Siemens 6GA7202-2AA10-1BF1 User manual

Operating Instructions
Camera measuring system
07/2021Issue
SIMOCRANE CenSOR
Cranes
www.siemens.com/simocrane

Cranes
Camera measuring system
SIMOCRANE CenSOR
Operating Instructions
Valid for the device with the following order number:
Camera 6GA7202-2AA10-1BF1
Camera 6GA7202-2AA22-0BA1
Valid for software version
SIMOCRANE CenSOR V3.0
07/2021
A5E49956741B AB
Introduction 1
Basic safety instructions 2
Safety instructions for
SIMOCRANE CenSOR 3
System description 4
Area of application 5
Installation/connection 6
Commissioning 7
Parameterization 8
Connection to a controller 9
Maintenance and service 10
Technical data 11
Dimension drawings 12
Components of the product/
spares/accessories 13
Appendix A
List of abbreviations and
acronyms B
Glossary 14

Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage
to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices
referring only to property damage have no safety alert symbol. These notices shown below are graded according to
the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be
used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property
damage.
Quali󹪝ed Personnel
The product/system described in this documentation may be operated only by personnel quali󹪝ed for the speci󹪝c
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Quali󹪝ed personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance
are required to ensure that the products operate safely and without any problems. The permissible ambient
conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identi󹪝ed by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication may
be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software described.
Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this
publication is reviewed regularly and any necessary corrections are included in subsequent editions.
Siemens AG
Digital Industries
Postfach 48 48
90026 NÜRNBERG
GERMANY
Ⓟ 07/2021 Subject to change
Copyright © Siemens AG 2021.
All rights reserved

Table of contents
1 Introduction ........................................................................................................................................... 7
2 Basic safety instructions ........................................................................................................................ 9
2.1 General safety instructions relating to hardware ................................................................... 9
2.2 General safety instructions relating to software .................................................................. 10
2.2.1 Malfunctions of the machine as a result of incorrect or changed parameter settings............ 10
2.3 Recycling and disposal ...................................................................................................... 11
2.4 Industrial security .............................................................................................................. 12
2.5 Additional speci󹪝c "security measures" ............................................................................... 13
3 Safety instructions for SIMOCRANE CenSOR ....................................................................................... 15
4 System description .............................................................................................................................. 19
4.1 Overview........................................................................................................................... 19
4.2 Design of SIMATIC MV540 H CRANES.................................................................................. 22
4.3 Versions............................................................................................................................. 23
4.4 Product features of the SIMATIC MV540 H CRANES camera ................................................. 24
4.5 Functions........................................................................................................................... 25
4.6 Components...................................................................................................................... 27
4.6.1 SIMATIC MV540 H CRANES camera..................................................................................... 27
4.6.2 Power supply ..................................................................................................................... 27
4.6.3 IR 󹪞ash .............................................................................................................................. 28
4.6.4 Re󹪞ector............................................................................................................................ 29
4.6.5 Housing (only outdoor version).......................................................................................... 30
4.7 Commissioning and diagnostics ......................................................................................... 31
5 Area of application .............................................................................................................................. 33
6 Installation/connection........................................................................................................................ 35
6.1 Unpacking, installing and connecting................................................................................. 35
6.2 SIMOCRANE CenSOR for an indoor crane............................................................................ 36
6.2.1 Installing the SIMATIC MV540 H CRANES camera and re󹪞ector on the indoor crane ............. 36
6.2.2 Connect components on the indoor crane.......................................................................... 39
6.3 SIMOCRANE CenSOR for an outdoor crane.......................................................................... 42
6.3.1 Installing the camera housing and re󹪞ector on the outdoor crane....................................... 42
6.3.2 Connect components on the outdoor crane ....................................................................... 45
6.4 Installing an additional re󹪞ector (optional) ......................................................................... 47
7 Commissioning .................................................................................................................................... 49
7.1 Preconditions..................................................................................................................... 49
SIMOCRANE CenSOR
Operating Instructions, 07/2021 3

