Sick Safe AGV Easy Operating instructions

Sick Safe AGV Easy Operating instructions

Safe AGV Easy Safety system

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

Described product Safe AGV Easy Manufacturer SICK AG Erwin-Sick-Str. 1 79183 Waldkirch Germany Legal information This work is protected by copyright. Any rights derived from the copyright shall be reserved for SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Any modifica‐ tion, abridgment or translation of this document is prohibited without the express writ‐ ten permission of SICK AG.

The trademarks stated in this document are the property of their respective owner.

© SICK AG. All rights reserved.

Original document This document is an original document of SICK AG.

2 O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 8020644/2017-09-04 | SICK Subject to change without notice

Contents

CONTENTS

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

About this document........................................................................

1.1

1.2

1.3

Scope.........................................................................................................

Symbols and document conventions......................................................

Further information...................................................................................

Safety information............................................................................

2.1

2.2

Intended use.............................................................................................

Requirements for the qualification of personnel....................................

Product description...........................................................................

3.1

3.2

3.3

Application description.............................................................................

Components..............................................................................................

Limits of the safety system......................................................................

Project planning................................................................................

4.1

4.2

4.3

Manufacturer of the machine..................................................................

Operating entity of the machine..............................................................

Integrating the equipment into the electrical control.............................

Mounting............................................................................................. 13

9 9 9 9

4 4 4

5

6 6 6

7 7 7 7

Electrical installation........................................................................ 14

Configuration..................................................................................... 15

Commissioning.................................................................................. 16

Operation............................................................................................ 17

Maintenance...................................................................................... 18

Troubleshooting................................................................................. 19

Technical data.................................................................................... 20 12.1 Data sheet.................................................................................................

20

Ordering information........................................................................ 21 13.1 Ordering information for the Safe AGV Easy...........................................

21

Spare parts......................................................................................... 22 14.1 Spare parts for the Safe AGV Easy..........................................................

22

Annex.................................................................................................. 23 15.1 Checklist for initial commissioning and commissioning........................

23

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1

ABOUT THIS DOCUMENT

1

1.1

1.2

About this document

Scope

These operating instructions contain information regarding the Safe AGV Easy safety system.

NOTICE The operating instructions of the components also apply. In the event of contradictions between the operating instructions, the information specified in the operating instruc‐ tions for the safety system applies.

The relevant information must be made available to the employees for all work per‐ formed on the safety system.

The following documents contain information regarding the Safe AGV Easy safety sys‐ tem:

Table 1: Documents available for Safe AGV Easy 1

Document type Title Operating instructions Operating instructions S300 Mini Standard UE48-30S safety relay Part number 8014167 8010593

Table 2: Documents available for Safe AGV Easy 2 and 3

Document type Operating instructions Operating instructions Title S300 Mini Professional Flexi Classic Part number 8010947 8011737 This document is included with the following SICK part numbers (this document in all available language versions): 8020642

Symbols and document conventions

The following symbols and conventions are used in this document: Safety notes and other notes DANGER Indicates a situation presenting imminent danger, which will lead to death or serious injuries if not prevented.

WARNING Indicates a situation presenting possible danger, which may lead to death or serious injuries if not prevented.

CAUTION Indicates a situation presenting possible danger, which may lead to moderate or minor injuries if not prevented.

NOTICE Indicates a situation presenting possible danger, which may lead to property damage if not prevented.

4 O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 8020644/2017-09-04 | SICK Subject to change without notice

1.3

ABOUT THIS DOCUMENT

1 NOTE Indicates useful tips and recommendations.

Instructions to action b The arrow denotes instructions to action.

1.

2.

✓ The sequence of instructions for action is numbered.

Follow the order in which the numbered instructions are given.

The check mark denotes the result of an instruction.

LED symbols These symbols indicate the status of an LED: o Ö O The LED is off.

The LED is flashing.

The LED is illuminated continuously.

Terminology Dangerous state A dangerous state is a status of the machine or facility, where people may be injured.

Protective devices prevent this risk if the machine is operated within its intended use.

