s200 manual

O P E R A T I N G I N S T R U C T I O N S

S200

Safety Laser Scanner

GB


S200

2 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8011692/02-06-06

This document is protected by the law of copyright, whereby all rights established therein remain with thecompany SICK AG. Reproduction of this document or parts of this document is only permissible within the limits ofthe legal determination of Copyright Law. Alteration or abridgement of the document is not permitted without theexplicit written approval of the company SICK AG.


S200

8011692/02-06-06 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 3

Contents

Contents1 About this document.........................................................................................................6

1.1 Function of this document....................................................................................61.2 Target group ..........................................................................................................61.3 Scope .....................................................................................................................61.4 Depth of information.............................................................................................61.5 Abbreviations.........................................................................................................71.6 Symbols used ........................................................................................................7

2 On safety.............................................................................................................................82.1 Correct use ............................................................................................................82.2 Specialist personnel..............................................................................................82.3 Applications of the device.....................................................................................82.4 General safety notes and protective measures ..................................................92.5 Environmental protection ...................................................................................11

2.5.1 Disposal .............................................................................................112.5.2 Separation of materials ....................................................................11

2.6 Applicable directives and standards..................................................................12

3 Product description.........................................................................................................133.1 Device components ............................................................................................133.2 Special features ..................................................................................................133.3 Function...............................................................................................................14

3.3.1 Principles of operation......................................................................153.3.2 Field set comprising of protective field and warning field ..............16

3.4 Applications .........................................................................................................173.4.1 Stationary applications .....................................................................173.4.2 Mobile applications...........................................................................19

3.5 Configurable functions........................................................................................193.5.1 Field set .............................................................................................193.5.2 Application and resolution................................................................203.5.3 Using the contour as a reference.....................................................213.5.4 External device monitoring (EDM)....................................................223.5.5 Application diagnostic output “Error/contamination”.....................233.5.6 Restart ...............................................................................................233.5.7 Multiple sampling..............................................................................253.5.8 Stand-by mode ..................................................................................253.5.9 Naming applications and laser scanners ........................................25

3.6 Indicators and outputs........................................................................................263.6.1 LEDs and 7segment display ............................................................263.6.2 Outputs ..............................................................................................26


S200


Contents

4 Mounting..........................................................................................................................274.1 Stationary application in horizontal operation..................................................28

4.1.1 Protective field size...........................................................................284.2 Stationary vertical operation for access protection..........................................32

4.2.1 Safety distance .................................................................................324.3 Stationary vertical operation for hazardous point protection ..........................34

4.3.1 Safety distance .................................................................................344.4 Mobile applications ............................................................................................354.5 Methods of preventing unprotected areas........................................................36

4.5.1 Near range ........................................................................................364.6 Mounting steps ...................................................................................................37

4.6.1 Direct mounting ................................................................................384.6.2 Mounting with mounting kit 1a or 1b ..............................................384.6.3 Mounting with mounting kit 2 and 3 ...............................................404.6.4 Information label Important information.........................................404.6.5 Using multiple S200 safety laser scanners ....................................41

5 Electrical installation .....................................................................................................435.1 System connection .............................................................................................43

5.1.1 Pin assignment on the system plug.................................................445.1.2 OSSDs................................................................................................445.1.3 Functional earth................................................................................44

5.2 System plug assembly........................................................................................455.3 Pre-assembled system plugs .............................................................................46

6 Application examples and connection diagrams........................................................476.1 Stationary applications.......................................................................................47

6.1.1 Applications with one monitored area.............................................476.2 Connection diagrams .........................................................................................48

6.2.1 Restart interlock and external device monitoring...........................48

7 Configuration...................................................................................................................497.1 Default delivery status .......................................................................................497.2 Preparation of the configuration........................................................................49

8 Commissioning................................................................................................................508.1 Initial commissioning..........................................................................................50

8.1.1 Power up sequence ..........................................................................508.2 Re-commissioning ..............................................................................................51

8.2.1 Power up sequence ..........................................................................518.3 Test notes............................................................................................................52

8.3.1 Pre-commissioning tests ..................................................................528.3.2 Regular inspection of the protective device by qualified

personnel ..........................................................................................538.3.3 Daily testing of the protective device by a specialist or

authorised personnel .......................................................................53

9 Care and maintenance ...................................................................................................549.1 Cleaning optics cover .........................................................................................549.2 Replacing optics cover .......................................................................................54


S200


Contents

10 Diagnostics ......................................................................................................................5610.1 In the event of faults or errors............................................................................5610.2 SICK support........................................................................................................5610.3 Error and status indications on the LEDs ..........................................................5610.4 Error and status indications on the 7segment display ....................................5810.5 Extended diagnostics..........................................................................................60

11 Technical specifications.................................................................................................6111.1 Characteristics ....................................................................................................6111.2 OSSD response times .........................................................................................6111.3 Timing behaviour of the OSSDs..........................................................................6311.4 Data sheet ...........................................................................................................6511.5 Dimensional drawings ........................................................................................71

11.5.1 S200 ..................................................................................................7111.5.2 Mounting kits.....................................................................................7111.5.3 Scan plane origin ..............................................................................73

12 Ordering information.......................................................................................................7412.1 Delivery S200......................................................................................................7412.2 Available systems................................................................................................7412.3 Accessories/spare parts.....................................................................................74

12.3.1 Mounting kits.....................................................................................7412.3.2 System plug S200.............................................................................7412.3.3 Service cable .....................................................................................7512.3.4 Self assembly connecting cables .....................................................7512.3.5 On the documentation ......................................................................7512.3.6 Safety relays ......................................................................................7512.3.7 Safety controllers ..............................................................................7512.3.8 Miscellaneous ...................................................................................75

13 Annex ................................................................................................................................7613.1 Declaration of conformity ...................................................................................7613.2 Manufacturer’s checklist ....................................................................................7713.3 Glossary ...............................................................................................................7813.4 List of tables........................................................................................................7913.5 List of illustrations...............................................................................................80

Chapter 1 Safety Laser Scanner

S200


About this document

1 About this documentPlease read this chapter carefully before working with this documentation and the S200.

1.1 Function of this documentThese operating instructions are designed to address the technical personnel of themachine manufacturer or the machine operator in regards to correct mounting, electricalinstallation, commissioning, operation and maintenance of the S200 safety laser scanner.

These operating instructions do not provide instructions for operating the machine, thesystem or the vehicle on which the safety laser scanner is, or will be, integrated.Information on this is to be found in the appropriate operating instructions for themachine, the system or the vehicle.

1.2 Target groupThese operating instructions are addressed to planning engineers, machine designers andthe operators of machines and systems which are to be protected by one or several S200safety laser scanners. They also address people who integrate the S200 into a machine, asystem or a vehicle, initialise its use, or who are in charge of servicing and maintaining thedevice.

1.3 ScopeThese operating instructions are applicable to the S200 safety laser scanner with thefollowing entry on the type label in the field Operating Instructions: 8011690

This document is part of SICK part number 8011690 (operating instructions “S200 —Safety Laser Scanner” in all available languages).

For the configuration and diagnostics of these devices you require CDS (Configuration &Diagnostic Software) version 3.3 or higher. To determine the version of your softwareversion, select the Module-Info... option in the ? menu.

1.4 Depth of informationThese operating instructions contain information on the S200 safety laser scanner. Theyhave the following parts:

� mounting

� electrical installation

� commissioning and configuration

� care and maintenance

� fault, error diagnosis andtroubleshooting

� part numbers

� accessories

� conformity and approval

Planning and using protective devices such as the S200 also require specific technicalskills which are not detailed in this documentation.

General information on accident prevention using opto-electronic protective devices canbe found in the brochure “Safe Machines with opto-electronic protective devices”.

When operating the S200, the national, local and statutory rules and regulations must beobserved.

Safety Laser Scanner Chapter 1

S200


About this document

We also refer you to the SICK AG homepage on the Internet at

www.sick.com

Here you will find information on:

� application examples

� a list of frequently asked questions regarding the S200

� these operating instructions in different languages for viewing and printing

1.5 AbbreviationsAutomated Guided Vehicle

American National Standards Institute

American Wire Gauge = standardisation and classification of wires and cables by type,diameter etc.

SICK Configuration & Diagnostic Software = software for the configuration and diagnosticsof the S200

External device monitoring = e.g. external device monitoring

Electromagnetic compatibility

Electrostatic discharge = electrostatic discharge

Electro-sensitive protective equipment

Fail-safe programmable logic controller

Output signal switching device = signal output of the protective device that is used to stopthe dangerous movement

Robotic Industries Association

1.6 Symbols usedRecommendations are designed to give you some assistance in your decision-makingprocess with respect to a certain function or a technical measure.

Refer to notes for special features of the device.

Display indicators show the status of the 7segment display on the S200: Constant indication of characters, e.g. 8 Flashing indication of characters, e.g. 8 Alternating indication of characters, e.g. L and 2

LED symbols describe the status of an LED:

� The “OSSDs in the OFF state” LED is illuminated continuously.

� The “Error/contamination” LED is flashing.

� The LED is deactivated.

Instructions for taking action are shown by an arrow. Read carefully and follow theinstructions for action.

Warning!

A warning indicates an actual or potential risk or health hazard. Observation andimplementation of the warning will protect you from accidents.

Read carefully and follow the warning notices!

Information is displayed in the software indicating to you which settings you can make inthe CDS (Configuration & Diagnostic Software).

Note

AGV

ANSI

AWG

CDS

EDM

EMC

ESD

ESPE

FPLC

OSSD

RIA

Recommendation

Note

,,

��

� Take action …

WARNING

http://www.sick.com/


S200


On safety

2 On safetyThis chapter deals with your own safety and the safety of the equipment operators.

�Please read this chapter carefully before working with the S200 or with the machineprotected by the S200.

2.1 Correct useThe S200 safety laser scanner must be used only as defined in chapter 2.3 “Applicationsof the device” on page 8. It must be used only by qualified personnel on the machinewhere it has been installed and initialised by specialist personnel in accordance with theseoperating instructions. It is only permitted to be used on machines on which the dangerousstate can be stopped immediately by the S200 and/or it is possible to prevent themachine being placed in operation.

If the device is used for any other purposes or modified in any way — also during mountingand installation — any warranty claim against SICK AG shall become void.

2.2 Specialist personnelThe S200 safety laser scanner must be installed, connected, commissioned and servicedonly by specialist personnel. Specialist personnel are defined as persons who

� due to their specialist training and experience have adequate knowledge of the power-driven equipment to be checked

and

� who have been instructed by the responsible machine operator in the operation of themachine and the current valid safety guidelines

and

� are sufficiently familiar with the applicable official health and safety regulations,directives and generally recognized engineering practice (e.g. DIN standards, VDEstipulations, engineering regulations from other EC member states) that they can assessthe work safety aspects of the power-driven equipment

and

� who have access to these operating instructions and who have read them.

As a rule these are specialist personnel from the ESPE manufacturer or also those personswho have been appropriately trained at the ESPE manufacturer, are primarily involved inchecking ESPE and are allocated the task by the organisation operating the ESPE.

2.3 Applications of the deviceThe S200 safety laser scanner is used to protect persons and plant. It is intended to beused to monitor hazardous areas indoors.

It is not allowed to use the S200 outdoors.

The S200 cannot provide protection from parts thrown out of the machine or radiationemitted.

The S200 complies with the requirements in the standard on the radiated emissions asdefined for class A (industrial application); the S200 is therefore only suitable for use in anindustrial environment.

Note


S200


On safety

The safety level of the S200 corresponds to category 2 in accordance with EN 954-1,type 2 in accordance with IEC 61�496 part 1 and SIL1 in accordance with IEC 61�508. TheS200 is suitable for:

� hazardous area protection

� hazardous point protection

� access protection

� vehicle protection (electrically powered industrial trucks)

Depending on the application, other protective devices and measures may be required inaddition to the safety laser scanner.

2.4 General safety notes and protective measures

Pay attention to the safety notes!

Please observe the following items in order to ensure the correct use of the S200 safetylaser scanner.

DESCRIPTION OF THE LASER WARNING LABEL:IEC 60�8251:2001. Complies with 21 CFR 1040.10and 1040.11 except for deviations pursuant to LaserNotice No. 50, July 2001.

� This device meets the norms: CDRH 21 CFR 1040.10 and 1040.11 as well asIEC 60�8251 edition 1.2:200108. There the following note is required: “Caution — ifdevices for operation or adjustment different to those given here are used or otherprocedures are employed, hazardous exposure to radiation may occur!”

