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UAM Laser Scanner Manual

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1. ecce ece cesse ocean neenon rne r ds 17 SEDAN M ore o PRI PUTET 17 B29 8 OOD ET OC E 18 3 5 3 1 Automatic restart Interlock dsabiel 18 3 5 3 2 Manual restart Interlock enabled EE 18 GE Igi ide Seege EE 19 3 6 External device monitoring EDM 20 Oe OI le e RR E mE 21 Sek lte lag ee RCI OI TE ME 21 3 7 2 M ting Stop Conditio san sorta cet arate asin sant bc ELM 22 3 7 3 Muting override TUACUO D 22 3 8 Reference boundary monitor ccccccceceeeececeeeeeeeeeeeeeeeessaeeeeecaeeseeeesaeeeeesaeeeeesaaeeeesaaeeeees 29 SS Ee fec CO M RR TE Em TL 23 3 8 2 ee COM EE 2g HOKUYO AUTOMATIC CO LTD All Rights Reserved SR We TE 24 S10 IMOSDORSS en vennanosamotnrrins coiannssuen cemmtenseganntosaibousnadteninan tsa tiie EN P snatenaretecirelternsannidontessivam 25 FONET OUD TE 25 Sl edt Warning output WARNING T E 25 3 11 2 Warning output WARNING EEN 25 e EE Eder DOTT 25 SEEN Mu ting output MUT_OU A RE 25 3 115 Ready OO mizsiiDdM 25 3 11 6 Reset Request RES REO nennen nnns ann 25 3 12 Information later LE 26 Me E E EE 26 S 7 segment display NE TE T 26 UAM application examples nennen nennen nnnm nnne nnns nnns nnns 27 4 1 Area protection Horizontal application Stationary cccccccccssseeeeeeeeeeeeeeeeeeesaeeeeeeeees 27 4 2 Area protection Horizontal application Mobule 30 4 3 Access protection Vertical application whole body detection
2. 33 4 4 Access protection Vertical application body parts detection 36 ar de ME EC Tem 38 SN Biet ga E ne 38 pue AWA MESON e 39 Sollen ciel idee ONC CNN WE 40 5 4 Limited detection Capabllib ZOlIG ett een 41 e ln te BE 42 Bl uices 42 6 2 Power supply PT nennen 42 6 3 Wire colour and coding PERRO S ETT 42 6 4 Wiring exalripleusasenzssena oewdkesniddaiewitds eeiam Fed eRtrd a x Vs da ad wa emi oa a rat 43 saline ir OPES Ie esiaren eaoaai a iaa aa aaa aaa aa i a Ta kaana aa aE 44 6 5 1 OSSD output circuit eee cece ceeeecceeeeeeeeeeeeeeeeaeeeeeeeeeaaeeeeeeeessueeseeeeessaeaeeeeeeessaaaeeeees 44 6 5 2 Other Output circuit 44 spetoMnebierei EE 44 UAM Configurator application software sscsccncseconcceccacsesancsccccsanseatenesonteceeensctesenncsebesacesaecchsncvess 45 7 1 About UAM Configurator Application Software sess 45 7 2 Sy Ste m FOOUIF CIC MI ee 45 E UAN QUIVER INSTalATI ON E 46 7 4 UAM Configurator application software installation ccccccssesceeesseeeeeeseeeeeeeeaeeeeeseeeees 46 7 5 Starting the UAM Configurator application software 47 Eeer 47 EE Eed ie MAN WMO EE 48 Lot A Create new COMO UP AMIOM ERR 49 1 1 2 Open configuration RT 49 7 7 3 Read settings from device ccccccceeeececcaeeseeecaeeeeeeeeeeeceeeeeeseeessaeeeeeeseueeessaeeeesaaeeeees 50 7 8 Ge p
3. I 1000 a I I l e a 1 Y 2000 ee ET New Point Mouse position X 1870 Y 2959 Angle 57 75 let Read from UAM cea Previous Next Figure 7 39 a Before moving Response Time e On 270ms Lei Of amp 0ms E E E E E rt bero Function Selected point is moved A Lal to the new location EM as A beer CIS p p 55 D se i Numerical input X 1000 242000 E i 2 _ New Point Mouse position X 1071 Y 2988 Angle 109 75 Read from UAM p Cea Previous Next Figure 7 39 b After moving KL HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 16 2 2 Multipoint manipulation After the area is configured user can manipulate the entire or portion of the configured area by clicking the Multipoint X drawing tool button Move multipoint by offset a Click the Multipoint KR drawing tool button b Drag drop to select group of points Selected point will be changed into blue colour c Enter the offset value in the range of 99 to 100 d Click Set to offset the selected area points On 270m Lei Off E ms Lei Function fe G e a a a a Drag drop to select group of points mm mm pen en en en em EE E ET EE nn ET a meme em em mm mets ums mcr n 1 X 3630 Y 4925 Angle 53 5 e e ap I ag EU E z Clic
4. Refresh the error record Figure 7 24 b Error report e Product identity User name Date e EDM Interlock e Reference monitor e Muting AUX Output Minimum detection width Active areas Area sequence Areas configured by user Emo Error report includes error recorded during the operation and also lockout s error The report is generated in PDF format Adobe Reader or any equivalent application software is required to view the report Free version of Adobe Reader can be downloaded from the official website http w ww adobe com Report generated is in English HOKUYO AUTOMATIC CO LTD All Rights Reserved 63 64 7 12 Connecting the UAM with PC a Plug in the USB cable into both UAM and PC b If the UAM is not detected automatically after plugged in click the Connect V icon on the toolbar or press Ctrl T to establish the connection c Click Refresh 63 icon on the toolbar or press Ctrl R for port refresh d Connection status is shown at the information tab When the UAM is successfully connected Connected is shown with port number connecting the UAM as shown in figure 7 25 e When the UAM is disconnected Disconnected is shown No port number will be displayed Figure 7 26 shown the information tab when the UAM is disconnected re didongsation Model Model Connection status is shown Connection status is UAM 02L UAM 02L
5. m ay we mm Figure 5 5 Parallel installation HOKUYO AUTOMATIC CO LTD All Rights Reserved 39 iii Adding shield in between the UAM Detection plane Detection plane Shield Figure 5 6 Opposite facing installation Detection plane Detection plane Shield Figure 5 7 Parallel installation Note Material of the shield must be solid and non transparent 5 3 High reflective background High reflective background leads to false detection High reflective background results in a longer detected distance than the actual value When high reflective background cannot be avoided in the working environment additional distance is needed when configuring the protection and warning zones Figure 5 8 Refer to UAM s specification for the required distance tolerance Additional distance High reflective background Additional distance Additional distance tolerance for UAM operating under high reflective background Figure 5 8 Additional distance under high reflective background 40 HOKUYO AUTOMATIC CO LTD All Rights Reserved Measured distance is longer than actual distance if the background is highly reflective Additional distance must be added when configuring the protection zone 9 High reflective background Ex mirror corner cube reflector reflective safety Danger jacket road reflector must be avoided Reflectance caused by these reflective materials cou
6. Figure 2 1 UAM 02LP components 7 segment display Figure 2 2 shows the scanning range and detection zone origin of UAM Figure 2 3 shows the detection plane of the UAM Detection zone origin Scanning Range Figure 2 2 Scanning range and protection zone origin Top view Detection plane Detection plane marking Figure 2 3 Detection plane of UAM Side view 10 HOKUYO AUTOMATIC CO LTD All Rights Reserved 3 Product overview This chapter describes the UAM features 3 1 UAM O2LP features 0 Protection range of 2 0m Warning range of 10 0m Detection angle of 190 0 16 set of areas Configurable 9 LEDs indicating UAM s status 0 segment LED display 6 Easy configuration using PC installed with UAM Configurator application software Minimum response time of 60ms Configurable 9 Interlock Configurable EDM Configurable Muting Configurable Muting Override Reference boundary monitor Configurable Contamination detecting device for optical window HOKUYO AUTOMATIC CO LTD All Rights Reserved 3 2 Operation principle Warning zone 2 Warning zone 1 Protection zone Figure 3 1 Scanning range Figure 3 1 shows the scanning range of the UAM Protection zone warning zones are configured using the VAM Configurator application software Any objects entering the configured protection zone will lead to the change of OSSD signal from ON state to
7. Mutual interference could occur when identical UAMs are mounted at the same detection plane Refer to Chapter 5 for countermeasures to avoid mutual interference UAM should be mounted at a location which has sufficient space for maintenance 9 Do not add any protective materials such as glass transparent cover etc in front of the optical window This would lead to loss of detection capability of the UAM UAM will not operate without an initial configuration Minimum detectable width varies with the distance Refer Chapter 2 for details 9 Increasing the response time of the OSSD will increase availability of the UAM However this will reduce the detection capability towards moving objects User must perform risk assessment before using this function HOKUYO AUTOMATIC CO LTD All Rights Reserved 1 6 4 Wiring Switch OFF all the power supply during wiring 9 If the source of the power supply is taken from a converter please ensure the power supply fulfills the following requirements a A rated output voltage of 24V DC 10 SELYV circuit Overvoltage Category II b Reinforced insulation or double insulation for the primary and secondary circuit c Holding time of the output should be above 20ms d The power supply must comply with the requirements of electrical safety and electromagnetic compatibility EMC regulations of the respective country states and district All the input output signal cables should be in
8. 3 3 2 Warning zone Warning zones are non safety and are connected to WAI and WA2 outputs Object detected in these zones switch the warning signal from ON state to OFF state The warning signal can be used as an alert signal for humans or objects to avoid from approaching the protection zone For mobile applications warning zones can be used to reduce the speed of the vehicle to avoid collision Figure 3 5 shows the warning zones Warning zone 1 Warning zone 2 Figure 3 5 Warning zones Output signal of Warning zone is a non safety signal Warning zone output signals must not be used to control any machine or vehicle for safety related purposes Warning signal is a non safety signal Warning signal 1 amp 2 and OSSD signal is not inter related HOKUYO AUTOMATIC CO LTD All Rights Reserved 3 4 Area switching This is a function to switch the area pattern UAM can store up to 16 areas Each area consists of protection zone warning zone and warning zone 2 Switching the area requires external input signals Table 3 1 below shows the combination of input signal to switch area Area in use is displayed by the 7 segment LED of the UAM is described in Chapter 3 11 The area switching time is configurable Refer to chapter 7 11 1 2 for configuration Table 3 1 Input combination for area switching Area Pattern IN A IN B z INC IN D IN A 2 Z H DN ER RE O pe E E olo
9. 81 Le negen n 1 A Jet a m BE j m ET rA Fa I at eae Ei i i P I I I I I I I I I I I I I I I I I I I I I I I I I U 1 I I I I I I I I I I I I U Jt 7 11 1 4 Area configuration tab There are 3 tabs when Area configuration is selected namely Control Area and Information Information Area Control Information Area Control Information Area 1 Number Comments Model Response Time On 270m Of 60 ms Lei E 3 UAM version Function 4 x 5 Serial number 6 KH ww T Connection status 8 Connected 3 COM UAM configurations EDM Disable Interlock Disable eu gg RS Reference Disable en Muting Disable AUX Output Warning2 Minimum width 70 mm Active Areas 15 e Area Sequence Disable a Control b Area c Information Figure 7 20 Area configuration tab 58 HOKUYO AUTOMATIC CO LTD All Rights Reserved Tab Numerical inout Area Sensor version Information Serial number Connection status 7 11 1 5 Displayed zone Protection Lad Vi E vs Hesponse time Control Method Select area to display or edit When this is clicked a step by step instructional guide will lead user in configuring the UAM Set the response time of the selected area e On ms 270 510 e Off ms 60 510 Add Delete Create mirror image Draw area graphic
10. EDM D Enable d Model Offdelay 300 ms UAM 02LP T302 Step 2 O Enable UAM version Enter the relevant parameters E Enable Tolerance 100 mm 100mm 5000mm Serial number 00000000 Muting input sequence Muting1 Muting2 EN 5 v SS s VEA V I ITime interval between inputs 1second I A ing W I 1 Connection status VE ng HES kb 1 Maximum muting period 1 minute l Connected l Maximum override period 1 minute d COM3 Step 5 AUX Output Warning2 Error Muting UAM configurations Step 6 z e gt Maximum distance of the protection zone EDM Disable Min detection width 70mm DI Protection zone 2 0m Max tolerance 0 3m 2 3m max Interlock reis Step 7 Reference Disable Active Areas 8 Li Area Input Delen 30ms Lei Muting Enable AUX Output Muting 24 TS Active Areas 16 f ReadfomUAM pen Previous Next m em emm Figure 7 47 Activate Muting function c Click Area configuration or Next to proceed d After the Muting function is enabled Muting will be shown on the Displayed Area panel as shown in figure 7 48 to configure muting zone Figure 7 48 Select muting area e Select the Protection for muting zone configuration f Select the Muting on the displayed zone panel and configure the muting zone using the drawing tool Move the cursor on to the drawing area drag drop to draw the zo
11. O 000 0 0 0 0 corridor size F2 5 Fr FU I I I I I I I I I IE di I I ILLI o o O O A A ae ag ere EK EE N LU wt O O o W Oo e g mi rF IJI g 4 ER S og O D 2 O 2 3 Co a 3 o 3 Q O Q D i Figure 7 43 Teaching f After the area is configured it can be edited using the drawing tools 74 HOKUYO AUTOMATIC CO LTD All Rights Reserved O9 User must verify the configured zones before writing to UAM as the automatic configured zones could differ from the area user intended to protect Dang er The corridor size must be in the range of 100 700mm 9 Failure in doing this could result in hazardous area being unprotected and leads to critical injury and death When there is no boundary beyond the maximum distance the zone will be configured at the Note maximum distance of the UAM 7 16 4 Reference monitoring configuration This function must be enabled when UAM is used for vertical applications Follow the steps below to configure reference monitoring function a Ensure the UAM is firmly mounted at its location b Ensure the connection between UAM and Configurator is established c Click the Function tab and enabled Reference Monitor enter the required tolerance distance CEN edd eg EC HOKUYO a Gegend pm Area Configuration Write Information EDM
12. O Enabl On delay 300 ms nable Model Off delay 300 m Enter the tolerance HE Enabled the function j Start Restart mode distance 2 E Enable UAM version Delay Step 3 A Reference Monitor 3 Enable Tolerance s p 400 Jum 100mm 5000mm Serial number Step 4 00000000 Muting input sequence OT Mutingz DI Md i Time interval between inputs gt uting D Enabl Connection status 9 WE Maximum muting period Connected Maximum override period 1 COM3 Step 5 e AUX Output Warning2 Error 2 Muting UAM configurations Step 6 e e e e Maximum distance of the protection zone EDM Disable Min detection width 70mm x Protection zone 2 0m Max tolerance 0 3m 2 3m max Interlock Disable Step 7 Reference Enable Active Areas 16 Lei ArealnputDelay 30ms Muting X Disable AUX Output Warning2 IR mS Read from UAM Default Active Areas 16 7 m M Previous Next Figure 7 44 Activate Reference Monitor function d Configure other functions if necessary e Click Area configuration or Next to proceed f After the Reference monitor function is enabled Reference will be shown on the Displayed Area panel as shown in figure 7 45 to configure reference segment Reference segment Figure 7 45 Select Reference segment HOKUYO AUTOMATIC CO LTD All Rights Reserved 76 g Select the Reference and configure the reference segment usin
