General information
Information on the product SICK microScan3 PRO laser scanner
The data sheet and other documents and information for the microScan3 Pro I/O can be found at www.sick.de. Search for the designation MICS3-CCAZ55AA1P01 or article number 1110033 in the search field.
The direct link is
https://cdn.sick.com/media/docs/3/83/183/operating_instructions_microscan3_pro_i_o_safety_laser_scanner_de_im0098183.pdf
The technical documentation and dimensions can be found at www.sick.de under the designation "Mounting kit 2a" or "Mounting kit 1b" or under order number 2073852 or 2074242.
Direct link:
Kit 1b: https://www.sick.com/de/de/befestigungssatz-1b/p/p422150
Mounting parts
Tools required
- Allen key 5 mm
- Open-end spanner 7mm
Procedure
Step 1: Mounting the safety scanner on the MRB
The first step is to screw the laser scanner to the intended mounting option on the MRB. Please refer to the information in the operating instructions for the MRB.
Step 2: Electrical installation and cabling
Once the laser scanner has been successfully attached to the MRB, the electrical installation can now be carried out. To do this, connect the pre-assembled cables to the mainboard according to the labelling on the connectors.
Power is supplied to the device via a 4-pin, A-coded M12 connector:
The pin assignment is shown in the following table:
Folgende Tabelle beschreibt den Anschluss des Kabels an HORST:
The local inputs and outputs are connected on the device side via 17-pin, A-coded M12 sockets. If both 17-pin connections are used, both 17-pin cables must be clearly labelled to prevent confusion when replacing the device.
Pin assignment of local inputs and outputs 1 (socket, M12, 17-pin, A-coded)
The assignment of pin, designation, function and wire colour can be found in the connection table (see table below). This requires the use of standard cables from SICK (type: YN2A1D-100UV1XLEAX, item no.:2118011, https://www.sick.com/de/de/yn2a1d-100uv1xleax/p/p671027).
The connection cable on the scanner side is described in the scanner's OI.
Connection table 17-pin signal cable to Control
SSIA and SSIB on terminal X6 can also be used for the automatic safety stop triggered by OSSD1. All other safety inputs of terminal X5 (SI4 to SI7) can also be used if they are configured accordingly in horstFX.
In the example above, the inputs SI4 and SI5 are used as an example. The configuration for this is described in detail below.
Pin assignment on the Control switch cabinet
The following figure shows a possible wiring of the safety scanner to Control.
Connection of OSSD-1 and OSSD-2 and Universal IO on the Control switch cabinet
The PowerOut 24V connections on X12 and X13 can be used for the supply voltage in the same way as when using only one safety scanner. The terminals on X14, X15 and X16 can be used for the GND ground. The connection of the signals is shown in the following illustration.
Configuration of the safety scanner in the SICK Safety Designer
In the next step, the safety scanner is configured on the software side and the required safety ranges are set. These safety areas depend on the other safety devices that are used in combination with the scanner.
The entire setup and configuration of the laser scanner is described in the operating instructions for the safety scanner. Information on the detailed procedure can be found in the operating instructions for the microScan3 Core I/O from SICK or by downloading the following PDF:
Only the points that are important for the HORST installation are described below. As a project template, you can download a Safety Designer project template in the Peripherals section of horstCOSMOS.
https://horstcosmos.com/documentation/Peripherieger�te
Please note that the integrator is responsible for integrating the scanner; these instructions only serve to connect the scanner to the HORST interface.
- Connecting the safety scanner to a laptop via the micro USB cable for setup
- Open the SICK Safety Designer app to configure the safety scanner
- Create a new project (see project template in horstCOSMOS.com)
- Connecting the scanner
Configuring the scanner and setting up the new device
- Processing the Readout, Identification, Application and Monitoring level steps (see BA SICK)
- Definition of the monitoring level. Depending on the setting, the values influence the required safety distance (see BA SICK and standards EN ISO 13855 and 13857).
Settings for the monitoring level and the device - Creating the protective fields:
These must be calculated using the standards for safety distances EN ISO 13857 and 13855 (see also BA SICK) and the robot's stopping times (see BA HORST).
Two field sets with the protective field type must be created. The outer field is used to monitor the reduced speed. The inner one leads to a safety stop of the robot.
Creating the protective fields -
Creating the warning fields:
When the warning field is reached, the robot's reduced speed is initiated. This must happen before it is monitored as a protective field. This area is not redundant and is therefore initiated with a simple digital input of the robot.
- Definition of inputs:
No scanner inputs are required for the standard configuration.
Definition of the scanner inputs - Definition of the in- and outputs, locally
- Connection of pin 1 for the power supply (24V) and pin 3 for the ground GND (0V)
- Connection of OSSD pair 1 for the protective field (PIN 2 and pin 4)
- Connect universal output pin 5 and set to low
- Assign the warning light as a monitoring result using drag and drop
- Create the monitoring cases:
Monitoring cases- Protective field Field set assignment for OSSD-pair 1 (redundant safety-relevant)
- Warning field Field set for assignment of universal output UO1 (simply wired, therefore not safety-relevant!)
- Simulation and transfer to device.
- Creation of the project safety report for the safety documentation of the safety cell (CE)