� During the mounting, installation and usage of the S200, observe the standards anddirectives applicable in your country. You will find an overview of the most importantregulations in section 2.6 “Applicable directives and standards” on page 12.

� The national/international rules and regulations apply to the installation, commissioning,use and periodic technical inspections of the S200 safety laser scanner, in particular …– Machinery Directive 98/37/EC.– Work Equipment Directive 89/655/EEC.– the work safety regulations/safety rules.– other relevant health and safety regulations.

� Manufacturers and operators of the machine on which the S200 is used are responsiblefor obtaining and observing all applicable safety regulations and rules.

� The notes, in particular the test notes (see chapter 8 “Commissioning” on page 50) inthese operating instructions (e.g. on use, mounting, installation or integration into themachine controller) must be observed.

Note

WARNING


S200


On safety

� Changes to the configuration of the devices can degrade the protective function. Afterevery change to the configuration you must therefore check the effectiveness of theprotective device. The person who makes the change is also responsible for the correctprotective function of the device. When making configuration changes, please alwaysuse the password hierarchy provided by SICK to ensure that only authorised personsmake changes to the configuration. The SICK service team is available to provideassistance if required.

� The tests must be carried out by specialist personnel or specially qualified andauthorised personnel and must be recorded and documented to ensure that the testscan be reconstructed and retraced at any time.

� The operating instructions must be made available to the operator of the machine wherethe S200 is used. The machine operator is to be instructed in the use of the device byspecialist personnel and must be instructed to read the operating instructions.

� The external voltage supply of the devices must be capable of buffering brief mainsvoltage failures of 20 ms as specified in EN 60�204. Suitable power supplies areavailable as accessories from SICK (see section 12.3 “Accessories/spare parts” onpage 75).

�Enclosed with these operating instructions is a checklist for checking by themanufacturer and OEM (see section 13.2 “Manufacturer’s checklist” on page 77). Usethis checklist when checking the plant that is protected with the S200.

The term “dangerous state”

The dangerous state (standard term) of the machine is always shown in the drawings anddiagrams of this document as a movement of a machine part. In practical operation, theremay be other dangerous states:

� machine movements

� vehicle movements

� electrical conductors

� visible or invisible radiation

� a combination of several risks and hazards


S200


On safety

2.5 Environmental protectionThe S200 safety laser scanner is constructed in such a way that it adversely affects theenvironment as little as possible and uses only a minimum of power and naturalresources.

�At work, always act in an environmentally responsible manner.

2.5.1 Disposal

Unusable or irreparable devices should always be disposed as per the applicable nationalregulations on waste disposal (e.g. European waste code 16 02 14).

� We would be pleased to be of assistance on the disposal of this device. Contact yourlocal SICK representative.

� Information on the individual materials in the S200 is given in chapter 11 “Technicalspecifications” on page 65.

2.5.2 Separation of materials

Only appropriately trained personnel are allowed to separate materials!

Caution is required when dismantling devices. There is a risk of injuries.

Before you send the devices for appropriate recycling, it is necessary to separate thedifferent materials in the S200.

�Separate the housing from the rest of the parts (in particular the circuit boards).

�Send the separated parts for recycling as appropriate (see Tab. 1).

Components Disposal

Product

Housing Metal recycling (aluminium)

Motor bracket Metal recycling (zinc die-cast housing)

Optics cover Plastic recycling

Circuit boards, cables, connectors andelectrical connecting pieces

Electronic recycling

Packaging

Cardboard, paper Paper/cardboard recycling

Polyethylene packaging Plastic recycling

Notes

WARNING

Tab. 1: Overview on disposalby components


S200


On safety

2.6 Applicable directives and standardsThe most important directives and standards, valid for the use of opto-electronic protectivedevices in Europe, are listed below. Further regulations may be of importance to you,depending on the application. You can obtain further information of machine-specificstandards from national institutions (e.g. DIN, BSI, AFNOR etc.), the authorities or yourtrade association.

If you operate the machine or vehicle in a country outside the European Union, pleasecontact the manufacturer of the plant and the local authorities and obtain information onthe regulations and standards applicable there.

Application and installation of protective devices

Machinery Directive 98/37/EC, e.g.:

� Safety of machinery — Basic concepts, general principles for design (EN 12�100)

� Industrial automation systems — Safety of integrated manufacturing systems —- Basicrequirements (ISO 11�161)

� Safety of machinery — Electrical equipment of machines — Part 1: General requirements(IEC/EN 60�204)

� Safety of machinery. Safety distances to prevent hazardous points being reached by theupper limbs (EN 294, IEC 13�852)

� Safety requirements for robots (EN 775, ISO 10�218)

� Safety of industrial trucks. Driverless trucks and their systems (DIN/EN 1525)

� Safety of machinery — The positioning of protective equipment in respect of approachspeeds of parts of the human body (EN 999, ISO 13�855)

� Safety of machinery — Principles for risk assessment (EN 1050, ISO 14�121)

� Safety of machinery — Safety-related parts of control systems — Part 1: Generalprinciples for design (EN 954 part 1, ISO 13�849 part 2)

� Safety of machines — electro-sensitive protective equipment — part 1: Generalrequirements (IEC/EN 61�4961) as well as part 3: Special requirements for AOPDDR(IEC 61�4963)

� Safety of machinery — Application of protective equipment to detect the presence ofpersons (IEC/TS 62�046)

Foreign standards, for example:

� Performance Criteria for Safeguarding (ANSI B11.19)

� Machine tools for manufacturing systems/cells (ANSI B11.20)

� Safety requirements for Industrial Robots and Robot Systems (ANSI/RIA R15.06)

� Safety Standard for guided industrial vehicles and automated functions of namedindustrial vehicles (ANSI B56.5)

Please request our brochure on this subject “Safe Machines with opto-electronic protectivedevices”.

Recommendation


S200


Product description

3 Product descriptionThis chapter provides information on the special features and properties of the S200safety laser scanner. It describes the construction and the operating principle of thedevice.

Please read this chapter before mounting, installing and commissioning the device.

3.1 Device componentsThe S200 safety laser scanner comprises three components:

� the sensor with the opto-electronic acquisition system, the LEDs and the 7segmentdisplay

� the optics cover with the window for the light output

� the system plug with the configuration memory (the system plug contains all electricalconnections)

� the system plug with all electrical connections

3.2 Special features� 270° scanning angle

� the surrounding contour can be monitored (contour change can e.g. be the opening of adoor to the outside)

� integrated external device monitoring (EDM)

� integrated restart interlock/restart interlock delay for which the parameters can be set

� status display with LEDs and 7segment display

� minimum response time 80 ms

� configuration using PC or notebook with SICK Configuration & Diagnostic Software

� increased resilience to external light and dust due to highly effective dazzle and particlealgorithms

Fig. 1: Device components

Optics cover

System plug

Sensor

LEDs and 7segmentdisplay

Window for lightoutput


S200


Product description

S200 functions

Functions

Protective field range 1.5 m

Warning field width1) 8 m

Object resolution 30/40/50/70 mm

Field sets 1

Programmable monitoring cases 1

Pairs of output signal switching devices (OSSDs) 1

Source switching current of the OSSDs 250 mA

Application diagnostic output “Warning fieldinterrupted”

�

Application diagnostic output“Error/contamination”

�

Application diagnostic output “Reset required” �

External device monitoring (EDM) �

Restart interlock/delay �

Stand-by mode �

3.3 FunctionThe S200 safety laser scanner operates correctly as a protective device only if thefollowing conditions are met:

� The control of the machine, system or vehicle must be electrical.

� After integration in the control it must be possible to transfer the dangerous machine,system or vehicle state to a safe state using the OSSDs on the S200 at any time, i.e.before a person has reached the hazardous point or hazardous area.

� The S200 must be mounted and configured such that it detects objects as they enterthe hazardous area (see chapter 4 “Mounting” on page 27 and chapter 8“Commissioning” on page 50).

1) Warning field range with a reflectivity of 30�% (see Fig. 41 “Diagram of scanning ranges for variousreflectances” on page 61).

Tab. 2: Functions of theS200


S200


Product description

3.3.1 Principles of operation

The S200 is an optical sensor that scans its surroundings in two dimensions using infraredlaser beams. It is used to monitor hazardous areas on machines or vehicles.

The S200 works on the principle of time of flight measurement. It sends out very shortpulses of light (S). At the same time an “electronic stopwatch” is started. When the light isincident on an object, it is reflected and received by the safety laser scanner (E). From thetime between sending and reception (∆t) the S200 calculates the distance to the object.

In the S200 there is also a mirror rotating at constant speed that deflects the light pulsessuch that they cover an arc of 270° �. In this way an object can be detected in theprotective field within 270°. The first beam of a scan starts at −45° relative to the backof the scanner.

The S200 sends a pulse of light with an angular resolution of 0.5°. In this way resolutionsfrom 30 to 70 mm can be achieved independent of the length of the protective field �!

Fig. 2: Principle of operation,time of flight measurementby the S200

Fig. 3: Principle of operation,rotation of the S200

∆t

S

Receive pulse

Send pulse

S300

�

�

E


S200


Product description

Due to its active scanning principle, the S200 does not require receivers or reflectors. Thishas the following advantages:

� Your installation effort is lower.

� You can easily adapt the monitored area to the hazardous area on a machine.

� In comparison with contact sensors, electro-sensitive scanning is nearly wear-free.

3.3.2 Field set comprising of protective field and warning field

The S200 protects the hazardous area on a machine or a vehicle using the protectivefield �. As soon as the safety laser scanner detects an object in the protective field, itswitches the OSSDs to the OFF state and thus initiates the shutdown of the machine orstop of the vehicle.

You can define the warning field � such that the safety laser scanner detects an objectbefore the actual hazardous area and e.g. triggers a warning signal.

The maximum distance at which the safety laser scanner can detect an object is definedby the distance measuring range .

Protective field and warning field form a pair, the so-called field set.

With the aid of the CDS you can configure the field set and transfer it to the S200. If thehazardous area to be monitored changes, then you can re-configure the S200 in softwarewithout additional mounting effort.

Fig. 4: Protective field,warning field and distancemeasuring range

�

�


S200


Product description

3.4 Applications

3.4.1 Stationary applications

Hazardous area protection

On stationary machines, the S200 switches the output signal switching devices (OSSDs) tothe OFF state if the protective field is interrupted. The S200 initiates the shutdown of themachine or the shutdown of the dangerous state.

Point-of-operation guarding

The S200 safety laser scanner can be used to prevent starting or restarting as long asthere are persons in the hazardous area. The machine can only be started or restarted ifthe S200 does not detect any object in the protective field. This is particularly importantfor system interiors that can only be seen with difficulty from the outside, or cannot beseen at all.

Fig. 5: Hazardous areaprotection with onemonitored area

Fig. 6: Point-of-operationguarding

Protective field

Warning field

�

�


S200


Product description

In this application the S200 � does not have a stop function. The primary protectivefunction that stops the dangerous movement is provided in the example by a lightcurtain �, while the S200 monitors the restarting of the machine.

Hazardous point protection (vertical operation)

The S200 can used be used vertically to trigger stopping of the dangerous movement.Compared to horizontal protection, the area to be protected in front of the machine orsystem can be reduced. Hazardous point protection is necessary if the operator is near thedangerous state of the machine. Hand protection is required to protect the hazardouspoint.

Access protection (vertical operation)

You can also use the S200 vertically for access protection. Access protection can be usedwhen the access to the machine can be defined by physical means. In the case of accessprotection, the S200 detects the entry of a person, but not presence in the hazardous area(no point-of-operation protection).

Fig. 7: Hazardous pointprotection

Fig. 8: Access protection

Contouras reference

Contour of the flooras reference

Protectivefield

Protectivefield


S200


Product description

3.4.2 Mobile applications

The S200 can be used both on manually controlled vehicles, e.g. fork lift trucks, and alsoon automated guided vehicles (AGV) or trolleys.

You can use the S200 on vehicles, e.g. to protect the route of a vehicle through a factorybuilding. If there is a person or an obstacle in the hazardous area, the S200 ensures thatthe vehicle reduces the velocity and stops if necessary.

The safety level of the S200 corresponds to category 2 according to EN 954-1. It is onlyallowed to be used in corresponding applications.

3.5 Configurable functions

3.5.1 Field set

Configuration of the protective field and warning field

With the aid of the CDS you can configure the field set, which comprises a protective fieldand a warning field. During this process you configure the shape and size of the protectivefield and the warning field. You can realise any field shape required.