13. parameters of the various drawing tool c Enter in the respective numeric values in millimeter mm d Click the Set button after the all the parameters are key in The area will be drawn according to the parameters e Zone points can be manipulated individually or in group For individual point manipulation click the Single point L drawing tool For multipoint manipulation click the Multipoint X drawing tool Methad B Method Method o Pp Numerical input Mumerical input Numerical input I I I I I I I I I I Start point Center paint i 1 1 l I Tap Left Location I i aoi Ka 5000 Pean NES v 4000 7 g Ehe fifa Se I i tni Radius 1000 mm I I I i End point 1 I Degree l I I I l Width Ei A gr Start 1 mri l l L I i EN udo MEE End S i i Height mm i Set i i set Set o TC eene E egen rop ecc RT l M E iE er H a Line b Circle c Rectangle Figure 7 35 Numeric input HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 16 2 1 Single point manipulation After the area is configured user can manipulate each area point by clicking the Single point yn drawing tool button User can add area point to the configured area or move single area point using this drawing tool To add additional area point a Click the Single point l5 button b Enter the X and Y coordinate of the new area point c Sele
14. 14 d Minimum detectable object width mm O Additional width from edge of hazard source 242 d d Minimum detectable object width mm Z UAMS s tolerance distance mm 9 In the access protection application where the angle of the approach exceeds 30 Reference boundary monitoring function must be used Reference segments must be configured on each reference boundary 9 Tolerance of the reference segment should be lesser than 100mm 0 For detection of body parts minimum detectable width must be configured at 30 0mm UAM should be mounted in such a way that accessibility towards hazardous point is impossible Use additional protective measure if necessary Note When the S gt 500mm the K value can be replace with 1600mm s instead of 2000mm s In that case S must be greater than 500mm HOKUYO AUTOMATIC CO LTD All Rights Reserved 3 38 5 Installation 5 1 Light interference UAM transmits pulsed laser for obstacle detection Interfering light sources could lead to false detection User should carefully examine the surroundings before installation especially avoiding the following light sources 1 Incandescent light ii Fluorescent light iii Stroboscopic light iv Flashing beacon v Sunlight vi Infrared light sources However if the light sources mentioned above cannot be avoided in the working environment the UAM should be installed with the light sources
15. 250 bh en m m m ae e m m m Enter the scan number Qu pen Savela Figure 7 59 Data logging f To play the recorded data click the Play gt button select the recorded data file Recorded data will be played automatically once the file is selected Replay log is displayed when the recorded data is displayed as shown in figure 7 60 HOKUYO AUTOMATIC CO LTD All Rights Reserved 83 84 Replay log is displaye when the recorded data is played Y 4618 Figure 7 60 Replay log g Click Pause H i or Stop E button to interrupt the playing of recorded data HOKUYO AUTOMATIC CO LTD All Rights Reserved 8 Inspection and maintenance Inspection and maintenance are necessary for safety operation User must ensure the inspection and maintenance are carried out as specified Before performing inspection and maintenance user must ensure i The machine or vehicle monitored by UAM is switched OFF ii The working surrounding is safe Do not modify or dissemble the UAM during inspection as this will affect the detection capability of the UAM leading to critical injury or death 9 Inspection and maintenance steps suggested in this manual are only basic steps Operator should perform additional inspection and maintenance measures if necessary Operator should follow necessary steps in accordance to the working environment All the inspection should be perform during first c
16. Create new configuration When the Create new configurations is selected a window as shown in Figure 7 4 is displayed User can enter the necessary information or read from the device and click Next to continue HOKUYO Monitor Report Area Configuration Information Product ID e Se ee ee ee ee eee I d e Model i Product identity Undefined UAM O2LP T302 I I Size limit 64 characters UAM version I User name WS E I wg I Size limit 50 characters Serial number La ze ben e bet bet Sei nft See Sete Eet ei Set ent Ed e 00000000 Date 2011 12 05 Connection status Disconnected Read from the device Click Next to continue Figure 7 4 New configuration window 7 7 2 Open configuration file When Open configuration file is selected a window as shown in figure 7 5 is displayed Select the related file and click Open to continue gemis Om Lamy Documents r L My Computer My Recent d Emy Network Places Documents Sample huc B Mu Documents Mu Computer a File name Mu Network Files of type ProjectFile D huel e Figure 7 5 Open file HOKUYO AUTOMATIC CO LTD All Rights Reserved 49 50 7 7 3 Read configuration from UAM When Read configuration from UAM is selected a window as shown in figure 7 6 is displayed indicating the information are being read from the UAM When the settings are successfully read C
17. Self diagnostic function of OSSD Self diagnostic function of the OSSD detects any abnormalities in the output circuit by switching OFF the OSSD and OSSD 2 at an interval less than 300s Therefore safety relay or power converter used must not react to this diagnostic function Figure 3 6 below shows the timing chart of the self diagnostic function of OSSD 30ms lt gt OSSD1 300 us OSSD2 300 us Figure 3 6 Timing chart of the OSSD s self diagnostic function HOKUYO AUTOMATIC CO LTD All Rights Reserved 3 5 2 OSSD signal in different system state OSSD signal switches to OFF state OV when protection zone is penetrated or error is detected by self diagnostic function By observing READY and ERR signals together with the OSSD signal operator can understand the UAM state Table 3 2 below shows the relationship between OSSD signal READY signal and ERR signal in both operation state and initial state Table 3 2 Relation between OSSD READY and ERR output signal Self p Interlock Signal enetration l diagnostic configuration OSSD READY ERR startup LOK OFF OFF ra er er o Ser ov ON ON imi es mm EST m Lc Disable or o or erable oe oe or UAM switch to lockout state when failure occurs during the self diagnostic routines 2 When READY signal is configured If interlock is configured READY signal is replaced by RES REQ 3 W
18. UAM s working environment is within the stated specification temperature humidity vibration light interference etc 9 Do not use or mount the UAM near any device that could generate strong radio waves as the radio waves could interfere the operation of the UAM Do not use or mount the UAM in an environment that is dusty smoky or in presence of corrosive substances Detection capability of UAM will drop under such working environments 0 Before resetting the interlock of the UAM operator must ensure the surrounding is safe especially in the protection zone 1 6 3 Installation Install the UAM on a firm surface or structures to avoid displacement of the sensor The UAM should be firmly mounted using screws Shock and vibration should not loosen the mounting UAM will not operate properly if the protection zone is different from the intended area due to the displacement Recommended torque for screws is 3 N m Safety distance must be determined before installing UAM User must ensure the functionality of the UAM after installation by placing a test piece in all the protection zone Refer to Chapter 4 for details on safety distance for various applications 9 During the installation of the UAM protective materials such as guards or light curtain should be used to prevent any passage into the hazardous area 0 Reset switch used for Restart Interlock function should be mounted at a location away from the protection zone
19. Undefined Size limit 50 characters Serial number 00000000 Date 2011 12 05 Connection status Disconnected _evtromuam IT kregen RES Figure 7 17 General es Enter ID for UAM Limit to 64 cnaracters General Se Enter User name Limit to 50 characters 7 11 1 2 Function General Step 1 H delay 300 ms Model EDM O Enable UAM 02LP T302 Off delay 300 ms Step2 UAM version Start Restart mode Manual Automatic E Interlock 0 Enable Delay 1 second Serial number Step 3 x Reference Monitor O Enable Tolerance 100 BEE Connection status Step 4 Disconnected P Muting O Enable a B Maximum muting period 1 minute El Maximum override period 1 minute Step 5 AUX Output Warning2 Error Muting aps Maximum dist f the protectio e e D Bi EN aximum distance o ie prote n zone Min detection width 70 mm D Protection zone 2 0m Max tolerance 0 3m 2 3m max Step 7 Active Areas ArealnputDelay 30ms voten om Figure 7 18 a Function1 HOKUYO AUTOMATIC CO LTD All Rights Reserved General Sy Function Eye er Write Area Sequence G Enable Function 1 Step 8 Information Model UAM 02LP T302 UAM version Areal Area2 Area3 Area4 Area5 Area6 Areai Area8 Area9 Area10 Area11 Area12 Area13 Area14 Area15 Area16 From A
20. accordingly to ensure the hazardous area is completely protected o ee eee e pm E rm mm E M E em E LLLI DIE II Em mm e IIIJ Em pm pm mm Pee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee eS ee ee ee ee ee Configurable zone points Pa i EEEN hl M rT wre e E Lr mmm dii ni mimi mi amt n um d n m nr n ch n uir n E n b m du nnn om ee nnn m s du See s d E I HT RT PER EEN mm mr s cn n noe age ngu rcu n moa m m loe aom mcm n m ncm m n m rn m m m ere n m m um Gs Gu Gg GU GR GE GN GGG ERE RECEN GN E GN GR GR GE rn rem 1 i rgo 1 a i i 2 1 2 3 I Figure 3 3 Protection zone manual configuration H T Al Boundary errecere E DE D em M Corridor size Serge EE Figure 3 4 Protection zone configuration using teaching function HOKUYO AUTOMATIC CO LTD All Rights Reserved 13 9 Operator must verify the configured zones before operation Configured protection zone must have minimum Safety distance 9 Detectable minimum width varies with distance 9 Tolerance zone must be included when configuring the protection area N Caution 9 Verify the detection capability with the actual object before operation
21. ace Beie Sei ele e BE zZ ar e Z olo M olo eegee O 4 Ge 2 e L QO E a alalalelalalele ec aly Mrd ai a an rra zZz OR OB OB OE eBegeseg Ololo des S ge ges aes Es oloiolo EE BEE EE mE S SS O Ra E AN FN O TI pl Schi TI olom sch Sg Cl CH B G TI HI iE Sia a al ah _ fe d TI TI o igio igoQ9iooeUio 2 A c A IE c O TI TIN H S n H S n e Z WE 8 EN O T E zr en O Sch E E O TI Er COOLEN e28 T n T SN T n T SN d E HOKUYO AUTOMATIC CO LTD All Rights Reserved 15 16 3 5 OSSD OSSD is a safety related signal When a human or an object is detected in the protection zone the OSSD signal will switch from ON state to OFF state This OSSD will also be switched to OFF state when error is detected by self diagnostic function The OSSD signal has self diagnosis function which tests the signal periodically to detect any malfunction OSSD is a safety related signal and should be connected directly to the relay or device that switches the machine or vehicle under control N Danger 0e Sufficient time for the machine or vehicle to stop must be allocated when configuring the response time of OSSD User must verify the configuration before actual operation Note e During OSSD ON starte the signal is at 24V during OSSD OFF state the signal is at OV 3 5 1
22. completed This operation inspection must be conducted with sufficient safety measures being taken Performing this operation inspection before the pre operation inspection could cause damage to the machine or device serious critical injury or death Table 8 2 Example of operation inspection list Condition Check item EC3RTE Remark No The OSSD signal switches from ON state to OFF state and the machine or vehicle stop when the test piece is placed in the protection zone The OSSD signal remains in OFF state and the machine or vehicle stop when the test piece is moved inside the protection zone especially at the border 2 If the UAM in manual restart mode OSSD signal switches from ON state to OFF state and the machine or vehicle stop when the test piece is placed inside the protection zone and remains in OFF state when the test piece is removed A If the UAM in manual start mode OSSD remains in OFF state when UAM is restarted H If the UAM is in automatic restart mode OSSD signal 5 switches from ON state to OFF state when the test piece is placed inside the protection zone and switches from OFF state to ON state when the test piece is removed If the UAM is in automatic restart mode OSSD remains in OFF state when UAM is restarted with obstacle present In protection zone If the Start interlock is configured without placing the test piece in protection zone the OSSD signal will remain in OFF state until the
23. distance between UAM and the reference structure changes This function is compulsory for vertical applications UAM Reference segment Configuring 2 or more reference segments for displacement detection Reference structure Protection zone Floor Figure 3 15 a Front view of the access detection using reference boundary monitor function 1 HOKUYO AUTOMATIC CO LTD All Rights Reserved 23 UAM Reference segment Reference structure Protection zone Floor Figure 3 15 b Front view of the access detection using reference boundary monitor function 2 UAM Reference segment Reference structure Protection zone Floor Figure 3 15 c Incorrect configuration of reference boundary segment 3 9 Area sequence Area sequence is a function to monitor sequences of area switching If UAM detects switching pattern other than the preset sequence OSSD goes to OFF state This function prevents the machine to operate with an unintended protection zone From each area switching selection to maximum 15 other areas are possible when configuring the area sequence If muting function is enabled area selection will be reduced to maximum 7 Note 0 Sensor version 2 0 0 does not have area sequence function 24 HOKUYO AUTOMATIC CO LTD All Rights Reserved lt Area switching sequence gt When area sequence is disabled UAM can switch from an area to any other areas Fig 3 16 a whereas it can on
