Sick Safe Interlocking Operating instructions

Sick Safe Interlocking Operating instructions

Safe Interlocking Functional 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 Interlocking

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 Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

CONTENTS Contents 8021419/ZP45/2017-07-24 | SICK Subject to change without notice 1 2 3 4 5 6 7 8

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

1.1

1.2

1.3

1.4

1.5

Purpose of this document........................................................................

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

Target groups and structure of these operating instructions................

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

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

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

2.1

2.2

2.3

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

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

Safe state..................................................................................................

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

3.1

3.2

3.3

3.4

3.5

3.6

3.7

Product identification...............................................................................

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

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

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

Structure and function.............................................................................

Product characteristics............................................................................

The limits of the functional safety system..............................................

9 9 9 9

10

11 11

12

Project planning................................................................................ 13

4.1

4.2

4.3

4.4

4.5

4.6

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

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

13

14 Safety Functions.......................................................................................

14

Design........................................................................................................ 16 Integrating into the electrical control....................................................... 16

Testing plan...............................................................................................

18

Mounting............................................................................................. 19

7 7 7 7

5 5 5 5

6 6

Electrical installation........................................................................ 20

Configuration..................................................................................... 21

7.1

7.2

7.3

7.4

7.5

7.6

7.7

Requirements on software and firmware................................................ 21 Pre-configured project files......................................................................

21 Opening project file................................................................................... 21

Configuring motion control module element settings............................

22 Configuring logics for Flexi Soft CPU.......................................................

Configuring logics for motion control module.........................................

Transfer configuration..............................................................................

22

23

24

Commissioning.................................................................................. 25

8.1

8.2

Safety.........................................................................................................

Thorough check........................................................................................

25 25

O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 3

CONTENTS 9 10 11 12 13 14 15 16

Maintenance...................................................................................... 26

Troubleshooting................................................................................. 27

Operation............................................................................................ 28

Technical data.................................................................................... 29 12.1 Data sheet.................................................................................................

12.2 Response times........................................................................................

29 29

Ordering information........................................................................ 30 13.1 Scope of delivery....................................................................................... 30 13.2 Safe Interlocking ordering information....................................................

30

Spare parts......................................................................................... 32 14.1 Safety encoder..........................................................................................

14.2 Additional spare parts..............................................................................

32 32

Accessories........................................................................................ 33 15.1 Connectivity...............................................................................................

15.2 Actuator.....................................................................................................

15.3 Mounting bracket......................................................................................

33 33 33

Annex.................................................................................................. 34 16.1 Checklist for initial commissioning and commissioning........................

34

4 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

1

1.1

1.2

1.3

ABOUT THIS DOCUMENT 1 About this document

Purpose of this document

• • • • • • • • These operating instructions contain the information required during the life cycle of the functional safety system. This document describes: The individual components The project planning The mounting and electrical installation, provided these are necessary for the functional safety system The configuration The necessary thorough checks The commissioning The maintenance The troubleshooting

Scope

These operating instructions contain information regarding the Safe Interlocking func‐ tional 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 functional safety system apply.

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

The following documents contain information regarding the Safe Interlocking functional safety system:

Table 1: Documents available for Safe Interlocking

Document type Title Operating instructions Operating instructions Operating instructions RE1, RE2 TR10 Lock Operating instructions Operating instructions Flexi Soft Modular Safety Con‐ troller Hardware Flexi Soft in the Flexi Soft Designer software DFS60S Pro Part number 8015580 8019930 8012999 8012998 8016866 This document is included with the following SICK part numbers (this document in all available language versions): 8020817

Target groups and structure of these operating instructions

These operating instructions are intended for the following target groups: project devel‐ opers (planners, developers, designers), installers, electricians, operators, and mainte‐ nance personnel.

The structure of these operating instructions is based on the life cycle phases of the functional safety system: project planning, mounting, electrical installation, commis‐ sioning, operation and maintenance.

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1 ABOUT THIS DOCUMENT

1.4

1.5

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.

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.

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 The Flexi Soft Designer configuration software Pre-configured project file for Flexi Soft Designer for this functional safety system Pre-configured project file for SISTEMA for this functional safety system Circuit diagram for the functional safety system (ePLAN) Guide for Safe Machinery (“Six steps to a safe machine”) 6 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

2

2.1

2.2

2.3

SAFETY INFORMATION 2 Safety information

Intended use

The Safe Interlocking functional safety system is used in machines for which all the fol‐ lowing features apply: • • • The dangerous state is caused by a rotational movement The separation of man and machine by a physical guard (e.g. a fence) is the pri‐ mary safety concept Access to dangerous areas is only possible through a movable physical guard (e.g.

door)

NOTE

The components in the scope of delivery of all Safe Interlocking variants make it possi‐ ble to protect a movable physical guard. If access to the hazardous area is no longer possible due to more than one movable physical guard, additional components and measures are needed. This case will not be considered further in this document.

Safe Interlocking is used to protect persons.

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.

Safe state

• • • In the safe state, the accordingly configured safe switching outputs are in the off state.