• • • • The figures in this document always show the dangerous state of the machine as move‐ ment of a machine part. In practice, there are different dangerous states, such as: Machine movements Electrical parts Visible and invisible beam A combination of multiple hazards

Further information

www.sick.com

The following information is available via the Internet: ■ ■ ■ This document in other languages Operating instructions and installation instructions of suitable SICK components for the functional safety system Guide for Safe Machinery (“Six steps to a safe machine”) 8020644/2017-09-04 | SICK Subject to change without notice O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 5

2

SAFETY INFORMATION

2

2.1

2.2

Safety information

Intended use

Safe AGV Easy is a safety system used to carry out a sub-safety function for automated guided vehicles and transport carts (AGVs and AGCs). Safe AGV Easy is used to protect people.

An example application of the Safe AGV Easy safety system and its components is described below. Implementing all the safety functions for the application requires a complete system consisting of sensors, a controller, actuators, and control switches.

The user is responsible for the safe design and project planning of the complete system and all safety functions.

Requirements for the qualification of personnel

The protective device must be configured, installed, connected, commissioned, and serviced by qualified safety personnel only.

Project planning For project planning, a person is considered competent when he/she has expertise and experience in the selection and use of protective devices on machines and is familiar with the relevant technical rules and national work safety regulations.

Mechanical mounting, electrical installation, and commissioning For the task, a person is considered qualified when he/she has the expertise and expe‐ rience in the relevant field and is sufficiently familiar with the application of the protec‐ tive device on the machine to be able to assess whether it is in an operationally safe state.

Operation and maintenance For operation and maintenance, a person is considered competent when he/she has the expertise and experience in the relevant field and is sufficiently familiar with the application of the protective device on the machine and has been instructed by the machine operator in its operation.

6 O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 8020644/2017-09-04 | SICK Subject to change without notice

PRODUCT DESCRIPTION

3 3

3.1

3.2

3.3

Product description

Application description

The safety system is used on automated guided vehicles (AGVs) to reduce the risk of a collision between a vehicle and people. A safety laser scanner monitors the area in front of the vehicle. A safety relay (Safe AGV Easy 1) or a safety controller (Safe AGV Easy 2 and 3) evaluates the signals of the safety laser scanner. If the AGV also reverses, the area behind the vehicle must also be monitored by a second safety laser scanner (Safe AGV Easy 3). If a person is present in the monitored area, the vehicle should stop.

The Safe AGV Easy is available in 3 variants:

Table 3: Features of the Safe AGV Easy

Features Supply voltage Protective field range Number of main directions of travel Switchable protective fields Enclosure rating Safety laser scanner Safety relay/safety controller Ambient operating temperature Storage temperature Safe status when a fault occurs Safe AGV Easy 1 2 3 24 V DC (20.4 V DC ... 26.4 V DC) 3 m 1 No 1 Yes 2 Yes IP65 (EN 60529) IP40 (EN 60529) 1) IP20 (EN 60529) 2) –10 °C ... +50 °C –25 °C ... +50 °C –25 °C ... +50 °C 3) At least one output signal switching device (OSSD) is in the OFF state.

1) 2) 3) Housing Terminals For short-term storage < 24 h

Components

The Safe AGV Easy safety system is available in 3 variants: Components of the Safe AGV Easy 1 • • 1 × S300 Mini safety laser scanner 1 × UE48-30S safety relay Components of the Safe AGV Easy 2 • • 1 × S300 Professional safety laser scanner 1 × Flexi Classic safety controller Components of the Safe AGV Easy 3 • • 2 × S300 Professional safety laser scanners 1 × Flexi Classic safety controller

Limits of the safety system

The safety system ends at all inputs and outputs that are not used to wire the compo‐ nents of the safety system.

For further information about the interfaces,

see "Electrical installation", page 14

.