24. function is configured the override 10 function is terminated when the override period exceeded the specified override period If the reference boundary function is configured displacement of the reference boundary structures or UAM should cause the OSSD state switch to OFF state when the displacement exceeded the allowable tolerance This is applicable especially the angle of approach exceed 30 to the detection plane 12 If area sequence function is selected OSSD switches to OFF state when area is swithed to undefined sequence HOKUYO AUTOMATIC CO LTD All Rights Reserved 8 4 Periodical inspection Periodical inspection should be carried out to ensure the detection capability of the UAM Table 8 4 below shows a list of the periodical inspection items It is recommended to perform this inspection in a period of 6 months This inspection should be performed together with the daily inspection Condition No Check item es No Table 8 4 Example of periodical inspection list Remark x Screw is tightly fastened No displacement from the original mounting position No oil spot content on the optical window No visible damage on the UAM Cable connector is in good form and tightly fastened Area is switched and the 7 seg LED is correctly No scratch or crack on the optical window ocrew of the optical window is tightly fastened displayed when the input signals are changed according to the area swi
25. here When UAM is online shown here When UAM is UAM version Connected and the port UAM version Offline Disconnected is number is displayed displayed Serial number Serial number 00000000 00000000 Connection Connection Eng Ee oe a ee ee Connected Disconnected Dic aoe So Si me Jl em wm om mm mm pm mm mm mm COM3 UAM configurations EDM Disable Interlock Disable Reference Disable Muting Disable AUX Output Warning Active Areas 16 Figure 7 25 Connected Figure 7 26 Disconnected Use of USB hub should be avoided If the UAM is not detected after plugged in to the PC click the refresh button Note 0 If additional UAM is plugged in to the same PC click the refresh button in order to list the USB port HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 13 Password Configuration of the UAM is password protected User is required to enter the password in order to proceed to the configuration When a window as shown in figure 7 27 is displayed key in the password and click Login to proceed Default password is 12345678 2 Password Click Login to proceed Enter 8 digit password Cancel Figure 7 27 Password Window 7 13 1 Changing password User can change the password by the following steps a Click the Option on the menu bar b Click the Change password c A window as shown in figure 7 28 will be displayed d Key in the new password and
26. of the protection zone is strongly recommended 9 Distance tolerance must be taken into account when configuring the safety distance Additional distance must be added if UAM works in high reflective background Operator must ensure that boundary or protective measures used are not detected in the protected area It will be detected as obstacles and cause the OSSD to remain in OFF state HOKUYO AUTOMATIC CO LTD All Rights Reserved 29 4 2 Area protection Horizontal application Mobile UAM can be used for mobile applications Figure 4 4 shows an example of a mobile application on Automatic Guided Vehicle AGV UAM on the AGV detects intrusions of human or obstacles while travelling on the fixed routes Warning zones signals can be used to reduce the AGV s speed and OSSD signal can be used to stop the AGV if necessary Area switching function of the UAM enables the AGV to switch between 16 different sets of area patterns in accordance to the travelling routes For mobile applications time required for the AGV to reach a complete stop state has to be taken into account when configuring the protection zone and warning zones Safety distance for this application is shown in figure 4 5 and 4 6 Figure 4 4 Example of mobile application AGV Unprotected zone M Zs e Figure 4 5 Top view of the application 30 HOKUYO AUTOMATIC CO LTD All Rights Reserved Il Il H Ground clearance
27. period T2 gt 1 minute gt 6 minutes gt 12 minutes ON Muting1 OFF ON Muting2 OFF T Muting state ON within time interval OFF ON Muting state exceeds time interval OFF lt gt Figure 3 12 Muting sequence HOKUYO AUTOMATIC CO LTD All Rights Reserved 24 22 3 7 3 Muting override function Muting override is a function used to override all UAM protection features for a certain period when the OSSD is switched to OFF state due to muting related errors Override function is active when the override input and the reset input are switched in the sequence described below 7 Seg LED displays the override code when the UAM is in override state Figure 3 13 shows the override sequence Override start conditions gt At last one of the muting inputs is in ON state gt Object present in the protection zone gt Time interval between override input and reset input is within 0 03s to 1s T3 Override stop conditions gt Both of the muting inputs are in OFF state gt Either override input or reset input is in OFF state gt Duration of the override exceeds time the configurable maximum override period T4 gt Error is detected by self diagnostic function of the UAM gt When override initiated area is switch to other area 6 Maximum override period T4 gt 1 minute gt 6 minutes gt 12 minutes ON Muting1 OFF ON Muting2 OFF ON Override input OFF ON Reset in
28. plane is not towards the floor zone is free User can also reconfigure the protection zone by from obstacle excluding the floor UAM is not connected with the UAM Configurator USB cable is not Measurement data is not displayed Floor is detected Ensure the boundary is not within the protection Boundary is detected zone Reconfigure the protection zone Lockout state due to Check the description of the error number and self diagnostic function perform the possible solution as suggested SC Check the configuration of the interlock If RESET_ UAM Is interlocked REQ is ON supply UAM with RESET signa Table 9 2 shows the error number of the UAM These error numbers information is displayed on the LEDs and 7 segment display of the UAM If the UAM is unable to resume normal operation please contact the nearest distributor or sales representative for support HOKUYO AUTOMATIC CO LTD All Rights Reserved 91 92 Table 9 2 Error number list 4 C e Setting error Incomplete setting Invalid area OSSD monitor error BO EDM input connection error a O Reference monitor error Setting error Incomplete setting ER Setting error Incomplete setting Device Error 26 31 33 48 49 A 7B 7C 7E JA 9C 0 E9 EB EC ED EE EF FO F1 ES F3 F4 F5 F6 F7 F8 F9 FA FB Error other than above 20 1 2 8 4 5 6 7 8 9 A b C d E F HOKUYO AUTOMATIC CO LTD A
29. progress the window as shown in figure 7 57 will be displayed Model UAM 02LP T302 Figure 7 57 Reading configurations in progress e Once the reading process is complete configurations are displayed in the Configurator If user would like to save the configurations follow the steps described in chapter 7 17 82 HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 19 Open Project User can write the project into the UAM by performing the following steps a Click File from the menu bar b Click Open Project c A window will be shown select the project file huc d UAM configurations and areas will be shown e Click gt gt to confirm the UAM configurations and areas f Write the project into the UAM as described in chapter 7 16 6 Mew project Ctr f Sawe project Cirkz Exit Figure 7 58 Open Project 7 20 Data logging Range data can be recorded using the UAM Configurator Follow the steps below for data recording a Ensure the connection between PC and UAM 1s established b Start data recording by clicking the Data logging button c A window is displayed requesting for the scan number and saving location as shown in figure 7 59 The scan number allowed is limited between 10 to 250 scans d Use the Browse button to select the location for the saved data e Click Save to proceed with the data recording WISS Number of scan Enter a value in the range 10 to
30. retype the new password for confirmation The new password should consist of 8 numerical digits e Click OK to complete the operation Figure 7 28 Change Password Window 7 13 2 Reclaim forgotten password If password is forgotten follow these steps to reclaim the password a Click the File on the menu bar b Click the Save project or press Ctrl S save the project at a preferred location A file huc is saved c Send this huc file to the nearest office or representative listed on chapter 11 to reclaim the forgotten password HOKUYO AUTOMATIC CO LTD All Rights Reserved 65 7 14 Configuration mode To configure the UAM click on the Configuration tab UAM configuration is password protected User is required to log in with password before proceeding with the configuration to prevent unauthorized access Refer to chapter 7 13 for details on password To connect the UAM for configuration follow the steps below a Make sure the connection between UAM and PC is connected Refer to 7 12 b Click on the Configuration tab or Configuration mode button at the toolbar C A password window will be displayed requesting for password Figure7 29 Key in the password Password eek Enter 8 digit password Figure 7 29 Password Window d General tab will be displayed If not user can click on the General tab Type in the product identity and username These information wi
31. window replacement is needed please contact the nearest distributor or sales representative HOKUYO AUTOMATIC CO LTD All Rights Reserved 1 7 Package contents Each purchase consists of the following a VAM b Quick reference X1 afety Laser Scannel UAM 02LP T301 c ConfiguratorCD X1 The CD consists of the following files 0 setup exe UAMConfiguratorSetup msi URG USB Driver inf UAM Manual MRS0013A jp pdf UAM Manual MRS0013A en pdf NET framework related files HOKUYO AUTOMATIC CO LTD All Rights Reserved 1 8 Options 1 8 1 L shape mounting bracket Model UAM BKO1 This bracket can be used to change the horizontal angle alignment of the UAM during installation This is useful especially in preventing mutual interference when two or more UAMS are used 1 8 2 Vertical mounting bracket Model UAM BKO2 This bracket can be used to change the vertical and horizontal angle alignment of the UAM during installation This is useful especially in preventing mutual interference when two or more UAMS are used 1 8 3 Connector cable Cable with different lengths is available We Ze 2 5 10 20m HOKUYO AUTOMATIC CO LTD All Rights R
32. 0 ms Lei Function al Method Dog Shape le mj n D Numerical input Siar pain 1000 mipi Y 1BBU iam End paint Mouse position X 5660 Y 9509 Angle 59 25 Step M dd rog mni g toga mn Figure 7 50 Writing configurations to UAM c Click the Yes button to continue with the writing process d A window Figure 7 51 displaying the UAM and user identification is displayed T 4 3 p Bar Area General k Function JJ Configuration Information Model Product identity Undefined UAM version be Undefined 2011 12 05 Click lt lt reverse Click gt gt forward EDM button to reconfigure button to continue Interlock Reference Muting AUX Output Active Areas UAM configurat Figure 7 51 Configuration setting confirmation window e Please verify the displayed settings are correctly configured Click the reverse button to return to the previous window If settings are correctly configured click the gt gt forward button to continue HOKUYO AUTOMATIC CO LTD All Rights Reserved 79 f After the forward button is clicked a window displaying the configurations of EDM Interlock and Reference Monitor are as shown in figure 7 52 UAM 02LP T302 UAM version Status Disable Start Restart mode Delay Ha Status Disable Tolerance Figure 7 52 Functions config
33. 02 Step 2 interiack BE Start Restart mode Manual sutomafic UAM version Delay second I Step 3 Reference Monitor D Enable Tolerance 100 itm 3o0nei e Serial number Step 4 00000000 Muting input sequence Mutina ne M ti n Time interval between inputs second gt Enabl Connection status ng nable Maximum muting period 1 minute C ted Maximum override period 1 minute El COM3 Step 5 AUX Output Warning2 Error Muting UAM configurations Step 6 EDM Disable Min detection width 70mm Maximum distance of the protection zone d Protection zone 2 0m Max tolerance 0 3m 2 3m max Step 7 Active Areas 16 AreainputDelay 30ms Lei Figure 7 31 Function configuration HOKUYO AUTOMATIC CO LTD All Rights Reserved 68 7 16 Zone configuration There are 3 methods for zone configuration drawing tools numerical input and teaching method Besides user can also configure reference boundary segment and muting zone using these methods Steps to be performed before performing the zone configuration are as follows a Make sure the connection between UAM and PC is connected Refer to 7 12 b Click on the Configuration tab or Configuration mode k button at the toolbar and a password window will be displayed requesting for password Figure7 32 Key in the password Password rr Enter 8 digit password Figure 7 32 Password Window c After
34. 11 shows an example of vertical application Such application is generally used in order to prevent body parts from reaching a hazardous area When any object or human body parts access the entry this will switch the OSSD signal ON state to OFF state When installing UAM for vertical application users have to be aware that vertical application detects objects or human at the detection plane Detections of object or human before or after the detection plane is not possible Therefore distance between the entry and the hazardous area has to be carefully determined The width of the protection zone must be configured wide enough to cover the hazardous area User must use the reference monitoring function for this kind of application OSSD signal will switch to OFF state when there are changes in reference points Safety distance for this application is shown in figure 4 11 and 4 12 Configure the protection zone as described in section 7 16 Ati bles lf fi Hazardous area SA pt ttt ttt tts SE Figure 4 11 Side view of the application Reference boundary Protection area o Figure 4 12 Front view of the application 26 HOKUYO AUTOMATIC CO LTD All Rights Reserved Safety distance calculation S KX T T C where S Safety distance mm K Approach speed 2000 mm s T4 Maximum stopping run down time of the machine or system s T Response time of UAM s C Additional distance 8X d
35. G 2 ERROR MUT OUT Output Orange READY RES REO Output Green Black RESET Tou Orange Black OVERRIDE Input Print Preview Prnt Close Figure 7 13 Wire colour and function assignment When Configurations clear is clicked all the configurations of the UAM will be cleared After the configurations are cleared operator is required to reconfigure the UAM to resume operation Operator is required to reconfigure the UAM after Configurations clear is clicked Note UAM will not operate without configurations HOKUYO AUTOMATIC CO LTD All Rights Reserved 53 7 9 6 Language Figure 7 14 Language menu Table 7 7 Language menu Short cut key Function B4 __ Display in Japanese language English Pe isplay in English language 7 9 7 Help Users manual About Lah contiurator Figure 7 15 Help menu User s manual in PDF format is incorporated in the UAM Configurator application program User can view this manual by clicking the Help User s manual under the menu bar About UAM configurator displays the details of the application program The manual is in PDF format Adobe Reader or any equivalent application software is required to view the report Free version of Adobe Reader can be downloaded from the official website http www w adobe com uer es Lah Confieuratar Wersiort Warning Thig application E protected by copyright law U
