Siemens | SIMATIC FS600 | Instruction manual | Siemens SIMATIC FS600 Instruction manual

SIMATIC FS600 Laser Scanner
3RG7834 / 3SF7834
Laser Scanner for Personnel Protection and Measurement Tasks
Instruction Manual
Version 8.2
607164
Warning
The SIMATIC FS600 Laser Scanners are designed to protect operators
working at or in the vicinity of dangerous machinery. They can only fulfill their
protective requirements if they are installed to a suitable machine. It is
therefore vital that you fully understand the information provided in this
instruction manual and in all documents mentioned herein before any installation attempt. For any question please refer to your local SIEMENS dealer.
Important
This instruction manual must accompany the product throughout its working
life. Those persons responsible for the product must ensure that all persons
involved in the installation, commissioning, operation, maintenance and servicing on the product have access to all the information supplied by the
manufacturers of the machine and its safety system.
3
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal
safety, as well as to prevent damage to property. The notices referring to your personal
safety are highlighted in the manual by a safety alert symbol, notices referring only to
property damage have no safety alert symbol. These notices shown below are graded
according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not
taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not
taken.
CAUTION
with a safety alert symbol, indicates that minor personal injury can result if proper
precautions are not taken.
CAUTION
without a safety alert symbol, indicates that property damage can result if proper
precautions are not taken.
NOTICE
indicates that an unintended result or situation can occur if the corresponding
information is not taken into account.
If more than one degree of danger is present, the warning notice representing the
highest degree of danger will be used. A notice warning of injury to persons with a
safety alert symbol may also include a warning relating to property damage.
4
Qualified Personnel
The device/system may only be set up and used in conjunction with this
documentation. Commissioning and operation of a device/system may only be
performed by qualified personnel. Within the context of the safety notes in this
documentation qualified persons are defined as persons who are authorized to
commission, ground and label devices, systems and circuits in accordance with
established safety practices and standards.
Prescribed Usage
Note the following:
WARNING
This device may only be used for the applications described in the catalog or the technical description and only in connection with devices or components from other manufacturers which have been approved or recommended by Siemens. Correct, reliable
operation of the product requires proper transport, storage, positioning and assembly
as well as careful operation and maintenance.
Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining
trademarks in this publication may be trademarks whose use by third parties for their
own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the
hardware and software described. Since variance cannot be precluded entirely, we
cannot guarantee full consistency. However, the information in this publication is
reviewed regularly and any necessary corrections are included in subsequent editions.
5
About this Instruction Manual
This instruction manual contains information on the proper use and effective application of the SIMATIC FS600 Laser Scanner.
WARNING
All the information contained herein, in particular the safety notes, need to be carefully
observed.
Notes regarding safety and warnings are marked by this symbol
.
Notes regarding important pieces of information are marked by the symbol
References to the safety of laser devices are identified with the symbol
.
.
This instruction manual must be stored carefully. It must be available for the entire
operating time.
SIEMENS AG is not liable for damages caused by improper use. Knowledge of
this instruction manual is an element of proper use.
Warning
Dangerous electric voltage! Electric voltage can cause electric shock and burns. Before commencement of work you
therefore need to turn the system/device power off.
Important note
Safe device operation can only be guaranteed when certified components are used!
The products described herein were developed to take over safety-related functions as
part of a turn key system or machine. A complete safety-related system is usually
equipped with sensors, evaluation units, status controls and incorporates concepts for
safe switch-off procedures. It is the responsibility of the manufacturer of a system or a
machine to ensure its correct overall operation. SIEMENS AG, its local offices and
associated companies (hereafter referred to as “SIEMENS”) cannot guarantee for all
features of a turn key system or a machine that was not designed by SIEMENS.
Neither does SIEMENS assume liability for recommendations given in or implied in the
following instruction manual. The following instruction manual shall not be construed as
a new guarantee, warranty or liability claim beyond the general terms and conditions of
SIEMENS.
Copyright © SIEMENS AG 2009 All rights reserved
Reprints and reproduction of this instruction manual as well as communication and
utilization of its content is not permitted without express permission. Noncompliance
will entail compensation for damages. All rights reserved, in particular for the grant of
patents or design registrations.
Technical Support:
Telephone:+49 (0) 180 50 50 222
Internet:www.siemens.com/automation/service&support
Subject to change without prior notice.
6
1
About this document .......................................................................................... 11
1.1
Other applicable documents .............................................................................................. 11
1.2
Means of illustration used .................................................................................................. 12
2
Safety................................................................................................................. 13
2.1
Proper use according to intended purpose ........................................................................ 13
2.2
Appropriately qualified person ........................................................................................... 14
2.3
Responsibility for safety ..................................................................................................... 14
2.4
Laser .................................................................................................................................. 15
2.5
Handling the Safety Sensor ............................................................................................... 15
2.6
Usage limits ....................................................................................................................... 15
2.7
Guarantee the availability of the Safety Sensor ................................................................. 17
2.8
Providing the company operating the machine with information........................................ 17
3
Device description ............................................................................................. 18
3.1
Device overview ................................................................................................................. 20
3.2
Display elements................................................................................................................ 21
3.3
Mounting system (option)................................................................................................... 22
3.4
ConfigPlug (option) ............................................................................................................ 22
4
Functions ........................................................................................................... 23
4.1
Start/restart interlock .......................................................................................................... 23
4.1.1
4.1.2
Start interlock............................................................................................................................... 23
Restart interlock........................................................................................................................... 23
4.2
Start test............................................................................................................................. 24
4.3
Automatic start/restart ........................................................................................................ 24
4.3.1
4.3.2
Automatic start............................................................................................................................. 24
Automatic restart.......................................................................................................................... 24
4.4
Dust suppression ............................................................................................................... 24
4.5
Field pair switchover .......................................................................................................... 25
4.6
Reference contour monitoring............................................................................................ 27
4.7
MotionMonitoring ............................................................................................................... 28
5
Applications ....................................................................................................... 30
5.1
Stationary danger zone guarding ....................................................................................... 30
5.2
Stationary point of operation guarding ............................................................................... 31
5.3
Stationary access guarding................................................................................................ 32
5.4
Mobile danger zone guarding ............................................................................................ 33
5.5
Mobile side guarding .......................................................................................................... 34
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Contents
Contents
6
Installation.......................................................................................................... 35
6.1
Basic infos.......................................................................................................................... 35
6.2
Basic infos on the protective field dimensioning ................................................................ 36
6.2.1
6.2.2
Handling unmonitored areas ........................................................................................................37
Protective field setup with adjacent Safety Sensors.....................................................................38
6.3
Stationary danger zone guarding....................................................................................... 41
6.3.1
6.3.2
6.3.3
6.3.4
6.3.5
6.3.6
Beam level height.........................................................................................................................42
Safety distance "S".......................................................................................................................43
Additional distance "C" because of the possibility of reaching over .............................................43
Machine response times, stopping time .......................................................................................44
Application-conditional additional distances for safety distance "S".............................................45
Minimum distance "D" to the protective field contour ...................................................................46
6.4
Stationary point of operation guarding ............................................................................... 47
6.4.1
6.4.2
6.4.3
6.4.4
Safety distance "S".......................................................................................................................48
Additional distance C ...................................................................................................................48
Machine response times, stopping time .......................................................................................49
Protective field and reference contour .........................................................................................50
6.5
Stationary access guarding................................................................................................ 51
6.5.1
6.5.2
6.5.3
Safety distance "S" ......................................................................................................................52
Machine response times, stopping time .......................................................................................53
Protective field and reference contour .........................................................................................54
6.6
Mobile danger zone guarding on AGVs ............................................................................. 55
6.6.1
6.6.2
6.6.3
6.6.4
Basic requirements ......................................................................................................................55
Minimum distance D.....................................................................................................................55
Protective field dimensions .........................................................................................................58
Test mode for MotionMonitoring...................................................................................................59
6.7
Mobile side guarding on AGVs .......................................................................................... 59
7
Technical data ................................................................................................... 60
7.1
Safety................................................................................................................................. 60
7.2
Optics................................................................................................................................. 60
7.3
Protective field ................................................................................................................... 61
7.4
Warning field ...................................................................................................................... 61
7.5
Measured data ................................................................................................................... 62
7.6
Electrical power supply ..................................................................................................... 62
7.7
Software............................................................................................................................. 64
7.8
Ambient conditions............................................................................................................. 64
7.9
Dimensions, weight ............................................................................................................ 64
8
Electrical connection.......................................................................................... 67
8.1
Electrical power supply ...................................................................................................... 67
8.2
Interfaces ........................................................................................................................... 67
8.2.1
8.2.2
X1 plug interface assignment .......................................................................................................69
Interface assignment, plug X2......................................................................................................70
8
Contents
Assemble cables ................................................................................................................ 71
8.4
Integrating the Safety Sensor into machine control system ............................................... 73
8.4.1
Downstream safety circuit with start/restart interlock, contactor monitoring,
without field pair switchover ............................................................................................................
and field pair switchover .............................................................................................................. 74
9
Parameters ........................................................................................................ 75
9.1
Administrative parameters ................................................................................................. 75
9.1.1
9.1.2
9.1.3
9.1.4
9.1.5
9.1.6
9.1.7
9.1.8
9.1.9
9.1.10
Safety Laser Scanner name ........................................................................................................ 75
Description................................................................................................................................... 75
Start segment output ................................................................................................................... 75
Stop segment output.................................................................................................................... 76
Output resolution ......................................................................................................................... 76
Serial interface baud rate............................................................................................................. 76
Alarm incident .............................................................................................................................. 77
Precalculated measured values output........................................................................................ 77
2nd measured value calculation segment ................................................................................... 77
3rd measured value calculation segment .................................................................................... 77
9.2
Safety-relevant parameters................................................................................................ 78
9.2.1
9.2.2
9.2.3
9.2.4
9.2.5
9.2.6
Application ................................................................................................................................... 78
Response times ........................................................................................................................... 79
Dust suppression ......................................................................................................................... 79
Vehicle speed .............................................................................................................................. 79
Applicable field pair selection with scanner start ......................................................................... 79
Permitted field pair switchovers ................................................................................................... 80
9.3
Field pair ............................................................................................................................ 80
9.3.1
9.3.2
Protective field/description........................................................................................................... 80
Warning field/description ............................................................................................................. 80
9.4
MotionMonitoring ............................................................................................................... 81
9.4.1
9.4.2
9.4.3
9.4.4
9.4.5
9.4.6
9.4.7
9.4.8
9.4.9
9.4.10
9.4.11
Vehicle width................................................................................................................................ 81
Protective field side additional distance....................................................................................... 81
Laser scanner installation point .................................................................................................. 81
Warning field prerun time............................................................................................................. 82
Vehicle response time ................................................................................................................. 82
Brake wear and tear additional distance...................................................................................... 82
Ambient influences additional distance........................................................................................ 82
Speed with PF ............................................................................................................................. 83
Braking distance with PF ............................................................................................................. 83
Standstill monitoring .................................................................................................................... 83
Creep and reverse ....................................................................................................................... 83
9
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8.3
Contents
10
Start-up .............................................................................................................. 84
10.1
Before first start-up ............................................................................................................ 84
10.2
Switching on....................................................................................................................... 84
10.3
Shutting down .................................................................................................................... 85
10.4
Restart ............................................................................................................................... 85
10.5
Starting up the replacement device ................................................................................... 86
11
Testing ............................................................................................................... 88
11.1
Testing before first start-up and after machine modification .............................................. 88
11.2
Regular test by an appropriately qualified person.............................................................. 90
11.3
Daily functions test............................................................................................................. 91
12
Maintenance ...................................................................................................... 93
12.1
Clean the front screen........................................................................................................ 93
12.2
Clean scatter screens ........................................................................................................ 94
13
Diagnostics and removing errors ....................................................................... 95
13.1
What should I do if an error occurs? .................................................................................. 95
13.2
LED status displays ........................................................................................................... 95
13.3
LED warning and error displays ......................................................................................... 97
13.4
Diagnostics codes.............................................................................................................. 99
14
Disposal ........................................................................................................... 106
10
About this document
1
About this document
1.1
Other applicable documents
The information on the Safety Sensor is distributed over several documents to
make working with the documents easier. You will find the documents and
programs for the Safety Sensor in the following table:
Document/software
title
Source
Basic information for all users of the Application information
machine*; on paper so that the
information is always at hand
Art. no. 607160**
Included with the product
delivery as print and on
CD-ROM
Software for users of the machine* LS4soft
for Safety Sensor diagnostics if a
fault occurs and for machine design
engineers* for configuring the Safety
Sensor
Included with the product
delivery on CD-ROM**
Notes for the machine design
engineer*
Instruction Manual
(this document)
Art. no. 607164**
Included with the product
delivery on CD-ROM
Notes for the machine design
engineer* for configuring the Safety
Sensor (Software LS4soft
instructions)
Operator's Manual
Art. no. 607163**
Included with the product
delivery on CD-ROM
Additional information on
SIMATIC FS600 AS-i Laserscanner
3SF7834
Additional information for Art. no. 607061**
Instruction Manual
Included with the product
delivery on CD-ROM
Additional information on
SIMATIC FS600 PROFIBUS
Laserscanner 3SF7834
Additional information for Art. no. 607062**
Instruction Manual
Included with the product
delivery on CD-ROM
*
identifies the product that the Safety Sensor is installed in.
**
You download the current version of the software and all documents as PDF
on the Internet at: http://www.siemens.com/automation
11
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Purpose and target group of the
document
About this document
1.2
Means of illustration used
Table 1.1:
Warning symbols and signal words
Symbol for danger
NOTICE
Signal word for damage to property
Indicates dangers that could damage the Safety Sensor if the measures
for preventing danger are not implemented.
CAUTION
Signal word for minor injuries
Indicates dangers that could slightly injure you if the measures for
preventing danger are not implemented.