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3

PRODUCT DESCRIPTION

The limits of the safety system are presented in abstract and general terms in the figure below: 6 1 4 2 5 7 3 1 2 3 4 5 6 7

Figure 1: Limits of the safety system

Sensors Logic (safety relay or safety controller) Sub-safety function Wiring between sensors and logic Wiring between safety system components and components outside the safety system Limit of the safety system Components outside the safety system, e.g., actuators, safety capable input devices, or higher-level controller 8 O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 8020644/2017-09-04 | SICK Subject to change without notice

4

4.1

4.2

4.3

4.3.1

PROJECT PLANNING

4 Project planning

Manufacturer of the machine

DANGER Hazard due to lack of effectiveness of the protective device In the case of non-compliance, it is possible that the dangerous state of the machine may not be stopped or not stopped in a timely manner.

b b Use of the functional safety system requires a risk assessment. Check whether additional protective measures are required.

Comply with the applicable national regulations derived from the application (e.g., work safety regulations, safety rules, or other relevant safety guidelines).

Operating entity of the machine

DANGER Hazard due to lack of effectiveness of the protective device In the case of non-compliance, it is possible that the dangerous state of the machine may not be stopped or not stopped in a timely manner.

b b Changes to the electrical integration of the safety system in the machine control and changes to the mechanical mounting of the safety system necessitate a new risk assessment. The results of this risk assessment may require the entity operat‐ ing the machine to meet the obligations of a manufacturer.

Changes to the safety system’s configuration may impair the protective function.

The effectiveness of the safety system must be checked after any change to the configuration. The person carrying out the change is also responsible for maintain‐ ing the protective function of the safety system.

Integrating the equipment into the electrical control

NOTE Several safety functions are generally necessary in order to ensure a safe design for the entire application. This requires additional components that are not part of the safety system, such as switches, fuses, and contactors. The circuit diagrams contain informa‐ tion on wiring the safety system with additional components within an application.

Safe AGV Easy 1 1.

Incorporate the components as per the circuit diagram. Follow the operating instructions for the components.

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4

PROJECT PLANNING

4.3.2

+24 V DC F1 S3 Stand by L+ F2 F3 F4 S300 Mini Standard 1 2 3 4 5 6 7 H WH BN GN YE GY PK BU FE H = Housing k1 k2 k3 S33 S11 S12 S31 A1 13 23 33 UE48-3OS2D2S1 S34 S35 S21 S22 A2 14 24 34 FE 0 V DC H1 Warning field H2 Contam ination error K1 K2 K3 L– E158472/01/2016-08-03 2.

3.

F1 ... F4 H H1 H2 k1 ... k3 K1 ... K3 L+ L– S3 Fuse Housing Warning field light interrupted Contamination light Auxiliary contact for external device monitoring Contactor 1) Switching voltage source (positive side of the contactor input cir‐ cuit) Switching voltage sink (negative side of the contactor input circuit) Switch for standby mode 1) Up to 3 contactors are possible. In a typical application with one dual-channel actuator switch-off, 2 contactors will suffice.

Configure the safety laser scanner (see operating instructions 8014167).

Validate the safety laser scanner as per the checklist (see operating instructions 8014167).

Safe AGV Easy 2 1.

Incorporate the components as per the circuit diagram. Follow the operating instructions for the components.

10 O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 8020644/2017-09-04 | SICK Subject to change without notice

4.3.3

PROJECT PLANNING

4 Field switching +24 V DC A1 A2 B1 B2 S3 Stand by S2 Reset S300 Professional 1 15 19 5 6 7 10 20 8 16 18 9 21 17 13 4 14 3 2 FE S1 E-stop k1 k2 I1 I2 A1 X1 UE410-MU3T5 X2 S1 S2 1 2 0 3 0 x 1 s 4 5 2 3 1 0 4 9 5 6 7 8 9 Function S3 FE I3 I4 A2 Q1 Q2 Q3 Q4 EN H1 Warning field H2 Error H3 Contam ination error K1 K2 FE 0 V DC E158473/02/2016-11-10 2.

3.

4.

5.