The area to be monitored is scanned radially by the S200. The S200 cannot see throughobjects during this process. The area behind objects that are in the area to be monitored(pillars, grilles, etc.) can thus not be monitored.

Protective field and warning field can cover up an angle of up to 270° and have differentradial scanning ranges depending on the resolution configured (see Tab. 3 on page 20).

Check the configured protective field!

Prior to commissioning the machine or vehicle, check the configuration of the protectivefield using the instructions in chapter 8 “Commissioning” on page 50 and using thechecklist on page 77.

Protective field or warning field suggested by the safety laser scanner

The CDS can suggest the protective field or warning field. The safety laser scanner scansthe visible room contour several times. From the data obtained the CDS suggests thecontour and size of the field.

In those places at which the room contour is smaller than the maximum protective fieldrange (e.g. at �), the protective field corresponds to the room contour.

Note

Note

WARNING

Fig. 9: Reading protectivefield or warning field

Protective field

�

�


S200


Product description

The measuring error tolerances for the S200 are automatically subtracted from theprotective field size. As a result the protective field is slightly smaller than the surfacecovered �.

In those places where the room contour is larger than the protective field range , theprotective field corresponds to the possible scanning range (see Tab. 3 on page 20).

Check the protective field suggested!

The protective field suggested by the CDS is not a replacement for the calculation of thesafety distance. Calculate the safety distance based on the description in chapter 4“Mounting” on page 27. Prior to commissioning the application, check the configuration ofthe protective field using the instructions in chapter 8 “Commissioning” on page 50 andusing the checklist on page 77.

In the CDS field set editor, you can also request a suggestion for the protective field.

3.5.2 Application and resolution

With the aid of the CDS you can configure the S200 for use on a stationary or mobileapplication. Also set the resolution of the S200.

The maximum protective field range depends on the resolution set. The following tableshows the related maximum protective field range at the resolutions that can be set:

Resolution Maximum protective field range

30 mm 1.25 m

40, 50, 70 mm 1.5 m

� The maximum protective field range of the S200 must be sufficient to cover thecalculated protective field size including the necessary supplements (see section 4.1.1“Protective field size” on page 28).

� The warning field can be configured to up to 8 m for all resolutions. The detectioncapability of the warning field is dependent on the remission of the objects to bedetected (see Fig. 41 “Diagram of scanning ranges for various reflectances” onpage 61).

Note

WARNING

Tab. 3: Maximum protectivefield ranges at differentresolutions

Notes


S200


Product description

3.5.3 Using the contour as a reference

In addition to the protective field, the S200 can also monitor a contour (e.g. the floor invertical applications or the walls in horizontal applications).

For contour monitoring you define a contour segment �. The contour segment comprisesa positive � and a negative tolerance band.

The OSSDs on the S200 change to the OFF state if …

� there is an object in the protective field.

� the monitored surrounding contour is no longer in the tolerance band (e.g. if a door isopened or if the position of the S200 is changed).

You can define any number of contour segments. The contour segments must not benarrower than the configured resolution. At the points where a contour has beenconfigured as a reference you cannot define a warning field.

You define the contour as a reference in the CDS field set editor.

Vertical operation

In vertical operation (for access protection and hazardous point protection) according toIEC/EN 61�4963 you must always configure the protective field with the contour asreference function.

Fig. 10: Schematic diagramof contour as reference

Note

Fig. 11: Contour as referencefor vertical operation

Contours of the machine opening

�

�

Protective field

Contour segment


S200


Product description

Use lateral, vertical boundaries of the opening (e.g. door frame) and the floor as reference.If in this case the position of the S200 is changed in one or more planes, the distance tothe reference changes and the S200 switches its OSSDs to the OFF state.

Horizontal operation

On horizontal operation, you can also use the contour as reference function, e.g. so that ifa door is opened (change to the room contour) the OSSDs on the S200 are placed in theOFF state.

3.5.4 External device monitoring (EDM)

After every interruption to the protective field and prior to restarting the machine, theexternal device monitoring monitors the switching devices operated by the OSSDs (e.g.contactors). In this way the external device monitoring detects whether, e.g. the (positivelyguided) contacts on the contactors connected are in the OFF position.

The machine is only allowed to start if both contactors were in the OFF position before,that is they were deactivated.

The table shows how the S200 reacts if the external device monitoring detects a contactormalfunction:

Without internal restartinterlock

� The system locks completely (lock-out).

� The error message appears in the 7segment display.

With restart interlock � The S200 switches its OSSDs to the OFF state.

� The LED � is illuminated.

� The error message appears in the 7segment display.

You can configure the external device monitoring in the CDS.

� You will find examples on the connection of the external device monitoring in section 6.2“Connection diagrams” on page 48.

� If you do not use the external device monitoring function, leave the inputs disconnected(see section 5.1.1 “Pin assignment on the system plug” on page 44).

Recommendation

Fig. 12: Contour as referencefor horizontal operation

Tab. 4: Behaviour of theS200 on a contactormalfunction

Notes

Door as reference


S200


Product description

3.5.5 Application diagnostic output “Error/contamination”

The S200 has a configurable application diagnostic output. The following configurationfeatures are available in the CDS:

� window for light output contaminated

� error

� window for light output contaminated or error

� inactive

3.5.6 Restart

You can configure the restart behaviour of the S200 as follows:

� without restart interlock

� with restart delay

� with restart interlock

It is imperative that you configure the S200 with restart interlock if the protective fieldcan be left to approach the hazardous point or if a person cannot be detected at everypoint in the hazard area for the S200!

During the assessment, pay attention to whether the protective field can be left in thedirection of the hazardous point, to areas that are unprotected due to the mounting andthe unprotected near range of the S200 (see section 4.5 “Methods of preventingunprotected areas” on page 36).

Configuration of the S200 without restart interlock

After the OSSDs on the S200 have been switched to the OFF state due to an object in theprotective field, the OSSDs are re-enabled again immediately when there is no longer anobject in the active protective field.

This configuration is only allowed …

� if an external restart interlock is realised on the machine controller

or

� if the protective field cannot be left in the direction of the hazardous point and if peoplecan be detected by the S200 at every point in the hazardous area!

Restart delay for mobile applications

In mobile applications you can configure a restart delay from 2 to 60 seconds on theS200. The OSSDs on the S200 change to the ON state if there is no object in theprotective field for the duration given.

This configuration is only allowed if the protective field cannot be left in the direction of thehazardous point and if a person can be detected by the S200 at every point in thehazardous area!

WARNING


S200


Product description

Configuration of the S200 with restart interlock

The OSSDs on the S200 change to the OFF state to trigger a machine � or vehicle stop assoon as there is an object in the protective field �. They do not change to the ON state ,even if there is no longer an object in the protective field. The OSSDs only change to theON state if the operator operates the control switch for restart or reset.

Place the control switch for restart or reset in a suitable place!

Place the control switch for restart or reset outside the hazardous area such that it cannotbe operated by a person in the hazardous area. Ensure that the person who operates thecontrol switch has a full view of the hazardous area.

Reset

The reset function is often also called “preparation for restart”. In these operatinginstructions the term reset is used.

If you want to activate the restart interlock on the S200 (internal) and also a restartinterlock on the machine (external), then each restart interlock has its own control switch.

After operating the control switch for the internal restart interlock (with protective fieldunoccupied) …

� the S200 switches its OSSDs to the ON state.

� the LED � on the safety laser scanner illuminates green.

The external restart interlock prevents the machine from restarting. After resetting theS200 the operator must press the control switch to restart the machine controller.

Ensure that the correct sequence is followed!

The controller must be realised such that the machine only restarts if the S200 is firstreset and then the control switch for restarting the machine controller is operated.

� You will find examples on the connection of the internal restart interlock in chapter 6.2“Connection diagrams” on page 48.

� If you do not use the internal restart interlock, leave the inputs disconnected (seesection 5.1.1 “Pin assignment on the system plug” on page 44).

You can configure the type of restart in the CDS.

Fig. 13: Schematic outline ofthe operation with restartinterlock

WARNING

Note

WARNING

Notes

� �


S200


Product description

3.5.7 Multiple sampling

If multiple sampling is set, an object must be scanned several times before the S200switches its OSSDs to the OFF state. In this way you can reduce the probability thatwelding sparks, insects or other particles, result in the shutdown of the plant.

If a multiple sampling of 3 is configured, for instance, an object must be detected threetimes in succession before the S200 switches the OSSDs to the OFF state.

The total response time is increased by the multiple sampling!

With a multiple sampling greater than 2, note that you must add a supplement to the basicresponse time (see section 11.2 “OSSD response times” on page 61)!

On the S200, a multiple sampling of 2 is the minimum setting. You can set the multiplesampling to up to 16 with the aid of the CDS.

Recommended multiple sampling Application

2 times Stationary under clean ambient conditions

2 … 4 times Mobile

4 … 8 times Stationary under dusty ambient conditions

Using multiple sampling you can increase the availability of a plant.

You can configure multiple sampling in the CDS.

3.5.8 Stand-by mode

If, in mobile applications, vehicles are not moved for a time, the OSSDs and the laser onthe S200 can be switched off. In this way the power consumption of the device is reduced.

Use this function if, e.g. you use several vehicles and do not move them for a time.

A dedicated STBY single-channel input is provided for switching to the stand-by mode (seesection 5.1.1 “Pin assignment on the system plug” on page 44).

3.5.9 Naming applications and laser scanners

A name can be assigned to the application configured and to the laser scanner(s). Thenames are saved in the devices after the configuration is transferred. The name chosenmay be, for example, the identifier for the vehicle, system or the machine.

You enter the application name and the name of the laser scanner used in the CDS.

WARNING

Tab. 5: Recommendedmultiple sampling

Recommendation

Recommendation


S200


Product description

3.6 Indicators and outputs

3.6.1 LEDs and 7segment display

The LEDs and the 7segment display indicate the operational status of the S200. They areon the front face of the safety laser scanner.

The symbols have the following meaning:

OSSDs in the OFF state (e.g. in case of object in the protective field, monitored contourchanged, reset required, lock-out)

Warning field interrupted (object in warning field)

OSSDs in the ON state (no object in protective field)

Reset required

Optics cover contaminated

3.6.2 Outputs

Using the outputs on the S200 you shutdown the dangerous state on a machine, a plant ora vehicle and evaluate the operational status of the S200. The S200 has the followingoutputs:

� OSSDs

� application diagnostic output “Warning field interrupted”

� application diagnostic output “error/contamination”

� application diagnostic output “Reset required”

The outputs are fed out at the system plug (see section 5.1 “System connection” onpage 43).

All outputs are only allowed to be used for the purpose specified. Note that the signals atthe application diagnostics outputs for “warning field”, “contamination of the opticscover/error” and “reset required” are single-channel and therefore are not allowed to beused for tasks related to safety. For this reason the warning field is not allowed to be usedfor tasks related to personnel protection.

Fig. 14: Status indicators onthe S200

�

��

Note


S200


Mounting

4 MountingThis chapter describes the preparation and completion of the mounting of the S200 safetylaser scanner. Mounting requires three steps:

� definition of the application and the necessary mounting location for the laser scanner

� calculation of the protective field size

� mounting the safety laser scanner with or without mounting kits

No protective function without sufficient safety distance!

Only if you configure the protective field such that there is an adequate safety distance tothe hazardous area, is protection by the S200 ensured.

�Mount the S200 in a dry place and protect the device from dirt and damage.

�Avoid the installation of the S200 in the vicinity of strong electric fields. These can, e.g.,be produced by welding cables, induction cables in the immediate vicinity and also bymobile telephones operated nearby.

�Ensure that there are no obstacles in the area to be monitored in the field of view of theS200 that could cause interference or shadowing. Such shadowed areas cannot bemonitored by the S200. If there are unavoidable shadowed areas, check whether thereis a risk. Take additional safety precautions as necessary.

�Keep the area to be monitored free of smoke, fog, steam or other forms of air impurities.There must not be any condensation on the light output window. Otherwise the functionof the S200 may be impaired and incorrect switching may occur.

�Avoid placing highly reflective objects in the scan plane of the S200. Examples:Retroreflectors can affect the measurement results of the S200. Strongly reflectiveobjects within the protective field can blank part of the area to be monitored in certaincircumstances.

�Mount the S200 such that it is not dazzled by incident sunlight. Do not positionstroboscopic and fluorescent lights or other strong light sources directly in the scanplane as these may affect the S200 in specific circumstances.

�Mark the protective field on the floor, if appropriate for the application (seeIEC/EN 61�4961, chapter 7).