WARNING
Signal word for serious injuries
Indicates dangers that could seriously or fatally injure you if the
measures for preventing danger are not implemented.
DANGER
Signal word for danger to life
Indicates dangers that could seriously or fatally injure you if the
measures for preventing danger are not implemented.
Table 1.2:
Further symbols
Symbol for tips
Texts with this symbol provide you with further information on handling
the Safety Sensor.
ª
12
Symbol for action steps
Texts with this symbol instruct you on how to perform actions.
Safety
2
Safety
WARNING
If the Safety Sensor is not professionally selected and put into use, serious
accidents may occur.
ª Carefully follow all notices and information on the Safety Sensor.
ª Ensure that all other people also know about and observe the applicable
notices.
The documents are part of the product. Non-observance presents a high risk to
personal health and life.
ª Observe the documents on the CD ROM included with the product.
Alternatively you can also download the current documents on the Internet.
Internet: http://www.siemens.com/automation
For an overview of other applicable documents See chapter, "Other applicable
documents", page 11.
ª Read and observe the documents that apply for your activities in full before you
work with the Safety Sensor.
2.1
Proper use according to intended purpose
The Safety Sensor is used to protect people in danger zones or at points of
operation on machines and to protect objects and machine parts against the
dangers of collision.
The Safety Sensor may only be used after it has been put into operation in
accordance with the applicable instructions, relevant rules and regulations on
occupational health and safety at work and the recognized safety-related rules
and regulations have been placed on the machine by an appropriately qualified
person.
The Safety Sensor must be integrated into the machine's electrical control system
in such a way that an activation of the safety function safely stops or interrupts the
dangerous process before a person can be endangered.
If the machine does not allow the dangerous movement to be stopped at all times,
you may not install the Safety Sensor. Do not use the Safety Sensor, for example,
together with a press with form-locking coupling.
13
TNT 35/7-24V
Print out the relevant text parts to make reading and handling the documents
easier.
Safety
2.2
Appropriately qualified person
Appropriately qualified is a person that,
• has acquired adequate knowledge and skills with regard to operating the
machine, the configuration and diagnostics software and testing the Safety
Sensor through training and practical experience and has proven their
capabilities in practice,
• and is so well versed in the applicable rules and regulations on occupational
health and safety at work and the recognized safety-related rules and
regulations that he/she can evaluate the safety of the machine,
• and has been instructed in the machine's operation and safety rules and
regulations,
• and has read and understood the respective applicable instructions for the
Safety Sensor and the machine's operating instructions,
• and has been charged by the respective person responsible for the
machine's safety with the testing of the Safety Sensor.
2.3
Responsibility for safety
The responsibility for the safety-assured use of the Safety Sensor and compliance
with the regulations and directives that apply in the country of use lies with the
machine's manufacturer and company operating the machine.
The machine manufacturer is responsible for:
• The safe design and construction of the machine.
• The safe implementation of the Safety Sensor.
• The provision of all relevant information to the operator.
• Compliance with all regulations and directives for safely putting the machine
into operation.
The machine company operating the machine is responsible for:
• Instructing the operating staff.
• Maintaining the safe operation of the machine.
• Compliance with all occupational health and safety at work regulations and
directives.
Passwords
Improperly set parameters on the Safety Sensor can cause serious accidents.
The configuration of the Safety Sensor is therefore protected by passwords.
ª Ensure that the passwords are kept locked away by the security officer.
ª The people responsible for the machine's safety must ensure that the
appropriately qualified person can properly perform the tests and work on the
machine and the Safety Sensor in accordance with their intended use.
14
Safety
2.4
Laser
The Safety Sensor corresponds with laser class 1. Additional activities for
shielding the laser beams are not required (safe for eyes).
Laser Klasse 1
Laser Class 1
Laser de Classe 1
ª Observe the applicable legal and local regulations for operating laser
equipment.
2.5
Handling the Safety Sensor
ª Observe the permissible environmental conditions for storage and operation.
Front screen and scatter screens
The Safety Sensor's front screen and scatter screens must be clean, free of
damage and properly installed.
ª Avoid touching the front screen and scatter screens.
ª Clean dirty screens immediately (according to these instructions).
Screwed-on cables
Improper handling can damage the Safety Sensor and result in safety-relevant
signals not being sent. The Safety Sensor's IP type of protection is only
guaranteed with screwed-on plug cover caps.
ª Only operate, transport and store the Safety Sensor with screwed-on control
cable (X1) and PC cable (X2) or dummy plug (X2).
2.6
Usage limits
Only on closed rooms
The Safety Sensor is not suitable for use outdoors or under conditions with
significant temperature fluctuations. Humidity, condensation and other
weather influences can impair the safety function.
ª Only use the Safety Sensor in closed rooms.
ª Observe all technical data and ambient conditions.
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ª Have damaged screens replaced immediately (according to these
instructions).
Safety
Industrial use only
The Safety Sensor is not suitable for residential areas, because it can cause
radio interferences.
ª Only use the Safety Sensor in industrial environments.
Not on vehicles with combustion engines
The Safety Sensor is not suitable for use on vehicles with combustion
engines, because alternators or ignition systems can cause EMC disturbances.
ª Only use the Safety Sensor on vehicles without a combustion engine.
No changes on the Safety Sensor
The construction of the Safety Sensor may not be changed, because the
protective function can no longer be guaranteed if the Safety Sensor is changed.
Where changes are made to the Safety Sensor, all guarantee claims against the
manufacturer of the Safety Sensor shall no longer apply.
Service life TM in accordance with DIN ISO 13849
The Safety Sensor's details, PL and PFHd, refer to the TM service life of 20 years.
Repairs or replacement of wear and tear parts do not extend the service life.
Protective function limits
The Safety Sensor does not protect against:
• Projected (thrown out) parts
• Splashing/spraying liquids
• Gases and vapors
• Radiation
16
Safety
2.7
Guarantee the availability of the Safety Sensor
Vapors, smoke, dust, particles
Vapors, smoke, dust and all particles visible in the air can cause the machine to
switch off unintentionally. This can mislead the user into bypassing the safety
devices.
ª Do not use the Safety Sensor in environments in which heavy vapors, smoke,
dust or other visible particles occur at the beam level.
No stray light
Light sources can impair availability. Interfering light sources are:
• Infrared light
• Fluorescent light
• Strobe light
ª Ensure that there are no interfering light sources at beam level.
ª Prevent reflective surfaces at beam level.
ª Where applicable, take additional protective field distances into account.
ª Implement all additional measures to ensure that any special use of any
effected beam types does not impair the Safety Sensor's operation.
No obstructions in the protective field
2.8
Providing the company operating the machine with information
The machine manufacturer must inform the machine company operating the
machine in detail and comprehensibly about all activities that are required for the
safety-assured operation of the machine with the Safety Sensor. This also
includes the forwarding of information from these instructions that the operator
requires.
The type and content of the information may not, however, result in any
questionable safety-related actions by the user.
Where required, safety key, special tools and passwords should be maintained
under the control of one or more responsible or authorized people.
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ª Do not bring any additional window materials into the area monitored by the
Safety Sensor.
Device description
3
Device description
The SIMATIC FS600 laser scanner 3RG7834 / 3SF7834 Safety Sensor is an
optical, two-dimensional measuring Safety Laser Scanner.
The Safety Sensor transmits periodic light pulses via a rotating deflection unit. The
light pulses are reflected by obstructions, e.g. people, and received by the Safety
Sensor again and analyzed. The Safety Sensor calculates the precise position of
the obstruction from the light travel time and the angle of the deflection unit at that
time. If the obstruction is within a predefined area, the protective field, the Safety
Sensor performs a safety-related switching function. It switches the safety-related
switching outputs off.
Only when the protective field is free again does the Safety Sensor reset the
safety-related switching function, either automatically or following confirmation,
depending on the operating mode.
The Safety Sensor can even detect people when they are wearing very dark
clothes, which have a very weak diffuse reflectance.
18
Device description
1
e
d
SF
WF
a
1 2 3 4
Pos.
Name
Comment
1
Configured warning field
Example
2
Configured protective field
Example
3
Object (person) in the protective field Example
4
Safety Sensor
a
Maximum measurement value
logging
d
Configurable protective and warning -5°
field extension
e
Configurable protective and warning +5°
field extension
PF
Maximum protective field
WF
Maximum warning field
TNT 35/7-24V
Pic. 3.1: Safety Sensor detection ranges
50 m
19
Device description
3.1
Device overview
1
2
3
4
5
Pic. 3.2: Safety Sensor overview
1
2
3
4
5
20
X1 interface for controlling the machine, with protective cap
X2 interfaces for PC/laptop, with protective cap
Status display
Scatter screens
Front screen
Device description
Display elements
Status display
Five LEDs on the front show the Safety Sensor's status
1 2
3
4 5
Pic. 3.3: Status displays
Table 3.1:
What the LEDs mean
LED
TNT 35/7-24V
3.2
Meaning
ok. 1, green
2, yellow
Lights
Sensor function is active; the active protective
field is free.
Flashes with
2 Hz
Fault on the field pair control inputs.
Flashes with
4 Hz
MotionMonitoring has detected a fault.
Lights
Active warning field is seized.
Flashes with
2 Hz
Front screen is dirty.
Flashes with
4 Hz
ConfigPlug configuration is not compatible with
the Safety Sensor.
21
Device description
LED
Meaning
3, red
Lights
Safety-related switching outputs (OSSD 1 and 2)
are switched off.
4, green
Lights
Safety-related switching outputs (OSSD 1 and 2)
are switched on.
5, yellow
Lights
Start/restart interlock is active.
Flashes with
2 Hz
Front screen is dirty.
Flashes with
4 Hz
Fault
STOP
ok.
3.3
Mounting system (option)
The mounting system makes it easier to install and align the Safety Sensor. The
mounting system is available as an accessory.
3.4
ConfigPlug (option)
The ConfigPlug makes it easier to swap out the Safety Sensor. It saves the
configuration when the PC is configured and automatically transfers it with the
device swap-out to the replacement device. The ConfigPlug is available as an
accessory.
22
Functions
4
Functions
The functions must be coordinated with the respective application.
You configure the functions with the help of the LS4soft configuration and
diagnostics software.
4.1
Start/restart interlock
The start/restart interlock has two functions:
• Start interlock
• Restart interlock
Using start/restart interlock
ª In addition to the Safety Sensor you must also install the start/restart button.
The machine operator starts the machine with this start/restart button.
ª Position the start/restart button outside the danger zone so that it cannot be
activated from the protective fields and danger zones. The operator must be
able to see all danger zones from this position.
ª Identify the zone to be released at the start/restart button so that it's meaning
is clear and easy to understand.
ª Ensure that nobody is in the danger zone before pressing the start/restart
button.
Start interlock
The start interlock function prevents the machine from starting automatically after
switching on or after the power supply returns.
The machine only starts when you press the start/restart button.
4.1.2
Restart interlock
The restart interlock prevents the machine from starting automatically, as soon as
the protective field is free again. The restart interlock function always includes the
start interlock function.
The machine only starts again when you press the start/restart button.
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4.1.1
Functions
4.2
Start test
The start test function compels the operator to interrupt the protective field once
after the Safety Sensor start, e.g. with a test rod. Only then can the machine be
started.
Using the start test
If you combine the start test with the automatic restart function, the start test
serves as an automatic start/restart signal.
4.3
Automatic start/restart
The machine starts automatically as soon as the machine is switched on or the
supply voltage returns and when the protective field is free again.
Using automatic start/restart
You can use the automatic start/restart function under the following conditions.
• The automatic start/restart function is taken over by a downstream safetyrelated component of the machine control system.
or
• It is not possible to walk behind or go around the effective protective field.
ª Allow for an optical and/or acoustic start warning.
4.3.1
Automatic start
The automatic start function starts the machine automatically as soon as the
supply voltage is present.
4.3.2
Automatic restart
The automatic restart function starts the machine automatically as soon as the
protective field is free again.
4.4
Dust suppression
The dust suppression function increases the availability of the Safety Sensor
when small particles are in the air, e.g. material chips or insects.
Only deactivate the dust suppression function when, in addition to people, the
Safety Sensor must also detect extremely fast and small objects in your
application.
If you use the Safety Sensor for the mobile danger zone guarding of AGVs, you
must select the speed range of your vehicle to optimize the dust suppression.
24
Functions
Field pair switchover
The Safety Sensor has four or eight field pairs. Switchover between the field pairs
is possible at all times, provided the operating situation allows this.
During the switchover process the Safety Sensor monitors the field pair activated
before the switchover until a new one has been clearly activated.
Use the field pair switchover when the danger zones vary depending on the
activity of the machine or the operating status, e.g. automated guided vehicle
systems (AGVs), to control the protective field switchover for straight and curved
stretches.
If the rules for field pair switchover are not complied with, the Safety Sensor
signals a fault and the machine stops.
Using field pair switchover
You can configure and switch over the field pairs according to the different
requirements. The switchover is performed via the corresponding control inputs
on the X1 interface.
The precepts for the switchover depend on the amount of the selected field pairs
and their numbers. The activated field pair must correspond with the respective
operating mode. The time of the switchover must correspond with the machine's
risk assessment. You must take the braking distances, response times and
machine stopping times, e.g. influenced by overlapping protective fields, into
account.
If these rules are not complied with, the Safety Sensor goes to a fault status within
40 ms. The green LED 1 flashes with 2 Hz.
The following rules apply for switching over four field pairs:
• First the control unit must switch to a new field pair before it switches of the
previous one.
• The switchover must be made within 1 sec. Both field pairs are monitored
during the switchover time.
• All field pairs must never be deactivated during the switchover.
• The switchover process performed by the control system must agree with
the Safety Sensor's configuration. This configuration is specified with the
configuration and diagnostics software.