The machine is and remains switched off. The safe state is initiated in the following cases: • Door open Emergency stop pushbutton has been activated Connection between at least one sensor and the safety controller has been inter‐ rupted Voltage supply of at least one sensor or the SICK safety controller has been inter‐ rupted 8021419/ZP45/2017-07-24 | 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 Interlocking 7

2 SAFETY INFORMATION • • Internal error diagnosed on at least one sensor Internal error diagnosed on the safety controller or on one of its components 8 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

3

3.1

3.2

PRODUCT DESCRIPTION 3 Product description

Product identification

The part number of the functional safety system is located on the packaging.

Application description

The Safe Interlocking functional safety system is used on stationary machines to reduce the risk that a machine movement could injure someone.

The functional safety system is used to safely enter the closed-off hazardous area around the machine. It ensures that the machine stops before access to the closed-off hazardous area becomes possible. Alternatively, access to the hazardous area can also become possible if the machine is put into a defined safe state (e.g. maintenance mode with limited speed).

If the machine stops, unexpected restart is prevented. Not until access to the hazard‐ ous area is closed and locked and the machine has been reset can the machine be restarted. An emergency switching off function is also integrated.

3.3

Figure 1: Overview of Safe Interlocking

Components

Components of Safe Interlocking 8021419/ZP45/2017-07-24 | 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 Interlocking 9

3 PRODUCT DESCRIPTION

3.4

3.4.1

3.4.2

• • • • • • • •

DFS60S Pro safety encoder in different variants ( see "Safe Interlocking ordering information", page 30 )

Flexi Soft safety controller main module Flexi Soft safety controller expansion module - I/O module (8 inputs, 4 outputs) Flexi Soft safety controller expansion module - I/O module (8 inputs) Flexi Soft safety controller expansion module - motion control module (Flexi Soft Drive Monitor) Flexi Soft safety controller system plug RE2 safety switch TR10 Lock safety locking device Implementing all the safety functions for the application requires a complete system consisting of sensors, a controller, actuators, and control switches. This functional safety system comprises sensors and a controller only and is therefore only a subsys‐ tem. The user is responsible for the safe design of the complete system and all safety functions.

Components

The following components are also absolutely mandatory for using the Safe Interlocking functional safety system in an application: • • • • • Drive with electronic STO function (integrated or via external relay) Safety relay (only for drives in which the integrated electronic STO function is

not

triggered by a decrease in the 24 V signal) Emergency stop pushbutton Reset pushbutton Physical guard (e.g. fence) with movable physical guard (e.g. door) The following components are only needed if the respective signals cannot or should not be provided by the superordinate control.

• • Restart button for starting the machine Pushbutton for unlocking the movable physical guard

NOTE

All necessary components influence the parameters of the entire application that relate to safety technology. The components must therefore have an MTTF the Internet can be used to calculate the performance level. d value suitable for the entire application and satisfy the necessary performance level. The necessary per‐ formance level results from the risk assessment. The SISTEMA project file available in

Drive

The drive must feature an integrated STO function. Ideally, the STO function of the drive is triggered via a 24 V signal.

The drive parameters regarding safety technology influence the performance level of the safety functions. The drive must be selected so that the calculation of the perform‐ ance level of the safety functions results in performance level PL d.

Safety relay

A safety relay is only necessary if the STO function of the monitored drive is

not

trig‐ gered via a single-channel 24 V signal.

If necessary, select the safety relay so that a single-channel 24 V signal triggers a respective signal for the STO function of the drive. Suitable safety relays are available from SICK.

10 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

PRODUCT DESCRIPTION 3

3.4.3

3.4.4

3.4.5

3.4.6

3.5

3.6

3.6.1

Emergency stop pushbutton

An emergency stop pushbutton with 2 positive opening normally closed contacts are necessary.

The functional safety system tests the connected emergency stop pushbutton for cross and short-circuits, and also for discrepancy and sequence errors.

The emergency stop pushbutton must be designed in accordance with the following standards: • • ISO 13850 IEC 60204

Reset pushbutton

The reset pushbutton must be designed in accordance with the following standard: • EN 60204

Restart button

The restart button must be designed in accordance with the following standard: • EN 60204 The signal for the restart can optionally come from a superordinate machine controller.

Physical guard

The requirements on the physical guard and the movable physical guard are not part of the functional safety system. They must be defined by the manufacturer during risk assessment.

In addition to the C standards applicable for the application, the following standards contain information on designing physical guards: • • EN ISO 14120 EN ISO 13857

Structure and function

The safety encoder detects the movement status of the machine. If the machine is moving, the movable physical guard of the safety locking device is locked. If the machine is not moving, the safety locking device unlocks on request and access to the hazardous area becomes possible.

If the movable physical guard is opened, the machine is permanently switched off by the safety switch signal and cannot restart on its own.

As soon as all work in the hazardous area is complete and the movable physical guard is closed, the machine can be restarted using the reset pushbutton and the restart but‐ ton.

A stop command can be triggered manually in every operational status.

Product characteristics Variants

The functional safety system is delivered in different variants. You will find an overview of important distinguishing features of the variants in the following.

