
1) The robot controller is not part of the SICK safety system. Safety-relevant functions for the entire system
are however executed in the robot controller.
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Table 5: Software
Name Availability
Pre-configured project file for Safety Designer
with the following components:
•Logic for safety controller
•Configuration file of the safety laser scan‐
ner
•Settings for network communication
SICK provides you with a ZIP archive when you
purchase the safety system.
Complete subsystems for SISTEMA
Circuit diagram (ePLAN)
KUKA.WorkVisual project file 1)
1) You cannot use this project file to configure your robot controller. The project file serves as an example
only, which you can use to understand certain settings.
Implementing all the safety functions for the application requires a complete system
consisting of sensors, a controller, actuators, and control switches. This safety system
comprises sensors and a controller only and is therefore only a subsystem. The user is
responsible for the safe design of the complete system and all safety functions.
NOTE
All necessary components influence the parameters of the entire application that relate
to safety technology. The components must therefore have an MTTFd value that is suit‐
able for the entire application and satisfies the necessary performance level. The nec‐
essary performance level results from the risk assessment. Subsystems for SISTEMA
are available for evaluation of the achieved performance level under:
www.sick.com
Further topics
•"Emergency stop pushbutton requirements", page 30
•"Requirements for the reset pushbutton and restart button", page 31
3.4.2 Human-robot interaction
This safety system is suitable for cooperative human-robot interaction.
Table 6: Types of human-robot interaction
Application with sequential
processing
Application with simultaneous
processing
Shared workspace Cooperation Collaboration
Different workspace (Not interactive) Coexistence
Cooperative human-robot interaction is characterized by the fact that tasks are being
carried out in the same working area at different times.
3.4.3 Functions of the safety system
Function Trigger Description
Emergency stop Emergency stop pushbut‐
ton actuated
Activates the emergency stop func‐
tion and triggers the robot stop. Cor‐
responds to stop category 1.
After resetting the emergency stop
pushbutton and the safety system,
the robot accepts a manual restart.
Expected frequency of safety func‐
tion request: 12 times per year
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Function Trigger Description
Prevent unexpected
restarting after an emer‐
gency stop
Reset pushbutton and
restart button actuated
Restarting the robot is also pre‐
vented after resetting the emergency
stop pushbutton. The operator must
manually reset the safety system and
start the robot manually.
Trigger safety-rated moni‐
tored speed
Protective field PF1 inter‐
rupted
Activates robot speed decrease. Acti‐
vates the safe monitoring of the
robot speed with a certain time
delay.
Initiate a protective stop Protective field PF2 inter‐
rupted
Triggers the robot protective stop.
Corresponds to stop category 2.
Manual reset and manual
restart
Protective field PF3 inter‐
rupted or error in sequence
monitoring for automated
restart
Only possible when the safety system
is in a safe state and all protective
fields are free. Leads to robot restart.
Expected frequency of safety func‐
tion request: 365 times per year
(once daily)
Automated reset and
restart with safe sequence
monitoring
see "Automated restart", page 14
In the event of an error in the sequence monitoring: Manual reset
and manual restart
3.4.4 Automated restart
Important information
NOTE
The automated restart fulfills the requirements of ISO 10218.
Sequence for automated restart
Automated restart of the robot only occurs when one or several people approach and
then move away from the robot so that only protective fields PF1 and PF2 are inter‐
rupted in doing so.
PF1 PF2 PF3
Figure 2: Movement path of a person for automated restart
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In doing so, the protective fields are interrupted in a certain sequence and then
approved again. This sequence is expected by the logic of the safety controller and cor‐
responds to the following signal image.
PF1 1
0
1
0
PF2
t
1
2
2
Figure 3: Signal image of a valid sequence for automated restart
1Automated restart is triggered.
2Signal states of the safety laser scanner’s safety outputs via the network.
•Protective field free: signal state = logical 1
•Protective field interrupted: signal state = logical 0
Complementary information
If the sequence is not complied with after protective field PF2 is interrupted, the safety
outputs of the safety system switch to a safe state. Automated restart is prevented and
manually resetting with manual restart is required. The sequence is invalid when, for
example:
•The protective field PF1 becomes free at the same time as protective field PF2
(discrepancy PF1 / PF2).
•Protective field PF2 is interrupted without protective field PF1 having been inter‐
rupted prior to this.
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Error
PF2
NO PF
INIT
PF1 IN
PF1 OUT
First logic
cycle
Manual
reset
Manual
reset
Discrepancy
PF1/PF2
↓PF1
↑PF1
↓PF2
↓PF2
↑PF2
↓PF2
↑PF1
Trigger
automatic
restart
Figure 4: Block diagram for sequence monitoring
↓ Protective field is interrupted.
↑ Protective field becomes free.
INIT Status after the first logic cycle of the safety controller
NO PF All protective fields are free and the safety system has been reset.
PF1 IN Protective field PF1 is interrupted. Protective field PF2 has not yet been
interrupted.