36. OFF state Similarly an object detected in the warning zones will lead to the warning signal change to OFF state Distance is measured using the Time of Flight TOF principle Pulsed laser beam is radiated into the scanning range of 190 while the motor start rotating These pulsed laser beams are reflected back by any object inside the scanning range Duration of the reflected pulsed laser beam is taken for distance calculation as shown below 1 L j XCXT Where L Distance of the object C Light speed T Time difference The working principle of the TOF is shown in the schematic diagram Figure 3 2 below Emitter i Radiated pulse laser Object Receiver Reflected pulse laser Time difference Distance L Figure 3 2 TOF principle 12 HOKUYO AUTOMATIC CO LTD All Rights Reserved 3 3 Scanning area Scanning area of the UAM consists of protection zone and two warning zones Protection zone is safety critical and directly connected to OSSD signal When obstacle is detected in this protection zone the UAM will switch the OSSD to OFF state which should trigger a switch to stop a machine or vehicle For mobile applications the OSSD signal should be used as emergency stop signal 3 3 1 Protection zone Figure 3 3 and 3 4 show an example of protection zone configured using manual mode and teaching mode respectively using the UAM Configurator application software Chapter 7 Operator can configure these zones
37. RESET signal is received F If the muting function is configured UAM does not go into muted state OSSD in OFF state although the start condition is fulfilled when test piece is placed in a protection zone not covered muting area H If the muting function is configured UAM does not Switch to muted state when the muting input sequence is different from the start conditions If the muting function is configured UAM does not switch to muted state when the time interval between two muting inputs exceeded from the specified time interval If the muting function is configured the override function 11 is terminated when the override period exceeded the specified override period If the reference boundary function is configured displacement of the reference boundary structures or UAM should cause the OSSD state switch to OFF state when the displacement exceeded the allowable tolerance This is applicable especially the angle of approach exceed 30 to the detection plane 13 If area sequence function is selected OSSD switches to OFF state when area is swithed to undefined sequence Note Stop using the UAM when any of the check item is marked NO HOKUYO AUTOMATIC CO LTD All Rights Reserved 87 8 3 Daily inspection Table 8 3 below shows the example of items that should be check during the daily inspection Table 8 3 Example daily inspection list m Check item Condition Remark EYES Yes 1 T
38. Safety Laser Scanner UAM O2eLP User s Manual Tapeswiteh FOR SALES amp SERVICE CALL 1 800 234 8273 HOKUYO AUTOMATIC CO LTD Manual No MRS0013A Table of contents ed ONG IO EE 1 TI ADOUDIIS CO Bir CG 1 12 APPI Cabe DOGU ae ee en E ETT 1 eebe 1 14 Special markings and Sy MOOS E 1 1 5 Applicable directives and standards ccccccccccssseececeeeeceeeeeeeeeseeeeeeesseaeeeeeseeeeesaaeeeeesaees 2 1 6 Safety EE 2 er E 2 1 6 2 ei A ef ee UE dE E RN le ee EE 3 E Ale EE 4 Elte ol WON EE 4 1 6 6 Test and Rn E ee 4 1 7 Package COMING Mo TET EO 5 EIERE 6 1 8 1 L shape mounting bracket Model UAM BKO 1 seseeeeseeeennreneee 6 1 8 2 Vertical mounting bracket Model UAM DRUI 6 LEE ees 6 1 8 4 USB cable Model UAM USBB5 E 7 1 8 5 Configurator CD Model UAM CDO02 BEE 7 e e e WEE 8 KEE E 8 2 2 UAM components urcnevntosanse voanetnadaciamantneconmtatmmcanabamnan Sisana cannuiitadnanensntdeentehiaranaeassioanmaooinind 10 3 PIOOUCE e Ee 11 3 1 UAM 02LP features ETT TET UT UU T MTM 11 3 2 Operation eidele EE 12 3 3 Scanning E OA NITIDE em 13 3 3 1 Protection ZOMG iier tenet ee pner ed erba an E edet ben irtten das esce etai amiet pU UU PRU e MENU a A rR eU 13 SEN Elte ZONG sa a EU Um 14 OR Mal scc A MR NE TET RT 15 52 89 D 16 3 5 1 Self diagnostic TUNCHON Of OSS RE 16 3 5 2 OSSD signal in different system state
39. Windows XP Professional edition 32 bit SP3 or later Windows Vista Business edition 32 bit Compatible OS Windows 7 Ultimate edition 32 bit Windows 7 Professional edition 64 bit Minimum RAM A minimum of 256MB and above Internal or external CD ROM drive Hard Disk 100MB minimum free space UAM Configurator relies on Microsoft NET Framework 2 0 Software requirement SP 1 which is automatically installed if it is not already on the system Note Requirements to install Microsoft s NET framework a Processor 400MHz Min b RAM 96MB Min C Disk space 280MB 32 bit d Additional software IE 6 0 and above Windows Installer 3 0 and above HOKUYO AUTOMATIC CO LTD All Rights Reserved 45 46 7 3 UAM driver installation Be sure to connect the UAM to the PC with the USB cable purchase separately before installing the UAM driver 9 Driver installation is necessary for PC to interface with the UAM Note Driver only needs to be installed once If the PC is previously installed with the driver user can skip this driver installation instructions and proceed with the UAM Configurator installation Follow these steps to install the UAM s driver a Connect the UAM to PC s USB port PC will detect the new hardware and open the Found New Hardware Wizard b Select Install from a list or specific location Advanced insert the CD then click Next gt c Select Search for the b
40. Windows XP Start Program gt UAMConfigurator UAM Configurator b Double click the short cut icon on the PC desktop as shown below UAM Configurator Figure 7 1 Desktop icon 7 6 Uninstall a Start up Windows b Select the Control Panel in the Start menu c Click the Add or Remove Programs d Select UAMConfigurator then click Change Remove e The Ready to uninstall UAMConfigurator appears Click Yes to uninstall the program from the PC f After the uninstall is completed click OK Restarting the PC is recommended HOKUYO AUTOMATIC CO LTD All Rights Reserved 47 7 Startup main window a A main window as shown in Figure 7 2 will be displayed after the UAM Configurator is started HOKUYO Create new configuration Open configuration file Read configurations from the UAM Figure 7 2 Main window b Select one of the startup methods and continue by clicking the OK button Create new configuration I Open configuration file I Read configurations from the UAM 2 Click OK to continue Figure 7 3 Main window components Table 7 1 Description of startup method Create new configuration Create new configuration file for device Open configuration file Open an existing configurations file Read configurations from UAM Read configurations from the connected UAM 48 HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 7 1
41. able in the range of Is to 6s HOKUYO AUTOMATIC CO LTD All Rights Reserved ON Power OFF ON Object Obstruction OFF ON Ready for Operation OSSD OFF ON RES REQ OFF ON RESET OFF Figure 3 8 Timing chart of manual restart Operator must verify that the detected obstacle is safely removed before resetting the UAM N Dang er elt the Restart Interlock function is used to restart the machine the reset switch must be mounted at a location that is away from the protection area 9 Failing to comply with the above could lead to critical injury or death 0 After the obstacle being removed from the protection area if the OSSD remained in OFF state check the error code and the suggested solution Chapter 9 Note Duration of reset input should not exceed 5s otherwise it will be detected as hardware malfunction signal stuck at high 3 5 3 3 Start interlock Start interlock is a function to keep OSSD in OFF state during the start up until an external reset input is supplied The RES REQ is switched to ON state after the UAM completes the initial routines and ready to accept the RESET input When RESET input is supplied the OSSD goes to ON state provided no object is detected in the protection zone The duration of the reset input must be 0 5 s and above Figure 3 9 shows the sequence of start interlock ON Power OFF ON Object Obstruction OFF ON Ready for Opera
42. al will switch to OFF state when an obstacle is detected in the configured warning zone 2 3 11 3 Error output ERR ERR output indicates the operation status of the UAM The signal will switch to OFF state when error is detected during self diagnostic of the UAM Refer to Chapter 9 for details on detected error and possible solutions 3 11 4 Muting output MUT OUT MUT OUT indicates the muting override status of the UAM When the muting is activated MUT OUT will switch to ON state At the same time number 18 is displayed on the 7 Seg LED when the muting is activated When override is activated number 19 is displayed This signal should be used to indicate the UAM is in muting state 3 11 5 Ready output READY The signal will switch to ON state when the UAM is ready for operation 3 11 6 Reset Request RES REQ This signal will switch to ON state when the UAM is ready to receive reset signal HOKUYO AUTOMATIC CO LTD All Rights Reserved 25 26 3 12 Information indicator LEDs and 7 segment display indicate the UAM status These indicators are located on the front of UAM Figure 3 17 shows the information indicators of UAM OSSD ON indicator OSSD OFF indicator INTERLOCK indicator Figure 3 17 Information indicator of UAM 7 segment display 3 12 1 LED Descriptions of the LED and are shown in Table 3 5 and below Table 3 5 Description of the LED L OSSD OFF Red OSSD signal is in OFF st
43. ally Numerical input Teaching Line Circle Rectangle oelect single point SL Select multipoint This will be activated when the Numerical input drawing method or Teaching is selected Number of the area User can enter related comment for respective area UAM model UAM version Serial number of the connected UAM Connection between Configurator and UAM C Warning Bm Warning View Dm View 10m b UAM is disconnected Figure 7 21 Displayed zone Zone selected is indicated in this displayed area panel User can also hide the respective zones by unchecking the zone Connection of the UAM is indicated by the colour of the Area icon Green represents connected while pink represents disconnected state HOKUYO AUTOMATIC CO LTD All Rights Reserved DU 7 11 1 6 Drawing assistance tool Drawing assistance tools for zone configuration Icon Function Zoom up Zoom down Reset view Polar grid Cartesian grid Solid Frame Cut 7 11 1 7 Write Once the configuration is complete user can write it to the UAM AII the configured parameters will be displayed for re confirmation Figure 7 22 shows the Write tab for re confirmation before being write into the UAM i UAM Configurator elle Plet Graphics G Connection C Mode M Options O Language L Help H ur cdi HOKUYO Area e Configuration Information Model Undefin
44. ate INTERLOCK Orange UAM is in interlock state OSSD ON Green OSSD signal is in ON state 3 12 2 7 segment display Details Area 1 Area 2 Area 3 Area 4 Area 5 Area 6 Area 7 Area 8 Area 9 Area 10 Area 11 Area 12 Area 13 Area 14 Area 15 Area 16 Reset request Muting activated Override activated Note Display numbers other than the above are error state Refer to table 9 2 for details Display number Display number 6 O H H HOKUYO AUTOMATIC CO LTD All Rights Reserved 4 UAM application examples The section describes some application examples using the UAM and calculation of safety distance in the respective application When using the UAM as protective equipment guidelines below should be taken into account a Hazard should be identified and risk assessment should be carried out b UAM should not be used for finger protection c Working environment should be within the specification of VAM d Safety distance must be determined in accordance to ISO 13855 amp IEC 61496 3 death Configuring the UAM beyond it s specification could lead to critical injury and Danger Note 9Read through the user s manual before configuring the UAM 4 1 Area protection Horizontal application Stationary In this kind of application UAM is mounted horizontally to protect the hazardous area Figure 4 1 shows an example of the horizontal application The protection zone is configured around t
45. bject Specifications Output type High side SW Output current Max 500 mA Leak current Max 1mA Wire Length 20m AWG 26 Load L R225ms C 1 UF Output type PNP Transistor output Output current Max 100mA Leak current Max 1mA Wire Length 20m AWG 28 Output type PNP Transistor output WARNING ERR Output current Max 100mA MUT OUT Non safety Leak current Max 1mA Wire Length 20m AWG 28 Output type PNP Transistor output READY or RES REQ Output current Max 100mA Non safety Leak current Max 1mA Wire Length 20m AWG 28 16 area switching 4 inputs x 2 channels Number of inputs EDM RESET MUTING1 MUTING2 OVERRIDE 1 Input input x 1 channel 47KO Length 20m AWG 28 Interface USB2 0 USB mini B type connector 10 to 550 25 to 70 Humidity 95 RH ra Frequency range 10 to 55Hz Vibration Sweep rate 1octave min Amplitude 0 35mm 0 05mm Acceleration 98m s 10G Pulse duration 16ms Outdoor Operation Additional distance of 200mm is needed when the UAM is working under high reflective background OSSD 1 2 Safety related WARNING 1 Non safety Output types resistance 2 When the light sources located at 5 from the detection plane of UAM HOKUYO AUTOMATIC CO LTD All Rights Reserved 2 2 UAM components Figure 2 1 shows the components of the UAM 02LP Connector cable a USB connector z Housing gt e Optical window
46. calculation S KX T T C Z where S Safety distance mm K Approach speed 1600 mm s T Maximum stopping run down time of the machine or system s T Response time of UAM s C 1200 0 4XHz850 H the height at which the protective field is mounted mm 1000ZH215 X d S0 d Minimum detectable object width mm Z UAM tolerance distance mm 2g an HOKUYO AUTOMATIC CO LTD All Rights Reserved The distance between the hazard area edge and origin of the protection zone must be less than the minimum detectable width User must ensure that the value of a is smaller than the minimum detectable width In applications where the value of a is greater than the minimum detectable width additional protective measures must be taken to prevent penetration through this unprotected area UAM should not be mounted higher than 300mm to prevent the possibility of N Danger crawling beneath the detection plane 9 For applications which require the UAM to be mounted higher then 300mm additional measures must be taken to prevent intrusion beneath the detection plane f UAM is mounted in a public area the detection plane should be reduced to 200mm or the height required by regulations of the local authority 9 n obstacles detection application if direction of approach is parallel to the detection plane minimum detectable width should be set below 70mm If appropriate indications markings on the floor