• Safety encoder in various variants for shafts with different mechanical designs

( see "Safe Interlocking ordering information", page 30

) 8021419/ZP45/2017-07-24 | 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 Interlocking 11

3 PRODUCT DESCRIPTION

3.7

The limits of the functional safety system

The functional safety system ends at all inputs and outputs that are not used to wire the components of the functional safety system.

The limits of the functional 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

Figure 2: The limits of the functional safety system

6 7 Sensors Logic (safety relay or safety controller) Functional safety system Wiring between sensors and logic Wiring between functional safety system components and components outside the func‐ tional safety system Limit of the functional safety system Components outside the functional safety system, e.g., actuators, safety capable input devices, or higher-level controller 12 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

4

4.1

4.1.1

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).

b b b The functional safety system was developed under consideration of typical application cases. A partial safety function can be implemented with the functional safety system in these application cases. The manufacturer must check whether the functional safety system is suitable for its specific application case (risk assessment).

If the thorough check shows that the functional safety system is not suitable for the specific application case, the functional safety system can be used as a basis for an individualized development suitable for the specific application case. This case will not be considered further in this document.

In any event, additional work is necessary for the functional safety system to be used, e.g. subsequent configuration of the safety controller.

The manufacturer has the following duties: b Executing a risk assessment.

Verifying and validating the safety functions.

Integrating the individual components in accordance with the appropriate stand‐ ards.

Considering that C standards have priority compared to statements about this functional safety system.

Calculation of the performance level

The performance level can be calculated with the SISTEMA file which is available in the Internet for this functional safety system.

The manufacturer of the machine must decide which measures must be taken against failures with the same cause. These measures must be selected in the SIMSTEMA file for each user-defined sub-system.

In addition, the correct values for the value must be filled out for the components which are not part of the scope of delivery.

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4 PROJECT PLANNING

4.2

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 functional safety system in the machine control and changes to the mechanical mounting of the functional safety system necessitate a new risk assessment. The results of this risk assessment may require the operating entity of the machine to meet a manufacturer’s obliga‐ tions.

Changes to the functional safety system's configuration may impair the protective function. The effectiveness of the functional safety system must be checked after any change to the configuration. The person carrying out the change is also responsible for maintaining the protective function of the functional safety system.

4.3

4.3.1

4.3.2

14

Safety Functions Avoiding unexpected start-up

If a protective device has issued a stop command, the stop state shall be maintained until a manual reset device is activated and the machine can subsequently be restarted.

This safety function consists of the following sub-functions: • • • • Start-up due to an internal error of the safety controller is prevented Start-up due to an external influence on the safety controller is prevented Start-up due to a respective signal at an incorrect time is prevented Start-up due to internal or external influences on parts of the machine is pre‐ vented

Table 2: Avoiding unexpected start-up

Trigger Valid reset sequence Condition Reaction Safe state All affected safety devices are active Safe operating stop (SOS) until a valid reset sequence is performed No dangerous movement

Table 3: Expected frequency of requesting the safety function

520 times per year Triggering a stop by opening the movable physical guard (10 times per week, e.g. for maintenance work) 260 times per year Switching off the machine (e.g. at night) 52 times per year Triggering a stop by unlocking the safety locking device without then opening the door 1 time per year Total Switching off the machine due to an emergency 833 times per year Requesting the safety function

Initiating a stop

A safety-related stop function places the machine in a safe state on demand (e.g., opening of the movable physical guard).

This safety function consists of the following sub-functions: O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

4.3.3

4.3.4

PROJECT PLANNING 4 • • • The dangerous movement is monitored The state of the movable physical guard is monitored The state of the external devices connected per external device monitoring (EDM) is monitored

Table 4: Initiating a stop

Trigger Opening or unlocking the movable physical guard Condition Reaction No stop If the machine stops, a safe operating stop (SOS) is triggered.

If the machine does not stop or the drive is moving, the STO function of the drive is triggered.

Safe state No dangerous movement

Table 5: Expected frequency of requesting the safety function

260 times per year Switching off the machine (e.g. at night) 1 time per year 1 time per year Total 262 times per year Machine moves although the movable physical guard is open.

Switching off the machine due to an emergency Requesting the safety function

Temporarily preventing access

Access to a hazardous point is prevented until the machine is in a safe state.

This safety function consists of the following sub-functions: • • • The dangerous movement of the machine cannot occur until the movable physical guard is closed and locked The movable physical guard remains closed and locked until the dangerous move‐ ment comes to a stop If the movable physical guard is closed and locked, this does not automatically lead to the machine starting

Table 6: Temporarily preventing access

Trigger Condition Reaction Safe state – Idle The movable physical guard is locked before a dangerous movement occurs.

The movable physical guard remains locked as long as the dangerous move‐ ment has not stopped.

No dangerous movement

Emergency stop

Emergency stop is a complementary protective measure; it is not a primary means of reducing risk.

The safety function is available at all times and has priority before other functions.

Stopping in the event of an emergency must be designed as follows: • • • At the time of triggering, the dangerous movements and states of the machine are ended in an appropriate manner Aside from triggering the emergency stop function, no other action is needed from a person to create a safe status No additional dangers are created when ending the dangerous movement and sta‐ tuses 8021419/ZP45/2017-07-24 | 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 Interlocking 15

4 PROJECT PLANNING

4.4

4.5

Table 7: Emergency stop

Trigger Condition Reaction Safe state Emergency stop pushbutton is activated.