A1, A2, B1, B2 H1 H2 H3 k1 ... k2 K1 ... K2 S1 S2 S3 Monitoring case switching Warning field light interrupted Fault light Contamination light Auxiliary contact for external device monitoring Contactor 1) Emergency stop pushbutton Reset pushbutton Switch for standby mode 1) In a typical application with one dual-channel actuator switch-off, 2 contactors will suffice.

Configure the safety laser scanner (see operating instructions 8010947).

Validate the safety laser scanner as per the checklist (see operating instructions 8010947).

At the safety controller rotary switch, set the switch-off delay to 0.

Set the safety controller to program 9 (see operating instructions 8011737).

Safe AGV Easy 3 1.

Incorporate the components as per the circuit diagram. Follow the operating instructions for the components.

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4

PROJECT PLANNING

Field switching +24 V DC A1 A2 B1 B2 C1 C2 S3 Stand by S2 Reset FE S300 Professional Host 1 11 19 5 6 20 7 10 16 8 9 18 15 17 13 4 14 3 2 FE 0 V DC S300 Professional Guest 1 6 20 10 21 22 18 14 3 FE 17 13 4 2 5 19 7 8 9 H1 Error H2 Warning field k1 k2 S1 E-stop FE I1 I2 A1 X1 UE410-MU3T5 X2 2 1 0 0 x 1 s 3 4 5 S1 S2 2 3 1 0 4 9 5 6 7 8 9 Function S3 I3 I4 A2 Q1 Q2 Q3 Q4 EN K1 K2 E158474/03/2016-11-18 2.

3.

4.

5.

A1, A2, B1, B2, C1, C2 H1 H2 k1 ... k2 K1 ... K2 S1 S2 S3 Monitoring case switching Warning field light interrupted Fault light Auxiliary contact for external device monitoring Contactor 1) Emergency stop pushbutton Reset pushbutton Switch for standby mode 1) In a typical application with one dual-channel actuator switch-off, 2 contactors will suffice.

Configure the safety laser scanners (see operating instructions 8010974).

Validate the safety laser scanners as per the checklist (see operating instructions 8010974).

At the safety controller rotary switch, set the switch-off delay to 0.

Set the safety controller to program 9 (see operating instructions 8011737).

12 O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 8020644/2017-09-04 | SICK Subject to change without notice

5

MOUNTING

5 Mounting NOTE Information is included in the operating instructions for the components.

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6

ELECTRICAL INSTALLATION

6 Electrical installation NOTE Information is included in the operating instructions for the components.

14 O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 8020644/2017-09-04 | SICK Subject to change without notice

7

CONFIGURATION

7 Configuration NOTE Information is included in the operating instructions for the components.

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8

COMMISSIONING

8 Commissioning When delivered, the safety laser scanner is in the safe status. The output signal switch‐ ing devices (OSSDs) are and remain in the OFF state. It is only possible to put the safety system into operation once the safety laser scanner has been configured in accordance with its operating instructions.

16 O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 8020644/2017-09-04 | SICK Subject to change without notice

9

OPERATION

9 Operation Operation is dependent on integration of the safety system into the application.

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10

MAINTENANCE

10 Maintenance NOTE Information is included in the operating instructions for the components.

18 O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 8020644/2017-09-04 | SICK Subject to change without notice

11

TROUBLESHOOTING

11 Troubleshooting NOTE Information is included in the operating instructions for the components.

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12

TECHNICAL DATA

12

12.1

Technical data

Data sheet

Table 4: Features of the Safe AGV Easy

Features Supply voltage Protective field range Number of main directions of travel Switchable protective fields Enclosure rating Safety laser scanner Safety relay/safety controller Ambient operating temperature Storage temperature Safe status when a fault occurs 1) 2) 3) Housing Terminals For short-term storage < 24 h 1 2 Safe AGV Easy 3 24 V DC (20.4 V DC ... 26.4 V DC) 3 m 1 No 1 Yes 2 Yes IP65 (EN 60529) IP40 (EN 60529) 1) IP20 (EN 60529) 2) –10 °C ... +50 °C –25 °C ... +50 °C –25 °C ... +50 °C 3) At least one output signal switching device (OSSD) is in the OFF state.