47. cccccecceececceeeeeceeeeecseeeeeseneeeseneessaaeees 74 7 16 4 Reference monitoring configuration EE 75 Fol Oso MUO COMMU NAO dE 17 7 16 6 Writing configurations AE Eege EE 79 TAT SAV PO EE 81 7 18 Read E nine Gg e lune Ee 82 PN DOO PrO CG E 83 P20 Data NOG QUANG DEE 83 8 Inspection and MAINTCN ANC EE 85 8 1 Pre operation Ipspechon ENEE 86 9 2 Operation inspection si sctescmeejncncccitrsasintleitieciasionteeineaud sects iakadnotaeakaete dvatnenansheieeonadaenttekaieeatiningenotaestes 87 8 3 Daily mepechon nennen nnne nnnm nnne nnn nnne nnn nnne nnns nnns 88 8 4 Periodical mspechon nennen nnne nnne nnn nnne nnn nnn nans 89 8 5 Cleaning the EE 90 9 TOUDICS NOON Rm 91 E DIMENSIONS OPE Rm 93 ek BE O EP KA 93 10 2 Lssniape mounting Bracke simenn tend ra ptas dustec nni titt tauro ceni cedet erst EU oua d ied 94 RT ge Ee ei ageleet 95 UB NE le Te Date E 96 12 EENHEETEN 97 HOKUYO AUTOMATIC CO LTD All Rights Reserved 1 Introduction This user s manual of UAM is designed with the purpose of providing guidelines and instructions for the technical personnel of the machine manufacturer or the machine operator while operating the UAM 1 1 About this document UAM s features technical specification installation and handling method and safety precautions are described in this document 0 Please read carefully and understand this document before installation operation and maintenance The Operator of the UAM should have a cop
48. ct New Point d Click Set to add the new area point Method l2 mnm BU uh qs Mouse position I wee X 3215 Y 2795 Angle 41 Read from UAM Clear Previous Next Figure 7 36 Addition of single point Figure 7 37 below shows the addition of single point at 0 2000 a Before addition b After addition Figure 7 37 Addition of single point To move a single point a Click the Single point l5 button b Unselect the New Point if its is selected c Select a point for manipulation The X and Y coordinate of the selected point will be displayed Selected point will be displayed in blue colour d Enter the X and Y coordinate for new location e Click Set to move the selected point HOKUYO AUTOMATIC CO LTD All Rights Reserved 71 vestes b si b b Mitto pt iiti pe tibi qot iita iota R Seabee do t a tiet Ses Ee oem iot om SS oa ots errs oin ith ioca io eS v beb bt Pond i bs bs Prio bota fo Selected point will changed to blue colour Coordinate of the selected point will be shown X 2973 Y 1982 Angle 33 75 Read from UAM m Clar Previous Next Figure 7 38 Moving single point Figure 7 39 below shows the point 658 1163 being moved to 1000 2000 On 270ms Off 60ms mmc m E EAA SEN WEE Function x Method 2 E Shape d Replace the coordinate with the new location B coordinate
49. ed UAM 02LP T302 User name UAM version Undefined mE Date a Serial number 2011 12 05 00000000 Connection status Connected COM3 UAM configurations EDM Disable Interlock Disable Reference Disable Muting Disable eg quer Savereport 148 AUX Output Warning2 Active Areas 16 Confirm mer Figure 7 22 Write HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 11 2 Monitor tab User can monitor the detection state of the UAM in real time by selecting the monitor tab Tab Area number Data logging tool UAM information E ilal ema ister E jA Configurator Cilo e b ee Iet FJ OD 3 D E z j PES Information Model UAM 02LP T302 UAM version Ver 2 0 0 Serial number Connection status Connected COM3 UAM configurations EDM Disable Interlock Disable Reference Disable Muting Disable AUX Output Warning2 Active Areas 16 X 918 Y 3087 Angle 106 5 Figure 7 23 Monitor tab OSSD state Green button OSSD ON Red button OSSD OFF Error is detected Cleaning is needed for the optical window UAMI is in lockout state UAM status UAM is in muting state UAM is waiting for the reset signal to resume operation WARNING 1 state Green button Warning ON Red button Warning OFF WARNING 2 state Green button Warning ON Red bu
50. erio Seele ela etc EE ET ese ee 50 v cu nior MENTO mm 51 om WT TT H A 51 E EE e 51 FD ONIN CONN MR EO TEUER 52 HOKUYO AUTOMATIC CO LTD All Rights Reserved TD DOOM eege 53 1 9 0 E ele 54 DN ON 54 DNA WOOD RET Dm em 55 EN MUI AN A E E ie TE 56 7 11 1 Configuration TAD RENE 56 MEC FON BE 56 DM Ea ee E 56 7 11 1 39 PA ACO FU ALO LEE 58 Fille Area configuration taD EE 58 Poll Ve Wes WIS Ay CC ZONG E 59 LN KN CA Re assistance TOOl MR T T MS 60 nh VE N E 60 Teoh Wee MORON DID oere N E uot enies s desodeb tiov de LU Pepe EEEE ER 61 TN Eod RODO clo WEE 62 7 12 Connecting the UAM with PC aeui osse tho aseesbettio oed rante heeepsbecSu n puteu bue eden cbete sss su Uu busta ka 64 ke We e E 65 7 13 1 Changing password WEE 65 7 13 2 Reclaim forgotten password ccccceecccceececceeeecseeceeseceesaueeessaeeeeseeeessueeeseneessaneees 65 7 14 GOTO ele Bee 66 7 15 Diels er lte e E 67 7 16 Zone configuration EE 68 7 16 1 Zone configuration by drawing tools ccccceeeccceeseeeeeeeeeeeeeeesaeeeeeseeeeeessaeeeessaeeeees 69 7 16 2 Zone configuration by numeric IND Ul sie inswcsnuseinace aces setencculennecnasiusd dmadsenessnsstsdessinctdsuleets 70 716 2 1 Single point manipulation DEE 71 7 16 2 2 TE Weeer de EE 79 7 16 3 Zone configuration by Teaching function cc
51. eserved 1 8 4 USB cable Model UAM USB5 This is a cable used to connect UAM and PC Length of the USB cable is 5 m 1 8 5 Configurator CD Model UAM CD02 This CD consists of the configuration software UAM s driver and other related documents HOKUYO AUTOMATIC CO LTD All Rights Reserved 2 Specification 2 1 UAM O2LP Specifications Model UAMOZPT302 S O From Black Reflector Sheet 1 896 to Retro Reflector Detection capability Sheet opeed 1 6m s max Detection Detection angie property dh 30mm Max Dist 1 0m 50mm Max Dist 1 5m Minimum Detectable Width dh 70mm Max Dist 2 0m 30ms Rotational Speed 2000rpm 16 patterns 60 to 510ms Hesponse time ii 270 to 510ms Area pattern Element Pulsed Laser Diode Optics Wavelenath Safety Class Laser Class 1 Safety Type Type 3 IEC 61496 1 IEC 61496 3 Functional Safety SIL 2 Type B HFT 1 IEC61508 7 5 X 10 T1220year Size 90 0mm W 99 8mm D 97 0mm H Weight Approx 1 0kg Protection IP65 Material Body Aluminum Optical Window Polycarbonate Gable Flying cable and water proof connector Cable 300mm M16 19p Sawer Sunol DC 24V 10 Power supply from converter e Wing OA 30 20 Power supply from battery Cable length Length 20m AWG 22 26 28 Normal without load consumption Le without load Max with load Housing HOKUYO AUTOMATIC CO LTD All Rights Reserved Su
52. est driver in these locations Then select Include this location in the search and click Browse d Select the Driver folder then click OK e Click Next gt f The wizard starts searching for the driver and dialogue box is shown g Windows starts installing the UAM driver h After clicking Finish the dialogue appears indicating new hardware is successfully installed To confirm that the UAM driver was successfully installed go to the computer s device manager and expand the Ports COM and LPT list URG Series USB Device Driver should be seen as one of the COM ports 7 4 UAM Configurator application software installation a Insert the CD into the CD ROM drive b Click Setup exe This file is located at CDNEN setup exe c Follow the instructions of the installer and complete the installation For Windows XP user need to log in as Administrator to authorized the installation of the UAM Configurator 8 Installation can not proceed if user log in other than Administrator Note For Windows XP UAM Configurator is installed into C Program Files Hokuyo Automatic NUAMConfigurator by default If user prefer it to be install in different folder change this location during the installation process HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 5 Starting the UAM Configurator application software There are 2 ways to start the UAM Configurator a For
53. g the drawing tool Move the cursor on the drawing area drag drop to draw the segment h The tolerance will be configured as shown in figure 7 46 Added tolerance is displayed in green colour Information Area Control Protection Warning1 Warning2 Reference View 23m View 40m view 40m View Om wea s Response Time On 270 m Isi Off 60 ms Lei B eoecemsesanenasnenbeses esca a Re E E 2 75 0 Lu c oui 22 o 7 L T VC OM eesesceseste i Select Reference segment M n ea M AN PO S P TE Automatically configured tolerance area Left click drag drop to configure the segment Mouse position X Y Angle Figure 7 46 Reference segment configuration i Ensure the reference segment is correctly configured j Click Next button or Write tab and to write the configured area into the UAM HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 16 5 Muting configuration This function is used to temporarily suspend safety functions of UAM when required conditions are fulfilled Follow the steps below to configure this function a Ensure the connection between UAM and Configurator is established b Click the Function tab and enable Muting enter the required parameters EES H HOKUYO gt ITO CES m E Area Information Step 1 ae EE m ay 300 ms
54. he OSSD signal switches from ON state to OFF state when the test piece is placed in the protection zone The OSSD signal remains in OFF state when the test piece is moved inside the protection zone Remove the test piece away from the configured protection zone and the OSSD signal should switch from OFF state to ON state If the UAM is in automatic restart mode OSSD signal switches from ON state to OFF state when the test piece is placed inside the protection zone and switches from OFF state to ON state when the test piece is removed If the UAM is in manual restart mode OSSD signal switches from ON state to OFF state when 5 the test piece is placed inside the protection zone and remains in OFF state when the test piece is removed If the Start interlock is configured without placing the test piece in protection zone the OSSD signal will remain in OFF state until the RESET signal is received If the muting function is configured UAM does not go into muted state OSSD in OFF state although the start condition is fulfilled when test piece is placed in a protection zone not covered by muting area If the muting function is configured UAM does not switch to muted state when the muting input sequence is different from the start conditions If the muting function is configured UAM does not Switch to muted state when the time interval between two muting inputs exceeded from the specified time interval If the muting
55. he hazardous area to prevent any human or object from entering the hazardous area Warning zone 1 and 2 are configured surrounding the protection zone These warning zones can be used as an alert to any object or human from approaching the protection zone and preventing unnecessary stops of the protected machine Any objects or humans detected in the protection zone will cause the OSSD signal to switch from ON state to OFF state Any objects and humans detected in the warning zones will cause the warning signal to switch from ON state to OFF state as well The safety distance for this application is shown in figure 4 2 and 4 3 i L529 SSSA ec 25625 SS oo POKER SSO LEE SER POLK e SE Se 929 X KS S EES SOK LK OL 2567 5 SOROS e OLIKI IOP SOS gt 0 NAN 0626006026056 6 7 502 602 SAX SOSA EE E EE EE 22S eg LIIRIS LIRE EKZ EE t Ze ent S x 2 e Kee dE EE COR GE Ee Ka x e ee ee EE EN AA EE PASS NT I ANNI S ESO S REN AT MX S Si Lx dE SX oe SOS Ns o SS PRR EE aga ONG e ee EE GE e PS SEZ CRS Figure 4 1 Example of stationary application horizontal HOKUYO AUTOMATIC CO LTD All Rights Reserved SE Unprotected area _ NZ Figure 4 2 Top view of the horizontal application a Figure 4 3 Side view of the application Safety distance
56. he muting function is configured the override function is terminated when the override period exceeded the specified override period HOKUYO AUTOMATIC CO LTD All Rights Reserved 89 If the muting function is configured the muting is terminated when muting period exceeds the specified maximum muting period If the reference boundary function is configured displacement of the reference boundary structures or UAM should cause the OSSD state switch to OFF State when the displacement exceeded the allowable tolerance This is applicable especially when the angle of approach exceed 30 to the detection plane Safety relay life span is stil valid p p If area sequence function is selected OSSD switches to OFF state when area is swithed to undefined sequence Note eii strongly recommended to keep the maintenance record for traceability purpose 8 5 Cleaning the optical window Dust covering the optical window affects the detection capability of the UAM Regular cleaning of the optical window is necessary especially when the UAM is mounted in a dusty working environment i Wipe the optical window with a clean soft cloth ii Clean the optical window with a soft brush iii Blow off the dust on optical window using air blower iv Clean the optical window with mild detergent if its contaminated with oil erease particles Disconnect the system when cleaning the optical window Dang er Failing to comply with this co
57. hen ERR signal is configured 4 When Start Restart mode is configured to Manual Manual OSSD is OFF READY is ON When configured to Manual Automatic OSSD is ON READY is OFF m BE NO 3 5 2 1 Lockout state When error is detected by the self diagnostic function and cannot perform normal operation UAM will switch to lockout state At the lockout state both OSSDs WARNINGI WARNING2 and ERR will switch to OFF state After clearing the error UAM can be reset by restoring the power and this will clear the UAM from lockout state Table 3 3 below shows the ERR output in correspondence to OSSD OFF state Table 3 3 Relation between OSSD output and ERR output Obstacle detection HOKUYO AUTOMATIC CO LTD All Rights Reserved 17 3 5 3 OSSD Interlock Interlock is a function preventing automatic restart of the OSSD signal switching from OFF state to ON state Interlocks functions are configurable using the UAM Configurator application software 3 5 3 1 Automatic restart Interlock disable UAM will operate with automatic restart mode when the interlock function is disabled or only start interlock function is enabled When the obstacle detected in the protection zone is removed OSSD signal switches from OFF state to ON state automatically Figure 3 7 below shows the timing chart of the automatic restart with OFF delay and ON delay configured a and b are the OFF delay and ON delay respectively However if the UAM is