At any time Stopping in the event of an emergency after a safe stop 1 (SS1) begins and monitors the slowing down of the drive within set limits in order to stop the drive. If the speed falls below a defined limit, the STO function of the drive is triggered. Additionally, the optional output for a safety brake is switched off.

No dangerous movement

Design

The constructional integration of the individual components is done in accordance with the respective operating instructions. Also be aware of the following: • • • • • Mount the RE2 safety switch on the movable physical guard so that the actuator is only detected when the movable physical guard is closed Mount the TR10 Lock safety locking device on the movable physical guard so that the movable physical guard can be locked in the closed state Mount the DFS60S Pro safety encoder on the drive shaft of the machine to be pro‐ tected If mounting directly on the drive shaft is not possible, then mount the safety encoder on a shaft which rotates in a fixed transmission ratio to the drive shaft.

If the drive does not rotate but instead moves in a linear manner, then mount the safety encoder on a shaft whose rotation is in a fixed relation to the linear move‐ ment of the drive.

The reset pushbutton must be attached outside of the hazardous area. The entire hazardous area must be highly visible for all operators from the reset pushbutton.

If the hazardous area is not completely visible, then a special reset procedure is necessary. This special reset procedure must ensure that no person or body parts are situated inside the hazardous area before the machine is reset.

An emergency stop pushbutton must be available at every operating station. In addition, an emergency stop pushbutton must be available anywhere it could fore‐ seeably be necessary to trigger an emergency stop.

NOTE

Up to 2 additional emergency stop pushbuttons can be connected to the Flexi Soft safety controller. If 4 or more emergency stop pushbuttons are to be connected, the Flexi Soft safety controller must be expanded with additional I/O modules.

Integrating 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 func‐ tional safety system, such as switches, fuses, and contactors. The circuit diagrams con‐ tain information on wiring the functional safety system with additional components within an application.

NOTE

The components in the scope of delivery of all Safe Interlocking variants make it possi‐ ble to protect a movable physical guard. If access to the hazardous area is no longer possible due to more than one movable physical guard, additional components and measures are needed. This case will not be considered further in this document.

16 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

4.5.1

4.5.2

PROJECT PLANNING 4

Inputs and outputs of the safety controller

Table 8: Inputs and outputs of the safety controller

Designation Meaning Function Q1 Q2 Initiating a stop STO The LOW signal level requests that the superordinate control stop the machine.

Signal level LOW interrupts the voltage supply of the drive.

Q3 I5 Brake Unlocking protec‐ tive device Signal level LOW triggers the brake function. The use of a brake is optional.

Signal level HIGH requests the movable physical guard be opened. The signal can be generated from a pushbut‐ ton or a superordinate control.

This signal does not generate a machine stop. If the machine is in a safe state, then the safety locking device unlocks. In all other cases, the signal does not have an effect.

Circuit diagram

A detailed circuit diagram for Safe Interlocking is available online: www.sick.com/Safe_Interlocking The Safe Interlocking components are connected according to the following diagram: RE23 Emergency stop pushbutton DFS60S Pro TR10 Lock Reset pushbutton Start pushbutton Door unlock pushbutton Flexi Soft XTDI Flexi Soft MOC0 Flexi Soft CPU0 Flexi Soft XTIO Stop request STO (safe torque off) Brake = Items supplied with safe interlocking

Figure 3: Safe Interlocking block diagram

Emergency stop pushbut‐ ton Reset pushbutton The machine can be put into a safe state at any time with the emergency stop pushbutton The safety-relevant components are reset with the reset pushbut‐ ton 8021419/ZP45/2017-07-24 | 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 Interlocking 17

4 PROJECT PLANNING

4.5.3

4.5.4

4.6

Start pushbutton Door unlock pushbutton Stop request STO (Safe torque off) Brake Items supplied with safe interlocking The machine can be restarted after the reset with the restart but‐ ton Unlocking the movable physical guard can be requested with this pushbutton A machine stop is requested with this signal The “safe torque off (STO)” function is triggered with this signal The brake is triggered with this signal The components highlighted in gray are included in the Safe Inter‐ locking scope of delivery

Design of the emergency stop function

The emergency stop function must be available and effective in every operational sta‐ tus of the machine. It must not impair any equipment or functions used to free trapped persons. If the emergency stop function has been triggered, no start command (inten‐ tional, unintentional or unexpected) may lead to a machine start until the emergency stop function has been manually reset.

The emergency stop function must be designed so that the dangerous state of the machine is ended in an appropriate manner without creating additional dangers and without requiring interruption from a person.

Locking device and restart

If the opening of a movable physical guard triggers a stop command, the machine must not restart until the reset pushbutton has been actuated. Closing and locking the mova‐ ble physical guard must not trigger a dangerous state.

Testing plan

The functional safety system must be tested by appropriately qualified safety personnel when commissioning, after modifications, and at regular intervals.

The regular thorough checks serve to investigate the effectiveness of the functional safety system and discover defects caused by modifications or external influences (such as damage or manipulation).