20 O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 8020644/2017-09-04 | SICK Subject to change without notice

13

13.1

ORDERING INFORMATION

13 Ordering information

Ordering information for the Safe AGV Easy

Table 5: Ordering information for the Safe AGV Easy

Components Type code Safe AGV Easy 1 Safe AGV Easy 2 1 × S300 Mini Standard safety laser scanner 1 × UE48-3OS safety relay 1 × S300 Professional safety laser scanner 1 × S300 system plug, 10 m cable, flying leads 1 × Flexi Classic safety con‐ troller SAPP03D-08A0005 SAPP03D-08A0006 Safe AGV Easy 3 2 × S300 Professional safety laser scanners 1 × S300 system plug, 10 m cable, flying leads 1 × Flexi Classic safety con‐ troller SAPP03D-08A0007 Part number 1084027 1084028 1084029 8020644/2017-09-04 | SICK Subject to change without notice O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 21

14

SPARE PARTS

14

14.1

Spare parts

Spare parts for the Safe AGV Easy

Table 6: Spare parts for the Safe AGV Easy 1

Product S300 Mini Standard safety laser scanner UE48-3OS safety relay

Table 7: Spare parts for the Safe AGV Easy 2

Product S300 Professional safety laser scanner S300 system plug Flexi Classic safety controller

Table 8: Spare parts for the Safe AGV Easy 3

Product S300 Professional safety laser scanner S300 system plug Flexi Classic safety controller Type code S32B-3011BA UE48-3OS2D2S1 Type code S30B-3011DA SX0B-B1510G UE410-MU3T5 Type code S30B-3011DA SX0B-B1510G UE410-MU3T5 Part number 1056430 1067636 Part number 1056429 2034265 6026136 Part number 1056429 2034265 6026136 22 O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 8020644/2017-09-04 | SICK Subject to change without notice

ANNEX

15 15

15.1

Annex

Checklist for initial commissioning and commissioning

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

This checklist is not a substitute for initial commissioning or periodic thorough checks by qualified safety personnel.

Test for “Emergency stop” safety function (Safe AGV Easy 2 and 3 only)

Table 9: Test for “Emergency stop” safety function

Test sequence Expected result 1.

2.

3.

4.

Allow the AGV to travel.

Press the emergency stop push‐ button.

Wait until the machine stops.

Reset the emergency stop push‐ button.

Stop is initiated (STO and SBC). If a brake is connected, it is triggered. The voltage supply for the drive is switched off.

Resetting the emergency stop pushbut‐ ton does not trigger restart.

Result OK?

Yes ⃞ No ⃞ Run the test sequence for every emer‐ gency stop pushbutton individually.

Note the designations of the tested emergency stop pushbuttons here. Test for “Preventing unexpected start-up” safety function (Safe AGV Easy 2 and 3 only)

Table 10: Test for “Preventing unexpected start-up” safety function

Test sequence Expected result 1.

2.

3.

4.

Press Emergency stop pushbut‐ ton.

Release the emergency stop pushbutton. Then reset the emer‐ gency stop pushbutton.

Press the reset pushbutton and hold down for at least 30 s.

Press and hold the restart button for at least 100 ms and no more than 30 s.

The machine does not start.

1.

2.

3.

4.

1.

2.

3.

4.

Press Emergency stop pushbut‐ ton.

Release the emergency stop pushbutton. Then reset the emer‐ gency stop pushbutton.

Briefly press the reset pushbut‐ ton ( ≤ 100 ms).

Press and hold the restart button for at least 100 ms and no more than 30 s.

Press Emergency stop pushbut‐ ton.

Release the emergency stop pushbutton. Then reset the emer‐ gency stop pushbutton.

Press and hold the reset push‐ button for at least 100 ms and no more than 30 s.

Press and hold the restart button for at least 100 ms and no more than 30 s.

The machine does not start.

The machine starts.

Result OK?