25
TNT 35/7-24V
4.5
Functions
Table 4.1:
Connection of control inputs FP1 to FP4 with activation of field pairs
1 to 4.
Field pair
Description
Control input
FP1
FP2
FP3
FP4
1
1
0
0
0
Field pair 1 is active
2
0
1
0
0
Field pair 2 is active
3
0
0
1
0
Field pair 3 is active
4
0
0
0
1
Field pair 4 is active
The following rules apply for switching over eight field pairs:
• The switchover must be made within 40 ms, i.e. after 40 ms an input
connection must be valid and stable. The old field pair is monitored during
the switchover time. The new field pair is monitored after max. 80 ms.
• The switchover process performed by the control system must agree with
the Safety Sensor's configuration. This configuration is specified with the
configuration and diagnostics software.
Table 4.2:
Connection of control inputs FP1 to FP4 with activation of field pairs
1 to 8.
Field pair Control input
26
Description
FP1
FP2
FP3
FP4
1
1
0
0
0
Field pair 1 is active
2
0
1
0
0
Field pair 2 is active
3
0
0
1
0
Field pair 3 is active
4
0
0
0
1
Field pair 4 is active
5
1
1
1
0
Field pair 5 is active
6
1
1
0
1
Field pair 6 is active
7
1
0
1
1
Field pair 7 is active
8
0
1
1
1
Field pair 8 is active
Functions
WARNING
Field pair switchover to field pair 8 deactivates the monitoring function
No field pair is no monitored; the safety outputs (OSSDs) remain constantly
active.
ª Never start the Safety Sensor with field pair 8.
ª Only use field pair 8 when there is no danger for people present, e.g. with
vehicles in creep and reverse, in the area of loading or park positions or
during machine cycles with which there is no danger for the operating staff.
Reference contour monitoring
The reference contour monitoring function prevents unintentional dealignment
and deliberate manipulation of the Safety Sensor. If a protective field contains a
reference contour, the Safety Sensor not only monitors interruptions of the
protective field – it also monitors the concurrence of the measured ambient
contours with the set reference contour. If the measured values differ by more
than the tolerance zone of the defined reference contour, the Safety Sensor
switches off and the safety-related switching outputs (OSSDs) go to off.
TNT 35/7-24V
4.6
27
Functions
4.7
MotionMonitoring
The MotionMonitoring function supports you with the configuration of the Safety
Sensor for the mobile danger zone guarding application, and during the operation,
monitors whether or not the control system has selected the correct, situationappropriate protective field.
The Safety Sensor calculates the current speed from the measured values and
compares this with the speed that is given in the speed matrix for the protective
field.
• If the speed is higher than the speed given for the protective field, the Safety
Sensor corrects by one protective field upwards. If a second correction is
required with an even faster speed, the Safety Sensor stops the transfer
trolley.
• If the maximum speed is exceeded, the Safety Sensor stops the transfer
trolley.
Pedestrian traffic on the driveway is possible because it is included in the
calculations by the Safety Sensor.
Two further functions are integrated into the MotionMonitoring function, which are
assigned to the two field pairs, 7 and 8:
• Further travel block – field pair 7
• Creep and reverse – field pair 8
Further travel block
The further travel block function prevents the transfer trolley from moving as long
as field pair 7 is active. The Safety Sensor switches the safety-related switching
outputs in field pair 7 off. The transfer trolley can start to move again when the
control switches to another protective field.
Creep and reverse and reverse
A Safety Sensor is mounted in both directions when a transfer trolley travels
forwards and backwards. The creep and reverse function deactivates the Safety
Sensor that is positioned opposing the current travel direction. This Safety Sensor
only monitors speed and travel direction. The maximum speed with a creep speed
is 100 mm/s. If the transfer trolley moves faster than 100 mm/s, the Safety Sensor
switches the safety-related switching outputs off and stops the transfer trolley.
28
Functions
Using MotionMonitoring
Requirements for using the MotionMonitoring function:
• Transfer trolley (AGV) with linear movement
• Driveway length max. 50 m
• Driveway restricted at both ends by a wall or boundary
ª Enter the speed levels of the AGV and the braking distance with maximum
speed in the speed matrix with the configuration.
The software interpolates the missing braking distances and automatically
defines the protective and warning fields.
TNT 35/7-24V
The configuration and diagnostics software shows the calculated measured
values and a status display of the speed monitoring during the first start-up.
29
Applications
5
Applications
The following chapters essentially describe the Safety Sensor's usage
possibilities. To safely configure and mount the Safety Sensor for the respective
application, see Chapter 6.
5.1
Stationary danger zone guarding
Stationary danger zone guarding enables a very spacious protection of people on
machines that are to remain as accessible as much as possible. The Safety
Sensor is applied as a stop-activating and presence-detecting protective device.
The Safety Sensor's protective field is set up horizontally in front of the machine
or system's point of operation.
You can also use the stationary danger zone guarding if you do have to guard
areas under the machine or at the rear that are not visible.
2
1
6
3
4
1
5
3
3
Pic. 5.1: Stationary danger zone guarding with two alternating work areas
1
2
3
4
5
6
30
EMERGENCY STOP control device and start/restart button
Safety Sensor
Protective field 2, activated
Protective field 1, deactivated
Warning field 2, activated
Warning field 1, deactivated
Applications
Stationary point of operation guarding
Hand and arm protection are always required when people must work at the point
of operation. The Safety Sensor is applied as a stop-activating and presencedetecting protective device. The Safety Sensor's protective field is set up vertically
in front of the machine or system's point of operation. With small protective field
dimensions the Safety Sensor provides the correspondingly required high
resolution level. A sufficient safety distance to the point of operation ensures the
finger protection.
5
3
1
4
2
3
3
Pic. 5.2: Stationary point of operation guarding with protective field switchover
1
2
3
4
5
Safety Sensor
Reference contours of both protective fields
EMERGENCY STOP control device and start/restart button
Protective field 1, activated
Protective field 2, deactivated
31
TNT 35/7-24V
5.2
Applications
5.3
Stationary access guarding
Stationary access guarding protects people that step into a danger zone. The
vertically aligned protective field of the Safety Sensor detects the passage of a
person. A side post and the floor serve as reference contour for monitoring the
position of the protective field. In contrast to danger zone guarding, the Safety
Sensor no longer registers a person in the danger zone after the passage. This is
why the start/restart interlock function is vital for access guarding.
1
3
4
2
3
Pic. 5.3: Stationary access guarding
1
2
3
4
32
Safety Sensor
Reference contour of the protective field
EMERGENCY STOP control device and start/restart button
Protective field
Applications
Mobile danger zone guarding
Mobile danger zone guarding protects people that are located in the driveway of
an automated guided vehicle. The distance between the protective field front edge
and the vehicle front must be greater than the stopping distance of the vehicle with
selected speed and maximum load. A safe control system selects speeddependent protective fields and can activate side horizontal protective fields for
curved stretches.
3
4
3
1
4
TNT 35/7-24V
5.4
2
3
Pic. 5.4: Mobile danger zone guarding
1
2
3
4
Protective field 1 for forward travel, activated
Warning field 1 for forward travel, activated
Protective field 2 for curved stretch, left, deactivated
Protective field 3 for curved stretch, right, deactivated
33
Applications
5.5
Mobile side guarding
Mobile side guarding protects people and objects that are located on the vehicles
path. This application is used when very low arranged conveyor lanes do not
permit an unobstructed passage of horizontal, lateral overlaying protective fields.
The Safety Sensors are positioned laterally and the protective fields are arranged
vertically, at a slight tilt. The position of the front edges of the side protective fields
is oriented here on the position of the front edge of the horizontal protective field.
4
2
3
3
4
1
3
Pic. 5.5: Mobile side guarding on transfer trolleys
1
2
3
4
34
Protective field and warning field pair for forward travel, activated
Protective field and warning field pair for reverse travel, deactivated
Protective field and warning field pair for side guarding, right, activated
Protective field and warning field pair for side guarding, left, activated
Installation
6
Installation
6.1
Basic infos
The Safety Sensor's protective function is only guaranteed when the device
arrangement, configuration, protective field dimensioning and installation are
coordinated with the respective application.
The installation work must only be performed by an appropriately qualified person
in compliance with the applicable standards and these instructions. The
installation must be thoroughly inspected on completion.
ª You must observe and comply with the respective relevant machine-specific
standards and regulations.
Basic procedure
Application
Device type
SIMATIC
Resolution Configuration and
installation notes
Stationary danger zone
guarding
FS620
FS660
50 - 70 mm
Chapter 6.3
Stationary point of operation
guarding
FS660
30 - 40 mm
Chapter 6.4
Stationary access guarding
FS660
150 mm
Chapter 6.5
70 mm
Chapter 6.6
150 mm
Chapter 6.7
Mobile danger zone guarding on FS620
AGVs
FS670
Mobile side guarding on AGVs
FS620
TNT 35/7-24V
ª Select the appropriate device type for the application.
ª Determine the installation point.
ª Determine whether you are going to install the Safety Sensor with or without
the mounting system.
ª Determine the size of the protective field on the basis of the point of installation,
the calculated safety distances and additional distances.
ª Determine the start/restart operating mode required for the application.
ª If you are using start/restart interlock, determine the position for the start/restart
button.
35
Installation
ª Determine the conditions for the field pair switchover, if required.
ª Configure the Safety Sensor with the configuration and diagnostics software.
Many safety-relevant parameters are preset in the configuration and
diagnostics software. Use these preset values where possible.
ª Create a record document for the device configuration and protective field
dimensioning. The document must be signed by the person responsible for the
configuration.
Include this document with the machine documentation.
ª Install protective enclosures or safety bars if the Safety Sensor is in an exposed
position.
ª If there is a risk that the Safety Sensor will be used as a climbing aid, install a
suitable physical cover over the Safety Sensor.
Ensure that machine parts, protective grids or covers do not impair the Safety
Sensor's field of vision.
6.2
Basic infos on the protective field dimensioning
ª Dimension the protective field big enough that the Safety Sensor's switch-off
signal can stop the dangerous movement in good time.
If several protective fields are selected with field switchover, this condition
applies for all protective fields.
Protective fields with a radius of less than 200 mm (Safety Sensor close range)
are not permitted and are therefore preset as minimum contour.
ª If you cannot sufficiently dimension a protective field, use additional protective
measures, e.g. protective grids.
ª Ensure that the protective field cannot be walked behind in the direction of the
danger zone.
ª Observe all delay times, e.g. Safety Sensor response times, control element
response times, braking times or machine or AGV stopping times.
ª Take changed delay times, which, for example, can be caused by reducing the
braking force, into account.
ª Observe shadowing effects, e.g. surfaces and areas behind static objects.
People in the shadows of these objects will not be detected by the Safety
Sensor.
ª Observe the lateral tolerance when dimensioning the protective fields (see
chapter, "Technical data", page 60).
36
Installation
ª Do not use cone-shaped protective field contours, as these do not guarantee
any protective effect.
ª Take the additional distances required for the application into account.
Handling unmonitored areas
There is an area behind the Safety Sensor that the Safety Sensor does not
monitor. Unmonitored areas can also materialize, e.g. if you install a Safety
Sensor on a rounded off vehicle front.
It must not be possible to walk behind unmonitored areas.
2
1
3
Pic. 6.1: Protective field shape – unmonitored areas
1 Safety Sensor
2 Protective field
3 Unmonitored area
ª Prevent access to an unmonitored area with screens.
ª Prevent walking behind by countersinking the Safety Sensor into the machine
contour.
37
TNT 35/7-24V
6.2.1
Installation
1
2
3
1
5
3
2
4
4
Pic. 6.2: Rear area protection by countersinking into the machine contour
1
2
3
4
5
Countersinking into the machine contour
Protective field
Safety Sensor
Machine
Physical cover
ª Use a physical cover set at an angle over the Safety Sensor if you expect that
the Safety Sensor will be used as a climbing aid or standing surface.
6.2.2
Protective field setup with adjacent Safety Sensors
The Safety Sensor has been developed in a way that prevents several Safety
Sensors from interfering with one another as much as possible. Several adjacent
Safety Sensors can, however, cause the response time to increase if the fields
overlap.
WARNING
The response time extends with reciprocal influencing of adjacent Safety
Sensors.
ª If you do not plan for any measures against reciprocal influencing, take a
response time extension of 40 ms into account with the safety distance
calculation.
ª Plan for shielding with stationary applications.
38
Installation
The shielding must be at least as high as the Safety Sensor's front screen and
flush with the front housing edge.
If you plan for a shielding that is still within the countersinking in the machine
contour, the resolution of the protective fields must not be impaired at any
accessible points.
You require the reciprocal shielding with both horizontal and vertical alignment
of the protective fields.
3
1
1
5
4
2
4
Pic. 6.3: Shielding prevents reciprocal influencing of Safety Sensors set up
beside one another.
1
2
3
4
5
Point of operation
Safety Sensor
Machine with countersinking for Sensor installation
Protective fields
Shielding
100 mm
ª Install the Safety Sensors off-set on the height.
Pic. 6.4: Height offset installation, parallel alignment
39
TNT 35/7-24V
2
Installation
ª Install the Safety Sensors with crossed alignment.
100 mm
Pic. 6.5: Installation beside one another, without height offset, crossed alignment
100 mm
Pic. 6.6: Opposing installation, without height offset, crossed alignment
40
Installation
Stationary danger zone guarding
Pic. 6.7: Safety Sensor activates the stop and, with protective field with rear area
protection, performs a presence-detecting function.
Procedure
ª Determine the height of the beam level.
ª Calculate the necessary safety distance and determine the required additional
distances for your application.
ª Define the protective field limits and the warning field limits if required.
ª Configure the protective field so that the safety-related switching outputs are
switched off from every accessible point with sufficient minimum distance "D".
ª Mark the protective field limits on the floor.
You can easily test the Safety Sensor along this marking.