The manufacturer and user must define the type and frequency of the thorough checks on the basis of the application conditions and the risk assessment. Determination of the thorough checks must be documented in a traceable manner.

• • • A thorough check must be carried out during commissioning and following modifi‐ cations.

The regular thorough checks of the functional safety system must fulfill certain minimum requirements. The minimum requirements on the thorough check of the functional safety system comply at least with the sum of the minimum require‐ ments on the thorough check of the components of the functional safety system (see operating instructions of the components).

In many cases, depending on the application conditions, the risk assessment can determine that further thorough checks are required.

Further chapters

• • Thorough check

see "Commissioning", page 25

Checklist for initial commissioning and commissioning see "Annex", page 34

18 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

5 MOUNTING 5 Mounting

NOTE

All information is included in the operating instructions for the components.

8021419/ZP45/2017-07-24 | 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 Interlocking 19

6 ELECTRICAL INSTALLATION 6 Electrical installation

NOTE

All information is included in the operating instructions for the components.

20 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

7

7.1

7.2

7.3

CONFIGURATION 7 Configuration

Overview of configuration

The entire functional safety system is configured using the Flexi Soft Designer software.

A project file is part of the functional safety system; the majority of the configuration is done with this file. The following steps are required to complete configuration: 1.

2.

3.

4.

5.

Download and open configuration file.

Set application-specific parameters.

Complete configuration.

Transmit configuration to the safety controller.

Verify and validate the configuration.

NOTE

This chapter only contains information for implementing the configuration for the func‐ tional safety system. Detailed information on using the Flexi Soft Designer software can be found in the “Flexi Soft in Flexi Soft Designer” document (8012998).

Requirements on software and firmware

Configuration of the functional safety system requires at least the following versions of the software or firmware:

Table 9: Minimum versions

Flexi Soft Designer Firmware FX3-CPUx Firmware FX3-XTIO Firmware FX3-XTDI Firmware FX3-MOC0 Minimum version 1.7.1

4.0

3.0

3.0

1.0

Pre-configured project files

Pre-configured project files Pre-configured project files are available for the functional safety system under the fol‐ lowing link: www.sick.com/Safe_Interlocking

Opening project file

1.

2.

3.

4.

5.

✓ Start Flexi Soft Designer.

Click on Click on Click on Project Open Select the project file.

Open .

.

.

The project file opens. The Hardware configuration view appears.

In the Configuration area , the entire hardware configuration of the Flexi Soft safety con‐ troller and the connected devices is displayed graphically.

8021419/ZP45/2017-07-24 | 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 Interlocking 21

7 CONFIGURATION

7.4

7.5

Configuring motion control module element settings Opening element settings

b ✓ Double-click on the sine-cosine symbol in the Hardware configuration view in the Con‐ figuration area at Input E1 of the motion control module.

The Element settings dialog box opens. The Movement type (rotational movement, linear movement) and type of measurement system appear.

Configuring movement type

b Select movement type which applies for the application: ° Rotational movement or ° Linear movement with conversion and encoder

Configuring scaling of the measurement system

1.

2.

3.

4.

5.

Click on the Click on the Only if a set without encoder has been selected: Under period per revolution of the encoder and correct if necessary. Value 1024 is set as a default.

Scaling the measurement system Assistant button.

index card.

Encoder resolution Under Gear factor , set the ratio between drive axis and encoder axis.

, check the When the machine drive makes a linear movement, then set the ratio between the linear movement and revolutions on the encoder axis under Mechanics factor .

Configuring counting direction

Normal is set by default. If the encoder counts in the opposite direction based on the mounting position, this parameter must be adjusted as follows.

1.

2.

Click on the Counting direction index card.

Select Inverted .

Saving the configuration

b Click on the OK button.

Configuring logics for Flexi Soft CPU

1.

2.

✓ Move the mouse cursor to the Click on Logic editor .

Logic editor The Logic editor view opens. The button.

Information page appears.

The Information page contains information on manufacturer duties when handling the provided project file.

DANGER

Failure to comply with manufacturer’s obligations Death or severe injury b Read and observe the information on manufacturer duties.

7.5.1

22

Creating or deleting links

The logics in the Flexi Soft Designer mainly consist of the following elements: • • • Safety controller inputs Safety controller outputs Function blocks with inputs and outputs O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

7.5.2

7.5.3

7.5.4

7.6

CONFIGURATION 7 Links connect these elements. Links are represented as lines. Every element contains blue anchor points which represent the inputs and outputs of the elements. A link can only be created between the anchor point on the right side of an element and the anchor point on the left side of another element.

Creating link

1.

2.

✓ Click and hold the blue anchor point on the right side of an element.

Move and release the mouse cursor on the blue anchor point on the left side of an element.

A link is created between 2 elements.

Deleting link

1.

2.

3.

✓ Click on the link between 2 elements.

Press the In the

Del

pushbutton.

Delete page dialog box, click on the The link is deleted.

Yes button.

Removing brake

If a risk assessment determines that no brake is needed, then the logics must be changed.

1.

2.

3.

✓ Change to the Safe stop page.

Delete the link between EDM_Brake and Input 3 of function block AND 6 .