�Add the general protective field supplement of 100 mm to each protective field sizecalculated. The maximum protective field range of the S200 must be sufficient to coverthe calculated protective field size and the necessary supplements.

The following steps are necessary after mounting and installation:

� completing the electrical connections (chapter 5 “Electrical installation”)

� configuration of the protective field (chapter7 “Configuration”)

� commissioning and checking of the installation (chapter 8 “Commissioning”)

� checking the function and safe shutdown (section 8.3 “Test notes”)

WARNING

Notes


S200


Mounting

4.1 Stationary application in horizontal operationThis type of protective device is suitable for machines and systems on which, e.g. ahazardous area is not completely enclosed by a guard.

For a horizontal stationary application determine …

� the protective field size to observe the necessary safety distance.

� the height of the scan plane.

� the restart behaviour.

� measures to protect any areas not covered by the S200.

Once you have defined the protective field size, mark the boundaries of the protective fieldon the floor. In this way you will make the protective field boundaries visible for theoperator and ease subsequent testing of the shape of the protective field.

4.1.1 Protective field size

The protective field must be so configured that a safety distance (S) to the hazardous areais maintained. This safety distance ensures that the hazardous point can only be reachedafter the dangerous state of the machine has been completely stopped.

You can operate the S200 in stationary horizontal operation with 30, 40, 50 or 70 mmresolution. The maximum protective field range for the S200 is given by the resolution.

Ensure that a human leg can be detected with 70 mm resolution!

As per EN 999, mount the scan planes for horizontal stationary applications with 70 mmresolution at least 300 mm above the floor (see “Height of the scan plane at 70 mmresolution” on page 31).

Fig. 15: Horizontal stationaryapplication

Note

WARNING

S


S200


Mounting

The safety distance S depends on:

� approach speed of the body or parts of the body

� stopping/run-down time of the machine or system(The stopping/run-down time is shown in the machine documentation or must bedetermined by taking a measurement.)

� response time of the S200

� supplements for general measurement errors and any measurement errors related toreflection

� supplement for prevention of reaching over

� height of the scan plane

How to calculate the safety distance S:

�First, calculate S using the following formula:S = (K × (TM + TS)) + ZG + ZR + C

Where …

K = Approach speed (1600 mm/s, defined in EN 999)TM = Stopping/run-down time of the machine or systemTS = Response time of the S200 and the downstream controllerZG = General safety supplement of the S200 = 100 mmZR = Supplement for measurement error related to reflectionC = Supplement for prevention of reaching over

Response time TS of the S200

The response time TS of the S200 depends on …

� the basic response time of the S200.

� the multiple sampling set.

See section 11.2 “OSSD response times” on page 61.

Supplement ZR for measurement error related to reflection

Avoid mounting retroreflectors at a distance of less than one meter from the boundaryof the protective field!

With retroreflectors positioned at a distance of less than 1 m from the boundary of theprotective field a supplement, ZR, of 200 mm must be added to the protective field.

Supplement C for protection against reaching over

With a protective field installed horizontally, there is a risk that people may reach over theprotective field and in this way reach the hazardous area before the S200 shuts down the

Fig. 16: Safety distance S

WARNING

ZG + ZR + C

S

K × (TM + TS)Dangerous state


S200


Mounting

dangerous state. For this reason the calculation of the safety distance must take intoaccount a supplement to prevent persons from finding themselves in a hazardoussituation by reaching over (see EN 294, table 1) before the S200 triggers.

The necessary supplement for the safety distance is dependent on the height of the scanplane for the protective field. At low heights � the supplement is larger than at greaterheights � and .

In summary there are three usual variations of mounting the scan plane for the S200. Theoptimal variation depends on the related application. Tab. 6 provides assistance makingthe selection.

Mounting orientation Benefit Disadvantage

Laser scanner low(HS < 300 mm)Inclination of the scanningplane low (HD ≈ HS)

Low external effects due todazzle, crawling beneathnot possible

Higher supplement C

Laser scanner high(HS > 300 mm)Inclination of the scanningplane low (HD ≈ HS)

Lower protective fieldsupplement C

Danger of crawling beneath(at the front and side)

Laser scanner low(HS < 300 mm)Inclination of the scannerplane high (HD > HS)

Lower protective fieldsupplement C

Danger of crawling beneath(at the front), external effectdue to dazzle possible

HD = Detection heightHS = Scanner mounting height

In case of scan planes at a height of more than 300 mm ensure that people cannotreach the hazardous area by crawling underneath the scan plane!

If you mount the protective device higher than 300 mm, you must prevent crawlingbeneath by means of additional measures. For applications that are accessible to thepublic, the mounting height may need to be reduced to 200 mm (on this subject see theappropriate regulations).

How to calculate the supplement C:

� If there is enough empty space in front of your machine or plant, use 1200 mm for thesupplement C.

� If the safety distance is to be kept as small as possible, calculate C using the followingformula:C = 1200 mm – (0.4 × HD)Here HD is the height at which the protective field is mounted.

The minimum supplement C to prevent reaching over is 850 mm (arm length).

Fig. 17: Mounting variationsfor the scan plane

Tab. 6: Advantages anddisadvantages of mountingvariations

WARNING

Note

C = 1200 C = 850

HD = 0

HD = 875

HS

HS HD = 875

HS

� �

C = 850


S200


Mounting

Height of the scan plane at 70 mm resolution

Due to the radial sampling of the protective field, the optical resolution will be lower thefurther away you get from the safety laser scanner.

If you choose a resolution of 70 mm in the CDS for hazardous area protection, a humanleg may, in certain circumstances, not be detected (e.g. scan to left and right of thebone �).

If you mount the S200 higher, the scan plane is at fibula height and the leg is alsodetected with an object resolution of 70 mm �.

Fig. 18: Relationship betweenresolution and protectivefield mounting height

� �


S200


Mounting

4.2 Stationary vertical operation for access protectionAccess protection can be used when the access to the machine can be defined by physicalmeans. For access protection the S200 detects the entry of an entire body.

� To ensure adequate access protection, a response time of ≤ 90 ms and a resolution of70 mm or finer are required.

� To protect the protective device against unadvertent adjustment or manipulation, youmust use the contour of the surroundings as a reference for the S200 (see section 3.5.3“Using the contour as a reference” on page 21).

4.2.1 Safety distance

For access protection, a safety distance (S) must be maintained between protective fieldand hazardous area. This safety distance ensures that the hazardous point can only bereached after the dangerous state of the machine has been completely stopped.

The safety distance S as defined in EN 999 and EN 294 depends on:

� reach or approach speed

� stopping/run-down time of the machine or system(The stopping/run-down time is shown in the machine documentation or must bedetermined by taking a measurement. On request SICK service can perform a detailedstopping/run-down measurement on your plant.)


� supplement C against reaching through

Notes


Contour of the flooras reference

S

Protectivefield


S200


Mounting


�First, calculate S using the following formula:S = (K × (TM + TS)) + C

Where …

K = Approach speed (1600 mm/s, defined in EN 999)TM = Stopping/run-down time of the machine or systemTS = Response time of the S200C = Supplement against reaching through (850 mm)


The total response time of the S200 must not be more than 80 ms for accessprotection!

If a critical response time is exceeded (for an object diameter of 70 mm and a speed of1.6 m/s that is 90 ms) a person may no longer be detected under certain circumstances.

In specific cases agreed with the responsible authorities higher response times may beallowed (for example by increasing the detection time available by positioning the scannerat an angle). In this case ensure that the areas the laser scanner cannot see are protectedby additional measures.





WARNING


S200


Mounting

4.3 Stationary vertical operation for hazardous pointprotection

Hazardous point protection is necessary if the operator must remain near the dangerousstate of the machine. Hand protection is required for hazardous point protection.

The S200 must therefore be configured with a resolution of at least 40 mm.

Never use the S200 for safety applications in which finger protection is required!

Due to the finest possible resolution of 30 mm, the S200 is not suitable for fingerprotection.

To protect the protective device against unadvertent adjustment or manipulation, youmust use the contour of the surroundings as a reference for the S200 (see section 3.5.3“Using the contour as a reference” on page 21).

4.3.1 Safety distance

For hazardous point protection, a safety distance must be observed between protectivefield and hazardous point. This safety distance ensures that the hazardous point can onlybe reached after the dangerous state of the machine has been completely stopped.

Prevent reaching around or reaching behind the protective field!

Always mount the laser scanner such that reaching around and behind is impossible.Provide suitable additional precautions as necessary.

The safety distance S as defined in EN 999 and EN 294 depends on:

� stopping/run-down time of the machine or system(The stopping/run-down time is shown in the machine documentation or must bedetermined by taking a measurement.)


� reach or approach speed

� resolution of the S200

Note

WARNING

WARNING

Fig. 20: Safety distance tothe hazardous area

Contoursas reference

S


S200


Mounting


�First, calculate S using the following formula:S = 2000 × (TM + TS) + 8 × (d – 14 mm) [mm]

Where …

S = Safety distance [mm]TM = Stopping/run-down time of the machine or systemTS = Response time of the S200d = Resolution of the S200 [mm]The reach/approach speed is already included in the formula.

� If the result S is ≤ 500 mm, then use the determined value as the safety distance.

� If the result S is > 500 mm, you may be able to reduce the safety distance using thefollowing calculation:S = 1600 × (TM + TS) + 8 × (d – 14 mm) [mm]

� If the new value S is > 500 mm, then use the newly calculated value as the minimumsafety distance.

� If the new value S is ≤ 500 mm, then use 500 mm as the minimum safety distance.






4.4 Mobile applicationsIf the dangerous state is produced by a vehicle (e.�g. AGV or fork lift), the hazardous areathat is produced by the movement of the vehicle is protected by the S200.

� The safety level of the S200 corresponds to category 2 according to EN 954-1. It is onlyallowed to be used in corresponding applications.

� The S200 may only be used to protect vehicles powered by electric motor.

� On automated guided systems the S200 is not allowed to be used to protect the maindirection of travel.

� For vehicle protection, observe DIN/EN 1525 “Safety of industrial trucks. Driverlesstrucks and their systems”.

� If the application is to protect vehicles from collisions, then you may need to usedifferent assumptions.

Note

Notes


S200


Mounting

4.5 Methods of preventing unprotected areasDuring mounting the S200, areas may be found that are not covered by the safety laserscanner (�).

Prevent or secure unprotected areas!

�Mount the S200 such that there are no unprotected areas.

�For mobile applications, if the vehicle is accelerated to a maximum velocity of 0.3 m/s inless than three seconds when in operation, you must prevent personnel from enteringthe unprotected areas by means of mechanical trim panels, switch strips or fitting theS200 in the vehicle trim panels.

Mount the S200 for example on a corner to prevent unprotected areas.

4.5.1 Near range

Make the near range impassible using a bar or a recess, or additionally protect the nearrange (5 cm wide area in front of the optics cover) using a proximity switch with 5 cmacquisition range. The vehicle may then be accelerated as required.

Fig. 21: Unprotected areas

WARNING

Fig. 22: Preventingunprotected areas

�


S200


Mounting

4.6 Mounting steps

Special features to note during mounting:

�Mount the S200 such that it is protected from moisture, dirt and damage.

�Ensure that the entire field of view of the S200 is not restricted.

�Mount the laser scanner such that the indicators are easy to see.

�Always mount the S200 so that there is still enough space for mounting and removingthe system plug.

�Avoid excessive shock and vibration loading on the safety laser scanner.

�On applications that suffer from heavy vibration, prevent the fixing screws from comingloose using screw locking devices.

�Regularly check the tightness of the fixing screws.

�Prevent personnel from being able to crawl beneath, stand behind or climb over theprotective field by means of appropriate mounting of the S200.

The origin of the scan plane is 116 mm above the bottom edge of the S200 (seesection 11.5.3 “Scan plane origin” on page 73).

There are three possible ways of fixing the S200:

� direct mounting without mounting kit

� mounting with mounting kit 1a or 1b

� mounting with mounting kit 2 (only in conjunction with mounting kit 1a or 1b)

You will find the part numbers for the mounting kits in section 12.3.1 “Mounting kits” onpage 74.

Pay attention to the maximum torque of the M5 fixing screws on the S200 of max. 5.9 Nm.

WARNING

Fig. 23: Prevent crawlingbeneath, standing behind,climbing over

Note


S200


Mounting

4.6.1 Direct mounting

The S200 has two threaded holes M5�×8 on the rear. Using them you can mount the S200directly on the intended mounting surface. To avoid a possible tendency to vibrate, ifnecessary the reference surface on the rear can be used as the third mounting point �.