41
TNT 35/7-24V
6.3
Installation
6.3.1
Beam level height
The minimum height of the beam level depends on the Safety Sensor resolution.
To detect a human leg a resolution of 50 mm is required at ankle height, and
70 mm at calf height (300 mm off the floor).
Pic. 6.8: Beam level close to the floor Pic. 6.9: Beam level at 300 mm –
– 50 mm resolution is
70 mm resolution is required
required
H MIN = 15 ⋅ ( d – 50 )
HMIN
Lowest permissible beam height from the standing surface level in mm
d
Safety Sensor resolution in mm
HMAX = 1000 mm
42
Installation
6.3.2
Safety distance "S"
The B standard, ISO 13855/EN999 specifies the general formula for the safety
distance as follows:
S = K ⋅ ( T1 + T 2 + T 3 ) + C
Safety distance in mm
K
Approach speed in mm/s
For parallel approach on a horizontally arranged protective field: 1600 mm/s
T1
Safety Sensor response time in s
T2
Safety interface response time in s, if used
T3
Machine stopping time plus addition for deterioration in s
C
Additional distance because of the possibility of reaching over in mm
Additional distance "C" because of the possibility of reaching over
You prevent reaching the point of operation by reaching over with the additional
distance "C":
C = 1200 – 0, 4 ⋅ H
H
Beam level height above the floor in mm
CMIN
= 850 mm
HMAX
= 1000 mm
43
TNT 35/7-24V
6.3.3
S
Installation
C
H
H
C
Pic. 6.10: Beam level H = 300 mm,
C = 1080 mm
6.3.4
Pic. 6.11: Beam level H = 875 mm to
1000 mm, C = 850 mm
Machine response times, stopping time
The Safety Sensor's rotary mirror rotates on its own axis every 40 ms. One
revolution is a scan. At least two consecutive scans must be interrupted so that
the safety-related switching outputs switch off. The Safety Sensor's minimum
response time is therefore 80 ms.
If you want to increase the Safety Sensor's availability in an environment with fine
particles, increase the number of interrupted scans after which the safety-related
switching outputs switch off. With each additional scan the response time T1
increases by 40 ms. With K = 1600 mm/s the safety distance increases by 64 mm
per additional scan.
ª Select a response time T1 of at least 120 ms or higher.
ª If you use a safety interface, take the response time T2 from the safety
interface's technical data.
ª Determine the machine/system's stopping time T3.
ª If an increase in the stopping time within the regular test periods is to be
expected, take an additional value into account for the machine's stopping time
T3.
44
Installation
Application-conditional additional distances for safety distance "S"
The protective field limits must be defined so that the calculated safety distance
"S" to the point of operation, extended by the additional distances, is complied with
"everywhere". Where this is not possible or does not make sense, you can use
hard guards as supplementary measures.
1
D
2
RG
S
D
S
S
D
3
4
Pic. 6.12: Defining the protective field contour for a stationary, horizontal
protective field
1 Routing machine with free space for sensor protective field in the area under the machine
table
2 Safety Sensor
3 Protective field contour
4 Warning field contour
S Calculated safety distance "S"
D Minimum distance "D" (= safety distance S + additional distance ZSM + if required, ZREFL)
RG Greater protective field radius without additional distances, measured from the rotation
axis of the rotary mirror
ª Define the limits of the protective field using the safety distance "S" without an
additional distance.
ª Determine the biggest protective field radius RG for this protective field.
The biggest protective field radius determines the additional distance ZSM for
the system-conditional measurement error, by which the protective field
contour must be enlarged.
The position of the rotary mirror's center point with regard to the housing is
provided by the dimensional drawing (see figure 7.1, "Dimensions", page 65).
Table 6.1:
Additional distance ZSM for the protective field contour because of
45
TNT 35/7-24V
6.3.5
Installation
measurement error
Biggest protective field radius RG without
additional distances
Additional
distance ZSM
< 3.5 m
83 mm
≥ 3.5 m
100 mm
ª Avoid retro-reflectors at the beam level behind the protective field limit. If this is
not possible, add another additional distance ZREFL of 100 mm.
6.3.6
Minimum distance "D" to the protective field contour
The minimum distance "D" is the distance between point of operation and
protective field contour.
D = S + Z SM + Z REFL
D
Minimum distance between point of operation and protective field
contour in mm
ZSM
Additional distance for system-conditional measurement error
ZREFL
Additional distance with retro-reflectors
ª If the protective field runs up against fixed boundaries, such as walls or
machine frames, take a countersinking into the machine contour of at least the
size of the necessary additional distance ZSM, and ZREFL where required, into
account. With the protective field contour under these conditions, stay about 50
mm away from the machine surface.
ª If the protective field runs up against hard guards, ensure that the protective
field ends under instead of in front of the hard guards. The width of the lower
post must correspond with the size of the required additional distances.
ª If all dangers in the fenced off area are covered by the Safety Sensor and the
height of the beam level is 300 mm, you can raise the bottom edge of the hard
guards from 200 mm to 350 mm. The protective field reaching to under the hard
guards takes over the protective function of preventing an adult from crawling
under in this case.
ª Prevent obstructions within the calculated protective field limits. If this is not
possible, implement protective measures so that the point of operation cannot
be reached from out of the shadow of the obstruction.
46
Installation
Stationary point of operation guarding
1
2
Pic. 6.13: The Safety Sensor takes over the stop-activating and presencedetecting function if walking behind the protective field is not possible.
1 Safety Sensor
2 Reference contour
The following resolutions are required:
• Detection of an adult's hand: 30 mm
• Arm detection: 40 mm
The required finger protection is ensured here by an additional distance "C",
which depends on the resolution, in addition to the safety distance.
Procedure
ª Calculate the necessary safety distance and determine the required additional
distances for your application.
ª In the configuration and diagnostics software, select the hand protection or arm
protection presetting.
The protective field limits are automatically restricted as a result to the values
listed in the technical data.
ª Specify the protective field limits and define the areas that monitor the position
of the protective field as reference contour.
47
TNT 35/7-24V
6.4
Installation
6.4.1
Safety distance "S"
The B standard, ISO 13855/EN999 specifies the general formula for the safety
distance as follows:
S = K ⋅ ( T1 + T 2 + T3 ) + C
S
Safety distance in mm
K
Approach speed in mm/s
For normal approach on a vertically arranged protective field: 2000 mm/s
T1
Safety Sensor response time in s
T2
Safety interface response time in s, if used
T3
Machine stopping time plus addition for deterioration in s
C
Additional distance in mm because of possible penetration into the protective field
before the stop function activates
Depending on the calculated value of the safety distance, you must proceed
differently with the result:
ª If S is ≤ 500 mm, use the calculated result.
ª If S is > 500 mm, calculate the safety distance again with the approach speed
K = 1600 mm/s.
If S is therefore ≥ 500 mm, use this value.
If S is therefore S < 500 mm, use at least S = 500 mm.
6.4.2
Additional distance C
With a resolution less than 14 mm, a finger or the flat of a hand can penetrate a
stretch into the protective field without the stop function activating. You must
therefore include an additional distance "C".
C = 8 ⋅ ( d – 14 )
d
Safety Sensor resolution (30 mm and 40 mm)
For 30 mm resolution the additional distance C = 128 mm; for 40 mm resolution
C = 208 mm.
48
Installation
Machine response times, stopping time
The Safety Sensor's rotary mirror rotates on its own axis every 40 ms. One
revolution is a scan. With each additional scan the response time T1 increases by
40 ms. With K = 2000 mm/s approach speed this corresponds with an increase in
the safety distance of 80 mm per additional scan. With K = 1600 mm/s it is 64 mm.
ª Select a response time T1 of at least 80 ms or higher.
ª If you use a safety interface, take the response time T2 from the safety
interface's technical data.
ª Determine the machine/system's stopping time T3.
ª If an increase in the stopping time within the regular test periods is to be
expected, take an additional value into account for the machine's stopping
time T3.
TNT 35/7-24V
6.4.3
49
Installation
6.4.4
Protective field and reference contour
With a vertical protective field you must define at least two sides of the protective
field contour as reference contour in accordance with IEC/EN 61496-3. The
objective is to monitor the position of the protective field with regard to its marginal
area. If the arrangement misaligns and the distance of the Safety Sensor to the
reference surface changes as a result, switch the safety-related switching outputs
off.
e
3
4
1
S
5
e
2
1
Pic. 6.14: Define the protective field and reference contour, stationary danger
zone guarding, vertical protective field
1
2
3
4
Physical frame for reference contour
Reference contour, must seize at least two sides of the protective field
Safety Sensor
Distance "e" between the reference contour frame and machine opening, recommended:
e ≥ 150 mm
5 Machine opening contour
50
Installation
Stationary access guarding
1
5
1
2
3
4
Pic. 6.15: Stationary access guarding, vertical protective field
1
2
3
4
5
EMERGENCY STOP control device and start/restart button
Safety Sensor
Protective field, left conveyor line, activated
Reference contour of the protective field
Protective field, right conveyor line, deactivated
TNT 35/7-24V
6.5
The picture shows an input and output station with conveyor lanes in a danger
zone. In this case three different protective fields are used:
• "Left conveyor lane" protective field
• "Right conveyor lane" protective field
• "Both conveyor lanes" protective field
The safety-set machine control system ensures the switchover between the
protective fields.
You may only change over protective fields when additional measures prevent the
passage through the respective inactive protective field. This can, for example, be
the dimensions of a loaded palette, which makes it impossible to enter the danger
zone during the switchover.
51
Installation
The vertical protective field of the access guarding only detects people during
passage through. After the passage a start/restart interlock must ensure that the
dangerous movement does not start again automatically.
Safety Sensors with a > 40 mm resolution are suitable for finger, hand and arm
detection! The required protection for these body parts must be ensured with an
additional distance C = 850 mm in addition to the safety distance. This distance
is equivalent to average arm length.
Procedure
ª Select the start/restart interlock function.
ª Attach the start/restart button.
ª Install an optical and/or acoustic start warning with the corresponding risk.
ª Calculate the required safety distance.
ª Specify the protective field limits and define the areas that monitor the position
of the protective field as reference contour.
6.5.1
Safety distance "S"
The B standard, ISO 13855/EN999 specifies the general formula for the safety
distance as follows:
S = K ⋅ ( T1 + T 2 + T3 ) + C
52
S
Safety distance in mm
K
Approach speed in mm/s
For access guarding with vertical protective field: 1600 mm/s
T1
Safety Sensor response time in s
Maximal 0.080 s
T2
Safety interface response time in s, if used
T3
Machine stopping time plus addition for deterioration in s
C
Additional distance in mm
With Safety Sensors with > 40 mm resolution at least 850 mm
Installation
Machine response times, stopping time
The Safety Sensor's rotary mirror rotates on its own axis every 40 ms. One
revolution is a scan. An object must be detected in at least two consecutive scans
so that the safety-related switching outputs switch off. The Safety Sensor's
minimum response time is therefore 80 ms.
If you want to increase the Safety Sensor's availability in an environment with fine
particles, increase the number of interrupted scans after which the safety-related
switching outputs switch off. With each additional scan the response time T1
increases by 40 ms. With K = 1600 mm/s the safety distance increases by 64 mm
per additional scan.
ª Select a response time T1 = 80 ms.
Never define a value higher than 80 ms for T1 for access guarding or passage
controls. With higher values it can happen that a person might not be detected
when passing through the protective field with an approach speed of 1600
mm/s.
If you select the access guarding presetting in the configuration and
diagnostics software, T1 is automatically set to 80 ms.
ª If you use a safety interface, take the response time T2 from the safety
interface's technical data.
ª Determine the machine/system's stopping time T3.
ª If an increase in the stopping time within the regular test periods is to be
expected, take an additional value into account for the machine's stopping
time T3.
TNT 35/7-24V
6.5.2
53
Installation
6.5.3
Protective field and reference contour
With a vertical protective field you must define at least two sides of the protective
field contour as reference contour in accordance with IEC/EN 61496-3. The
objective is to monitor the position of the protective field with regard to its marginal
area. If the arrangement misaligns and the distance of the Safety Sensor to the
reference changes as a result, switch the safety-related switching outputs off.
1
4
2
3
5
Pic. 6.16: Define the protective field and reference contours, stationary access
guarding, vertical protective field
1
2
3
4
5
Protective field contour PF1, guards the "left conveyor lane"
Safety Sensor
Reference contour of PF1, left frame and floor
Protective field contour PF2, guards "both conveyor lanes"
Reference contour of PF2, right frame and floor
ª In the configuration and diagnostics software select the access guarding
presetting before configuring the protective fields. The software consequently
requests a reference contour on at least two sides of the protective field.
ª When defining the protective field ensure that there are no gaps bigger than
150 mm.
ª When defining the protective field limits specify, the sectors that monitor the
position of the protective field as reference contour.
54
Installation
6.6
Mobile danger zone guarding on AGVs
Danger zone guarding protects people and objects that are in rooms in which
vehicles move in, e.g. automated guided vehicle systems (AGVs).
WARNING
Danger of injury because of insufficient vehicle stopping distance
ª The company operating the machine must use organizational measures to
prevent people from entering the protective field of the vehicle from the sides
or being able to move towards an approaching vehicle.
Procedure
ª Only install the Safety Sensor on the front of the vehicle.
If you must also guard the reverse travel, you must also install a Safety Sensor
on the rear of the vehicle.
ª Select 70 mm resolution.
ª Do not set the height higher than 200 mm above the floor.
A person lying on the floor can therefore be safely detected. This is required by
the C standard, EN 1525 "Safety of industrial trucks – Driverless trucks and
their systems".
6.6.1
TNT 35/7-24V
ª Set the protective field length so that the response time until braking and the
braking distance, including factors for wear and tear and floor conditions, and
any necessary additional distances are taken into account.
Basic requirements
ª Only use the Safety Sensor on vehicles with electrical drive and electrically
influenced drive and braking devices.
