Sylvac S25 User manual

Automation Manual for
SCAN S25
Robot
English
Original version drafted in French

2
TABLE OF CONTENTS
1 Schematic Diagram of Sylvac Solution 3
2 Safety System 4
2.1 Functioning of the safety system 4
2.2 Activating the robot mode 5
2.3 Connections of the Scan S25 6
2.4 Description of the D-SUB 15p safety connector 6
2.5 Functioning of the safety system with a robot 7
2.6 Safety application diagram with a robot 9
2.7 Description of the safety application diagram with a robot 10
2.8 Safety schematic diagram with a robot 11
3 Remote Mode 12
3.1 Location of the Remote Mode button 12
4 Program Mapping 13
5 Wired Solution 14
5.1 Configuration 14
5.2 Diagnostics 14
5.3 Description of the I/O diagnostics 15
5.4 Description of the main D-SUB 37p I/O pins 16
5.5 Description of pin D-SUB 15p I/O additional tools 18
6 OPC/UA Server 19
6.1 Configuration 19
6.2 Diagnostics 20
6.3 Methods 20
6.4 Nodes 21
7 Modbus TCP/IP Server 22
7.1 Configuration 22
7.2 Diagnostics 23
7.3 Input table (Coils, Read-Write, FC1, FC5, FC15) 23
7.4 Input table (Holding Register, Read-Write, FC3, FC6, FC16) 24
7.5 Output table (Discrete Input, Read-Only, FC2) 24
7.6 Output table (Input Register, Read-Only, FC4) 25
8 Profinet via Gateway 26
8.1 Configuration of the local IP address 26
8.2 Gateway configuration 27
8.3 Changing the IP address 28
8.4 I/O data mapping 29
9 Example of a Robot Sequence 31
9.1 I/O sequence 32
9.2 Modbus TCP/IP sequence 33
9.3 OPC/UA sequence 33
10 Pneumatic System 34
10.1 Features 34
10.2 Pneumatic connections 34
10.3 Software Configuration 34
11 Troubleshooting 35
11.1 In case of failure 35
11.2 Problems at start up 35
11.3 FAQ 35

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1. SCHEMATIC DIAGRAM OF SYLVAC SOLUTION
Profinet
Modbus
TCP/IP
OPC/UA I/O cable
Camera/controller

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2. SAFETY SYSTEM
The only safety element of Scan S25 is an emergency stop button with double signal.
When the emergency stop button is pressed, the electric power to the Scan is cut off, the motors are no longer
under power, the Scan S25 is in a fault condition.
To restore power to the Scan S25 and be able to continue the measurements, two actions are necessary (in this
order) :
1. Pull the emergency stop button (to restore the safety signals).
2. Start a measurement (from ReflexScan or from the touchscreen).
Emergency Stop
Button
2.1 Functioning of the safety system

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All occurrences of the word robot can be replaced by the word Automation where appropriate.
To use the machine in robot mode, move down the No Rob switch on the machine’s motherboard. This requires
removing the back cover of the machine.
2.2 Activating the robot mode
Now the Scan S25 is in fault mode, you must connect a robot to its D-SUB safety connector and carry out the
operations described in Section 2.5.

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2.3.Connections of the Scan S25
2.4 Description of the D-SUB 15p safety connector
A. Main power supply
H. Ethernet plug CTRL, CAMERA and Display
I. I/O connectors
J. Security connector
K. Pneumatic input
L. Footswitch input
All inputs and outputs, to and from the Scan, must either be at +24V (binary 1) or at GND (binary 0). All signals
to the Scan must come from the robot.