PF2 Protective fields PF1 and PF2 are interrupted.
PF1 OUT Protective field PF2 is free again, protective field PF1 is interrupted.
Error Error status due to invalid protective field interruption sequence
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4 Project planning
4.1 Manufacturer of the overall system
DANGER
Hazard due to lack of effectiveness of the protective device
The dangerous state of the overall system may not be stopped or not be stopped in a
timely manner in the event of non-compliance.
bUse of the safety system requires a risk assessment. Check whether additional
protective measures are required.
bComply with the applicable national regulations derived from the application (e.g.,
work safety regulations, safety rules, or other relevant safety guidelines).
The safety system was developed under consideration of typical application cases. A
partial safety function can be implemented with the safety system in these application
cases. The manufacturer must check whether the safety system is suitable for its spe‐
cific application case (risk assessment).
If the thorough check shows that the safety system is not suitable for the specific appli‐
cation case, the safety system can be used as a basis for an individualized develop‐
ment suitable for the specific application case. This case will not be considered further
in this document.
In any event, additional work is necessary for the safety system to be used, e.g. subse‐
quent configuration of the safety controller.
The manufacturer has the following duties:
bExecuting a risk assessment.
bVerifying and validating the safety functions.
bIntegrating the individual components in accordance with the appropriate stan‐
dards.
bPlease note that C standards have priority compared to statements about this
safety system.
4.1.1 Reasonably foreseeable misuse
The manufacturer must take into account the reasonably foreseeable misuse, among
other things, in the risk analysis. The following reasonably foreseeable misuse scenar‐
ios have been identified during development of this safety system:
Misuse by the manufacturer
•The application has hazards that cannot be protected against by an electro-sensi‐
tive optical protective device.
•The safety laser scanner works as an indirect protective measure and cannot pro‐
vide protection from pieces thrown from application nor from emitted radiation.
Transparent objects are not detected.
•Incorrect design of the field sets, e.g. protective fields are designed to be too
small.
Misuse by the user/employee
•The user may not bring any stools, seats, ladders, or other objects into the moni‐
tored area with which the user can climb over the scanning field into the haz‐
ardous area.
•Transparent objects are not detected.
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4.2 Operating entity of the overall system
DANGER
Hazard due to lack of effectiveness of the protective device
The dangerous state of the overall system may not be stopped or not be stopped in a
timely manner in the event of non-compliance.
bChanges to the electrical integration of the safety system in the machine control
and changes to the mechanical mounting of the safety system necessitate a new
risk assessment. The results of this risk assessment may require the entity operat‐
ing the machine to meet the obligations of a manufacturer.
bChanges to the safety system’s configuration may impair the protective function.
The effectiveness of the safety system must be checked after any change to the
configuration. The person carrying out the change is also responsible for maintain‐
ing the protective function of the safety system.
4.3 Design
4.3.1 Design of the access point to the hazardous area (example)
The access point to the hazardous area is monitored with several protective fields. The
protective fields are interrupted in sequence when the hazardous area is approached.
For the configuration with 3 protective fields, the third protective field PF3 serves as
presence detection immediately in front of the hazardous area.
PF1 PF2 PF3
2
1
3
4
Figure 5: Ideal design of the access to the hazardous area
1Fixed physical guard, e.g. fencing
2Robots to be protected
3Protective fields of the safety laser scanner
4Approach direction to hazardous area
4.3.2 Position of the safety laser scanner
Requirements for the position of the safety laser scanner
Position the safety laser scanner so that it meets all of the following criteria:
4 PROJECT PLANNING
18 O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK
Subject to change without notice

•The scan plane runs horizontally.
•The scan plane runs 300 mm above the floor. The risk assessment may indicate
that a lower scan plane is necessary.
•The safety laser scanner must be mounted at the position at which the last config‐
ured protective field begins (for standard configuration: PF3, otherwise PF2).
PF1 PF2 PF3
1
2
Figure 6: Safety laser scanner positioned at the correct distance to the hazardous point
1Protective field PF34 can be configured correctly.
2Safety laser scanner
PF1 PF3 PF2
2
1
Figure 7: Safety laser scanner placed with too great a distance to the hazardous point
1Protective field PF3 cannot be configured according to the requirements of the
safety system.
2Safety laser scanner
PROJECT PLANNING 4
8024758/2020-02-20 | SICK O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 19
Subject to change without notice

•The safety laser scanner can monitor the entire access area to the hazardous
area. There are no areas that are not monitored where are person can be present
(e.g. in front of a physical guard).
PF1 PF2 PF3
1
2
Figure 8: Non-monitored area in the shadow of the physical guard
1Non-monitored area
2Safety laser scanner
Examples of possible positions of the safety laser scanner
PF1 PF2 PF3
1
Figure 9: Possible positions of the safety laser scanner when used with a physical guard
1Safety laser scanner
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20 O P E R A T I N G I N S T R U C T I O N S | sBot Speed CIP – KU 8024758/2020-02-20 | SICK
Subject to change without notice