During mounting, please observe the dimensional drawings in chapter “Technicalspecifications” (see section 11.5 “Dimensional drawings” on page 71).

4.6.2 Mounting with mounting kit 1a or 1b

With the aid of mounting kit 1 you can mount the S200 indirectly on the mounting surface.The mounting kit is available as mounting kit 1a without protection device for the opticscover and as mounting kit 1b with protection device for the optics cover.

Fig. 24: Direct mounting

Notes

Fig. 25: Mounting withmounting kit 1a

M5×8

Mounting kit 1a

Threaded holes M5×8

Mounting screws

Mounting screws

�


S200


Mounting

�Mount mounting kit 1a or 1b on the mounting surface.

� Then mount the S200 on the mounting kit 1a or 1b.


Fig. 26: Mounting withmounting kit 1b incl.protection for the opticscover

Note

Mounting kit 1b

Threaded holes M5×8Mounting screws

Mounting screws


S200


Mounting

4.6.3 Mounting with mounting kit 2 and 3

With the aid of mounting kits 2 and 3 (only in conjunction with mounting kit 1a or 1b) youcan align the S200 in two planes. The maximum adjustment angle is ±11° in both planes.

�Mount mounting kit 1a or 1b to the S200.

�Mount the mounting kit 3 on the mounting surface.

�Fit the centring pin (4 mm) in the central hole on mounting bracket 3.

�Fit mounting kit 2 to mounting kit 3 and mount it using two fixing screws M4�×10.

� Then mount the S200 on mounting kit 2 with the aid of the threaded holes in mountingkit 1a.

�Adjust the S200 longitudinally and transversely and then tighten the six fixing screws onthe mounting kits.


4.6.4 Information label Important information

�On completion of mounting, you must affix the self-adhesive information label Importantinformation supplied:– Use only the information label in the language which the operators of the machine can

read and understand.– Place the information label such that it is clearly visible for the operators during

operation. The information label must not be covered even after additional items havebeen mounted.

Fig. 27: Mounting withmounting kit 2

Note

Mounting kit 1a

Mounting screws

Mounting kit 2

Threaded hole M4

Mounting kit 3

Mountingscrews

Centring pin


S200


Mounting

4.6.5 Using multiple S200 safety laser scanners

The S200 is so designed that mutual interference between several laser scanners isunlikely. To completely exclude erroneous switching, you must mount the laser scannersas shown in the following examples.

In any circumstance observe EN 999 when calculating the safety distance.

Use mounting kits 1 and 2 to adjust the laser scanners to different angles (seesection 12.3.1 “Mounting kits” on page 74).

Note

Fig. 28: Opposite mounting

Fig. 29: Offset parallelmounting

Fig. 30: Mounting on a cross

Fig. 31: Reverse mounting,parallel offset

Min. 100 mm

Min. 100 mm

Min. 3 mm

Min. 3 mm


S200


Mounting

Fig. 32: Reverse mounting oftwo S200, with parallel offset

Fig. 33: Reverse mounting ofone S200, with parallel offset

Min. 100 mm

Min. 100 mm


S200


Electrical installation

5 Electrical installation

Switch the entire machine/system off line!

The machine/system could inadvertently start up while you are connecting the devices.

� To prevent an unintentional start, ensure that the entire machine/system isdisconnected during the electrical installation.

�Route all cables and connection cables such that they are protected from damage.

�Ensure that any control systems or other devices forming part of the safety installationmeet the stipulated category according to EN 9541!

� If you use screened cable, lay the screen evenly around the cable gland.

�Ensure that the S200 is adequately protected electrically. You will find the electrical datanecessary for determining the correct fuse in section 11.4 “Data sheet” on page 65.

The electrical connections for the S200 are made at the system plug. A pre-assembledconnector variant and an un-assembled connector variant are available (see page 46).

5.1 System connectionYou will find all inputs and outputs of the S200 on the 24-pin screw terminal connection +FE in the system plug.

� If the cable gland/blanking plug is missing or not tightened, or if fixing screws aremissing or not tightened on the system plug, the IP 65 enclosure rating is not met.

� All inputs and outputs on the S200 are to be used only in the context specified.

WARNING

Notes

Fig. 34: Screw terminal stripon the system plug

Notes


S200



5.1.1 Pin assignment on the system plug

Pin Signal Function

FE Functional earth

1 +24V DC Supply voltage S200

2 0V DC Supply voltage S200

3 OSSD1 Output signal switching device

4 OSSD2 Output signal switching device

5 RESET Input, reset

6 EDM Input, external device monitoring

13 ERR Application diagnostic output — error/contamination

14 WF Application diagnostic output, object in warning field

15 RES_REQ Application diagnostic output, reset required

16 STBY Control input for the activation of the stand-by mode

5.1.2 OSSDs

Only ever connect one downstream switching element to an OSSD!

Each output signal switching device (OSSD) is only allowed to be connected to oneswitching element (e.g. relay or contactor). If several switching elements are required, youmust choose a suitable form of contact duplication.

5.1.3 Functional earth

To achieve the specified EMC safety, the functional earth FE must be connected (e.g. tothe central earth star point on the vehicle or the system).

Tab. 7: Terminal assignmentat the system plug

WARNING


S200



5.2 System plug assemblyThe system plug has holes for cable glands on the underside and on the rear.

system plug SX0B-A0000G

� 1 cable gland with M16 cable gland

� 1 cable gland without M16 cable gland (blanking plug)

� 2 cable glands without M12 cable gland (blanking plugs)

You can also procure the S200 with pre-assembled system plug with varying cable lengths(see section 5.3 “Pre-assembled system plugs” on page 46 and section 12.3.2 “Systemplug” on page 74).

If you do not want to assemble the system plug yourself, you will find suitable cables in theordering information (see section 12.3.4 “Self assembly connecting cables” on page 75).

Note

Fig. 35: System plug SX0B-A0000G

Recommendation


S200



5.3 Pre-assembled system plugsTo connect the S200, the following pre-assembled system plugs are available (see alsosection 12.3.2 “System plug” on page 74):

� SX0B-B1105G

– with 11 cores, unscreened (M16 cable gland)– 5 m long� SX0B-B1110G

– with 11 cores, unscreened (M16 cable gland)– 10 m long� SX0B-B1120G

– with 11 cores, unscreened (M16 cable gland)– 20 m long

Pin Signal Wire colour SX0B

-B11

05G

SX0B

-B11

10G

SX0B

-B11

20G

FE Functional earth Green �

1 +24V DC Brown �

2 0V DC Blue �

3 OSSD1 Grey �

4 OSSD2 Pink �

5 RESET Red �

6 EDM Yellow �

13 ERR White/black �

14 WF White/brown �

15 RES_REQ Red/blue �

16 STBY White/green �

Tab. 8: Pin assignment: pre-assembled system plug


S200


Application examples andconnection diagrams

6 Application examples and connection diagramsThe examples shown are only provided as an aid for your planning. You may need toconsider additional protection measures for your application.

6.1 Stationary applications

6.1.1 Applications with one monitored area

The area is permanently monitored by the S200.

The access is monitored permanently. For safety against manipulation on the S200, e.g.the floor is used as a reference. If the alignment of the S200 changes (e.g. due to changesto the bracket), the S200 switches its OSSDs to the OFF state.

Fig. 36: Hazardous areaprotection


Protective field and warning field– horizontally mounted

Protective field – verticallymounted

Floor as reference


S200


Application examples andconnection diagrams

6.2 Connection diagrams� Only use relays/contacts with positively guided contacts. The protection elements

connected in parallel with the relays/contactors are used for arc-suppression.

� Ensure that there is adequate arc-suppression at the relays/contactors. Take intoaccount that arc-suppressors may lengthen the response time.

� The arc-supressors must be in parallel with the relays/contactors (not across thecontacts).

Sketch key

� 1) = output circuitsThese contacts are to be connected to the controller such that, with the output circuitopen, the dangerous state is disabled. Observe the maximum values for the loading ofthe outputs (see section 11.4 “Data sheet” on page 65).

� 2) = functional earth (FE)To achieve the specified EMC safety, the functional earth (FE) must be connected (e.g. tothe central earth star point on the vehicle or the system).

� H2 = sensor for error/contamination

� H3 = sensor for Reset required

� H8 = sensor for warning field interruption

6.2.1 Restart interlock and external device monitoring

S200 in conjunction with relays/contactors; operating mode: with restart interlock andexternal device monitoring.

Notes

Fig. 38: Connection diagramsfor restart interlock andexternal device monitoring

2)

S200


S200


Configuration

7 Configuration

7.1 Default delivery statusThe S200 is delivered in a non-configured default status.

� The operational status is Waiting for configuration.

� The output signal switching devices (OSSDs) are in the OFF state,the red LED illuminates: �.

� The 7segment display indicates .

7.2 Preparation of the configuration

How to prepare the configuration:

�Make sure that the safety laser scanner has been correctly mounted and that theelectrical connections are correct and in place.

�Have the necessary tools at hand.

To configure the safety laser scanner you need:

� CDS (Configuration & Diagnostic Software) on CDROM, version 3.3 or higher

� user manual for CDS on CDROM

� PC/notebook with Windows 98/NT 4/2000 Professional/ME/XP and a serial RS232interface (PC/Notebook not included)

� service cable between PC and S200 (not in the delivery)

How to configure the S200 with the aid of the CDS:

For configuration and diagnostics using the CDS, connect the PC to the configurationconnection.

Two service cables of different length are available for the connection of the PC/notebookto the S200 (see 12.3 on page 74).

� Ensure that the service cable is not laid in close proximity to high power electrical drivesor cables carrying high power. In this way you will avoid EMC effects on the service cable.

� The service cable is only allowed to be connected for configuration and diagnostics. Theservice cable must be disconnected and the protective cap fitted in operation.

To configure the device, please read the user manual for the CDS (Configuration &Diagnostic Software) and use the online help function of the programme.

Fig. 39: Configurationconnection

Notes

Configuration connection


S200


Commissioning

8 Commissioning

8.1 Initial commissioning

Commissioning requires a thorough check by qualified personnel!

Before you operate a system protected by the S200 safety laser scanner for the first time,make sure that the system is first checked and released by qualified personnel. The resultof the test must be documented. Please read the notes in chapter 2 “On safety” onpage 8.

�Prior to releasing the machine, check whether the access to the hazardous area or thehazardous point is completely monitored by the protective devices. Following approval ofthe machine also check at regular intervals (e.g. in the morning at the start of work)whether the S200 correctly switches the OSSDs to the OFF state as soon as there is anobject in the protective field. This test should be performed along all protective fieldboundaries as per the specific regulations for the application (see section 8.3 “Testnotes” on page 52).

8.1.1 Power up sequence

After power up the S200 runs through a power up cycle. During the power up cycle, the7segment display indicates the device status.

During the initial commissioning of an S200 the following indications are possible:

Step Display Meaning

1 , , , ,, , ,

Power-up cycle, testing the 7segmentdisplay. All segments are activatedsequentially.

2 Power up cycle, during initialcommissioning:device in configuration mode

Other display Safety lock activated. Malfunction inexternal conditions or in the deviceitself. See section 10.4 “Error andstatus indications on the 7segmentdisplay” on page 58.

WARNING

Tab. 9: 7segment displayduring and after the powerup sequence on initialcommissioning


S200


Commissioning


1 � � � � � Device self-test

2 � � � � � Device self-test

3 � � � � � Device status waiting for configurationor object in the protective field, OSSDsin the OFF state

Other display Safety lock activated. Malfunction (seesection 10.3 “Error and statusindications on the LEDs” on page 56)

The duration of power up depends on the volume of the configuration data and can takeup to 25 seconds.

8.2 Re-commissioning

Commissioning requires a thorough check by qualified personnel!

Before you re-commission a system protected by the S200 safety laser scanner for thefirst time, make sure that the system is first checked and released by qualified personnel.The result of the test must be documented. Please read the notes in chapter 2 “On safety”on page 8.

�Prior to releasing the machine, check whether the access to the hazardous area or thehazardous point is completely monitored by the protective devices. Following approval ofthe machine also check at regular intervals (e.�g. in the morning at the start of work)whether the S200 correctly switches the OSSDs to the OFF state as soon as there is anobject in the protective field. This test should be performed along all protective fieldboundaries as per the specific regulations for the application (see section 8.3 “Testnotes” on page 52).

8.2.1 Power up sequence

After power up the S200 runs through a power up cycle. During the power up cycle, the7segment display indicates the device status.