58. in lockout state the OSSD will remain in OFF state even the interlock function is disabled ON Object detection OFF ON OSSD OFF 4 4 a b i OFF delay ON delay Figure 3 7 Timing chart of automatic restart Only use this function in applications where automatic restart does not affect the safety requirements Caution Mum SES When delay function is configured make sure that the delay duration is sufficient for the machine or vehicle to stop 3 5 3 2 Manual restart Interlock enabled UAM operates in restart interlock restart interlock is set to manual mode The OSSD signal switches from ON state to OFF state if the UAM detects any obstacle within the protection zone or detected any system error In this mode even the detected obstacles or system error is cleared the OSSD signal will remain in OFF state An external reset input signal is required to clear the interlock allowing the UAM to resumes to normal operation UAM will only resume to normal operation when there is a reset signal RESET The duration of reset signal should be minimum 0 5s Figure 3 8 shows the timing chart of the manual restart If the reset delay c is configured the OSSD signal will only switch to ON state after the configured delay time is achieved However if the OFF state of the OSSD is caused by the internal fault the OSSD will remain in OFF state regardless of interlock setting Reset delay is configur
59. in the specification of the UAM N Caution For safety switch OFF the power supply during electrical wiring 6 3 Wire colour and coding Table 6 lbelow shows the function of the wires A shielded cable is recommended for wiring Table 6 1 Wire colour and coding table AWG Power DC 24V Power OV B 98 ouput Protection zone output 1 Protection zone output 2 Input Se External device monitoring Red Black WARNING 1 Warning zone Output 1 WARNING2 WARNING2 Warning zone output 2 Yellow Black ERR MUT OUT Outout ERR OFF when diagnostic error detected E MUT OUT Muting state output e READY READY ON during Normal operation g RES REQ RES REQ ON when external reset is needed Green Black RESET Reset input Input Orange Black OVERRIDE dax Override input Shield wire FG Frameground JL HOKUYO AUTOMATIC CO LTD All Rights Reserved 6 4 Wiring example Figure 6 1 below shows a wiring example for the UAM DC 24V Brown DCOV Blue OSSD1 Red OSSD2 Yellow IN_A Purple IN_A Purple Black IN B Gray Black IN D MUTING 2 Pink Black WARNING 1 Red Black WARNING2 ERR MUT OUT Yellow Black R1 R2 READY RES REQ Orange EDM Green S1 RESET Green Black OVERRIDE Orange Black S2 Frame ground Shield wire Figure 6 1 Wiring example R1 R2 External device Safety relay Magnet contactor etc S1 Interlock reset switch Please refer to section 3 4 fo
60. iness Park Cambridge CB23 6DP UK Tel 44 1223 923 930 Fax 44 1223 923 940 E mail info sentekeurope com URL http www sentekeurope com e North America Sentek Solutions Inc 2019 Van Buren Avenue Suite A Indian Trail NC 28079 USA Tel 1 704 882 3844 Fax 1 704 628 0582 E mail sales senteksolutions com URL http www senteksolutions com The contents described in this document are based on the information as of January 2013 The external dimensions specifications etc are subject to change without notice Osaka HU Building 2 2 5 Tokiwamachi Chuo Ku Osaka HOKUYO AUTOMATIC CO LTD 540 0028 Japan TEL 81 6 6947 6333 FAX 81 6 6947 6350 URL http Awww hokuyo aut jp E mail foreign trade hokuyo aut co jp 19 1 H
61. k Set to move the points Clear Previous Next Figure 7 40 Moving multipoint Figure 7 41 below shows the multipoint manipulation a Before offset b After offset Figure 7 41 Offset the selected points HOKUYO AUTOMATIC CO LTD All Rights Reserved 73 7 16 3 Zone configuration by Teaching function Zone configuration can be done automatically by using the Teaching function by referring to static guards boundary wall surrounding the UAM This function is useful when user needs to configure complex zone or would like to reduce the time required for zone configuration Steps below show the procedures for using the Teaching function a Ensure the UAM is connected with the PC b Click on the Teaching button c Key in the respective parameters corridor size Figure 7 42 d Corridor size must be in the range of 100 700mm A warning message will be displayed if the value keyed in is out of this range Method Murerical input Corridor size Figure 7 42 Teaching parameter e Click Start to enable the automatic zone configuration Click End to terminate the automatic zone configuration Surrounding boundaries are detected and will be shown including the corridor size Figure 7 43 les HOKUYO Area 1 Response Time 4 E On 270m EN Off 60 ms UMEN Pe cg g s e CE 68 Enter the
62. ld lead to false detection in the protection zone 9 Verify the configured areas before operation 9 Failing to comply with this will leads to critical injury and death 5 4 Limited detection capability zone The limited detection capability zone is defined as a region between the optical window and the beginning of the detection zone The limited detection capability zone of the UAM is 87mm from the origin of UAM Figure 5 9 UAM has difficulty in detecting presence of object with low reflectivity in this area Limited detection capability zone Figure 5 9 Limited detection capability zone User must perform safety assessment for possibility of object penetration into Danger the limited detection capability zone HOKUYO AUTOMATIC CO LTD All Rights Reserved 42 6 Wiring This chapter describes wiring examples and the precautions during installation 6 1 Precautions a Make sure the power supply is disconnected or switched OFF during all electrical wiring b Do not use cable longer than the length stated in the specification of the UAM Safety function may not operate properly if longer cable is used which could lead to serious injury or death 6 2 Power supply Ensure the power supply is within the range of DC 24V 10 For battery operation power supply must be within the range of DC 24V 30 20 Excess power supply could damage the UAM N Dang er Do not use cable longer than the length stated
63. ll Rights Reserved 10 Dimensions 10 1 UAM O2LP T302 Protection zone origin Connector cable LAA L NS d P d SCH Kaes NS nee Se 1 KS Kass KE Zeen Sc E Ko Ka 9050905 xX p CX 6090909 Sete ee Wees Waterproof connector 99 5661 15 19 Binder Scan angle 190 USB connector Detection plane 4 M5 depth8 35 52 ossporr CH INTERLOCK CI 10 HOKUYO AUTOMATIC CO LTD All Rights Reserved 93 10 2 L shape mounting bracket Scan angle 190 Detection plane OSSD OFF INTERLOCK 94 HOKUYO AUTOMATIC CO LTD All Rights Reserved 10 3 Vertical mounting bracket Scan angle 190 124 T Detection plane T E Li CJ e D A 9 L N N co N N LO e oO co Tr T ossporF CH X EI INTERLOCK C j O 8j H 6 3 V V HOKUYO AUTOMATIC CO LTD All Rights Reserved 95 96 11 Revision history Revision Symbol January 2013 First Release HOKUYO AUTOMATIC CO LTD All Rights Reserved 12 Representative contacts Asia and others Hokuyo Automatic Co Ltd Osaka HU building 2 2 5 Tokiwamachi Chuo ku Osaka 540 0028 Japan Tel 81 6 6947 6333 Fax 81 6 6947 6350 E mail foreign trade hokuyo aut co jp URL http www hokuyo aut jp e Europe Sentek Solutions Ltd 1010 Cambourne Bus
64. ll be printed on the report generated by the Configurator Refer to chapter 7 11 3 for details on report BUTS C RIEN HOKUYO INIL Tr e LE Dori Arf Key in product ID Product ID Information e I Model Product identity j Undefined I UAM 02LP T302 I Vdc See UAM version me ee User name I Undefined Di I C NCHN NC E CE CN M WE Size limit 50 characters Serial number Connection status Disconnected React from UAM Default Next Figure 7 30 Configuration Note O0SSD remain in OFF state when UAM is under configuration mode 66 HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 15 Function configuration User can configure various functions of the UAM through this Configurator Click on the Function tab and a list of the configurable functions will be displayed as shown in figure 7 31 Click on the Enable box to activate those functions Refer to chapter 7 11 1 2 for details on these functions Configurable functions are as follows a EDM b Interlock c Reference monitor d Muting e AUX Output f Minimum detection width g Active area WE a Ee ey Ee FS T e T m coc ES lal E Cranhice c SRLS mem ow PL Mela NO Pinkianel ni tanana i en A r E 2 SEIL CS SUDnnecoo e i Mod a M Ree DI Lar Busen Fi On delay 300 ms EDM C Enable Offdelay 300 ms UAM 02LP T3
65. located at 3 from the detection plane to avoid interference on detection Figure 5 1 Light source C Protection zone origin TI Detection plane Light source C ME Figure 5 1 Installation under light interference User must perform risk assessment for interference lights in the working environment before installation N Dang er Direct interference light such as stroboscopic flashing beacon fluorescent must be avoided 0 Failing to comply this will lead to critical injury and death Operator must verify the detection capability of the UAM when the above Caution measure is taken HOKUYO AUTOMATIC CO LTD All Rights Reserved 5 2 Mutual interference Pulsed laser signal from identical UAM could lead to false detection Extra measures are required in application that uses multiple identical UAMs Figures below show some of the possible installation methods to avoid mutual interference i Changing the height of installation I is emm eem Figure 5 2 Opposite facing installation Figure 5 3 Parallel installation 11 Changing the angle of installation me mm mm e mm mm vm mm mm vm mm mm es PT Detection Plane we Lj El LI a EN KE we EH Figure 5 4 Opposite facing installation em ST wn hg PT em eem em PI ep wn m ege mm LI KN Ll m
66. ly switch to specific areas if area sequence is enabled Fig 3 16 b It is recommended to use this function in systems where area sequence is fixed Figure 3 16 a Operation without area sequence Figure 3 16 b Operation with area sequence 3 10 Response time Response time of OSSD signal is configurable using the UAM Configurator application software Response time of the Warning and 2 will be same as the OSSD response time Availability of the UAM can be increased by configuring longer response time However longer response time requires longer safety distance Chapter 4 Operator must perform risk assessment before configuring the response time Table 3 4 shows the configurable response time Addition of 30ms has to be taken into account during area switching Table 3 4 Response time of UAM Hesponse time ms Eeer ct WEE UIRESTS 010 EE EC EE OFF 60 90 120 180 210 240 270 300 330 360 390 420 450 480 510 ON PO 270 3 11 Other Output UAM consist of 3 non safety outputs WARNINGI WARNING2 ERR MUT OUT and Ready RES_REQ Warning2 ERR MUT OUT Warning2 by default and Ready RES_REQ Ready by default are configurable outputs that share the same terminal Configuration of the output can be done through the Configurator 3 11 1 Warning output WARNING 1 This signal will switch to OFF state when an obstacle is detected in the configured warning zone 1 3 11 2 Warning output WARNING2 This sign
67. nauthorized reproduction or distribution ot this program ar any portions of it may tesil in severe penalties ee DR Figure 7 16 UAM Configurator window 54 HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 10 Toolbar Icons of frequently used functions Table 7 8 Toolbar Icon Function Create new configuration file LI Open a saved setting file Saves the project file d Port name number connected to UAM Establishing connection between Configurator and UAM NW Disconnecting connection between Configurator and UAM Refresh the USB port e Monit d e onitor mode es Q Confi ti d Z onfiguration mode lt i HOKUYO AUTOMATIC CO LTD All Rights Reserved 55 56 7 11 Subpanel This subpanel is used to switch the modes Configuration Monitoring and Report 7 11 1 Configuration tab There are 4 tabs under the configuration tab General Function Area configuration and Write User is required to configure the UAM through these 4 tabs in sequence 7 11 1 1 General e 1 LARA Pul i teen bk ap VAM Conngurator DORI Se te Ee n m c r e iden fandi ene Pk rov sp zi e D ae em 3 etr Graphics G SETS Mode M D Language L NM pennt ZE JDC f SO VEM SPAS Less HOKUYO Write Configuration Product ID Product identity Undefined Information Model UAM 02LP T302 Size limit 64 characters UAM version User name
68. nd repeat the above steps to configure other areas e Zone points can be manipulated individually or in group For individual point manipulation click the Single point La button For multipoint manipulation click the Multipoint X button and select a group of points for manipulation f To create identical zone click on the Mirror lt gt button g To delete the entire zone click the Cut of button Area selection Zone selection Information Area Control 4 Area e BREITES Response TimeY On 270 m Lei f 60ms l Left click drag drop to configure the zone 3 Select drawing tool Mouse position X 2754 Y 2675 Angle 135 75 Figure 7 34 Zone configuration by drawing tool HOKUYO AUTOMATIC CO LTD All Rights Reserved 69 70 7 16 2 Zone configuration by numeric input Zone configuration by numeric value is important especially for zones that requires accuracy Steps below explains zone configuration by numeric input using the Circle drawing tool Same procedures are applicable for other drawing tools a Click on the Numeric input 89 button for numeric input This will activate the numeric input boxes b Click on the Circle button or other drawing tool The numeric input boxes will change accordingly to the selected drawing tool Different drawing tool required different parameters Figure 7 35 shows the different
69. ne g Muting zone is displayed in purple colour as shown in figure 7 49 HOKUYO AUTOMATIC CO LTD All Rights Reserved Tr 78 Information Area Control Response Time On 270m Lei Off 60 ms Lei Function Method Be Shane ZA o a Amat L i Ama E Bu zm Warning1 View 10m A Select Muting zone m oo n Tm m ipo n n e e e Left click drag drop to configure the muting zone Mouse position NK Sg Ts Angle Figure 7 49 Muting zone configuration h Ensure the muting zone is correctly configured 1 Click Next button or Write tab and to write the configured zones into the UAM Note output When Muting function is enabled the AUX output will be automatically configure as muting HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 16 6 Writing configurations into UAM Once the area and functions configuration are completed it is necessary to write these configurations into the UAM UAM will operate with previous configurations unless the new configurations are successfully written Writing steps are as follows a Click the Write tab as shown in figure 7 50 b A window requesting for confirmation as shown in figure 7 50 will be displayed LAM t ontigurator Area 1 Response Time On 270m Lei Of 6