Create a link between Logical 0 and Input 3 of function block AND 6 .

The logics now function without a connected brake.

Verification of the logics

There is no link between the logics and the outputs of the safety controller in the deliv‐ ered state. That means the logics cannot yet be transmitted into the safety controller.

1.

Check whether the logics in the safety requirements of the application are suffi‐ cient before outputs of the function blocks are linked to outputs of the safety con‐ troller.

Linking logics and outputs

When the logics have been verified, then the logics can be linked with the respective outputs of the safety controller.

1.

2.

3.

4.

5.

6.

Change to the Safety page.

Create a link between Output Q of function block RS Flip-Flop 0 and RL210 Lock‐ ing.XTIO(1).

Change to the EDM/Outputs page.

Create a link between Output 1 of function block AND 2 and Stop request.XTIO(1).Q1

.

Create a link between Output 1 of function block External device monitoring 1 and QA110 STO.XTIO(1).Q2

.

If a brake is connected, create a link between Output 1 of function block External device monitoring 0 and Brake.XTIO(1).Q3

.

Configuring logics for motion control module

1.

✓ Move the mouse cursor to the Logic editor button and click on MOC0(3) - Logic editor .

The MOC0(3) - Logic editor view opens. The page Seite 1 appears.

8021419/ZP45/2017-07-24 | 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 Interlocking 23

7 CONFIGURATION

7.6.1

7.6.2

7.7

Configuring

Speed monitor

function block

1.

2.

3.

Double-click on the Speed monitor function block.

Click on the Units index card.

Under Speeds: Select the desired unit for determining the encoder speed (

see "Configuring motion control module element settings", page 22

).

4.

5.

6.

7.

8.

Click on the Click on the Max. speed index card.

Enter the highest permissible speed of the application under Stop monitoring index card.

Enter the speed that is defined as a stop under Stop speed .

Max. speed .

Under Stop speed acceptance time , enter the minimum time for which the Stop speed must be measured before a stop is to be detected.

9.

Enter the value under tion change still counts as a stop independent of the speed.

10. Click on the OK button.

Stop position window . This value defines which relative posi‐

Configuring

Safe stop

function block

1.

2.

3.

4.

5.

6.

7.

8.

Double click on the Click on the Under Units Speeds: Safe stop index card.

function block.

Select the desired unit for determining the encoder speed (

"Configuring motion control module element settings", page 22

).

see

Click on the Stop ramp index card.

Under Delay time until ramp start , enter the desired delay time until stop ramp moni‐ toring begins.

This makes it possible to set a tolerance time for drive reaction. This may be nec‐ essary for communication due to process cycles and minimum times.

Enter the desired deviation of the speed of the stop ramp under Speed offset of the stop ramps .

This can ensure that the stop ramp is not unintentionally undercut. This can be necessary in the event of mechanical vibrations or a strong acceleration up to the time of the stop signal.

Define ramp. The ramp is defined by the reduction in speed in a certain time win‐ dow. The preset values are only example values for the speed reduction.

Click on the OK button.

Transfer configuration

b Transmit configuration to the Flexi Soft main module (see operating instructions 8012998).

24 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

8

8.1

8.2

COMMISSIONING 8 Commissioning

Safety DANGER

Hazard due to lack of effectiveness of the protective device b b Before commissioning the machine, make sure that the machine is first checked and released by qualified safety personnel.

Only operate the machine with a perfectly functioning protective device.

DANGER

Dangerous state of the machine During commissioning, the machine or the protective device may not yet behave as you have planned.

b Make sure that there is no-one in the hazardous area during commissioning.

Before initial commissioning can be performed, project planning, mounting, electrical installation and configuration must be completed in accordance with this document.

Thorough check Requirements for the thorough check during commissioning and in certain situations

The functional safety system and its application must be thoroughly checked in the fol‐ lowing cases: • • • • Before commissioning After changes to the configuration or the safety function After changes to the mounting or the electrical connection After exceptional events, such as after a manipulation has been detected, after modification of the machine, or after replacing components The thorough check ensures the following: • • All relevant regulations are complied with and the functional safety system is active for all of the machine’s operating modes The documentation corresponds to the state of the machine, including the protec‐ tive device The thorough checks must be carried out by qualified safety personnel or specially qualified and authorized personnel and must be documented in a traceable manner.

1.

2.

Check the effectiveness of the protective device for all operating modes selectable on the machine in accordance with the checklist for initial commissioning and

commissioning ( see "Annex", page 34 ).

Make sure that the operating personnel has been instructed in the function of the protective device before starting work on the machine. The instruction is the responsibility of the machine operator and must be carried out by qualified per‐ sonnel.

8021419/ZP45/2017-07-24 | 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 Interlocking 25

9 MAINTENANCE 9 Maintenance

NOTE

All information is included in the operating instructions for the components.

26 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

10 TROUBLESHOOTING 10 Troubleshooting

NOTE

All information is included in the operating instructions for the components.