During the re-commissioning of an S200 the following indications are possible:


1 , , ,,, , ,

Power up cycle, testing the 7segment display. All segmentsare activated sequentially.

2 No display

or

Device ready for operation

or

Device ready for operation but object in the protective field

Other display Safety lock activated. Malfunction (see section 10.3 “Errorand status indications on the LEDs” on page 56).

Tab. 10: LED indication afterthe power up sequence

Note

Tab. 11: 7segment displayduring and after the powerup sequence on re-commissioning


S200


Commissioning

Display Meaning

� � � � � Power up cycle, step 1

� � � � � Power up cycle, step 2

� � � � �The device is operational, object in protective field andwarning field.

� � � � � Or: The device is operational, object in warning field.

� � � � �Or: The device is operational, no object in protective fieldand warning field.

� � � � �Or: The device is operational, no object in protective fieldand warning field. Reset required

Other display Safety lock activated. Malfunction (see section 10.3 “Errorand status indications on the LEDs” on page 56)

8.3 Test notes

8.3.1 Pre-commissioning tests

The purpose of the pre-commissioning tests is to confirm the safety requirementsspecified in the national/international rules and regulations (EC Conformity). This appliesparticularly to the safety requirements in the machine directive or work equipmentdirective.

Ensure that you do not place anybody at risk during initial commissioning of themachine!

Always expect that the machine, plant or the protective device does not yet behave as youhave planned.

�Ensure that there are no persons in the hazardous area during initial commissioning.

�Check the effectiveness of the protective device mounted to the machine, using allselectable operating modes as specified in the checklist in the annex (see section 13.2“Manufacturer’s checklist” on page 77).

�Make sure that the operating personnel of the machine protected by the safety laserscanner are properly instructed by specialist personnel before being allowed to operatethe machine. Instructing the operating personnel is the responsibility of the machineowner.

�Ensure that the information label Important information, which is included with thelaser scanner on delivery, is affixed to the machine in a place where it is clearly visiblefor the operators. Ensure that the operators have the possibility to perform this dailycheck correctly.

� The annex to this document includes a checklist for review by the manufacturer andOEM. Use this checklist as a reference before commissioning the system for the firsttime (see section 13.2 “Manufacturer’s checklist” on page 77).

�Document the adjustment of the scanner and the results of the testing during initialcommissioning in a traceable manner. For this purpose also print out the completeconfiguration of the scanner (including protective field shapes) and include these withthe documentation.

Your SICK subsidiary will be pleased to provide you with advice on initial commissioning.

Tab. 12: LED indication afterthe power up sequence

WARNING

Note


S200


Commissioning

8.3.2 Regular inspection of the protective device by qualified personnel

�Check the system following the inspection intervals specified in the national rules andregulations. This procedure ensures that any changes on the machine or manipulationsof the protective device after the first commissioning are detected.

� If major changes have been made to the machine or the protective device, or if thesafety laser scanner has been modified or repaired, check the plant again as per thechecklist in the annex (see section 13.2 “Manufacturer’s checklist” on page 77).

8.3.3 Daily testing of the protective device by a specialist or authorised personnel

The effectiveness of the protective device must be checked daily by a specialist or byauthorised personnel. The test must also be performed if the operating mode is changed.

No further operation if errors occur during the test!

If any one of the following points is not met, it is not permitted to continue to work on themachine or operate the vehicle. In this case the installation of the S200 must be checkedby specialised personnel (see section 8.3.2 “Regular inspection of the protective device byqualified personnel” on page 53).

�Check the mechanical installation to ensure that all mounting screws are secure andthat the is properly aligned S200.

�Check each S200 device for visible changes such as damage, manipulation etc.

�Switch on the machine/plant.

�Watch the LEDs on each S200.

� If not at least one LED of each S200 is permanently lit when the machine/plant isswitched on, it is to be assumed that there is a fault in the machine or plant. In this casethe machine must be shut down immediately and checked by a specialist.

�Deliberately obstruct the protective field without risk to any personnel while the machineis running in order to test the effectiveness of the entire system. The LEDs of the S200device must change from green to red and the dangerous movement must stopimmediately.

Repeat this test at different points in the danger area and on all S200 devices . If youdiscover any non-conformance of this function, the machine/plant must be shut downimmediately and checked by a specialist.

�For stationary applications, check that the danger area marked out on the floor matchesthe shape of the protective field stored in the S200 and that any gaps are protected byadditional safety measures. In the case of mobile applications, check that the movingvehicle actually stops in a timely manner at the protective field boundaries which are setin the S200 and listed on the information label on the vehicle or in the configurationprotocol. If you discover any non-conformance of this function, themachine/plant/vehicle must be stopped immediately and checked by a specialist.

WARNING


S200


Care and maintenance

9 Care and maintenance

Do not make any repairs to the device!

The S200 does not contain any repairable components. For this reason do not open theS200 components and only replace the parts that are described in the following chaptersas replaceable.

Switch the entire machine/system off line!

The system could inadvertently start up while you are replacing the optics cover. As amatter of principle, always isolate the machine from the power supply during all work onthe machine and safety laser scanner.

9.1 Cleaning optics coverThe S200 safety laser scanner is largely maintenance-free. The optics cover on the safetylaser scanner should however be cleaned regularly and if it is contaminated.

�Do not use aggressive detergents.

�Do not use abrasive cleaning agents.

Static charges cause dust particles to be attracted to the optics cover. You can diminishthis effect by using the anti-static plastic cleaner (SICK Part No. 5600006) and the SICKlens cloth (Part No 4003353) (see section 12.3 “Accessories/spare parts” on page 74).

How to clean the optics cover:

�Use a clean and soft brush to remove dust from the optics cover.

�Now wipe the window for light output on the optics cover with a clean and damp cloth.

9.2 Replacing optics cover

Perform an optics cover calibration with the aid of the CDS after the replacement of theoptics cover!

The level of contamination is measured continuously during the operation of the S200. Forthis purpose the optics cover calibration must first be performed; this then serves as areference for the contamination measurement (status = not contaminated).The optics cover calibration is only allowed to be performed with a new optics cover! Thenew optics cover must be free of contamination at the time of the optics cover calibration.The optics cover calibration should be performed at room temperature (1030 °C)!

If the optics cover is scratched or damaged, you must replace the optics cover. Order thereplacement optics cover from SICK (see section 12.3 “Accessories/spare parts” onpage 74).

� The optics cover on the S200 is an optical part that must not be soiled or scratched onreplacement.

� The optics cover is only allowed to be replaced by specialist personnel in a dust and dirt-free environment.

� Never replace the optics cover during ongoing operation, as internal parts may beirreparably damaged in certain circumstances and dust particles may enter the device.

� It is imperative that you avoid contamination of the inside, e.g. with fingerprints.

WARNING

Note

WARNING

Notes


S200


Care and maintenance

� Do not use any additional sealant for sealing the optics cover, e.g. silicon, as thesesubstances may affect the optics.

� Mount the optics cover as per the following instructions to ensure that the housing issealed to IP 65.

This is how you replace the optics cover:

� Only use a new optics cover (see 12.3.8 on page 75).

� When replacing the optics cover, take ESD protection measures.

� Set a torque wrench to 1.2 Nm (hand-tight) and have this at hand.

�Disconnect the system plug and remove the S200.

� Take the S200 to a clean place (office, repair shop or similar).

�First clean the outside of the S200. This prevents foreign bodies entering the devicewhen it is opened.

�Undo the fixing screws � to for the optics cover.

� Then remove the optics cover.

�Check whether the mirror on the motor is clean and remove any contamination with anoptic brush.

� Take the new optics cover out of the packaging and remove the protection for the seal.

�Remove any remnants of packaging.

�Place the optics cover on the laser scanner and fit the new fixing screws � to .

�When fitting the new cover, ensure the arrow on the top of the cover points to the frontand that the optics cover is fully in contact without a gap.

� Then tighten the front screws with the torque set.

�Make sure the optics cover is free of dirt and that it is not damaged.

Re-commissioning the S200:

�Correctly re-mount the S200 (see chapter 4 “Mounting” on page 27).

�Connect the S200 system plug.

� Then perform an optics cover calibration with the aid of the CDS.

Notes

Fig. 40: Undo the fixingscrews for the front screen

�

�


S200


Diagnostics

10 DiagnosticsThis chapter describes how to identify and remedy errors and malfunctions during theoperation of the safety laser scanner.

10.1 In the event of faults or errors

Do not operate if behaviour is unclear!

Stop the machine, the system or the vehicle if you cannot clearly identify or allocate anerror and if you cannot safely remedy the malfunction.

10.2 SICK supportIf you cannot remedy an error with the help of the information provided in this chapter,please contact your local SICK representative.

Make a note of the telephone number of your SICK subsidiary so that you or other usershave this number easily at hand. You will find the telephone number on the rear of theseoperating instructions.

Telephone number of your SICK subsidiary

10.3 Error and status indications on the LEDsThis section describes the meaning of the indications and LED error messages and howyou can respond. You will find a description of the indicators in section 3.6 “Indicators andoutputs” on page 26, the connections for the outputs in section 5.1 “System connection”on page 43.

Display Output level Possible cause

�� At the OSSDs Object in the protective field, OSSDs in the OFFstate

�� At the OSSDs Protective field unoccupied, OSSDs in ONstate

� At the warning fieldoutput

Object in warning field

WARNING

Tab. 13: Status indicatorsduring operation


S200


Diagnostics

Display Output level Possible cause Remedying the error

�� At the OSSDs

On the applicationdiagnostic output

No operating voltage,or voltage too low

�Check the voltagesupply and activate,if necessary.

� At the Res_Req output

1 Hz

Reset required �Operate the controlswitch for restartingor resetting.

� On theerror/contamination

output

No error

� On the applicationdiagnostic output

Optics covercontaminated, nooperation

�Clean the opticscover.


1 Hz

Optics covercontaminated, still inoperation

�Clean the opticscover.


4 Hz

System error �Pay attention to theerror display of the7segment display orcarry out adiagnostics with theaid of the CDS.

� If necessary, switchthe device off andback on again.

Tab. 14: LED error messages


S200


Diagnostics

10.4 Error and status indications on the 7segment display

The lock-out operational status

In case of certain faults or an erroneous configuration, the system can go into the lockoutstatus. The 7segment display on the safety laser scanner then indicates , , , , ,, , , , , , or . To place the device back in operation, proceed as follows:

�Rectify the cause of the fault as per Tab. 15.

�Switch the power supply for the S200 off and back on again.

Or

Restart the laser scanner with the aid of the CDS.

This section explains the meaning of the error displays on the 7segment display and howto respond to the messages. You will find a description of the positions and symbols on theS200 in section 3.6 “Indicators and outputs” on page 26.

Display Possible cause Remedying the error

, , ,,, , ,

Power-up cycle — allsegments areactivated sequentially.

No error

Object in protectivefield

No error

Initialising the device � The display goes out automatically when theS200 has been initialised.

If the display does not go off:

�Check the system configuration with the aidof the CDS. Transfer the correctedconfiguration to the S200 again.

Waiting forconfiguration orconfiguration notcompleted

No error

�Prepare a configuration with the aid of theCDS (Configuration & Diagnostic Software)or transfer an existing configuration to theS200.

or

EDM error �Check whether the contactors are workingcorrectly or if they are wired incorrectly andrectify any error.

� If is displayed: Switch the device off andback on again.

Error in control switchfor restarting orresetting

�Check the functionality of the control switch.The button may be defective or operated.

�Check the wiring of the control switch forshort-circuit to 24 V.

S200 faulty �Send the S200 to the manufacturer forrepair.

Overcurrent on OSSDconnection 1

�Check the switching element connected(contactor, relay). Replace, if necessary.

�Check the wiring for short-circuit to 0 V.

Short-circuit to 24 V atOSSD connection 1


Tab. 15: Error and statusindications on the 7segmentdisplay


S200


Diagnostics




Overcurrent on OSSDconnection 2

�Check the switching element connected(contactor, relay). Replace, if necessary.






Short-circuit betweenOSSD connection 1and 2

�Check the wiring and rectify the error.

General OSSD wiringerror

�Check the complete wiring of the OSSDs.

Maximum measuringrange exceeded

�For the correct function of the safety laserscanner, always ensure that measuredvalues are received within a sector of 90°.In this sector the laser scanner must detect,e.g., building walls within its maximummeasuring range of 30 m.

Device is dazzled �Check whether the S200 is being dazzled byan external light source, e.g. headlight,infrared light sources, stroboscopic light,sun etc.If necessary, re-mount the device.