Yes ⃞ No ⃞ Yes ⃞ No ⃞ Yes ⃞ No ⃞ 8020644/2017-09-04 | SICK Subject to change without notice O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 23

15

ANNEX

Test sequence 1.

2.

3.

Press Emergency stop pushbut‐ ton.

Release the emergency stop pushbutton. Then reset the emer‐ gency stop pushbutton.

Press and hold the restart button for at least 100 ms and no more than 30 s.

1.

2.

3.

4.

1.

2.

3.

4.

Press Emergency stop pushbut‐ ton.

Release the emergency stop pushbutton. Then reset the emer‐ gency stop pushbutton.

Press and hold the reset push‐ button for at least 100 ms and no more than 30 s.

Press and hold the restart button for 30 s.

Press Emergency stop pushbut‐ ton.

Release the emergency stop pushbutton. Then reset the emer‐ gency stop pushbutton.

Press and hold the reset push‐ button for at least 100 ms and no more than 30 s.

Briefly press the restart button ( ≤ 100 ms).

Expected result The machine does not start.

The machine does not start.

The machine does not start.

Result OK?

Yes ⃞ No ⃞ Yes ⃞ No ⃞ Yes ⃞ No ⃞ Test for “Initiating a stop” safety function (Safe AGV Easy 1 only) NOTE For subsequent tests, the AGV must be raised using a lifting device. The drive wheel must not come into contact with the ground.

The safety laser scanner of Safe AGV Easy 1 only supports 1 field set. This field set is in every driving scenario. During project planning, the manufacturer must ensure that the field set is designed so that the AGV behaves safely and in a manner suited for daily use in all possible driving scenarios.

Table 11: Test for “Initiating a stop” safety function

Test sequence 1.

✓ 2.

b 1.

Allow the AGV to travel.

CDS opens.

Click on the Diagnostics tab, then on Data recorder .

Continue immediately with the next test.

Expected result The configured monitoring case for the selected driving scenario is active under “monitoring case”.

The configured field set for the selected driving scenario is active under “field set”.

For Safe AGV Easy 3: Data under “Scanner :” applies when trav‐ eling forward; data under “Scanner :” applies when reversing.

Result OK?

Yes ⃞ No In CDS, click on Cases and make a note of the following parameters in the test report: ⃞ Inputs: __________ Host field set: __________ b Continue immediately with the next test.

24 O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 8020644/2017-09-04 | SICK Subject to change without notice

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ANNEX

15 Test sequence 1.

Check the size of the warning field using a test rod. The follow‐ ing LED signals that a warning field has been interrupted: 2.

Check the size of the protective field using a test rod. The follow‐ ing LED signals that a protective field has been interrupted: Expected result The sizes of the fields correspond to the calculated field sizes for this AGV in this driving scenario. If the protective field is interrupted, a stop is initiated. If the test rod is removed from the pro‐ tective field, it will take at least 2 s for a restart to occur.

Result OK?

Yes ⃞ No ⃞ 1.

Perform the test series for the “Initiating a stop” safety function separately for each imple‐ mented field set.

Test for “Initiating a stop” safety function (Safe AGV Easy 2 and Safe AGV Easy 3 only) NOTE For subsequent tests, the AGV must be raised using a lifting device. The drive wheel must not come into contact with the ground.

The safety laser scanner of Safe AGV Easy 2 and Safe AGV Easy 3 supports up to 8 field sets. Each field set applies to a particular, freely selectable driving scenario. During project planning, the manufacturer must decide how many monitoring cases and linked field sets are to be implemented so that the AGV behaves safely and in a manner suited for daily use in all possible driving scenarios.

For Safe AGV Easy 2, the field sets must cover all driving scenarios when traveling for‐ ward as well as bringing the AGV to a stop.

For Safe AGV Easy 3, the field sets must also cover all driving scenarios when reversing.

The following test must be performed separately for each implemented field set.

Table 12: Test for “Initiating a stop” safety function

Test sequence 1.

✓ 2.

b 1.

Accelerate the AGV and place it in a driving scenario in which the first configured field set must be active. CDS opens.