8021419/ZP45/2017-07-24 | 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 Interlocking 27

11 OPERATION 11 Operation Operation is dependent on integration of the functional safety system into the applica‐ tion.

28 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

12

12.1

12.2

TECHNICAL DATA 12 Technical data

Data sheet

Table 10: Safe Interlocking data sheet

Performance level SIL claim limit Supply voltage V S Ambient operating temperature Storage temperature Air humidity Permissible operating height Safe state Safe Interlocking PL d (ISO 13849-1) SILCL2 (EN 62061) 24 V DC (16,8 V DC ... 30 V DC) (PELV) 1) –20 °C ... +55 °C –20 °C ... +60 °C 50 °C, 90% relative humidity (EN 61131-2) ≤ 2000 m The safety-related semiconductor outputs are in the OFF state.

1) The external supply voltage must bridge a brief power failure of 20 ms as specified in IEC 60204-1. Suita‐ ble power supply units are available as accessories from SICK.

Response times Emergency stop

The response times for the “Stop in the event of an emergency” and “Initiating a stop” safety function are calculated using the following formulas: • • Emergency stop 23.5 ms + T Ramp + 4 × T Logic + T Cont.

+ T STO + T DEC Initiating a stop 12.5 ms + T Window + 2 × T Logic + T Cont.

+ T STO + T DEC Formula sym‐ bols T Ramp T T T Window Logic Cont.

T STO T DEC Meaning Delay time until the start of the stop ramp The value results from the configura‐ tion of the Safe stop function block in Flexi Soft Designer.

The value results from the configured stop window (S) and the maximum accel‐ eration of the drive (a max ): T Window = (4 × S / a max ) 0.5

Logics execution time of the Flexi Soft safety controller. The minimum logics exe‐ cution time is 4 ms. The actual logics execution time depends on the complexity of the program (see operating instructions 8012478).

Response time of the safety relay Response time of the STO function of the drive • • • Stopping/Run-down time of the drive considering the following factors: Moved weight Speed when triggering the safety function Brake power (only if brake is available) 8021419/ZP45/2017-07-24 | 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 Interlocking 29

13 ORDERING INFORMATION 13 Ordering information

13.1

Scope of delivery

• • •

Safe Interlocking scope of delivery

• • • • • DFS60S Pro safety encoder (part number depends on the Safe Interlocking var‐ iant) Flexi Soft safety controller main module (part number 1043783) Flexi Soft safety controller expansion module - I/O module (8 inputs, 4 outputs) (part number 1044125) Flexi Soft safety controller expansion module - I/O module (8 inputs) (part number 1044124) Flexi Soft safety controller expansion module - motion control module (Flexi Soft Drive Monitor) (part number 1062344) Flexi Soft safety controller system plug (part number 1043700) RE2 safety switch (part number 1062542) TR10 Lock safety locking device (part number 6054764)

13.2

Safe Interlocking ordering information

The Safe Interlocking variant are differentiated only by the variant of the DFS60S Pro safety encoders they contain.

The selection criteria refer to the properties of the DFS60S Pro safety encoder.

Table 11: Safe Interlocking ordering information

Mechanical shaft version Shaft diame‐ ter 6 mm Solid shaft with surface, servo flange, M4 thread Solid shaft with feather key, servo flange, M4 thread Solid shaft with surface, clamping flange, M4 thread Solid shaft with feather key, clamping flange, M4 thread Blind hollow shaft with feather key groove Blind hollow shaft with feather key groove Blind hollow shaft with feather key groove Through hollow shaft with feather key groove Through hollow shaft with feather key groove Through hollow shaft with feather key groove Through hollow shaft with feather key groove Other shaft 6 mm 10 mm 10 mm 10 mm 12 mm 14 mm 10 mm 12 mm 14 mm 5/8" Length of the shaft 10 mm 10 mm 19 mm 19 mm – – – – – – – Type code SAPPB0D-07A0010 SAPPB0D-07A0012 SAPPB0D-07A0011 SAPPB0D-07A0008 SAPPB0D-07A0009 SAPPB0D-07A0016 SAPPB0D-07A0017 SAPPB0D-07A0013 SAPPB0D-07A0014 SAPPB0D-07A0015 SAPPB0D-07A0018

see table 12, page 31

Part number 1087157 1087159 1087158 1087151 1087156 1087164 1087165 1087160 1087161 1087162 1087166 All supplied variants of the DFS60S Pro safety encoder have a plug connector (male connector, M12, 8-pin, radial).

30 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

ORDERING INFORMATION 13

NOTE

The variants of the Safe Interlocking functional safety system contain recommended variants of the DFS60S Pro safety encoder. If none of the Safe Interlocking variants contain the appropriate DFS60S Pro safety encoder, then order the set without safety encoder from the following table and then order an appropriate DFS60S Pro safety encoder separately.