Temperature error. Theoperating temperatureof the S200 hasexceeded thepermissible range.

�Check whether the S200 is operated as perthe permissible ambient conditions.

Invalid configuration ofthe EDM

�Verify that the EDM on the machinecontroller is connected.

There is a short-circuitbetween the input forthe control switch forrestarting or resettingand another input oroutput.

�Check the cabling for cross-circuits.


S200


Diagnostics


Stand-by mode,the OSSDs are in theOFF state, the laser isswitched off.

No error. If the criteria for the stand-by modeare withdrawn, readiness for operation is re-established.

If the display does not go off:

�Check the level on the STBY input.

Window for light outputon the optics covercontaminated

�Clean the window for the light output on theoptics cover.

Dazzling of thecontaminationmeasurement (theremay not be an opticscover fitted)

�Check whether the S200 is being dazzled byan external light source, e.g. headlight,infrared light source, stroboscopic light, sunetc.

or

�Fit the new optics cover (then perform opticscover calibration).

If you have problems during troubleshooting, contact SICK support. Keep a copy of theprint out of the results of the diagnostics at hand.

10.5 Extended diagnosticsThe CDS software supplied with the device (Configuration & Diagnostic Software) includesextended diagnostic options. It allows you to narrow down the problem if the error is non-specific or if you experience usage downtime problems. Detailed information to be found …

� in the online help for the CDS (Configuration & Diagnostic Software).

� in the user manual for the CDS.

Note


S200


Technical specifications

11 Technical specifications

11.1 Characteristics

11.2 OSSD response times

The total response time of your application is dependent on …



� the OSSDs used.

How to calculate the total response time TS:

TS = tB + TMFA

Where …

tB = Basic response time = 80 ms

TMFA = Supplement due to multiple sampling > 2

Fig. 41: Diagram of scanningranges for variousreflectances

Ref

lect

ivity

[%]

Scanning range [m]

Black shoe leather

0.11

2

10

0.2 0.5 1 2 5 10 20 50

5

20

50

100

200

500

Mat black paint

Greycardboard

White plasterWriting paper

Reflectors > 2000%Reflective films > 300�%

Protective fieldWarning field


S200



Multiple sampling

On the S200 at least double multiple sampling is always set. For a multiple sampling of 3or higher you must add a supplement of 80 ms to the basic response time.

Multiple sampling Supplement Basic response time + supplement

2 times (basic setting) 0 ms 80 ms

3 times 40 ms 120 ms














Tab. 16: Supplements formultiple sampling


S200



11.3 Timing behaviour of the OSSDsThe S200 tests the OSSDs immediately after switch on and then at regular intervals. Forthis purpose the S200 briefly switches off both OSSDs (for 300 µs) and checks whetherthe OSSDs switch to the OFF state during this time.

Ensure that the safety inputs on the controller used do not respond to these test pulsesand as a result cause the machine or system to unintentionally shutdown!

Approx. 35 ms after the switch on of the OSSDs, the S200 performs the first voltage test �and then after a half basic response time (40 ms) performs a second voltage test �.

After a further half basic response time of the S200 there is a shut-down test �, 120 mslater a further voltage test . Then the S200 performs a shut-down test and a voltage testalternately at an interval of 120 ms. Fig. 43, Fig. 44 and Fig. 45 show the pulse durationsfor the individual tests.

Note

Fig. 42: Diagram of the testpulses at the OSSDs

40 ms

120 ms 120 ms 120 ms

Approx.35 ms

� � � �

OSSD1

OSSD2

t

t


S200



Fig. 43: Voltage test afterswitching on the OSSDs

Fig. 44: Shut-down test

Fig. 45: Voltage test

600 µs

300 µs300 µsOSSD1

OSSD2

600 µs

300 µs

300 µsOSSD1

OSSD2

300 µsOSSD1

OSSD2


S200



11.4 Data sheet

Minimum Typical Maximum

General data

Laser protection class Laser class 1 (IEC 60�8251:2001.Complies with 21 CFR 1040.10 and1040.11)

Enclosure rating IP 65 (EN 60�529)

Protection class according to DIN VDE 0106,DIN EN 50�178

II

Type according to IEC 61�4961 2

Functional safety of electrical, electronic andprogrammable electronic safety-relatedsystems (IEC/EN 61�508)

SIL1

Operating temperature range –10 °C +50 °C

Storage temperature range –25 °C +70 °Cmax. 24 h

Humidity (taking into account the operatingtemperature range)

IEC/EN 61�4961, section 5.1.2 and5.4.2, as well asIEC 61�4963, section 5.4.2

Vibration IEC/EN 61�4961, section 5.1.2 and5.4.4.1, as well as IEC 61�4963,section 5.4.4.1

Frequency range 10 Hz 150 Hz

Amplitude 0.35 mm or 5 g

Shock resistance According to IEC/EN 61�4961,section 5.1 and 5.4.4.2, as well asIEC 61�4963, section 5.4.4.2

Single shock 15 g, 11 ms

Continuous shock 10 g, 16 ms

Sender Pulsed laser diode

Wavelength 895 nm 905 nm 915 nm

Divergence of the collimated beam (solidangle)

14 mrad

Pulse duration 4.5 ns

Average output power 1.5 µW

Light spot size at optics cover 8 mm

Size of light spot at 1.5 m scanning range 28 mm

Tab. 17: Data sheet S200


S200




Housing

Material Aluminium die-cast

Colour RAL 1021 (rape yellow)

Optics cover

Material Polycarbonate

Surface finish Outside with scratch-resistant coating

System plug ESD protected

Material Aluminium die-cast

Colour RAL 9005 (black)

Dimensions S2002)

Height 152 mm

Width 102 mm

Depth 105 mm

Total weight (without connecting cables) 1.2 kg

Functional data

Resolution 30, 40, 50, 70 mm

Protective field of the S200

At 30 mm resolution 1.25 m

At 40, 50, 70 mm resolution 1.50 m

Scan angle 270°

Reflectivity 1.8�% Several1000�%(reflec-tors3))

Angular resolution 0.5°

Protective field supplement generallynecessary

100 mm

Supplement for retroreflectors in scan planeat a distance of less than 1 m to the protectivefield boundary

200 mm

Evenness of the scan field at 1.5 m ±50 mm

Distance from mirror axis of rotation (zeropoint on the X and Y axis) to the rear of thedevice

55 mm

Distance between centre of the scan planeand the bottom edge of the housing

116 mm

Warning field4) 8 m

Distance measuring range 30 m

2) Without fixing screws and projection of cable glands with system plug mounted.3) Complies with Diamond Grade 3000X™ (approx. 1250 cd/lx × m²).4) The detection capability of the warning field is dependent on the remission of the objects to be detected (see

section 11.1 on page 61).


S200




Number of multiple samplings(configurable via CDS)

2 16

Power-up delay

Of a configured device 15 s 25 s

Restart after (configurable) 2 s 60 s

Electrical data

Supply voltage (SELV)5) 16.8 V 24 V 30 V

Permissible residual ripple6) ±5%

Switch on current7) 2 A

Operating current at 24 V without output load 0.25 A 0.33 A

Operating current with max. output load 1.65 A

Power consumption without output load 6 W 8 W

Power consumption with maximum outputload

40 W

Electrical connection System plug with screw terminalconnections

Technical specifications, screw typeterminal FE

Cross-section of rigid cores 0.3 mm² 1.6 mm²

Cross-section of flexible cores8) 0.3 mm² 1.6 mm²

American Wire Gauge (AWG) 22 14

Insulation stripping length for the cores 5 mm

Screw tightening torque 0.5 Nm

Technical specifications, screw terminals

Cross-section of rigid cores 0.14 mm² 1.5 mm²

Cross-section of flexible cores9) 0.14 mm² 1.0 mm²

American Wire Gauge (AWG) 26 16

Insulation stripping length for the cores 5 mm

Screw tightening torque 0.22 Nm 0.3 Nm

Cable length for power supply tolerance ±10�%

For wire cross-section 1 mm² 50 m

For wire cross-section 0.5 mm² 25 m


5) The voltage supply must be capable of buffering brief mains voltage failures of 20 ms as specified inEN 60�204. Suitable power supplies are available as accessories from SICK (Siemens series 6 EP 1 — as perDIN 40�8391, test pulse 5 (Load Dump) limited to 58 V, tested!)

6) The absolute voltage level must not drop below the specified minimum voltage.7) The load currents for the input capacitors are not taken into account.8) Core terminating sleeves are not required.9) Core terminating sleeves are not required.


S200












Input for control switch for restarting orresetting

Input resistance when HIGH 2 k�

Voltage for HIGH 11 V 24 V 30 V

Voltage for LOW –3 V 0 V 5 V

Input capacitance 15 nF

Static input current 6 mA 15 mA

Input EDM






Stand-by mode input







S200




OSSDs

Output signal switching device pair 2 PNP semiconductors, short-circuitprotected10), cross-circuit monitored

HIGH switching voltage at 250 mA UV – 2.7 V UV

Switching voltage LOW 0 V 0 V 3.5 V

Source switching current11) 6 mA 0.25 A

Leakage current12) 250 µA

Load inductance 2.2 H

Load capacity 2.2 µF at50 �

Switching sequence (without switching) 5 1/s

Permissible cable resistance13) 2.5 �

Test pulse width14) 230 µs 300 µs

Test frequency 120 ms

Switching time of the OSSDs from red togreen

120 ms

Time offset on switching the OSSDs betweenOSSD2 and OSSD1

2 ms

Application diagnostics outputs warning field,contamination of the optics cover/error, resetrequired

HIGH switching voltage at 200 mA UV – 3.3 V UV

Source switching current 100 mA 200 mA

Current limiting (after 5 ms at 25° C) 600 mA 920 mA

Power up delay 1.4 ms 2 ms

Switch off delay 0.7 ms 2 ms

10) Applies to the voltage range between Vs and 0 V.11) Switching currents up to 500 mA are allowed briefly (≤100 ms).12) In the case of a fault (0-V cable open circuit) maximally the leakage current flows in the OSSD cable. The

downstream controller must detect this status as LOW. A FPLC (fail-safe programmable logic controller) mustbe able to identify this status.

13) Make sure to limit the individual line core resistance to the downstream controller to this value to ensure thata cross-circuit between the outputs is safely detected. (Also note EN 60�2041.)

14) When active, the outputs are tested cyclically (brief LOW). When selecting the downstream controllers, makesure that the test pulses do not result in deactivation.


S200




Configuration and diagnostics interface

Communication protocol RS232 (proprietary)

Transmission speed 38�400 Baud

Cable length at 38�400 Baud and 0.25-mm²cables

15 m

Galvanic de-coupling No

Output TxD HIGH 5 V 15 V

Output TxD LOW –15 V –5 V

Voltage range RxD –15 V 15 V

Switching threshold RxD LOW –15 V 0.4 V

Switching threshold RxD HIGH 2.4 V 15 V

Short-circuit current at TxD –60 mA 60 mA

Max. voltage level at RxD –15 V 15 V

Max. voltage level at TxD –11 V 11 V


S200



11.5 Dimensional drawings

11.5.1 S200

11.5.2 Mounting kits

Fig. 46: S200 dimensionaldrawing (mm)

Fig. 47: Dimensional drawing,mounting kit 1a

DIN74F5

16

21.9

15.9

110.2

74.7

4915.7

4

73

24

79.3 25

M5 × 7.5

10.5

54.5

106

5

∅94

102

36.5

73

79.3

116

152

M5

×7.

549 ±0

.2


S200



Fig. 48: Dimensional drawing,mounting kit 1b

Fig. 49: Dimensional drawing,mounting kit 2

110.2

∅ 100

DIN74F5

15.749

74.7

15.9

109.64

48

73

19.7

78.240.7

37.7

33.4 18

18

19.7

139.4

130

118.54


S200



11.5.3 Scan plane origin

Fig. 50: Dimensional drawing,mounting kit 3

Fig. 51: Dimensional drawingof the scan plane withmounting kit 1a (mm)

41

5

20.5

158.8

150

130

146

11623.8

36.4

130

73

74.7

69.7

59.7

126

10654

.5

Min. 15Min. 15Max

.200

270°


S200


Ordering information

12 Ordering information

12.1 Delivery S200� safety laser scanner

� operating instructions and CDS (Configuration & Diagnostic Software) on CD-ROM

� information label Important information

System plugs not included.

System plugs without cable and pre-assembled system plugs are available from SICK AG(see section 12.3.2 “System plug” on page 74). For further information see section 5.2“System plug assembly” on page 45 and section 5.3 “Pre-assembled system plugs” onpage 46.