7.2 Connecting the camera...................................................................................................... 49
7.3 Setting up the camera........................................................................................................ 55
8 Parameterization ................................................................................................................................. 61
8.1 Start page.......................................................................................................................... 66
8.2 Application ........................................................................................................................ 67
8.2.1 Program ............................................................................................................................ 67
8.2.2 Image and result views ...................................................................................................... 71
8.2.3 Image acquisition .............................................................................................................. 75
8.2.3.1 Image................................................................................................................................ 76
8.2.3.2 Trigger............................................................................................................................... 76
8.2.3.3 Lighting............................................................................................................................. 77
8.2.4 CenSOR ............................................................................................................................. 78
8.2.4.1 CenSOR - Re󹪞ector parameters ........................................................................................... 78
8.2.4.2 CenSOR - Image processing parameters.............................................................................. 79
8.2.4.3 CenSOR - Measured values................................................................................................. 82
8.3 Calibration......................................................................................................................... 86
8.4 Settings ............................................................................................................................. 90
8.4.1 Communication ................................................................................................................. 90
8.4.1.1 Interfaces .......................................................................................................................... 90
8.4.1.2 Use.................................................................................................................................... 94
8.4.1.3 Digital I/O ......................................................................................................................... 96
8.4.2 Options ............................................................................................................................. 97
8.4.2.1 Lighting............................................................................................................................. 97
8.4.2.2 Lens .................................................................................................................................. 99
8.4.2.3 Diagnostics & monitoring................................................................................................. 100
8.4.3 Security .......................................................................................................................... 104
8.4.4 User management ........................................................................................................... 107
8.5 Device ............................................................................................................................. 110
8.5.1 Diagnostics...................................................................................................................... 110
8.5.2 System ............................................................................................................................ 114
8.5.3 Adapt .............................................................................................................................. 117
8.5.4 Help ................................................................................................................................ 118
9 Connection to a controller................................................................................................................. 119
9.1 Connection via PROFINET IO............................................................................................. 120
9.1.1 Preparing the SIMATIC MV540 H CRANES camera for PROFINET IO .................................... 120
9.1.2 Principle of data exchange for PROFINET IO ...................................................................... 121
9.1.3 Assignment of the interfaces relevant to PROFINET IO....................................................... 121
9.1.4 Data processing and handshake ....................................................................................... 126
9.1.5 Control functions via PROFINET IO.................................................................................... 126
9.2 Connection via Ethernet UDP ........................................................................................... 128
9.2.1 Preparing the SIMATIC MV540 H CRANES camera for UDP ................................................. 128
9.2.2 Principle of data exchange via UDP................................................................................... 130
10 Maintenance and service .................................................................................................................. 131
10.1 Maintenance.................................................................................................................... 131
10.2 Repairs ............................................................................................................................ 132
Table of contents
SIMOCRANE CenSOR
4Operating Instructions, 07/2021

11 Technical data.................................................................................................................................... 133
11.1 SIMATIC MV540 H CRANES camera................................................................................... 133
11.1.1 Technical speci󹪝cations of SIMATIC MV540 H CRANES....................................................... 133
11.1.2 Mechanical ambient conditions........................................................................................ 134
11.1.3 Climatic ambient conditions............................................................................................. 136
11.1.4 Transportation and storage .............................................................................................. 136
11.1.5 Electromagnetic compatibility .......................................................................................... 136
11.2 Stainless steel housing..................................................................................................... 137
11.3 Lenses ............................................................................................................................. 138
11.4 Retro re󹪞ective re󹪞ector 300x300 .................................................................................... 138
11.5 Retro re󹪞ective re󹪞ector 500x500 ................................................................................... 138
12 Dimension drawings.......................................................................................................................... 141
12.1 Camera housing............................................................................................................... 141
12.2 SIMATIC MV540 H CRANES camera................................................................................... 144
12.3 Protective lens barrel for SIMATIC MV540 H CRANES camera ............................................. 144
12.4 Mounting plate for SIMATIC MV540 H CRANES.................................................................. 145
12.5 SIMATIC MV540 H CRANES with external ring light ........................................................... 145
12.6 Ring light (external) ......................................................................................................... 146
12.7 Ring light holder for external ring light ............................................................................. 146
13 Components of the product/spares/accessories ................................................................................ 147
13.1 Components of the product ............................................................................................. 147
13.2 Order information and ordering data................................................................................ 148
A Appendix............................................................................................................................................ 149
A.1 Service and Support......................................................................................................... 149
A.1.1 Technical Support ............................................................................................................ 149
A.2 "Commissioning" checklist for SIMOCRANE CenSOR .......................................................... 150
A.3 Standards and certi󹪝cations ............................................................................................. 152
A.3.1 Directives and declarations............................................................................................... 152
A.3.2 ESD guidelines................................................................................................................. 153
B List of abbreviations and acronyms................................................................................................... 157
14 Glossary ............................................................................................................................................. 159
Index .................................................................................................................................................. 165
Table of contents
SIMOCRANE CenSOR
Operating Instructions, 07/2021 5