70. not inside the configured protected zone It will be detected as obstacles and cause the OSSD to remain in OFF state HOKUYO AUTOMATIC CO LTD All Rights Reserved 4 3 Access protection Vertical application whole body detection UAM can be used vertically in creating a protection shield Figure 4 8 shows an example of vertical application Such application is generally used for access protection at the hazardous area When any object or human tries to accesses the OSSD signal will switch from ON state to OFF state When installing UAM for vertical application users have to be aware that vertical application detects objects or humans at the detection plane Detection of object or human before or after the detection plane is not possible Therefore distance between the entry and the hazardous area has to be carefully configured User must use the reference monitoring function for this kind of application OSSD signal will switch to OFF state when there are changes in reference points Safety distance of this application is shown in figure 4 9 and 4 10 SS Ne SN GOS ES e e SE 919 a2 6 e SOO RRS PIERO SLRS xS Kess BERRI RK Lo E es SOK SP SS SG PO OSS EEE EE E EE Ce pe ee SI OL KOA wo OKA SEP LIRI o ae EE Figure 4 8 Example of access protection application HOKUYO AUTOMATIC CO LTD All Rights Reserved 33 34 Hazardous area Figure 4 10 Side view of the application Safe
71. ommission of the UAM HOKUYO AUTOMATIC CO LTD All Rights Reserved 85 8 1 Pre operation inspection Authorized personnel with password should perform pre operation inspection after the configuration The inspections should be conducted using test piece User should perform this inspection without connecting to the machine or vehicle Table 8 1 Example pre operation inspection list l Condition No Check item 1 UAM is correctly mounted at the intended location and screws are firmly fastened All the wirings are correctly connected The OSSD signal switches from ON state to OFF state when the test piece is placed in the protection zone A The OSSD signal remains in OFF state when the test piece is moved inside the protection zone 5 The OSSD signal switches from OFF state to ON state when the test piece is removed from the protection zone Area is switched and the 7 seg LED is correctly disolayed when the input signals are changed according to the area switching table If the UAM is in automatic restart mode OSSD signal switches from ON state to OFF state when the test piece is placed inside the protection zone and switches from OFF state to ON state when the test piece is removed If the UAM is in manual restart mode OSSD signal switches from ON state to OFF state when the test piece is placed inside the protection zone and remains in OFF state when the test piece is removed If the Start interlock is configu
72. on2 sequence table e Area sequence table See the setting example Only one output signal can be assign to the AUX output at one time 2 Minimum width of the object intended to be detected Object might not be detected if the minimum width configured is bigger than the object width 3 Configure the number of areas intended to use Wiring of Area input signal should be done according to the active areas If the area input signal exceeds the configured active areas it will be detected as error 4 All active areas must have at least one area sequence selected Put checkmark in the box to select the sequence This function cannot be used if active area is 1 Sensor version is 2 0 0 does not have area sequence function HOKUYO AUTOMATIC CO LTD All Rights Reserved 57 lt Example of setting gt Fig 7 18 c shows the setting example of area sequence for three active areas and sequence is areal area2 area3 areal Step 8 D Area Sequence ai Enable A Area2 areas From Areal E From Brea Se C ae C Areas Figure 7 18 c Setting example of area sequence function 7 11 1 3 Area configuration Displayed area Drawing assistance tool P UA Con igurator Aon EE V Viet Graphics Gong nr Qus I e 7 EL CR la I LLLLLLLILLLITLIILITIIILLILILIILIILIILIIIIIIIIIIIM 071 1 q Response Time i i d EC ELE OR some je KK Puncion 5 r i lan 0 EN L i
73. onfigurator will runs in monitoring mode Information Model UAM 02LP T302 UAM version UAM configurations EDM Enable Interlock Disable Reference Disable Muting Disable AUX Output X Warning2 Active Areas 16 64 Angle 155 25 Figure 7 6 Read configurations window 7 8 Configurator components Figure 7 7 below shows the name of each component of the main window Toolbar Help box Ill a EEHNENENEENSEENEKASES anoueuo d Losocumenmm s Subpanel Information n Model UAM 02LP T302 Size limit 64 characters UAM version A o 2011 12 05 Ten mm mu mm mu mm mm mm pm mE mM pm pm ps mm mm mm mm mu um mu mu mu mm um um pm mm pm EM EM EE EE EM EE EM EM ES EE EE EE EM EM EM EM EE EE EE EM EM EM EE EE pm EM EM EM Xm Figure 7 7 Components of Configurator HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 9 Menu bar In this section functions of the all the item in the menu bar is explained Each function can be executed by clicking the respective function or by short cut key 7 9 1 File Hew project Open project Ctrl Have project trt Exit Figure 7 8 File menu Table 7 2 File Menu Figure 7 9 Graphics menu Table 7 3 Graphic menu Short cut key Crid Display grids in Cartesian unit Figure 7 9 1 Polar Display grids in Polar unit Figure 7 9 2 ae Only the outline of the scanning area is displayed Plot Figure 7 9 3 Ctrl Up Cl
74. or defined in EU Machine Directive 2006 42 EC which complies with the directives and standard as listed below Directives Standard Details Directives Europe IS itis P RoHS Directives EC directives Bee EC Machine Directive 2006 42 EC iu Pe EC EMC Directive 2004 108 EC l Safety of machinery ISO13849 1 2006 Category 3 PL d IEC6 1508 Part 1 7 2010 C6206 1 2005 Functional Safety SIL2 Europe IEC61496 1 200 Application Standard Type 3 IEC61496 3 2008 Application Standard Type 3 l Safety of laser products Please read the following guidelines for correct use of the UAM Proper handling and usage ensure the UAM to Harmonized standards 1 6 Safety precautions operate accordingly 1 6 1 General UAM is an AOPDDR that detects obstacles within the configured protection zone by detecting diffused optical radiation Optical radiations are generated and emitted into the configured protection zone The optical radiations are then rotated by a rotating motor covering the protection zone The optical radiations are diffused and reflected back towards the receiving unit of the UAM 0 Pre operation tests must be performed in order to verify the functionality and the performance of the UAM 0 It is necessary to operate the UAM within the specifications described in this user s manual and perform required maintenance to prevent deterioration of UAM s detection capability Do not modify or dissemble the UAM to ensure housing IP ra
75. oser view Zoom Wider view Reset the view to default setting Entire scanning area is displayed Figure 7 9 4 HOKUYO AUTOMATIC CO LTD All Rights Reserved 51 52 Figure 7 9 1 Cartesian Figure 7 9 2 Polar Figure 7 9 3 Frame Figure 7 9 4 Solid 7 9 3 Connection Connect Disconnect Ctrl D Refresh port Girl Figure 7 10 Connection menu Table 7 4 Connection list Item Disconnect connection between the PC and UAM 7 9 4 Mode Monitor made Configuration mode Figure 7 11 Mode menu Table 7 5 Mode menu Short cut key Monitor mde Monitor the UAM operation Configuration mode Configure UAM settings HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 9 5 Option Wire connection Lontigurations Clear Ghange password Figure 7 12 Option menu Table 7 6 Option menu Wre Connection Wre colour and function assignment Figure 7 13 Configurations cear Clear UAMS configurations back to defaut Change Password a Change to new 8 digit numeric password D Wes Sco kel Color Color Name Signal Function u Power Hue LG Do Power Red i Output Yellow m ET TEES mem IND MUTING 1 Purple Black D Gray Block IN Btn White Black IN C nv Pink Black IN_D hv MUTING 2 Green EDM Red Black WARNING 1 Yellow Black WARNIN
76. put OFF T3 T4 X ON l Override state OFF 60ms 60ms 9 Eq gt Figure 3 13 Override sequence User must ensure the safety of the protection zone when muting function is activated Danger 09 Risk assessment must be performed before using muting function 0 Failing to comply with the above could lead to critical injury or death HOKUYO AUTOMATIC CO LTD All Rights Reserved 3 8 Reference boundary monitor Reference boundary monitor is a function to monitor the displacement of the UAM or the structure used as reference boundary 3 8 1 Area protection An example of reference boundary monitor function used for area protection is shown in figure 3 14 If reference segments are configured on moveable objects example door the OSSD switch to OFF state when position of the door is changed Reference structure Protection zone UAM Reference segment Moveable part aN en wm wm om sell Figure 3 14 Top view of the area protection using reference boundary monitor function 3 8 2 Access protection An example of reference boundary monitor function used for access protection is shown in figure 3 15 User is required to configure the reference segments on each surface for displacement detection Reference segments should be configured such that displacement is easily detected The OSSD will switch to OFF state when access penetration is detected and also if the
77. r details on area switching HOKUYO AUTOMATIC CO LTD All Rights Reserved 43 6 5 Input Output circuit 6 5 1 OSSD output circuit OSSD are output source type OSSD1 OSSD2 Control circuit Figure 6 2 OSSD output circuit 6 5 2 Other Output circuit WARNINGI WARNING 2 READY outputs are PNP type WARNING 1 Control circuit WARNING2 S READY MEE ER REM EROR URN ENSE ER M AREE NER Figure 6 3 Output circuit 6 5 3 Input circuit Input circuit shows in figure 6 4 is applicable for area inputs EDM RESET MUTINGI MUTING 2 and OVERRIDE Control circuit Figure 6 4 Input circuit HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 UAM Configurator application software 7 1 About UAM Configurator Application Software This application is developed for the UAM This application is developed for the following functions a Display the measurement data b Protection zone warning zone configuration c Function configuration d Measurement data e Project data management configuration data storage and retrieval N Caution Read this manual before configuring the UAM 9 Figures illustrations displayed dialogue boxes and indications in this manual may differ Note slightly depending on user s system or environment 7 2 System requirements Interface USB 1172 0
78. real From Area2 From Area From Aread From Aread 6 H 8 Serial number Connection status Disconnected From Area From Area From Area From Great From Areal From Areal From Areal2 From Areal From Areal4 From Areal From Area l Read from UAM Default Previous Next Figure 7 18 b Function2 Click to enable the EDM function EDM On delay ms 300 Default 330 360 e Off delay ms 90 120 300 Default Click to enable the Interlock function Interlock e Start Restart mode Manual Automatic Manual Manual e Delay s 1 Default 6 Reference Click to enable the Reference monitor function monitor e lolerance mm 100 Default Click to enable the Muting function e Muting input sequence Muting 1 Muting 2 Default Muting Muting 2 gt Muting 1 Function 1 e Time difference between inputs s 1 Default 3 5 10 e Max muting period min 1 Default 6 12 e Max override period min 1 Default 6 12 Click to assign the related output signal e Warning2 Default e Error e Muting Only active when muting is activated Detection Click to configure the minimum of detection object width width e Min width mm 30 50 70 Default Click to configure number of areas to be used and switch delay e Active area 1 16 1 8 Muting e Area switch delay 30ms Default 120ms 2 70ms 970ms 19 70ms A Click to enable area sequence function and configure the sequence rea Functi
79. red without placing the test piece in protection zone the OSSD signal will remain in OFF state until the RESET signal is received If the muting function is configured UAM does not go into muted state OSSD in OFF state although the Remark x le LI start condition is fulfilled when test piece is placed in a protection zone not covered by muting area If the muting function is configured UAM does not Switch to muted state when the muting input sequence is different from the start conditions If the muting function is configured UAM does not switch to muted state when the time interval between two muting inouts exceeded from the specified time interval If the muting function is configured the override function is terminated when the override period exceeded the specified override period If the reference boundary function is configured displacement of the reference boundary structures or UAM should cause the OSSD state switch to OFF state when the displacement exceeded the allowable tolerance This is applicable especially the angle of approach exceed 30 to the detection plane 15 If area sequence function is selected OSSD switches to OFF state when area is swithed to undefined sequence Note Stop using the UAM when any of the check item is marked NO O HOKUYO AUTOMATIC CO LTD All Rights Reserved 8 2 Operation inspection This test should be conducted when the pre operation inspection is
80. stalled away from machines power lines and high voltage cables Use OSSD of the UAM to control safety related machine system Do not use Warning signals to control safety related machine as these are non safety signals 9 Do not use cables other than supplied by the manufacturer Chapter 6 Do not use any intermediate connection between OSSD signals and safety related machines or systems OSSD signals should be connected directly to the safety related machines or systems 1 6 5 Configuration Configuration of safety functions are password protected Only authorized personnel or operator with password are allowed for configuration 0 Pre operation test must be performed to verify the configurations before operating the UAM Changes made during the configuration must be recorded Operator can use the report generating function in the UAM Configurator Chapter 7 1 6 6 Test and maintenance 9 User must perform the following tests and maintenance by referring to the checklists in this manual Chapter 8 a Pre operation inspection b Operation inspection c Daily inspection d Periodical inspection The checklist establishes the basic guidelines while performing the test and maintenance User must perform additional test and maintenance which are necessary for the application 0 Stop the machine and stop using the UAM if faults are detected during these tests Clean the optical window when it gets contaminated if the optical
81. tching table The OSSD signal switches from ON state to OFF state when the test piece is placed in the protection zone The OSSD signal remains in OFF state when the test piece is moved inside the protection zone Remove the test piece away from the configured protection zone and the OSSD signal should switch from OFF state to ON state If the UAM is in automatic restart mode OSSD signal Switches from ON state to OFF state when the test piece is placed inside the protection zone and switches from OFF state to ON state when the test piece is removed If the UAM is in manual restart mode OSSD signal switches from ON state to OFF state when the test piece is placed inside the protection zone and remains in OFF state when the test piece is removed If the Start interlock is configured without placing the test piece in protection zone the OSSD signal will remain in OFF state until the RESET signal is received If the muting function is configured UAM does not go into muted state OSSD in OFF state although the start condition is fulfilled when test piece is placed in a protection zone not covered by muting area If the muting function is configured UAM does not switch to muted state when the muting input sequence is different from the start conditions If the muting function is configured UAM does not switch to muted state when the time interval between two muting inputs exceeded from the specified time interval If t