Table 12: Set without safety encoder

Description Set consisting of all components of Safe Inter‐ locking with the exception of the DFS60S Pro safety encoder Type code SAPPB0D-07A0031 Part number 1087491 8021419/ZP45/2017-07-24 | 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 Interlocking 31

14 SPARE PARTS 14

14.1

Spare parts

Safety encoder

Table 13: Safe Interlocking safety encoder ordering information

Spare part for Spare part Type code Functional safety system Part number 1087151 1087156 1087157 1087158 Part number DFS60S-SEOC01024 1067912 DFS60S-BDOC01024 1067915 DFS60S-S1OC01024 1069517 DFS60S-S4OC01024 1069519 Safe Interlocking 1087159 1087160 1087161 1087162 1087164 1087165 1087166 DFS60S safety encoder DFS60S-SDOC01024 1069524 DFS60S-TDOC01024 1069527 DFS60S-TEOC01024 1069529 DFS60S-TGOC01024 1069532 DFS60S-BEOC01024 1069538 DFS60S-BGOC01024 1069541 DFS60S-TJOC01024 1079319

14.2

Additional spare parts

Table 14: Safe Interlocking spare parts ordering information

Product RE2 safety switch TR10 Lock safety locking device Flexi Soft safety controller main module Flexi Soft safety controller expansion module - I/O module (8 inputs, 4 outputs) Flexi Soft safety controller expansion module - I/O module (8 inputs) Flexi Soft safety controller expansion module - motion control module (Flexi Soft Drive Monitor) Flexi Soft safety controller system plug Type code RE23-SA64 TR10-SRU01C FX3-CPU000000 FX3-XTIO84002 FX3-XTDI80002 FX3-MOC000000 FX3-MPL000001 Part number 1062542 6054764 1043783 1044125 1044124 1062344 1043700 32 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

15

15.1

15.2

15.3

ACCESSORIES 15 Accessories

Connectivity

Table 15: Connecting cable ordering information

Part Type code Straight female connector, M12, 8-pin, 20 m cable, open end For connecting TR10 Lock safety locking devi‐ ces Straight female connector, M12, 4-pin, 15 m cable, open end For connecting RE2 safety switches DOL-1208-G20MC DOL-1204-G15M Straight male connector, M8, 4-pin, 10 m cable, male connector, USB-A straight For configuration of Flexi Soft safety controllers Y-cable, D-Sub, 15-pin, 2 x M12, 8-pin For connecting DFS60S Pro safety encoders DSL-8U04G10M025KM1 FX3-MOC encoder Part number 6038560 6010753 6034575 2071072

Actuator

Table 16: Actuator ordering information

Description Replacement actuator for TR10 Lock Type code TR10-RRU000

Mounting bracket

Table 17: Mounting bracket ordering information

Part Type code Mounting bracket for TR10 Lock safety locking device actuator Mounting bracket for TR10 Lock safety locking device safety switch TR10-MA0000 TR10-MS0000 Part number 5329550 Part number 5329552 5329553 8021419/ZP45/2017-07-24 | 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 Interlocking 33

16 ANNEX 16

16.1

34 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

Table 18: Test for “Emergency stop” safety function

Test sequence Expected result 1.

2.

3.

4.

Let machine run at a slow speed.

Press Emergency stop pushbut‐ ton.

Wait until the machine stops.

Reset the emergency stop push‐ button.

Run the test sequence for every emer‐ gency stop pushbutton individually.

Safe Stop 1 (SS1) is triggered. The reduction in speed is monitored. If a brake is connected, it is triggered. If the stop has been achieved, then the voltage supply of the drive is switched off.

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

Note the designations of the tested emergency stop pushbutton here. Result OK?

Yes ⃞ No ⃞

Test for “Preventing unexpected start-up” safety function

Table 19: 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 ⃞ O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

8021419/ZP45/2017-07-24 | SICK Subject to change without notice ANNEX 16 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.

Test for “Initiating a stop” safety function

Table 20: Test for “Initiating a stop” safety function

Test sequence Expected result 1.

2.

3.

1.

2.

1.

2.

Make sure that the door is unlocked and open.

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.

Make sure that the door is unlocked and closed.

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

Make sure that the door is unlocked and closed.

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

Door is not locked. Machine start not possible.

The door is locked. The machine can be started with the restart button.

Door is not locked. Machine start not possible.

Result OK?

Yes ⃞ No ⃞ Yes ⃞ No ⃞ Yes ⃞ No ⃞ Result OK?

Yes ⃞ No ⃞ Yes ⃞ No ⃞ Yes ⃞ No ⃞ O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 35

16 ANNEX

Test for “Temporarily preventing access” safety function

Table 21: Test for “Temporarily preventing access” safety function

Test sequence 1.

2.

1.

2.

1.

2.

Make sure that the safety switch and the safety locking device are mounted correctly.

Make sure that suitable meas‐ ures for manipulation protection have been taken.

Let machine run at a slow speed.

Give the signal for unlocking the door.

Make sure that the machine stops.

Give the signal for unlocking the door.

Expected result The manipulation protection measures are suitable and comply with the speci‐ fication in the respective operating instructions.

Door remains locked.

Machine continues running.

The door is unlocked.

Result OK?

Yes ⃞ No ⃞ Yes ⃞ No ⃞ Yes ⃞ No ⃞ 36 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

ANNEX 16 8021419/ZP45/2017-07-24 | 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 Interlocking 37

16 ANNEX 38 O P E R A T I N G I N S T R U C T I O N S | Safe Interlocking 8021419/ZP45/2017-07-24 | SICK Subject to change without notice

ANNEX 16 8021419/ZP45/2017-07-24 | 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 Interlocking 39

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Further locations at www.sick.com

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

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