Table of contents
SIMOCRANE CenSOR
6Operating Instructions, 07/2021

Introduction 1
Contents of this document
The operating instructions contain a description of the SIMOCRANE CenSOR camera measuring
system. SIMOCRANE CenSOR is used in combination with SIMOCRANE SC Integrated or
SIMOCRANE CeSAR standalone to eliminate the e󹪜ects of load sway on:
• Container cranes
• Bridge cranes
• Gantry cranes
• RTGs and RMGs
The manual includes information about environmental conditions, con󹪝guration and
installation, as well as instructions on servicing and maintenance.
SIMOCRANE CenSOR
Operating Instructions, 07/2021 7

Introduction
SIMOCRANE CenSOR
8Operating Instructions, 07/2021

Basic safety instructions 2
2.1 General safety instructions relating to hardware
The camera measuring system is operated in the vicinity of electrical installations. This area may
contain high voltages, moving machine parts, hydraulic and pneumatic systems. Consequently,
follow the following general safety instructions.
WARNING
Electric shock and danger to life due to other energy sources
Touching live components can result in death or severe injury.
• Only work on electrical devices when you are quali󹪝ed for this job.
• Always observe the country-speci󹪝c safety rules.
Generally, the following steps apply when establishing safety:
1. Prepare for disconnection. Notify all those who will be a󹪜ected by the procedure.
2. Isolate the drive system from the power supply and take measures to prevent it being
switched back on again.
3. Wait until the discharge time speci󹪝ed on the warning labels has elapsed.
4. Check that there is no voltage between any of the power connections, and between any of
the power connections and the protective conductor connection.
5. Check whether the existing auxiliary supply circuits are de-energized.
6. Ensure that the motors cannot move.
7. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or
water. Switch the energy sources to a safe state.
8. Check that the correct drive system is completely locked.
After you have completed the work, restore the operational readiness in the inverse sequence.
WARNING
Electric shock due to connection to an unsuitable power supply
When equipment is connected to an unsuitable power supply, exposed components may carry
a hazardous voltage that might result in serious injury or death.
• Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV- (Protective
Extra Low Voltage) output voltages for all connections and terminals of the electronics
modules.
SIMOCRANE CenSOR
Operating Instructions, 07/2021 9

WARNING
Electric shock due to equipment damage
Improper handling may cause damage to equipment. For damaged devices, hazardous
voltages can be present at the enclosure or at exposed components; if touched, this can result
in death or severe injury.
• Ensure compliance with the limit values speci󹪝ed in the technical data during transport,
storage and operation.
• Do not use any damaged devices.
2.2 General safety instructions relating to software
WARNING
Danger to life if the safety instructions and residual risks are not observed
If the safety instructions and residual risks in the associated hardware documentation are not
observed, accidents involving severe injuries or death can occur.
• Observe the safety instructions given in the hardware documentation.
• Consider the residual risks for the risk evaluation.
2.2.1 Malfunctions of the machine as a result of incorrect or changed parameter
settings
WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in turn
can lead to injuries or death.
• Protect the parameterization (parameter assignments) against unauthorized access.
• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency o󹪜.
Basic safety instructions
2.2 General safety instructions relating to software
SIMOCRANE CenSOR
10 Operating Instructions, 07/2021