ª Mount the Safety Sensor on the vehicle so that there are no unmonitored areas
≥ 70 mm between the protective field and vehicle front.
6.6.2
Minimum distance D
The horizontally arranged protective field protects people and objects that are in
the vehicle's path and are detected by the front edge of the protective field.
55
Installation
200
D B · L1 · L2
Vmax· (T1 +T2 )
DA
D
ZGES
Pic. 6.17: Mobile danger zone guarding, required minimum distance D calculation
ª Configure an upstream warning field that reduces the vehicle's speed.
A full brake with a subsequent interruption of the protective field is then
executed moderately and is less demanding on the vehicle's drives.
ª Dimension the minimum distance D for the maximum speed as if the speed
reduction initiated by the warning field had not happened.
Only when the protective field is interrupted do the safety-related switching
outputs switch off and safely brake the vehicle.
Stopping distance DA
D A = v max ⋅ ( T 1 + T 2 ) + D B ⋅ L 1 ⋅ L 2
56
DA
Stopping distance in mm
vmax
Maximum vehicle speed in mm/s
T1
Safety Sensor response time in s
T2
AGV response time in s
DB
Braking distance with vmax and maximum vehicle load in mm
L1
Factor for brake wear and tear
L2
Factor for problematic floor conditions, e.g. dirt, wet conditions
Installation
Additional distances Z
Z Ges = ZSM + Z F + Z REFL
ZGes
Total of the required additional distances
ZSM
Additional distance for system-conditional measurement error, see Table 6.1 on
page 45
ZF
Additional distance required with lack of floor space HF in mm
ZREFL
Additional distance required with retro-reflectors beyond the protective field limits
ZREFL = 100 mm
The additional distance ZSM is always required. Its size depends on the biggest
radius RG from the Safety Sensor mirror's rotary axis to the protective field limit
without ZGes. The position of the rotary mirror axis depends on the installation
situation.
The additional distance ZF is required if the vehicle does not have enough free
floor space HF and there is therefore no space under the vehicle or the Safety
Sensor for the tips of the feet. You determine the additional distance ZF according
to the following diagram:
HF
120
100
80
ZF
TNT 35/7-24V
60
40
20
HF
20 40 60 80 100 120 140 160
ZF
Pic. 6.18: Diagram for determining the additional distance ZF with lack of floor
space HF
If wheels are mounted near the side wall, always add an additional distance ZF ≥
150 mm.
Minimum distance D
D = D A + ZGes
D
Minimum vehicle front distance (danger) to the protective field front edge in mm
DA
Stopping distance in mm
ZGes
Total required additional distances
57
Installation
Protective field dimensions
FL
Z GES
6.6.3
Z GES
FR
RG
Z GES
DA
D
Pic. 6.19: Mobile danger zone guarding, dimensions for horizontal protective field
D Minimum distance, vehicle front (danger) to protective field front edge
DA Stopping distance
ZGesTotal required additional distances to the front and for both sides
FL Distance, Safety Sensor center to the left vehicle edge
FR Distance, Safety Sensor center to the right vehicle edge
RG Biggest radius in the protective field ZGES for determining the additional distance ZSM
ª Arrange the protective field symmetrically with reference to the vehicle width,
even if the Safety Sensor is not arranged centered.
ª Take the required free space for overlaying side protective fields under the
conveyor lanes along the vehicle's path into account.
ª If you have to expect angle deviations of the vehicle during the travel, plan an
additional tolerance range to guarantee undisturbed travel operation.
58
Installation
6.6.4
Test mode for MotionMonitoring
You require a special test mode to be able to check the MotionMonitoring function
with the daily function check.
Configure this test mode in the control system as follows:
• Control system selects protective field 1
• Control system moves vehicle with speed for protective field 2
Alarm output 2 must signal that the speed will be exceeded.
Mobile side guarding on AGVs
WARNING
Danger of injury because of insufficient vehicle stopping distance
ª The company operating the machine must use organizational measures to
ensure that people cannot enter the vehicle's protective field from the side.
ª For mobile vertical protective fields use a resolution of at least 150 mm.
ª Position the protective field edges in the travel direction in accordance with the
front protective field edge of the horizontal protective field (see chapter,
"Protective field dimensions", page 58).
ª Ensure that the response time of all components of the switch-off circuit are the
same or balance the response times with different protective field
dimensioning.
ª Set the vertical protective fields at a slight angle so that the lower protective
field edges protrude over the vehicle width by the amount of the additional
distances, ZSM, ZF and ZREFL where required (see figure 6.19, "Mobile danger
zone guarding, dimensions for horizontal protective field", page 58).
59
TNT 35/7-24V
6.7
Technical data
7
Technical data
7.1
Safety
Safety type in acc. with IEC/EN 61496
Type 3
Performance level PL (EN ISO 13849-1)
PL d
Safety Integrity Level SIL (IEC/EN 61508) SIL2
SILCL (IEC 62061)
PFHd Probability of dangerous failures
per hour (EN ISO 13849-1)
1.5 E-7
Category in acc. with EN 9541/EN 13489-1
3
Service life TM in years
20
Approvals
7.2
60
Optics
Laser protection class in acc. with
EN 60825-1
Class 1
Wavelength
905 nm
Repetition frequency
25 kHz
Scan rate
25 scans/s, equal to 40 ms/scan
Scanning angle
Max. 190°
Angle resolution
0.36°
Lateral tolerance without mounting
system
± 0.18° (with reference to the housing rear
panel)
Lateral tolerance with mounting system
± 0.22° (with reference to the housing rear
panel)
Technical data
7.3
Protective field
Variant SIMATIC
FS620I SR FS670 SR FS620I
FS660
FS670
FS660 LR
FS670 LR
Number of field pairs
4
8
4
8
8
Reference contour can
be selected
x
x
–
x
x
At 30 mm resolution
–
–
–
1.60 m
1.60 m
At 40 mm resolution
–
–
–
2.20 m
2.20 m
At 50 mm resolution
–
–
–
2.80 m
2.80 m
At 70 mm resolution
2.15 m
2.15 m
4.00 m
4.00 m
6.25 m
At 150 mm resolution
2.15 m
2.15 m
4.00 m
4.00 m
6.25 m
Minimum range that can
be set
200 mm
Detection range of the
test object from the
housing edge
The detection capability is restricted in the 0 mm to 50 mm
range to increase availability.
Diffuse reflectance PF
minimum
1,8 %
7.4
TNT 35/7-24V
Protective field range
Warning field
Number of field pairs
See "Protective field" on page 61.
Warning field range
0 - 15 m
Object size
150 mm x 150 mm
Diffuse reflectance WF
minimum
Min. 20 %
61
Technical data
7.5
7.6
Measured data
Measurement range
0 - 50 m
Diffuse reflectance
20 %
Radial resolution
5 mm
Lateral resolution
0.36°
Electrical power supply
Voltage supply
24 V DC (+20 % / -30 %)
Power supply in acc. with IEC 742 with safe
supply isolation and compensation with voltage
dips of up to 20 ms in acc. with EN 61496-1.
Overcurrent protection
Via 1.6 A fuse melting fuse in the cabinet
Current consumption
Approx. 420 mA (use power supply with 2.5 A)
Current consumption
10 W with 24 V plus output load
Overvoltage protection
Overvoltage protection with safe limit stop
Protective earth conductor
Connection not permitted
Interface X1 connector plug
SUB-D15
Interface X2 connector plug
SUB-D9
Inputs
Start/restart
+24 V opto-uncoupled, dynamically monitored
Field pair switchover
Selection of 4 or 8 field pairs via 4 control lines,
+24 V opto-uncoupled, dynamically monitored,
logically 1 = field pair activated
Signal definition:
62
High/logical 1
16 - 30 V
Low/logical 0
<3V
Technical data
Safety outputs
OSSD transistor safety-related switching 2 safe PNP semiconductor outputs
outputs
Short circuit-proof, cross-circuit monitored
Minimum
Switching voltage high active
Typical
Maximum
UB - 3.2 V
Switching voltage low
2.0 V
Switching current
250 mA
Cut-off frequency fg
1 kHz
Load capacity Cload
100 nF
Cable length between Safety Sensor and
load with gauge 0.5 mm2
50 m
Permitted wire gauge
0.5 mm2
100 μs
Test pulse width
Test pulse distance
5 ms
Data interface X2
RS 232 (max 10 m),
RS 422 (twisted pair, max. 50 m)
AS-Interface Safety at work
Optional: All variants FS600, except FS600 SR
PROFIBUS DP PROFIsafe
Optional: All variants FS600, except FS600 SR
Control outputs
Warning field/dirt/fault
2 x PNP transistor outputs, configurable
Max. switching current
100 mA
Alarm high active
UB- 4 V
Alarm low inactive
< 2.0 V
Permissible cable length with 0.5 mm2
50 m, shielded, only connect shield in the
cabinet with PE
63
TNT 35/7-24V
Interfaces
Technical data
7.7
Software
Configuration and diagnostics software
7.8
7.9
LS4soft under Windows 95/98/2000/NT/XP
Ambient conditions
Type of protection
IP 65 in acc. with IEC 60529
Safety class
II
Ambient temperature, operation
0 to + 50 °C
Ambient temperature, storage
-20 to +60 °C
Humidity
DIN 40040, table 10, code letter E (reasonably
dry)
Interference immunity
In acc. with DIN EN 61496-1 (type 4),
Also in acc. with DIN 40839-1/3 test pulses 1,
2, 3a, 3b and 5
Vibration stress over 3 axes
In acc. with IEC 60068 part 2 - 6, 10 - 150 Hz
max 5 G
Permanent shock over 3 axes
In acc. with IEC 60068 part 2 - 29, 10 G, 16 ms
Disposal
Specialist disposal required
Dimensions, weight
Housing
Aluminum diecast, plastic
Standard version dimensions
140 x 155 x 135 (W x H x D) in mm
(ensure free space for plug with fixing and Details, see Figure 7.1 "Dimensions"
cable)
Standard version weight
Approx. 2 kg
Distance, beam level center to the bottom 48.75 mm
housing edge
Distance, bottom housing edge to the
rotary mirror axis
64
67 mm
Technical data
122.3
88
R
61.1
38.5
C
R2.6
148
ca.195
21
130
64
5
R2.6
C
48.7
141
b
a
77.8
b
170
143.8
a
132
135
B
140
Laser Klasse 1
Laser Class 1
Laser de Classe 1
except for deviations pursuant to Laser Notice No. 50 dated June 24, 2007
TNT 35/7-24V
Complies with IEC 60825-1:2001, 21 CFR 1040.10 and 1040.11
A
Pic. 7.1: Dimensions
R Bending radius of the connected cable
a Rotary mirror axis
b Beam level
A Interface X1 for connection with control system
B Interface X2 for connection with PC or laptop
All dimensions in mm.
65
Technical data
155.4
51.5
74.4
90
23
56.6
Mounting system (option)
9
157.5
166.3
192
Pic. 7.2: Mounting system dimensions
All dimensions in mm.
66
9°
Electrical connection
8
Electrical connection
The Safety Sensor may only be connected and integrated into the machine's
control system by an appropriately qualified person.
ª Observe the safety notes (see chapter, "Safety", page 13) and technical data
(see chapter, "Technical data", page 60).
ª Ensure that the voltage supply and all connected input and output current
circuits have safe mains isolation in acc. with IEC 742.
The safety-related switching output is redundantly configured.
ª Basically you always connect both safety-related switching outputs (OSSDs)
with the machine's switch-off circuit so that they are both separately fully
effective for switching off the dangerous movement (see chapter, "Integrating
the Safety Sensor into machine control system", page 73).
You may not use the alarm outputs for switching safety-relevant signals.
8.1
Electrical power supply
(see chapter, "Electrical power supply", page 62)
Interfaces
The Safety Sensor has two interfaces:
• Interface X1 for connection with the control system
• Interface X2 for connection with PC or laptop
Interface
Type
X1
SUB-D15
X2
SUB-D9
TNT 35/7-24V
8.2
Function
• Power supply
• Switching lines and signal lines
Configuration interface and data interface:
• Parameter configuration
• Protective field definition and warning field definition
• Data transfer and measured value transfer
• Diagnostics
67
Electrical connection
1
2
3
4
STOP
ok.
ok.
Pic. 8.1: Safety Sensor interfaces
1
2
B
4
X1 plug
X2 plug
X2 cable for connection with PC/laptop
Protective housing, if no PC/laptop connected
The plug housings are included with delivery. A protective housing is also included
for the X2 interface. The protective housing protects interface X2 if no PC is
connected.
Screw the plug and protective housing on tight to prevent dust and moisture from
penetrating.
The protective housing consists of:
• Housing with seal ring and fixing bolts
• M16 cable gland with dummy plugs
• Plug with solder connection
68
Electrical connection
X1 plug interface assignment
8
15
7
14
6
13
5
12
4
11
3
10
2
9
1
Pic. 8.2: X1 plug interface assignment
PIN
Color code
Signal
Description
1
Black
GND
Supply voltage earth
2
Blue
Restart
Input, Safety Sensor reset and start/restart button
connection
3
Red
UB
Supply voltage
4
Orange
FP 1
Control input for activating field pair 1
5
Yellow
Alarm 1
Semiconductor output with switch-off with:
• Warning field interruption
• Warning message, e.g. "Front screen slightly
dirty"
• Fault message, e.g. "Front screen very dirty"
• Internal fault
You can combine the functions.
6
Green
FP 2
Control input for activating field pair 2
7
Purple
FP 3
Control input for activating field pair 3
8
Gray
FP 4
Control input for activating field pair 4
9
n.c.
NC
Do not assign
10
n.c.
NC
Do not assign
11
White
OSSD 1
Semiconductor output channel 1, switch-off with
protective field interruption
12
White/black
OSSD 2
Semiconductor output channel 2, switch-off with
protective field interruption
TNT 35/7-24V
8.2.1
69
Electrical connection
8.2.2
PIN
Color code
Signal
Description
13
n.c.