12.2 Available systemsDevice type Part Part number

S20B-1011BA S200 1026823

12.3 Accessories/spare parts

12.3.1 Mounting kits

Mounting kit Description Part number

1a Mounting bracket for direct mounting at the rearon wall or machine.

2034324

1b Mounting bracket for direct mounting at the rearon wall or machine, with protection for the opticscover.

2034325

2 Mounting bracket only in conjunction withmounting bracket 1a or 1b. Cross-wiseadjustment possible.

2039302

3 Mounting plate only in conjunction with mountingbracket 2. Length-wise adjustment possible

2039303

12.3.2 System plug S200

System plug Features Description Part number

SX0B-A0000G Without cable 2032807

SX0B-B1105G Pre-assembled, 5 m longcable, 11 cores

2032859

SX0B-B1110G Pre-assembled, 10 m longcable, 11 cores

2032860

SX0B-B1120G

One M16 cable gland andone M12 blanking plug,on the rear

Pre-assembled, 20 m longcable, 11 cores

2032861

Note

Tab. 18: Part number of thesystem

Tab. 19: Part numbersmounting kit

Tab. 20: Part numberssystem plugs S200


S200


Ordering information

12.3.3 Service cable

Part Description Part number

Service cable 2 m For connecting the configuration connection tothe serial interface on the PCM8, 4 pin/DSub 9 pin (DIN 41�642) approx. 2 m

6021195

Service cable 8 m For connecting the configuration connection tothe serial interface on the PC�M8, 4 pin/DSub 9 pin (DIN 41�642) approx. 8 m

2027649

12.3.4 Self assembly connecting cables

Part Part number

15-core, cross-section 0.56 mm² ( AWG 20) in 100-m reel 6030795

12.3.5 On the documentation

Part Part number

CDS (Configuration & Diagnostic Software) for S200 on CD-ROMincluding online documentation and operating instructions in allavailable languages

2032314

12.3.6 Safety relays


UE103OS2 Safety relay UE103OS with two screw typeterminals

6024917

UE103OS3 Safety relay UE103OS with three plug-interminals

6024918

12.3.7 Safety controllers


UE440-A0410 Safety controller for multifunctional applications 1023859

UE470-A0410 Safety controller for press applications 1023862

12.3.8 Miscellaneous


Optics cover Spare parts set for optics cover with replacementseal and screws

2039248

Plastic cleaner Plastic cleaner and care product, anti-static,1 litre

5600006

Lens cloth Cloth for cleaning the optics cover 4003353

Power supply, 2.5 A Power supply, 24 V DC, 2.5 A 6010361

Power supply, 4 A Power supply, 24 V DC, 4 A 6010362

Tab. 21: Part numbersservice cables

Tab. 22: Part numbersconnecting cables

Tab. 23: Part numbersdocumentation

Tab. 24: Part numbers safetyrelays

Tab. 25: Part numbers safetycontrollers

Tab. 26: Part numbersmiscellaneous


S200


Annex

13 Annex

13.1 Declaration of conformity

You can obtain the complete EC declaration of conformity via the SICK homepage on theInternet at: www.sick.com

Note

http://www.sick.com/


S200


Annex

13.2 Manufacturer’s checklist

�Checklist for the manufacturer/installer for the installation of electro-sensitive protective equipment (ESPE)

Details about the points listed below must be present at least during initial commissioning — they are, however,dependent on the respective application, the specifications of which are to be controlled by the manufacturer/installer.

This checklist should be retained and kept with the machine documentation to serve as reference during recurringtests.

1. Have the safety rules and regulations been observed in compliance with the directives/standardsapplicable to the machine?

Yes � No �

2. Are the applied directives and standards listed in the declaration of conformity? Yes � No �

3. Does the protective device comply with the required control category? Yes � No �

4. Is the access to the hazardous area/hazardous point only possible through the protective field ofthe ESPE?

Yes � No �

5. Have measures been taken to prevent and monitor unauthorised presence in the hazardous areawhen hazardous area/hazardous point protection (mechanical point-of-operation guarding), andhave these been secured against removal?

Yes � No �

6. Are additional mechanical protective measures fitted and secured against manipulation whichprevent reaching under, over or around the ESPE?

Yes � No �

7. Has the maximum stopping and/or stopping/run-down time of the machine been measured,specified and documented (at the machine and/or in the machine documentation)?

Yes � No �

8. Has the ESPE been mounted such that the required safety distance from the nearest hazardouspoint has been achieved?

Yes � No �

9. Are the ESPE devices correctly mounted and secured against manipulation after adjustment? Yes � No �

10. Are the required protective measures against electric shock in effect (protection class)? Yes � No �

11. Is the control switch for resetting the protective device (ESPE) or restarting the machine presentand correctly installed?

Yes � No �

12. Are the outputs of the ESPE (OSSDs) integrated in compliance with the required control categoryand does the integration comply with the circuit diagrams?

Yes � No �

13. Has the protective function been checked in compliance with the test notes of thisdocumentation?

Yes � No �

14. Are the given protective functions effective at every setting of the operating mode selector switch? Yes � No �

15. Are the switching elements activated by the ESPE, e.g. contactors, valves, monitored? Yes � No �

16. Is the ESPE effective over the entire period of the dangerous state? Yes � No �

17. Once initiated, will a dangerous state be stopped when switching the ESPE on or off and whenchanging the operating mode, or when switching to another protective device?

Yes � No �

18. Has the information label “Important Information” for the daily check been attached so that it iseasily visible for the operator?

Yes � No �

This checklist does not replace the initial commissioning, nor the regular inspection by specialist personnel.


S200


Annex

13.3 GlossaryActive opto-electronic protective device responsive to diffuse reflection = active opto-electronic protective device responsive to diffuse reflection (e.g. S200, see alsoIEC 61�4963)

(External device monitoring) A device that electronically monitors the relay or contactoroperated by the protective device prior to each new start.

Protective field and warning field form a pair, the so-called field set.

Plastic part with window for light output. The optics cover is available as a spare part.

(Output signal switching device) The OSSD output is the switching output on the S200.This is a semiconductor output and is periodically tested for correct function. The S200has two OSSD outputs that operate in parallel; for safety reasons these must be evaluatedusing two channels.

The protective field secures the hazardous area on a machine or vehicle. As soon as thesafety laser scanner detects an object in the protective field, it switches the OSSDs to theOFF state and thus initiates the shutdown of the machine or stop of the vehicle.

Reflection of luminance. A measure of the reflectivity is the reflectance defined as the ratioof the luminance reflected from a surface in the measuring direction and the luminance ofa completely matt white surface (white standard).

The minimum size of an object that is acquired by the protective device and is guaranteedby the manufacturer.

The restart interlock is a protective device. In certain situations it prevents the machinefrom automatically restarting. This applies, e.g., after the scanner function has triggeredduring a dangerous machine state, after a change to the operating mode or the method ofactivation of the machine, or after the change to the start control device on the machine.

The warning field is a field with a radius of up to 8 m (see section 11.1 “Characteristics” onpage 61). Using this field larger areas can be controlled and simple switching functions(e.g. warning functions) triggered. The warning field is not allowed to be used for tasksrelated to personnel protection.

AOPDDR

External devicemonitoring (EDM)

Field set

Optics cover

OSSD

Protective field

Reflectivity

Resolution/object resolution

Restart interlock

Warning field


S200


Annex

13.4 List of tablesTab. 1: Overview on disposal by components ....................................................................11

Tab. 2: Functions of the S200.............................................................................................14

Tab. 3: Maximum protective field ranges at different resolutions ....................................20

Tab. 4: Behaviour of the S200 on a contactor malfunction ..............................................22

Tab. 5: Recommended multiple sampling..........................................................................25

Tab. 6: Advantages and disadvantages of mounting variations .......................................30

Tab. 7: Terminal assignment at the system plug ...............................................................44

Tab. 8: Pin assignment: pre-assembled system plug ........................................................46

Tab. 9: 7segment display during and after the power up sequence on initialcommissioning.........................................................................................................50

Tab. 10: LED indication after the power up sequence.........................................................51

Tab. 11: 7segment display during and after the power up sequence on re-commissioning.........................................................................................................51

Tab. 12: LED indication after the power up sequence.........................................................52

Tab. 13: Status indicators during operation .........................................................................56

Tab. 14: LED error messages ................................................................................................57

Tab. 15: Error and status indications on the 7segment display.........................................58

Tab. 16: Supplements for multiple sampling .......................................................................62

Tab. 17: Data sheet S200 .....................................................................................................65

Tab. 18: Part number of the system......................................................................................74

Tab. 19: Part numbers mounting kit .....................................................................................74

Tab. 20: Part numbers system plugs S200 ..........................................................................74

Tab. 21: Part numbers service cables ..................................................................................75

Tab. 22: Part numbers connecting cables............................................................................75

Tab. 23: Part numbers documentation.................................................................................75

Tab. 24: Part numbers safety relays .....................................................................................75

Tab. 25: Part numbers safety controllers .............................................................................75

Tab. 26: Part numbers miscellaneous ..................................................................................75


S200


Annex

13.5 List of illustrationsFig. 1: Device components ................................................................................................13

Fig. 2: Principle of operation, time of flight measurement by the S200.........................15

Fig. 3: Principle of operation, rotation of the S200..........................................................15

Fig. 4: Protective field, warning field and distance measuring range .............................16

Fig. 5: Hazardous area protection with one monitored area ...........................................17

Fig. 6: Point-of-operation guarding ....................................................................................17

Fig. 7: Hazardous point protection ....................................................................................18

Fig. 8: Access protection....................................................................................................18

Fig. 9: Reading protective field or warning field ...............................................................19

Fig. 10: Schematic diagram of contour as reference .........................................................21

Fig. 11: Contour as reference for vertical operation...........................................................21

Fig. 12: Contour as reference for horizontal operation ......................................................22

Fig. 13: Schematic outline of the operation with restart interlock ....................................24

Fig. 14: Status indicators on the S200 ...............................................................................26

Fig. 15: Horizontal stationary application ...........................................................................28

Fig. 16: Safety distance S ....................................................................................................29

Fig. 17: Mounting variations for the scan plane .................................................................30

Fig. 18: Relationship between resolution and protective field mounting height ..............31


Fig. 20: Safety distance to the hazardous area..................................................................34

Fig. 21: Unprotected areas ..................................................................................................36

Fig. 22: Preventing unprotected areas................................................................................36

Fig. 23: Prevent crawling beneath, standing behind, climbing over..................................37

Fig. 24: Direct mounting.......................................................................................................38

Fig. 25: Mounting with mounting kit 1a ..............................................................................38

Fig. 26: Mounting with mounting kit 1b incl. protection for the optics cover....................39

Fig. 27: Mounting with mounting kit 2 ................................................................................40

Fig. 28: Opposite mounting..................................................................................................41

Fig. 29: Offset parallel mounting .........................................................................................41

Fig. 30: Mounting on a cross ...............................................................................................41

Fig. 31: Reverse mounting, parallel offset ..........................................................................41

Fig. 32: Reverse mounting of two S200, with parallel offset.............................................42

Fig. 33: Reverse mounting of one S200, with parallel offset ............................................42

Fig. 34: Screw terminal strip on the system plug ...............................................................43

Fig. 35: System plug SX0B-A0000G....................................................................................45

Fig. 36: Hazardous area protection .....................................................................................47


Fig. 38: Connection diagrams for restart interlock and external device monitoring ........48

Fig. 39: Configuration connection........................................................................................49

Fig. 40: Undo the fixing screws for the front screen...........................................................55

Fig. 41: Diagram of scanning ranges for various reflectances ..........................................61

Fig. 42: Diagram of the test pulses at the OSSDs ..............................................................63


S200


Annex

Fig. 43: Voltage test after switching on the OSSDs.............................................................64

Fig. 44: Shut-down test.........................................................................................................64

Fig. 45: Voltage test ..............................................................................................................64

Fig. 46: S200 dimensional drawing (mm) ...........................................................................71

Fig. 47: Dimensional drawing, mounting kit 1a ..................................................................71

Fig. 48: Dimensional drawing, mounting kit 1b ..................................................................72

Fig. 49: Dimensional drawing, mounting kit 2.....................................................................72

Fig. 50: Dimensional drawing, mounting kit 3.....................................................................73

Fig. 51: Dimensional drawing of the scan plane with mounting kit 1a (mm)....................73


S200


Annex

SICK AG | Waldkirch | Germany | www.sick.com

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More representatives and agencies in all major industrial nations at www.sick.com

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