82. the user has successfully logged in UAM will switch to Configuration mode automatically OSSD signal will switch to OFF state during Configuration mode d Click the General tab and key in the necessary information e Click the Function tab and configure the necessary functions f Click on the Area Configuration tab and select the area for configuration Ex Protection Warning 1 or Warning 2 Click this Area Configuration tab General H a Soan H SEE E S TORA H HEET HEET ee DZ NW TE Click this drop down list Click these buttons to to select area select viewing zone 0 10 Am 88 DROE GES e Sp fav Za e meu MATE tere EP Mouse position X Y Angle Read from UAM m Char Previous Neri Figure 7 33 Area selection Note Right click the mouse to move the drawing area HOKUYO AUTOMATIC CO LTD All Rights Reserved 7 16 1 Zone configuration by drawing tools Zone can be configured using the drawing tools of the UAM Configurator Steps below explains zone configuration using the Draw e drawing tool A step by step instructional guide is available by clicking the Step by step guide button a Click on the Draw P button b Select the drawing shape c Move the cursor on to the drawing area drag drop to draw the zone d For other area configuration select the respective area a
83. time EE cor ree 4 continue SEA ai i into UAM SE Cy cN l sem s n a 1 Savereport 4118 M p ME bm Confirm a Cannel I Figure 7 54 Area confirmation window 1 Once the writing process is completed the main window will be displayed User can check the configurations that were written into the UAM by selecting the Read settings from device 7 17 Save Project UAM configurations are saved at once by performing the following steps a Click File from the menu bar b Click Save project c Enter a file name and click Save Change the location of the file is necessary SCH i K T OPP New project Ctrit M L pro faci Ctr eta Figure 7 55 Save Project HOKUYO AUTOMATIC CO LTD All Rights Reserved 81 7 18 Read configurations from UAM User can check the current settings or confirm the configurations of the UAM by performing the following steps a Make sure the connection between UAM and PC is connected b Select the Read configurations from the UAM on the main window c Click the OK button HOKUYO Select the startup method Create new configuration Open configuration file Click OK to continue M Figure 7 56 Reading settings from device d When reading process is in
84. ting is maintained Operator is referred to a person who is responsible and qualified to operate the UAM Operator should have attended appropriate safety related training and could operate the UAM correctly A person in charge must be assigned and have trained the operator about the correct use of UAM The person in charge must understand this manual and is responsible to ensure proper working environment for the UAM 9 The person in charge is responsible for the compliance with the local safety requirements standards rules and regulations laws of respective nations states or districts when the UAM is used in a safety related system Operator should prepare test pieces for detection capability verification test The size of the test piece should be equivalent to the minimum detectable width of the object Maximum level of homogeneous pollution for UAM is 3096 Warning signal will be displayed if the pollution exceeded the stated limit However operator should always keep the optical window in clean condition During decommission of the UAM protective measures must be taken to ensure safety on the protected area Protective materials such as guards or light curtain should be used to prevent any passage into the hazardous area UAM should be disposed as industrial waste or in accordance with the local disposal directives HOKUYO AUTOMATIC CO LTD All Rights Reserved 1 6 2 Working environment Please ensure the
85. tion OSSD OFF ON RES_REQ OFF ON RESET OFF I FE ON delay Figure 3 9 Start interlock sequence HOKUYO AUTOMATIC CO LTD All Rights Reserved 19 3 6 External device monitoring EDM EDM is a function that monitors the state of the input signal from the controlled machine or vehicle EDM is configured using the UAM Configurator application software When EDM is configured any fault detected in EDM signal will cause the OSSD signal switched to OFF state EDM signal is always the inverse of the OSSD signal EDM input signal ON OFF delay is configurable When the EDM function is not used should not be connected Figure 3 10 below shows the circuit of EDM Figure 3 11 below shows the timing chart of the EDM and OSSD signal DC24V AOPDDR MSCE Figure 3 10 EDM circuit EDM cable should not be connected if EDM function is disabled If EDM cable is connected Note when EDM function is disabled it will be detected as error ON OSSD OFF ON EDM OFF id e EDM OFF delay EDM ON delay Figure 3 11 EDM timing chart 3 7 Muting Muting function temporarily suspends the safety function in the configured zone of UAM when the specified conditions are fulfilled During muting the OSSD remains in ON state even object is detected in the configured muting zone Muting function is initiated and terminated using two independent hard wired input signals Muting zone is config
86. tton Warning OFF Area number is displayed During operation Error number is displayed when UAM is stopped HOKUYO AUTOMATIC CO LTD All Rights Reserved 61 62 eo otart recording BEN Play the recorded data Data logging M me OW jo o UAM model UAM version number Serial number of the connected UAM Information e SEN Connection status between Configurator and UAM UAM Configured sensor settings 7 11 3 Report tab This tab is only functional when the UAM is connected to the Configurator There are 2 types of reports UAM report and error report UAM report includes the UAM Ss configurations Error report includes error recorded during the operation and also lockout s error User can save this report in PDF format by clicking the Save report button on the report tab Items included in the report are shown in the table below Deere a E a T Q S UAM Configurator LS niet Graphics G Connection C Mode M Options O Language L Help H n oli ent HOKUYO UAM Report Error Report Product identity Undefined Information Model a 4 User name UAM 02LP T302 XR nre Ra Undefined UAM version Serial number 00000000 Connection status Connected COM3 Return to previous displays Figure 7 24 a UAM report HOKUYO AUTOMATIC CO LTD All Rights Reserved EDM Input Connection Error
87. ty distance calculation S Kx Eet tt where S Safety distance mm K Approach speed 1600 mm s TI Maximum stopping run down time of the machine or system s T Response time of UAM s C Additional distance of 850mm by considering arm intrusion mm HOKUYO AUTOMATIC CO LTD All Rights Reserved 9 n the access protection application where the angle of the approach exceeds 30 Reference monitoring function must be used Response time must be configured 90ms or less in the access protection application Tolerance of the reference segment should be configured as 100mm Reference segments must be configured on each reference boundary UAM should be mounted in such a way that access through hazardous point is impossible Use additional protective measures if necessary User must ensure that the width of unprotected area a is smaller than the minimum detectable width In applications where the value of a is greater than the minimum detectable width additional protective measures must be taken to prevent penetration through this unprotected area 9 Tolerance must be included when configuring the reference segments Note 09 If minimum detectable width is configured at 30mm the C s value can be replaced with 0 HOKUYO AUTOMATIC CO LTD All Rights Reserved 4 4 Access protection Vertical application body parts detection UAM can be used vertically in creating a protection shield Figure 4
88. uld lead to serious damage on machine critical injury and death Note Contamination on the optical window switches OSSD signal to OFF state 90 HOKUYO AUTOMATIC CO LTD All Rights Reserved 9 Troubleshooting This chapter describes troubleshooting methods while operating the UAM Table 9 1 below shows the troubleshooting list Table 9 1 Troubleshooting list meet Overvoltage UAM is not Undervottage operating Cable is damage Replace with a new cable PC trouble specification is compatible rome ite uuum Power supply is OFF Voltage is within the specification Power Supply cable is in good condition Make sure the USB connector is plugged to both to the USB the PC and UAM Power Supply is OFF Make sure the power supply is ON Voltage is within the specification UAM is in error lockout Power supply cable is in good condition state Check the error number displayed on UAM Configurator software or 7 seg display Resolve the cause and restart the UAM Mount the UAM at a location that is free from Light interference light interference Refer to section 5 1 Light interference for countermeasures Remount the UAM away from the detection Mutual interference plane of the other UAM Refer to 5 2 Mutual interference for countermeasures Contaminated optical Check for any contamination or damage on the OSSD remain window Optical window OFF even Remount the UAM and make sure the detection protection
89. ured g After the forward button is clicked a window displaying the configurations of Muting AUX Output Minimum detection width and Active areas are as shown in figure 7 53 Status na input sequence UAM 02LP T302 UAM version Maximum muting period Maximum override period Figure 7 53 Functions configured h A window displaying all the configured areas as shown in figure 7 54 will be displayed Please check all the configured areas by clicking the forward button Click Confirm if all the areas are correctly configured The Confirm button will be activated after all the areas are verified by user 80 HOKUYO AUTOMATIC CO LTD All Rights Reserved BEE j Ara Configuration n General E B cu Function Information I On Response Time 270ms I i Off Response Time 60ms Comments ee pm vir UAM 02LP T302 f f T Tl SSH foamy Area displayed b i T Response time Jg td E I X IE GEI IIO QNT rm ir de it H L Sa SE Serial number i eer ET im nl a beet A Leet eae geg d gend GG 00000000 LI E a EE A Pie E de NEE Connection status Needs Ae tt Geht eg Eet RE EE E E Zosen pep er w rb gen GAR H SS br A a a Se ae E Click forward to IESUS m a Click Confirm to write a
90. ured using the Configurator Refer to Chapter 7 16 5 When the muting inputs fulfill the muting start conditions UAM will suspends the safety function within 60ms HOKUYO AUTOMATIC CO LTD All Rights Reserved 3 7 1 Muting start condition Muting function is initiated when the following conditions are fulfilled a There are no objects in the protection zone and the OSSD is in ON state b The two independent hard wired muting input signal are switched in the predefined sequence The sequence includes the switching order of the muting and the switching time interval T1 as shown in figure 3 12 User can configure the muting initiation parameters using the UAM Configurator Refer to Chapter 7 16 5 for details 6 Muting inputs sequence gt Muting 1 gt Muting 2 gt Muting 2 lt Muting 1 Time interval between two inputs T1 gt is gt 3s gt 5s gt 10s 3 7 2 Muting stop condition Muting function will be terminated when any one of the conditions below is fulfilled a Anyone of the muting inputs switches to OFF state b The muting interval exceeds the maximum predefined interval 1 minute and above c Objects are detected in the protection zone which is not covered by muting zone d Error is detected by the self diagnostics function e When muting initiated area is switched to other area User can configure the muting termination parameters using the UAM Configurator Refer to Chapter 7 16 5 for details 6 Maximum muting
91. y Figure 4 6 Side view of the application Safety distance calculation S Vx T T Z x LUZ Z where S Safety distance mm V Maximum approaching speed of AGV mm s Ta Maximum stopping run down time of the machine or system s T Response time of UAM s Zp Distance required for AGV to stop mm L Brake wear coefficient L UAM tolerance distance mm Ze Additional of distance with the lack of ground clearance mm h ground clearance mm User should secure sufficient ground clearance to prevent toe injury The relation between ground clearance and Z is shown in figure 4 7 120 110 100 90 _ 80 E E 70 Be 60 50 40 30 20 0 20 40 60 80 100 Teu 140 160 Zo mm Figure 4 7 The relationship between Z and h HOKUYO AUTOMATIC CO LTD All Rights Reserved 31 32 User must ensure that the width of unprotected area a is smaller than the minimum detectable width In applications where the value of a is greater than the minimum detectable width additional protective measures must be taken to prevent penetration through this unprotected area Danger UAM should not be mounted higher than 200mm to prevent the possibility of crawling beneath the detection plane 9 Detection plane should not be tilted as this could lead the UAM fail to detect an object with a diameter of 200mm Note Operator must ensure that boundary or protective measures used are
92. y of this document at an easy access place for quick reference Any modification on the UAM is prohibited Such modification will affect the UAM performance and hence changes in UAM s detection capability This could lead to critical injury and death Any modification made to the UAM will void the warranty 1 2 Applicable product This manual is written for and applies to the following sensor model UAM 02LP T302 1 3 Abbreviations The list below shows the abbreviations used in this document Automated guided vehicle Active opto electronic protective device responsive to diffuse reflection AOPDDR External device monitoring OSSD Output signal switching device MSCE Machine secondary control element 1 4 Special markings amp symbols Special markings and symbols are used in this document to alert the reader especially to safety related issues Follow strictly the instructions marked by these special markings and symbols to ensure safety during the operation Procedures that could lead to dangerous situation critical injury or death if not carried out properly Procedures that could lead to dangerous situation serious injury or physical damage if not properly carried out Points that should be considered for proper operation HOKUYO AUTOMATIC CO LTD All Rights Reserved 1 5 Applicable directives and standards UAM UAM 02LP T302 is certified by T V S D Product Service GmbH as a safety sens

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