NC
Do not assign
14
White/brown
NC
Do not assign
15
Brown
Alarm 2
Semiconductor output with switch-off with:
• Warning field interruption
• Warning message, e.g. "Front screen slightly
dirty"
• Fault message, e.g. "Front screen very dirty"
• Internal fault
You can combine the functions.
Interface assignment, plug X2
Plug X2 as RS 232 port
1
2
3
4
6
7
8
9
5
Pic. 8.3: Plug X2 interface assignment as RS 232 port
70
PIN
Signal
Description
1
---
Reserved
2
TxD
Data communication, send
3
RxD
Data communication, receive
4
---
Reserved
5
GND/shield
Ground/shield
6
RS 232
Reserved
7
NC
Do not assign
8
NC
Do not assign
9
Reserved
Reserved for test purposes
Electrical connection
Plug X2 as RS 422 port
1
2
3
4
5
6
7
8
9
8.3
PIN
Signal
Description
1
Tx+
Data communication, send
2
Tx-
Data communication, send
3
Rx-
Data communication, receive
4
Rx+
Data communication, receive
5
GND/shield
Ground/shield
6
RS 422
Selection as interface RS 422 via jumper to pin 5
7
NC
Do not assign
8
NC
Do not assign
9
Reserved
Reserved for test purposes
Assemble cables
You can either use the plug housing included with delivery and assemble the
cables yourself, or you can use already assembled cables.
Control cables with ConfigPlug integrated in the plug, for example, are available
as accessories. ConfigPlug saves the configuration and transfers this
automatically to the Safety Sensor.
Only use shielded cables.
71
TNT 35/7-24V
Pic. 8.4: Plug X2 interface assignment as RS 422 port
Electrical connection
a
3
35
b
3
35
a X1 socket
b X2 plug
The cable glands permit cable diameters of 6.5 to 10.5 mm.
Assemble X1 cable
Table 8.1:
X1 cable requirements
Plug
SUB-D, 15-pin
Socket
SUB-D, 15-pin
Wire gauge
Min. 0.5 mm2
Cable external diameter
6.5 mm to 10 mm
Cable length
Max. 50 m
Assemble X2 cable
Table 8.2:
72
X2 cable requirements
Plug
SUB-D, 9-pin
Socket
SUB-D, 9-pin
Wire gauge
Min. 0.2 mm2 or 24 AWG
Cable external diameter
6.5 mm to 10 mm
Cable length
RS 232: Max. 10 m
RS 422: Max. 50 m, data lines 1 and 2 plus 3 and 4
twisted pair
Electrical connection
8.4
Integrating the Safety Sensor into machine control system
The following examples show options for integrating the Safety Sensor into the
machine control system.
As soon as you have connected the operating voltage and activated a protective
field the Safety Sensor is ready for operation.
8.4.1
Downstream safety circuit with start/restart
monitoring, without field pair switchover
interlock,
contactor
+24V
+24V
1
1,6 A
2
-K1
-W1
2
3
4
11
L+
L+
1
1
2
2
12
1
-K2
2
-X2 1
2
3
4
5
15
1
9
1
6
X2
9
S11
S33
S34 S35 S31 S22 13
23
31
S21 S12 14
24
32
+24V
n.c.
Alarm 2
n.c.
7
8
X1
5
0V
reserved
n.c.
OSSD2
6
8
A1
SIMATIC FS400 3RG7847
n.c.
RS232/422
Shield
RxD-
RxD+
TxD+
0V
TxD-
SIMATIC FS600 laser scanner
-X1 1
-A3
10 11 12 13 14 15
n.c.
9
OSSD1
8
n.c.
7
FP 4
6
FP 3
5
FP 2
FP 1
4
Alarm 1
3
+24V
Restart
-A1 -X1 2
A2
9
Var. B
1
SH
-K1
A1
-K1
Var. A*
-K2
-K1
A2
-K2
L-
0V
PE
A1
-K2
A2
L0V
PE
Pic. 8.5: Connection example with external start/restart interlock and contactor
monitoring, without field pair switchover
* Release circuits for the dangerous movement:
Integrate these contacts into the control system so that the dangerous state is
removed when the contact is open.
Applications in acc. with category 3 or 4 in acc. with EN 954-1 require a twochannel integration (see var. A).
Variant B shows a single-channel integration.
The monitoring of the downstream contactors K1 and K2 (contactor monitoring,
EDM) is implemented in this connection example with the integration of the rest
contacts K1 and K2.
73
TNT 35/7-24V
-W1
Electrical connection
8.4.2
Programmable logic controller (PLC) with corresponding safety level and
field pair switchover
The safety level corresponds with at least category 3 in acc. with EN 954.
+ 24V
+ 24V
1
1,6 A
2
15
1
9
1
6
X2
9
X1
-X1 1
-W1
0V
PE
1
-X2 1
2
3
4
5
6
7
8
5
0V
reserved
n.c.
Safety PLC
n.c.
RS232/ 422
Shield
RxD-
RxD+
TxD+
0V
TxD-
SIMATIC FS600 laser scanner
Safety
outputs
8
Safety
i nputs
-A2
10 11 12 13 14 15
+ 24V
9
Standard
I/ O
8
n.c.
7
Alarm 2
6
15
n.c.
5
12
OSSD2
4
n.c.
3
11
OSSD1
-A1 -X1 2
FP 4
8
FP 3
7
FP 2
6
FP 1
5
Alarm 1
4
+ 24V
3
Restart
2
n.c.
-W1
9
SH
0V
PE
Pic. 8.6: Example of a connection with a safe PLC with corresponding safety
level (min. category 3, EN 954) and field pair switchover.
74
Parameters
9
Parameters
You enter all parameters for the Safety Sensor's configuration in the software (see
"Safe parametering" instructions).
The Safety Sensor is configured at the factory with the maximum protective field
and activated start/restart interlock. Configure the Safety Sensor according to
your application.
9.1
Administrative parameters
9.1.1
Safety Laser Scanner name
The Safety Laser Scanner name parameter unambiguously names the Safety
Sensor.
Settings
• Max. 20 characters
• No default value.
9.1.2
Description
Settings
• Max. 100 characters
• No default value.
9.1.3
Start segment output
The Start segment output parameter names the segment of the measured contour
that will be shown first.
Settings
• Settable value: 0 to 528
• Default value: 0
For showing 180° use the value 14 as start segment.
For showing 190° use the value 0 as start segment.
75
TNT 35/7-24V
The Description parameter contains further information for clearly assigning the
Safety Sensor. You can, for example, provide the Safety Sensor's precise point
of use.
Parameters
9.1.4
Stop segment output
The Stop segment output parameter names the segment of the measured contour
that will be shown last.
Settings
• Settable value: 0 to 528
• Default value: 528
For showing 180° use the value 514 as stop segment.
For showing 190° use the value 528 as stop segment.
9.1.5
Output resolution
The Output resolution parameter provides the number of measured values per
section shown. The respective smallest measured values are connected with one
another with the display on the monitor.
Settings
• Settable value: 1 to 8
• Default value: 4
If you want a detailed contour display, enter 1. If you want a smoothed out and
quicker updated contour display, enter 8.
9.1.6
Serial interface baud rate
The Serial interface baud rate parameter provides the transfer rate between the
Safety Sensor and the PC.
Settings
• Settable value: 9600 to 115200 baud
• Default value: 57600 baud
The set value must agree with the PC's transfer rate.
76
Parameters
9.1.7
Alarm incident
The Alarm incident parameter provides the incident at which the Safety Sensor will
switch off alarm outputs Alarm 1 and Alarm 2.
Settings
• Device warning
• Warning field interrupted
• Device warning or warning field interrupted
• None
• Default value: Warning field interrupted
9.1.8
Precalculated measured values output
The Precalculated measured values output parameter determines whether the
Safety Sensor will issue the distance measured value and the speed
precalculated from it via the serial interface.
Settings
• Activated
• Deactivated
• Default value: Deactivated
9.1.9
2nd measured value calculation segment
The 2nd measured value calculation segment parameter provides the second
segment, for which the distance and precalculated speed will be issued.
Settings
• 0 - 528
• Default value: 14
9.1.10
3rd measured value calculation segment
The 3rd measured value calculation segment parameter provides the third
segment, for which the distance and precalculated speed will be issued.
Settings
• 0 - 528
• Default value: 514
77
TNT 35/7-24V
The first segment is always 90° (straight). You can provide two more segments
for the measured value calculation.
Parameters
9.2
Safety-relevant parameters
9.2.1
Application
The Application parameter provides the usage scenario that the Safety Sensor will
be configured for.
Settings
You can select from the following applications. Depending on the set application,
the parameters "Resolution" and "Start/restart interlock" are preset:
Selectable application
Resolution
Start/restart interlock
Danger zone guarding
70 mm
Activated
Leg detection
50 mm
Activated
AGV
70 mm
Deactivated, restart automatic with
2000 ms delay
MotionMonitoring
70 mm
Deactivated,
restart automatic with 2000 ms delay
Passage control
150 mm
Activated
Arm protection
40 mm
Activated
Hand protection
30 mm
Activated
Body protection
150 mm
Activated
Freely selectable Presettings
Activated
Activated
Default value: Danger zone guarding
78
Parameters
9.2.2
Response times
The Response times parameter provides the time until the Safety Sensor switches
off the OSSD 1 and OSSD 2 safety-related switching outputs or the alarm output
with warning and protective field interruptions.
You provide two response times:
• PF response time: Time until the Safety Sensor switches off the OSSD 1
and OSSD 2 safety-related switching outputs.
• WF response time: Time until the Safety Sensor switches off the alarm
output.
Settings
• Multiple of 40 ms, in the 80 ms - 640 ms range
• Default values:
• PF response time: 80 ms
• WF response time: 80 ms
9.2.3
Dust suppression
The Dust suppression parameter indicates whether or not the Dust suppression
function is activated.
9.2.4
Vehicle speed
The vehicle speeds parameter specifies the range the maximum speed of your
AGV is in.
Settings:
• Up to 1,500 mm/s
• Up to 2,500 mm/s
• Up to 4,000 mm/s
• Over 4,000 mm/s
• Default value: Over 4,000 mm/s
9.2.5
Applicable field pair selection with scanner start
The Applicable field pair selection with scanner start parameter indicates which
field pair may be active when the Safety Sensor starts.
79
TNT 35/7-24V
Settings:
• Activated
• Deactivated
• Default value: Activated
Parameters
Settings
You select the applicable field pairs in a matrix:
• x: Field pair allowed with start
• Empty field: Field pair forbidden with start
• Default values: Field pairs 1, 2, 3 and 4 allowed
9.2.6
Permitted field pair switchovers
The Permitted field pair switchovers parameter indicates the switchover from field
pair to field pair that is permitted and in which sequence. With forbidden
switchover sequences the Safety Sensor stops the machine.
Settings
You select the permitted field pair switchovers in a matrix:
• x: Field pair switchover permitted
• Empty field: Field pair switchover forbidden
• Default values: No field pair switchover allowed
9.3
Field pair
9.3.1
Protective field/description
The Description parameter names the protective field.
Settings
• Max. 20 characters
• Default values: SF1 to SF4
9.3.2
Warning field/description
The Description parameter names the warning field.
Settings
• Max. 20 characters
• Default values: WF 1 to WF 4
80
Parameters
9.4
MotionMonitoring
9.4.1
Vehicle width
The Vehicle width, left and Vehicle width, right parameters provide the width of the
vehicle from the rotary mirror axis of the Safety Sensor to the vehicle side.
Settings
• 100 mm - 6000 mm
• Default value: 100 mm
The total of the Vehicle width, left and Vehicle width, right values must be at least
the overall vehicle width.
9.4.2
Protective field side additional distance
The Protective field side additional distance parameter provides the safety
distance between a vehicle side and the protective field.
Use a protective field side additional distance if people can approach the vehicle
from the side.
Settings
• 25 mm - 6000 mm
• Default value: 100 mm
Laser scanner installation point
The Laser scanner installation point parameter provides the point at which the
Safety Sensor is installed on the vehicle front.
The software calculates the rear limit of the protective fields and warning fields on
the basis of the setting.
Settings
• Countersunk
• Without mounting system
• With mounting system
• Default value: With mounting system
81
TNT 35/7-24V
9.4.3
Parameters
9.4.4
Warning field prerun time
The Warning field prerun time parameter provides the amount of time between the
interruption of the warning field and the interruption of the protective field,
regardless of the speed of the respective protective field.
The software calculates the warning field size with the warning field prerun time,
depending on the protective field size.
Settings
• 1 ms - 5000 ms
• Default value: 1500 ms.
9.4.5
Vehicle response time
The Vehicle response time parameter provides the time from switching off the
Safety Sensor until the braking starts.
It is the combined response times of all components of the switch-off circuit, e.g.
safety modules, safety relays.
Settings
• 10 ms - 640 ms
• Default value: 300 ms.
9.4.6
Brake wear and tear additional distance
The Brake wear and tear additional distance parameter provides the factor by
which the braking distance is extended by wear and tear components, which are
integrated into the braking process.
Settings
• 0 % - 100 %
• Default value: 10 %
9.4.7
Ambient influences additional distance
The Ambient influences additional distance parameter provides the factor by
which the braking distance is extended by ambient influences, e.g. by wet
conditions or dust on the path covering.
Settings
• 0 % - 100 %
• Default value: 10 %
82
Parameters
9.4.8
Speed with PF
The Speed with PF x parameter provides the maximum speed that the vehicle
reaches with this protective field.
Settings
• Maximum value: 8000 mm/s
If you enter the Speed with PF x parameter for several protective fields, the
difference between the protective fields must be at least 100 mm/s.