Click on the Diagnostics tab, then on Data recorder .

Continue immediately with the next test.

Expected result The configured monitoring case for the selected driving scenario is active under “monitoring case”.

The configured field set for the selected driving scenario is active under “field set”.

For Safe AGV Easy 3: Data under “Scanner :” applies when trav‐ eling forward; data under “Scanner :” applies when reversing.

Result OK?

Yes ⃞ No In CDS, click on Cases and make a note of the following parameters in the test report: ⃞ Inputs: __________ Host field set: __________ b Continue immediately with the next test.

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15

ANNEX

Test sequence 1.

Check the size of the warning field using a test rod. The follow‐ ing LED signals that a warning field has been interrupted: 2.

Check the size of the protective field using a test rod. The follow‐ ing LED signals that a protective field has been interrupted: Expected result The sizes of the fields correspond to the calculated field sizes for this AGV in this driving scenario. If the protective field is interrupted, a stop is initiated. If the test rod is removed from the pro‐ tective field, it will take at least 2 s for a restart to occur.

Result OK?

Yes ⃞ No ⃞ 1.

Perform the test series for the “Initiating a stop” safety function separately for each imple‐ mented field set.

Tests for verifying the protective field size

Table 13: Tests for verifying the protective field size

Test sequence Expected result 1.

2.

Place the test rod in the path of the AGV.

Have the AGV approach the test rod.

The AGV must come to a stop by itself without touching the test rod. If it touches the test rod, the protective field of the safety laser scanner must be increased.

Result OK?

Yes ⃞ No ⃞ 26 O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 8020644/2017-09-04 | SICK Subject to change without notice

ANNEX

15 8020644/2017-09-04 | SICK Subject to change without notice O P E R A T I N G I N S T R U C T I O N S | Safe AGV Easy 27

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India Phone +91 22 6119 8900 E-Mail info@sick-india.com

Israel Phone +972 4 6881000 E-Mail info@sick-sensors.com

Italy Phone +39 02 274341 E-Mail info@sick.it

Japan Phone +81 3 5309 2112 E-Mail support@sick.jp

Malaysia Phone +6 03 8080 7425 E-Mail enquiry.my@sick.com

Mexico Phone +52 (472) 748 9451 E-Mail mario.garcia@sick.com

Netherlands Phone +31 30 2044 000 E-Mail info@sick.nl

New Zealand Phone +64 9 415 0459 0800 222 278 – tollfree E-Mail sales@sick.co.nz

Norway Phone +47 67 81 50 00 E-Mail sick@sick.no

Poland Phone +48 22 539 41 00 E-Mail info@sick.pl

Romania Phone +40 356 171 120 E-Mail office@sick.ro

Russia Phone +7 495 775 05 30 E-Mail info@sick.ru

Singapore Phone +65 6744 3732 E-Mail sales.gsg@sick.com

Slovakia Phone +421 482 901201 E-Mail mail@sick-sk.sk

Slovenia Phone +386 591 788 49 E-Mail office@sick.si

South Africa Phone +27 11 472 3733 E-Mail info@sickautomation.co.za

South Korea Phone +82 2 786 6321 E-Mail info@sickkorea.net

Spain Phone +34 93 480 31 00 E-Mail info@sick.es

Sweden Phone +46 10 110 10 00 E-Mail info@sick.se

Switzerland Phone +41 41 619 29 39 E-Mail contact@sick.ch

Taiwan Phone +886 2 2375-6288 E-Mail sales@sick.com.tw

Thailand Phone +66 2645 0009 E-Mail Ronnie.Lim@sick.com

Turkey Phone +90 216 528 50 00 E-Mail info@sick.com.tr

United Arab Emirates Phone +971 4 88 65 878 E-Mail info@sick.ae

United Kingdom Phone +44 1727 831121 E-Mail info@sick.co.uk

USA Phone +1 800 325 7425 E-Mail info@sick.com

Vietnam Phone +84 945452999 E-Mail Ngo.Duy.Linh@sick.com

Further locations at www.sick.com

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

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