WARNING
Malfunction due to uncontrolled changeover between operating states
Uncontrolled change of the operating state can cause malfunctions on machines that can
result in injuries or death.
• Assess the e󹪜ects of changeover between operating states in the risk analysis.
• Provide appropriate safety measures, e.g. EMERGENCY OFF.
2.3 Recycling and disposal
Recycling and disposal
For environmentally-friendly recycling and disposal of your old device, please contact a
company certi󹪝ed for the disposal of waste electrical and electronic equipment, and dispose of
the old device as prescribed in the respective country of use.
Basic safety instructions
2.3 Recycling and disposal
SIMOCRANE CenSOR
Operating Instructions, 07/2021 11

2.4 Industrial security
Note
Industrial security
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is necessary
to implement – and continuously maintain – a holistic, state-of-the-art industrial security
concept. Siemens products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Systems, machines, and components should only be connected to the
enterprise network or the Internet if and to the extent that it is necessary and with appropriate
security measures in place (e.g. use of 󹪝rewalls and network segmentation).
Recommendations from Siemens regarding appropriate security measures should also be
observed. You can 󹪝nd more information about industrial security under:
Industrial security (http://www.siemens.com/industrialsecurity)
Siemens products and solutions undergo continuous development to make them increasingly
more secure. Siemens strongly recommends that product updates are applied as soon as they
are available and that the latest product versions are used. Using outdated or unsupported
versions can increase the risk of cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed
at:
Industrial security (http://www.siemens.com/industrialsecurity)
You can 󹪝nd more information on the Internet:
Industrial Security Con󹪝guration Manual (https://support.industry.siemens.com/cs/mdm/
108862708?c=89854859915&lc=en-WW)
WARNING
Unsafe operating states resulting from software manipulation
Software manipulation (e.g. viruses, trojans, malware or worms) can cause unsafe operating
states in your system that may lead to death, serious injury, and property damage.
• Keep the software up to date.
• Incorporate the automation and drive components into a holistic, state-of-the-art industrial
security concept for the installation or machine.
• Make sure that you include all products used in your seamless and holistic industrial security
concept.
• Protect 󹪝les stored on exchangeable storage media from malicious software by with suitable
protection measures, e.g. virus scanners.
• Protect the drive against unauthorized changes by activating the "know-how protection"
drive function.
Basic safety instructions
2.4 Industrial security
SIMOCRANE CenSOR
12 Operating Instructions, 07/2021

Note
Note regarding the General Data Protection Regulation
Siemens observes standard data protection principles, in particular the data minimization rules
(privacy by design). The implications for this product are as follows:
The product does not process or store any personal data, only technical function data (e.g. time
stamps). If the user links this data with other data (e.g. shift schedules) or stores personal data
on the same storage medium (e.g. hard disk) and thus establishes a link to a person or persons,
then the user is responsible for ensuring compliance with the relevant data protection
regulations.
2.5 Additional speci󹪝c "security measures"
The customer is responsible for preventing unauthorized access to its plants, systems, machines
and networks. See also safety instruction Industrial security (http://www.siemens.com/
industrialsecurity).
In order to protect plants, systems, machines and networks against cyber attack, Siemens
industrial security functions can be incorporated into a customized industrial security concept.
You can 󹪝nd more information about the industrial security functions of SIMATIC/SIMOTION/
SINAMICS under:
• SIMOTION/SINAMICS (https://support.industry.siemens.com/cs/ww/de/view/108862708)
• SIMATIC (https://support.industry.siemens.com/cs/ww/de/view/90885010)
Basic safety instructions
2.5 Additional speci󹪝c "security measures"
SIMOCRANE CenSOR
Operating Instructions, 07/2021 13

Basic safety instructions
2.5 Additional speci󹪝c "security measures"
SIMOCRANE CenSOR
14 Operating Instructions, 07/2021