The software calculates the required protective field length from the Speed with
PF x and Braking distance with PF x parameters.
9.4.9
Braking distance with PF
The Braking distance with PF x parameter provides the braking distance that the
vehicle requires to come to a standstill with maximum speed with this protective
field.
Settings
• Maximum value: Scanner range in mm
Provide the parameter for the protective field in which the vehicle has the highest
maximum speed. The software interpolates all other braking distances.
9.4.10
Standstill monitoring
TNT 35/7-24V
The Standstill monitoring parameter indicates whether or not further travel
blocking in the MotionMonitoring function is activated.
Settings
• Activated
• Deactivated
• Default value: Deactivated
9.4.11
Creep and reverse
The Creep and reverse parameter indicates whether creep and reverse is
activated in the MotionMonitoring function.
Settings
• Activated
• Deactivated
• Default value: Deactivated
83
Start-up
10
Start-up
10.1
Before first start-up
In accordance with IEC TS62046 and national regulations, such as EU Directive
89/655 EEC, for example, tests are prescribed in the following situations:
• Before first start-up
• Following machine modifications
• After long machine standstill
• After a Safety Sensor upgrade of re-configuration
10.2
Switching on
Requirements:
• You have configured the Safety Sensor with the configuration and
diagnostics software and transferred the configuration to the Safety Sensor.
• Interface X1 of the the Safety Sensor is connected to the control system or
safety switching device.
• Protective housing is mounted on interface X2.
CAUTION
Danger of injury with unpredictable machine behavior with first start-up.
ª Ensure that nobody is in the machine's danger zone.
ª Start the machine.
ª Press the start/restart button if the start interlock function is activated.
or
If the start test function is activated, interrupt the protective field and release it
again. The machine then starts automatically.
84
Start-up
10.3
Shutting down
Shut the machine with the Safety Sensor down temporarily
When you shut down the machine with the Safety Sensor temporarily, you do not
have to observe any more steps. The Safety Sensor saves the configuration and
starts again with the switch-on with this configuration.
Shut down Safety Sensor and remove from machine
When you shut down the Safety Sensor and store it away for a later use, you must
reset the Safety Sensor to the factory settings.
ª Reset the Safety Sensor to the factory settings (see instructions, "Safe
parametering").
Restart
Restarting the machine with the Safety Sensor
If you have only shut down the system with the Safety Sensor temporarily and are
restarting the system without any changes, you can restart the Safety Sensor with
the configuration that applied with the shutdown. The configuration remains saved
in the Safety Sensor.
ª Perform a function check (see chapter, "Daily functions test", page 91).
Start up machine with Safety Sensor after modification or reconfiguration.
If you have performed significant changes on the machine or have reconfigured
the Safety Sensor, the Safety Sensor must be checked as with the first start-up.
TNT 35/7-24V
10.4
ª Test the Safety Sensor (see chapter, "Testing before first start-up and after
machine modification", page 88).
85
Start-up
10.5
Starting up the replacement device
The replacement device and the device being replaced must agree as follows:
• Device type upward compatible in accordance with specification plate or
with previous device with greater range and greater scope of function.
• Installation position
• Alignment
Mount and align replacement device
ª Mount the replacement device at the previous Safety Sensor's position.
ª Align the Safety Sensor as with the previous Safety Sensor.
Transfer configuration to replacement device
You have two options for transferring the configuration to the replacement device:
• When using the ConfigPlug by attaching the ConfigPlug to the replacement
device.
• With the configuration and diagnostics software
Transfer configuration with the PC
ª Connect the Safety Sensor's X2 interface with the PC.
ª Transfer the configuration to the replacement device (see also, "Safe
parametering" instructions).
Use ConfigPlug
The ConfigPlug has a switch that determines the transfer direction of the
configuration:
86
Switch setting
Transfer direction
1
The ConfigPlug overwrites the Safety Sensor's configuration.
X
The configuration saved in the ConfigPlug is overwritten.
Start-up
ª Set the switch in the plug to position 1.
ª Attach the ConfigPlug to interface X1.
The ConfigPlug transfers the configuration to the Safety Sensor when the
Safety Sensor is started. A brief flashing of the two yellow LEDs 2 and 5
confirms the successful transfer of the configuration.
The replacement device is not compatible if the Safety Sensor displays a fault.
Test the replacement device
The replacement device test depends on whether you use the ConfigPlug or have
transferred the configuration with the PC to the Safety Sensor.
ª If you have used the ConfigPlug, test the Safety Sensor using the checklist for
the daily test.
or
TNT 35/7-24V
If you have transferred the configuration with the PC, check the Safety Sensor
in accordance with the first startup (see chapter, "Before first start-up",
page 84).
87
Testing
11
Testing
11.1
Testing before first start-up and after machine modification
In accordance with IEC TS62046 and national regulations, such as EU Directive
89/655 EEC, for example, tests are prescribed in the following situations:
• Before first start-up
• Following machine modifications
• After long machine standstill
• After a Safety Sensor upgrade or re-configuration
WARNING
Danger of serious injury through unpredictable machine behavior with
first start-up.
ª Ensure that nobody is in the machine's danger zone.
ª Check the effectiveness of the switch-off function in accordance with the
following checklist in all of the machine's operating modes along the defined
protective field contour. With automated guided vehicle systems (AGVs): Take
the entire route into consideration.
ª Document all tests comprehensibly and print out the Safety Sensor's
configuration incl. protective field shapes for your documentation.
ª Instruct the operating staff before beginning the activity. The machine company
operating the machine is responsible for this instruction.
ª Attach the instructions for daily testing on the machine so that they are clearly
visible in the operating staff's native language.
You can print out the chapter "Daily function check" for this.
88
Testing
Checklist for testing the Safety Sensor before the machine's first startup.
Tester: Appropriately qualified person
This checklist serves as a reference for the machine manufacturer or supplier. It
replaces neither the test of the entire machine or system before the first start-up
nor its regular tests by an appropriately qualified person. This checklist includes
minimum test requirements. Depending on the application, further tests may be
required.
ª Keep this checklist with the machine documentation.
Checkpoint
Yes
No
Have all the relevant safety directives and standards for this machine type
been taken into consideration?
Does the machine's declaration of conformity include a list of these
documents?
Does the Safety Sensor comply with the safety-related performance
required by the risk assessment (PL, SIL, category)?
Circuit diagram: Are both safety-related switching outputs (OSSDs) linked
into the downstream machine control unit in accordance with the required
safety category?
TNT 35/7-24V
Circuit diagram: Are the switching elements controlled by the Safety
Sensor, e.g. contactors with positive-guided contacts monitored by a
feedback circuit (EDM)?
Does the electrical wiring agree with the circuit diagrams?
Have the required safety measures against electric shocks been effectively
implemented?
Has the machine's maximum stopping time been re-measured and
documented in the machine documentation?
Is the required safety distance (Safety Sensor protective field to the nearest
point of operation) complied with?
Are all of the machine's points of operation only accessible through the
Safety Sensor's protective field? Are all accessible safety devices, e.g.
protective grids correctly mounted and secured against manipulation?
Is an unprotected presence between the respectively activated protective
field and the point of operation safely ruled out or, for example, prevented
by an additional physical protective device?
89
Testing
Checkpoint
Yes
No
Is the control device for activating the start/restart interlock of the Safety
Sensor or the machine positioned in accordance with the respective
specifications and regulations?
Is the Safety Sensor correctly aligned (tilt angle) and are all fixing screws
and plugs tight?
Are the Safety Sensor, connecting cables, plugs, protection caps and
control devices undamaged and free of any signs of manipulation?
Has the effectiveness of the protective function of all configured protective
fields and for all of the machine's operating modes been checked with a
functions check?
Is the Safety Sensor effective during the entire dangerous movement of the
machine?
Is the dangerous movement stopped when the Safety Sensor is
disconnected from the supply voltage, when the machine operating mode
changes or when a change is made to another protective device?
Are the instructions for the Safety Sensor's daily test mounted clearly visible
for the operating staff?
11.2
Regular test by an appropriately qualified person
Regular tests of the safe interaction of the Safety Sensor and the machine are
used to reveal machine changes or unauthorized changes, i.e. manipulations on
the Safety Sensor. Test intervals are regulated by country-specific regulations.
IEC TS62046 recommends a regular test every 6 months.
ª Have all tests been performed by an appropriately qualified person.
ª Take the country-specific regulations and the times and periods they include
into account.
90
Testing
Daily functions test
The Safety Sensor's switch-off function must be tested daily or at shift changes
and with every change of the machine operating mode in accordance with the
following checklist in order to reveal any possible damage or manipulations.
WARNING
Danger of serious injury through unpredictable machine behavior with the
test.
ª Ensure that nobody is in the machine's danger zone.
WARNING
Machine operation may not continue if errors occur during the daily test
If you answer one of the checkpoints with no, the machine or the vehicle may no
longer be operated.
ª Have the entire machine tested by an appropriately qualified person (see
chapter, "Regular test by an appropriately qualified person", page 90).
Daily functions test checklist
Tester: Authorized operating staff or commissioned person
Checkpoint
Yes
No
Is the Safety Sensor correctly aligned (tilt angle) and are all fixing screws
and plugs tight?
TNT 35/7-24V
11.3
Are the Safety Sensor, connecting cables, plugs, protection caps and
control devices undamaged and free of any signs of manipulation?
Are all of the machine's points of operation only accessible through the
Safety Sensor's protective field? Are all additional protective devices
correctly mounted, e.g. protective grids?
ª Switch the machine on, wait approx. 20 s until the auto-test sequence has
finished.
With an automatic restart: Do LED 1 and LED 4 light green?
With start interlock: Do LED 1, LED 3 and LED 5 light yellow?
ª Activate the Safety Sensor's control device (with start/restart interlock
function) or interrupt the protective field with a test instrument* (with start
test function).
Do LED 1 and LED 4 light green?
91
Testing
Checkpoint
Yes
No
Stationary applications:
ª Interrupt the selected protective field of the Safety Sensor with the test
instrument* with running operation.
Do LED 1 and 4 go off? Does LED 3 light red? Does the dangerous
movement stop immediately?
Mobile applications:
ª Interrupt the selected protective field of the Safety Sensor with the test
instrument* with moving vehicle.
Do LED 1 and 4 go off? Does LED 3 light red?
Does the vehicle stop within the limits defined in the configuration log?
ª Repeat the test described above at different points of the danger zone for
all configured protective fields.
Do the protective field limits with stationary applications agree with the
floor marking?
MotionMonitoring:
ª Start the test mode for MotionMonitoring on the control unit.
Does alarm output 2 signal that the speed is exceeded?
*
92
Diameter of the test instrument in accordance with the Safety Sensor
resolution of the configuration log
Maintenance
12
Maintenance
Clean the front screen and the scatter screens as required by the applicationconditional load rating.
Clean the front screen
Use the Clean-Set consisting of special cleanser and cleaning clothes for cleaning
the front screen.
The procedure for cleaning depends on the kind of dirt.
Dirt
Cleaning
Particles, loose, scouring
ª Vacuum without touching or blow away softly, oil-free
Particles, loose, non-scouring
ª Vacuum without touching or blow away softly, oil-free
ª Wipe free in one swipe with cleaning cloth
or
Wipe free in one swipe with cleaning cloth
Particles, sticking
ª Wet with cloth soaked in cleanser
ª Wipe free in one swipe with cleaning cloth
Particles, statically charged
ª Vacuum without touching
ª Wipe free in one swipe with cleaning cloth soaked with
cleanser
Particles/drops, smearing
ª Wet with cloth soaked in cleanser
Water drops
ª Wipe free in one swipe with cleaning cloth
Oil drops
ª Wet with cloth soaked in cleanser
Fingerprints
ª Wet with cloth soaked in cleanser
Scratches
ª Change front screen
ª Wipe free in one swipe with cleaning cloth
TNT 35/7-24V
12.1
ª Wipe free in one swipe with cleaning cloth
ª Wipe free in one swipe with cleaning cloth
NOTICE
The wrong cleansers or clothes will damage the front screen
ª Do not use any scouring cleansers or scratching cloths.
If the cleaning takes longer than four seconds, e.g. with fingerprints, the Safety
Sensor displays the fault of the front screen monitoring. After the cleaning you
must then reset the Safety Sensor with the start/restart button.
93
Maintenance
ª Soak cloth with cleanser.
ª Wipe front screen free in one swipe.
12.2
Clean scatter screens
ª Soak cloth with cleanser.
ª Wipe scatter screen free in one swipe.
94
Diagnostics and removing errors
13
Diagnostics and removing errors
13.1
What should I do if an error occurs?
The Safety Sensor has a three-level diagnostics concept to quickly remove errors.
Proceed gradually in steps to remove an error:
ª Read the Safety Sensor's status signaled by the LEDs and remove the errors
with the specified measures.
ª Read out the diagnostics list with the configuration and diagnostics software
and remove the errors with the aid of the solution provided there.
ª Create the service file with the configuration and diagnostics software and send
this service file for remote diagnostics to Siemens.
LED status displays
LEDs
1
2
Green Yellow
Status
Activity
3
4
5
Red Green Yellow
0
0
1
0
0
• Boot process,
configuration
process
• Safety-related
switching outputs
are switched off.
0
2 x (1)
1
0
2 x (1)
• Boot process,
configuration
process
• Safety-related
switching outputs
are switched off.
• Data comparison
with ConfigPlug
0
1
1
0
–
TNT 35/7-24V
13.2
• The active protective
field is seized.
• Safety-related
switching outputs
are switched off.
• The active warning
field is seized.
95
Diagnostics and removing errors
LEDs
Status
Activity
1
2
3
4
5
Green Yellow Red Green Yellow
96
• The sensor function ª Press the
is active; the active
start-/restart button.
protective field is
free.
• Safety-related
switching outputs
are switched off.
• Start/restart interlock
is active.