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2.5 Functioning of the safety system with a robot
All red signals represent a D-SUB 15p safety connector pin.
When using the Scan with a robot, a double signal must be provided, which becomes a new safety element in
addition to the emergency stop button.
Pin Function Description Direction Type
1 +24V_ROB Input +24V robot (common with
other connectors) Input Persistent
2 SCAN_OK1 Safety output Scan ready 1 Output Persistent
3 SCAN_OK2 Safety output Scan ready 2 Output Persistent
4 ROBOT_OK1 Safety input robot ready 1 Input Persistent
5 ROBOT_OK2 Safety input robot ready 1 Input Persistent
6 +24V_SCAN Output +24V Scan (common with
the other connectors) Output Persistent
7 RESTART_ROB Restart impulse from the robot Input Rising flank
8 RESTART_SCAN Restart impulse from the Scan Output Rising flank
9 Not allocated
10 Not allocated
11 Not allocated
12 Not allocated
13 GND_ROB Robot ground (common with the
other connectors) Input Persistent
14 GND_SCAN Scan ground (common with the
other connectors) Output Persistent
15 SHIELD Shielding - -

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For the robot to be able to send these signals to the Scan S25, +24V must be supplied to +24V_ROB pin 1 and
GND to GND_ROB pin 13.
The status of the robot needs to be provided to the Scan by the double signal ROBOT_OK1 pin 4 and ROBOT_OK2
pin 5, a binary 1 state indicates that the robot is ready and a binary 0 state that the robot is faulty.
The status of the Scan S25 is provided to the robot by a double signal SCAN_OK1 pin 2 and SCAN_OK2 pin 3, a
binary 1 state indicates that a Scan S25 is ready and a binary 0 state that a Scan S25 is faulty.
If the binary state is different on the two inputs, e.g. ROBOT_OK1 at 1 and ROBOT_OK2 at 0, the Scan considers
the robot state as faulty.
If one of the two elements is in fault condition (Emergency Stop Button or robot), the following two actions must
be carried out (in this order) to make the Scan S25 ready again :
1. Check the safety components and restore them to their normal operating state (restore the safety signals).
2. Start a measurement, from the Scan S25, ReflexScan or the robot, or restart the Scan from the robot RES-
TART_ROB pin 7 (signal of at least 200 ms).
For the Scan and the robot to work together, the diagram in the next Section 2.6 must be observed.
Emergency Stop
Button
Robot Emergency
Stop

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2.6 Safety application diagram with a robot
B.2.0
A.0
B.1
C.0
D.0
B.2.1
B.2.2
B.2.3
E.0
Scan ON
Scan OK
Remote control
mode ON
Scan ready
to work with
a robot
Scan Faulty
Check E-Stop
Check robot
safety
Restart
Scan faulty

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2.7 Description of the safety application diagram with a robot
Each red signal refers to a pin of the D-SUB 15p safety connector.
Each signal must remain in the last defined state if not otherwise specified.
Binary 1 defines a state where there is +24V present.
Binary 0 defines a state where there is GND.
When the robot is connected to the Scan, the robot must provide the signals +24V_ROB Pin 1
(binary 1) and GND_ROB pin 13 (binary 0) and all other necessary inputs signals to the Scan.
A.0 The Scan is turned on and a ReflexScan session is opened.
B.1 Scan OK (signals SCAN_OK1 pin 2 and SCAN _OK2 pin 3 in binary 1).
B.2.0 Scan in fault state (signals SCAN _OK1 pin 2 and/or SCAN _OK2 pin 3 in binary 0).
B.2.1 Check the Scan emergency stop button (must be pulled out).
B.2.2 Check the safety signal from the robot (signal ROBOT_OK1 pin 4 and ROBOT_OK2 pin 5 in binary 1).
B.2.3 Restart the Scan (binary 1 for at least 200 ms on the signal RESTART_ROB pin 7, then return to logic 0).
C.0 The remote mode must be activated in ReflexScan.
D.0 The Scan is ready to work with the solution of your choice: Wired, OPCA/UA, Modbus TCP/IP, Profinet.
E.0 If a Scan or robot fault occurs during operation, (signals SCAN_OK1 pin 2 and/or SCAN_OK2 pin 3 in
binary 0 and/or signals ROBOT_OK1 pin 4 and/or ROBOT_OK2 pin 5 in binary 0), return to step B.2.1.