Safety instructions for SIMOCRANE CenSOR 3
This device conforms to the pertinent safety regulations according to IEC, VDE and EN. If you
have questions about whether it is permissible to install the device in the planned environment,
contact your Siemens service representative.
Quali󹪝ed personnel
The device/system may only be set up and operated according to this documentation. The
device/system may only be commissioned and operated by quali󹪝ed personnel. The "quali󹪝ed
personnel" mentioned in the safety information of this documentation refers to persons who are
authorized to perform the following tasks on devices, systems and circuits according to the
relevant safety standards:
• Commissioning
• Grounding
• Tagging and labeling
Proper use
The device is only permitted for use in the applications described in the catalog and in the
technical description. The device is only permitted for use in conjunction with third-party
devices and components recommended or approved by Siemens. This product can only function
reliably and safely if the following conditions are ful󹪝lled:
• Proper transportation
• Proper storage
• Proper setup and installation
• Careful operation and maintenance
Repairs
The device may only be repaired by authorized and quali󹪝ed personnel.
WARNING
Damage due to incorrect repairs
Unauthorized opening and incorrect repairs can result in considerable damage to property and
danger to the user.
SIMOCRANE CenSOR
Operating Instructions, 07/2021 15

System expansions
Install only system expansions that are intended for this device. Installing other expansions can
damage the system or violate the safety provisions and regulations for radio interference
suppression. You can obtain information on system expansions suitable for installation from the
technical customer service or from the sales o󹪟ce responsible for your area.
NOTICE
Warranty on system expansions
Any device defects caused by installing or replacing system expansions will void the warranty.
NOTICE
Electrostatic sensitive devices
The device contains electrostatic sensitive devices. Electrostatic sensitive modules can be
damaged or destroyed by voltages. These voltages are well below the limits of human
perception. Such voltages occur if you touch a component or the electrical connectors of a
module without 󹪝rst discharging the static from your body. Module damage caused by
overvoltage is often not detected immediately. The damage only becomes apparent after an
extended period of operation.
Measures for protecting against discharge of static electricity:
• Always discharge your body's static electricity before working on modules. Static electricity
can be discharged by touching a grounded object, for example.
• Discharge any devices and tools used.
• Only hold modules by the edge.
• Do not touch connector pins or printed conductors.
Safety instructions for SIMOCRANE CenSOR
SIMOCRANE CenSOR
16 Operating Instructions, 07/2021

Connecting the 24 V DC power supply
CAUTION
Connection to the 24 V DC power supply
The device should only be connected to a 24 V DC power supply that satis󹪝es the requirements
of safe extra low voltage (SELV).
An NEC class 2 power source is required in order to comply with UL requirements (according to
UL 60950-1). This applies to operation:
• On a wall
• In an open rack
- or -
• In any other place
In all other cases (according to IEC/EN/DIN EN 60950-1), either a power source of limited
performance (LPS = Low Power Source), or a line-side fuse or a line-side power switch is
necessary.
24 V DC supply voltage (19.2 to 28.8 V)
The generation of the 24 V DC supply voltage by a line-side power supply must be implemented
as functional extra-low voltage with safe electrical isolation (󹪞oating) according to
IEC 80364-4-41, or as SELV according to IEC/EN/DlN EN 60950-1 and LPS/NEC class 2.
Connecting the 230 V AC power supply
WARNING
Risk of electric shock
The retrore󹪞ective re󹪞ectors for the outdoor crane are equipped with 230 V AC foil heaters.
These are mounted inside the housing.
Work on the retrore󹪞ective re󹪞ectors is only permitted in the no-voltage state. The foil heater
must not be damaged.
Danger from falling objects
WARNING
No persons in the area below the crane
Injuries may be caused by falling parts. Persons are not permitted to stand underneath the
crane during installation work for this reason.
The installation must be performed according to the installation instructions.
Safety instructions for SIMOCRANE CenSOR
SIMOCRANE CenSOR
Operating Instructions, 07/2021 17

WARNING
Risk of falling SIMOCRANE CenSOR components
All screwed joints are equipped with suitable screw locks to safely prevent SIMOCRANE CenSOR
components from falling down after installation.
• Use only these screw locks for installation.
• The screw locks may not be disabled or removed.
Safety instructions for SIMOCRANE CenSOR
SIMOCRANE CenSOR
18 Operating Instructions, 07/2021