Sylvac SCAN S145 V3 User manual

Automation Manual for
SCAN S145 V3
Robot
English

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 Activating the after-sales service mode 5
2.4 Connections of the Scan S145 5
2.5 Description of the D-SUB 15p safety connector 6
2.6 Functioning of the safety system with a robot 7
2.7 Safety application diagram with a robot 8
2.8 Description of the safety application diagram with a robot 9
2.9 Chronogram of safety operation with a robot 10
2.10 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 diagnostics I/O 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 34
10 Pneumatic System 35
10.1 Features 35
10.2 Pneumatic connections 35
11 Footswitch Connection 35
12 Troubleshooting 36
12.1 In case of failure 36
12.2 Problems at start up 36
12.3 FAQ 36

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

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2. SAFETY SYSTEM
The Scan S145 has the following safety elements :
• An emergency stop button.
• A safety contact on the Top security sensor.
• A safety contact on the Side(s) door(s)
• A light curtain in front of the access to the measurement area.
Top Security Sensor
Light Curtains Emergency Stop
Button
Reset Button
Side Doors Sensor
In the case of the following states:
- Emergency Stop button is pressed
- Or/and the top sliding roof open
- Or/and the side(s) door(s) open
- Or/and the light curtains are switched off
The power in the Scan is switched off, the motors are no longer under power and the Scan S145 switches in a
fault condition.
To restore the power in Scan S145 and be able to continue the measurements, two actions are required (in this
order) :
1. Check the safety elements and restore them to their normal operating state (reset the safety signals).
2. Restart the Scan (using the Reset Button on the Scan).
2.1 Functioning of the safety system
Dashed : depends on model

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B
C
DE
A
2.2 Activating the robot mode
To use the machine in robot mode, simply switch the key
position to Robot Mode in the side of the machine, next to
the main ON/OFF switch.
As of now the Scan S145 is in fault mode, the robot is consi-
dered as an additional safety element and he must provide a
doubled safety signal on the DSUB Security connector on the
back of the machine (described in the section 2.6 Functioning
of the safety system with a robot).
2.4. Connections of the Scan S145
A. Ethernet plug controller and camera
B. I/O connectors
C. Security connector
D. Pneumatic input
E. Footswitch input
2.3. Activating the service mode
To be able to operate the machine in service mode, the safety key must be turned to the Service position (positioned on
the right side of the machine). The key cannot be removed in this position.
This mode should only be used by a Sylvac service operator!
In this mode, the only active safety feature is the emergency stop button.

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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 2 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 ROB_MUT1 Signal 1 to momentarily inhibit the
light curtain Input Momentary
10 ROB_MUT2 Signal 2 to momentarily inhibit the
light curtain Input Momentary
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 - -
2.5. Description of the D-SUB 15p safety connector
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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In addition, the robot will be able to provide two «muting» signals that will temporarily disable operation of the
light curtain to allow time for the robot to put down a part and exit.
For the robot to be able to send these signals to Scan S145, it must be provided with a +24V supply on +24V_ROB
pin 1 and a GND on GND_ROB pin 13.
The status of the robot must be provided to the Scan by the ROBOT_OK1 pin 4 and ROB_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 S145 is provided to the Robot by a doubled signal SCAN_OK1 pin 2 and SCAN_OK2 pin 3,
a binary 1 indicates that the Scan is ready and a binary 0 that the Scan S145 is faulty.
The light curtain can be disabled with the aid of the doubled signal ROB_MUT1 pin 9 and ROB_MUT2 pin 10, a
binary 1 inhibits the light curtains and a binary 0 leaves them operating normally.
After one or more of the safety elements have been in the fault condition (emergency stop button, robot, trap
safety contact, door safety contact, light curtain), the following two actions must be carried out (in this order) for
the Scan to be ready again :
1. Check the safety elements and restore them to their normal operating state (restore the safety signals).
2. Start a measurement, from the Scan S145, ReflexScan or robot, or restart the Scan from the robot using the
RESTART_SCAN pin8 (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.
Top Security Sensor
Light Curtains
Robot
Emergency Stop
Button
Reset Button
2.6. 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.
Side Doors Sensor
Dashed : depends on model

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A.0
B.2.0
B.2.1
B.2.2
B.2.3
B.2.4
B.2.5
H.0
B.1
C.0
D.0
E.0
F.0
G.0
Scan ON
Scan FaultyScan OK
Check E-Stop
Check Top
and Door
Check Light
Curtain
Check Robot
Security
Rearm
Remote mode ON
Muting-Signals ON
Muting-Signals OFF
Tailstock can be
moved with the Robot
inside the Scan
Scan ready
to operate with
the robot
Scan Faulty
2.7. Safety application diagram with a robot

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2.8. 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 signals at the Scan input.
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 logic 1), go to step C.0.
B.2.0 Scan in fault state (signals SCAN_OK1 pin 2 and/or SCAN_OK2 pin 3 in logic 0).
B.2.1 Check the Scan emergency stop button (must be pulled out).
B.2.2 Check the Scan trap and door(s) (they must be closed).
B.2.3 Check the Scan light curtain (it must not be interrupted).
B.2.4 Check the safety signal from the robot (signal ROBOT_OK1 pin 4 and signal ROB_OK2 pin 5 in logic 1).
B.2.5 Restart the Scan (Logic 1 for at least 200 ms on the RESTART_SCAN pin 8 signal, then return to
logic 0).
C.0 The remote control 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.
At this stage, the light curtain must not be interrupted, otherwise the Scan will fail !
E.0 The Scan must receive the Muting signals (signals ROB_MUT1 pin 9 and ROB_MUT2 pin 10
in Binary 1). Measurement commands must not be sent to the Scan when these signals are present !
F.0 Now the Scan tailstock can be moved even if the robot crosses the light curtain. Once the robot has
finished its operation, it must not cross the light curtain anymore!
G.0 The Scan should no longer receive Muting signals (signals ROB_MUT1 pin 9 and ROB_MUT2 pin 10
in Binary 0). Measurement commands can now be sent to the Scan.
H.0 In the event of a fault occurring in the Scan or the robot during operation (signals SCAN_OK1 pin 2
and/or SCAN_OK2 pin 3 in logic 0 and/or signal ROB_OK1 pin 4 and/or signal ROB_OK2 pin 5 in logic
0), return to step B.2.1.

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2.9. Chronogram of safety operation with a robot
1. Normal operation, no fault.
2. Light curtain disabled, crossing the barrier no longer creates an error.
3. Normal operation, light curtain fault, then Safety Relay OK after a Reset.
4. Light curtain disabled, no fault.
5. Normal operation, fault in one of the safety elements, then Safety Relay OK after a Reset, then fault in one
of the safety elements
6. Light curtain disabled, no fault.
7. Normal operation, fault in one of the safety elements, then Safety Relay OK after a Reset.
Light curtain mode
Time (10s)
Light curtain status
Robot muting signals
Safety relay status
Status of Trapdoor, Door, Robot, Emergency Stop
Restart signal