1
–
1
0
1
1
0
0
1
0
• The sensor function
is active; the active
protective field is
free.
• The active warning
field is free.
• Safety-related
switching outputs
are switched on.
1
1
0
1
0
• The sensor function Object is in the
is active; the active warning field.
protective field is
ª Check the warning
free.
field definition if
• The active warning
required.
field is seized.
• Safety-related
switching outputs
are switched on.
0
LED off
1
LED lights
–
LED not relevant
Diagnostics and removing errors
LED warning and error displays
LEDs
1
2
Green Yellow
Status
Activity
3
4
5
Red Green Yellow
1
0
0
1
(1)
0
(1)
1
0
((1))
0
((1))
1
0
((1))
(1)
0
1
0
((1))
• The sensor function ª Clean the front
is active; the active
screen as soon as
protective field is
possible.
free.
Device still works.
• The active warning
field is free.
• Safety-related
switching outputs
are switched on.
• Front screen is dirty.
• Device fault
ª Clean the front
• Safety-related
screen.
switching outputs
ª Start the Safety
are switched off.
Sensor again.
• Front screen is dirty.
ª Replace the Safety
• Device fault
• Safety-related
Sensor.
switching outputs are
The Safety Sensor
switched off.
type must
• ConfigPlug
correspond with the
configuration is not
ConfigPlug's
compatible with the
configuration.
Safety Sensor; the
configuration cannot
be transferred.
• Device fault
• Safety-related
switching outputs are
switched off.
• Errors on the field
pair control inputs
ª Check the field pair
switchover,
switchover
sequences and
switchover times.
At least one field
pair must always be
active.
ª For the precise
error cause, read
out the diagnostics
list with the
software.
97
TNT 35/7-24V
13.3
Diagnostics and removing errors
LEDs
Status
Activity
1
2
3
4
5
Green Yellow Red Green Yellow
98
((1))
0
1
0
((1))
0
0
1
0
((1))
0
LED off
1
LED lights
(1)
LED flashes with 2 Hz
((1))
LED flashes with 4 Hz
–
LED not relevant
• Device fault
ª Check the vehicle's
• Safety-related
speed and travel
switching outputs are
direction.
switched off.
ª Check the control
• MotionMonitoring
system's field pair
has detected a fault:
switchover
Vehicle movement
does not agree with
the active field pair.
• Device fault
• Safety-related
switching outputs
are switched off.
ª Wait 5 seconds.
The Safety Sensor
performs a reboot.
ª If the reboot is not
successful, read
out the diagnostics
list with the
software.
Diagnostics and removing errors
Diagnostics codes
You can create a diagnostics list with the software. The incidents that occurred
during the Safety Sensor operation are listed in this diagnostics list. Each incident
is given with place and number. The meaning of the incidents is shown in the
following table.
Place
Number Meaning
102
2
Data transfer error on interface X2. ª Check the interface parameters
and start the transfer again.
103
2
Data transfer error on interface X2. ª Check the interface parameters
and start the transfer again.
104
2
Data transfer error on interface X2. ª Check the interface parameters
and start the transfer again.
105
6
201
4
302
2
306
5
Previous message not completely
issued, interface X2 time
specifications not complied with.
801
2
Error memory cannot be read,
internal defect.
805
6
Error memory cannot be
transferred, transfer error on
interface X2.
1002
1
Motor does not reach the nominal
speed after start, internal defect.
ª If reset is not successful, contact
customer service.
1002
2
Motor speed not constant after
start, internal defect.
ª If reset is not successful, contact
customer service.
1003
1
Motor does not reach the nominal
speed after start, internal defect.
ª If reset is not successful, contact
customer service.
Function, access, command not
allowed with currently selected
authorization level.
Activity
ª Change the authorization level
and start the transfer again.
Interface X2 time specifications not ª Check the interface parameters
and start the transfer again.
complied with, last message
overwritten.
Interface X2 time specifications not ª Check the interface parameters
and start the transfer again.
complied with, send data not
acknowledged.
ª Check the interface parameters
and start the transfer again.
ª If reset is not successful, contact
customer service.
ª Check the interface parameters
and start the transfer again.
99
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13.4
Diagnostics and removing errors
100
Place
Number Meaning
Activity
1003
2
Motor speed not constant after
start, internal defect.
ª If reset is not successful, contact
customer service.
1003
3
Motor speed not constant after
start, time exceeded.
ª If reset is not successful, contact
customer service.
1110
4
Safety-related switching outputs
(OSSDs) cannot be switched,
short-circuit with 0 V DC or +24 V
DC.
1110
5
Safety-related switching outputs
(OSSDs) cannot be switched,
short-circuit between OSSD1 and
OSSD2.
1110
6
Safety-related switching outputs
(OSSDs) cannot be switched,
short-circuit with 0 V DC or
+24 V DC.
1111
7
Short-circuit between safetyrelated switching outputs OSSD1
and OSSD2
1111
8
Short-circuit of one safety-related
switching output (OSSD) with
0 V DC.
1111
9
Short-circuit of one safety-related
switching output (OSSD) with
+24 V DC.
1606
4
1607
5
1608
8
ª Check the connection/wiring of
the OSSDs.
ª Check the connection/wiring of
the OSSDs.
ª Check the connection/wiring of
the OSSDs.
ª Check the connection/wiring of
the OSSDs.
ª Check the connection/wiring of
the OSSDs.
ª Check the connection/wiring of
the OSSDs.
Angle error detected, poss. rotation ª If reset is not successful, contact
customer service.
of the sensor housing; switch-off
and reset followed.
Angle error detected, poss. rotation ª If reset is not successful, contact
customer service.
of the sensor housing; switch-off
and reset followed.
Motor speed not constant during
operation, poss. rotation of the
sensor housing.
ª If reset is not successful, contact
customer service.
Diagnostics and removing errors
Number Meaning
Activity
1608
9
Motor speed not constant during
operation, poss. rotation of the
sensor housing.
ª If reset is not successful, contact
customer service.
1608
10
Motor speed not constant during
operation, poss. rotation of the
sensor housing.
1705
1
Signal of a light beam safety
device of the window monitoring
below the bottom limit, dirty front
screen.
1705
2
Signal of a light beam safety
device of the window monitoring
below the bottom limit, oil/grease
on the front screen
1906
1
Safety-related switching outputs
(OSSDs) cannot be switched,
internal or external short-circuit.
ª Check the connection/wiring of
the OSSDs. If reset is not
successful, contact customer
service.
1906
2
Safety-related switching outputs
(OSSDs) cannot be switched,
internal or external short-circuit.
ª Check the connection/wiring of
the OSSDs. If reset is not
successful, contact customer
service.
1906
5
1906
6
1907
4
1907
7
2002
12
ª If reset is not successful, contact
customer service.
ª Clean the front screen (see
chapter, "Clean the front
screen", page 93).
ª Clean the front screen (see
chapter, "Clean the front
screen", page 93).
ª Check the connection/wiring of
Read back error on the safetythe OSSDs. If reset is not
related switching outputs (OSSDs),
successful, contact customer
internal or external short-circuit.
service.
Error on the laser's switch-off path, ª If reset is not successful, contact
customer service.
switch-off because of eye safety,
internal defect
Angle error detected, poss. rotation ª If reset is not successful, contact
customer service.
of the sensor housing; switch-off
and reset followed.
Angle error detected, poss. rotation ª If reset is not successful, contact
customer service.
of the sensor housing; switch-off
and reset followed.
The configuration data displayed
for the check was not
acknowledged for too long.
ª Start the transfer again.
101
TNT 35/7-24V
Place
Diagnostics and removing errors
102
Place
Number Meaning
Activity
2007
18
2017
19
2017
23
2017
24
2017
26
2018
42
MotionMonitoring, error with the
speed matrix transfer.
ª Start the configuration transfer
again.
2018
43
MotionMonitoring, error with the
speed matrix transfer.
ª Start the configuration transfer
again.
2018
44
2018
45
2018
46
2018
50
ª Update the PC's date and time
Date of the protective field
setting.
currently being transferred is older
than the date saved in the Safety
Sensor.
Data transfer error with ConfigPlug ª Replace the ConfigPlug or the
complete cable with plug.
The connected Safety Sensor does ª Change the Safety Sensor,
observe the device type.
not support the configuration file in
the ConfigPlug.
The connected Safety Sensor does ª Change the Safety Sensor,
observe the device type.
not support the configuration file in
the ConfigPlug.
Date of the configuration currently ª Update the PC's date and time
setting.
being transferred is older than the
date saved in the Safety Sensor.
MotionMonitoring, the right side of ª Check all parameters in the
wizard, calculate the protective
a protective field does not match
fields again and start the
the predefined vehicle width.
transfer again.
MotionMonitoring, a protective field ª Check all parameters in the
wizard, calculate the protective
length does not match the
fields again and start the
predefined braking distance of the
transfer again.
vehicle.
MotionMonitoring, the left side of a ª Check all parameters in the
wizard, calculate the protective
protective field does not match the
fields again and start the
predefined vehicle width.
transfer again.
MotionMonitoring, the left side of a ª Check all parameters in the
wizard, calculate the protective
protective field does not match the
fields again and start the
predefined vehicle width.
transfer again.
Diagnostics and removing errors
Number Meaning
Activity
ª If reset is not successful, contact
Number of measurements in the
customer service.
scan is too small because of motor
rotation speed error or internal fuse
is defect.
2201
5
2302
1
Error occurred while scanner was
starting.
2401
13
Reference measurement failed,
dust in the device, as the plug
housing or dummy cap not
screwed.
2401
10
Reference measurement failed;
glare from another light source
(905 nm) or rotation speed error.
Safety Sensor performs reset.
2401
41
Reference measurement failed;
glare from another light source
(905 nm) or rotation speed error.
Safety Sensor performs reset.
2402
10
Reference measurement failed;
glare from another light source
(905 nm) or rotation speed error.
Safety Sensor performs reset.
2402
41/42
Reference measurement failed;
glare from another light source
(905 nm) or rotation speed error.
Safety Sensor performs reset.
2701
1
Invalid diagnostics command
received, software not compatible
with firmware.
2702
3
2800
2
2800
3
The protective field switchover
performed does not comply with
the specifications programmed in
the Safety Sensor.
2800
4
More then 2 protective fields are
activated during operation.
Sequential error.
ª Screw the plugs of interfaces X1
and X2.
ª Use a newer version of the
configuration and diagnostics
software.
ª Use a newer version of the
Invalid diagnostics value
configuration and diagnostics
requested, software not compatible
software.
with firmware.
2 field pair control inputs activated ª Check the switchover times of
the control inputs FP - FP4.
longer than 1 s.
ª Check the activation of the
protective fields in the program
wizard.
ª Check the activation of the
control inputs FP1 - FP4.
103
TNT 35/7-24V
Place
Diagnostics and removing errors
104
Place
Number Meaning
Activity
2800
6
Unusable or defective control
voltage for the protective field
activation.
ª Check the activation of the
control inputs FP1 - FP4.
2800
8
No protective field activated. Can
occur during operation and
switching off the device.
2801
1
Error while testing the inputs for
the protective field switchover,
internal defect.
2802
3
The protective field activation
performed does not comply with
the specifications programmed in
the Safety Sensor.
2802
4
More than 2 protective fields
selected when starting the Safety
Sensor.
2802
6
Unusable or defective control
voltage for the protective field
activation.
2802
8
2804
3
2804
4
2804
6
Unusable or defective control
voltage for the protective field
activation.
3016
11
Confirmed single password
entered wrong.
3203
6
Safety Sensor has optical glare
caused by another device.
ª If detected during running
operation, check the activation
of the control inputs FP1 - FP4.
ª Contact the customer service.
ª Check the activation of the
protective fields in the program
wizard.
ª Only activate one of the control
inputs FP1 - FP4.
ª Check the activation of the
control inputs FP1 - FP4.
No protective field activated during ª Activate one of the control
inputs FP1 - FP4.
the Safety Sensor start.
The protective field activation
performed does not comply with
the specifications programmed in
the Safety Sensor.
ª Check the activation of the
protective fields in the program
wizard.
No protective field clearly selected. ª Check the activation of the
control inputs FP1 - FP4.
ª Check the switchover times of
the control inputs FP1 - FP4.
ª Repeat the password entry.
ª Switch off the supply voltage
and start the Safety Sensor
again.
Diagnostics and removing errors
Place
Number Meaning
Activity
3203
7
Safety Sensor has optical glare
caused by another device.
ª Switch off the supply voltage
and start the Safety Sensor
again.
3402
2
MotionMonitor, field pair activated
wrong several times. Speed
exceeding can no longer be
corrected.
ª Check the activation of the
protective fields in the speed
matrix and the speed the vehicle
moved at.
3402
3
MotionMonitor, speed very much
exceeded. Exceeding cannot be
corrected.
ª Check the activation of the
protective fields in the speed
matrix and the speed the vehicle
moved at.
3402
10
MotionMonitor, maximum speed
exceeded or wrong field pair
activation. Cannot be corrected.
ª Check the activation of the
protective fields in the speed
matrix and the speed the vehicle
moved at.
3403
7
MotionMonitor, activated field pair
was not released in the
configuration.
ª Check the activation of the
protective fields in the speed
matrix and the program wizard.
3403
12
MotionMonitor, error on the field
pair control inputs. Activated
protective field not defined.
ª Check the activation of the
creep and further travel blocking
functions.
3406
8
MotionMonitor, further travel
blocking cannot switch off the
safety-related switching outputs
(OSSDs).
TNT 35/7-24V
ª Check the connection/wiring of
the OSSDs.
105
Disposal
14
Disposal
Dispose of Safety Sensors that can no longer be used according to all applicable
specifications and regulations.
106
Siemens AG
Automation and Drives
Postfach 48 48
90437 NÜRNBERG
GERMANY
Technical data subject to change
Siemens AG
2009/01
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