Chapter 4 Operating instructions
S3000
60 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8009942/WK81/2012-11-28
Subject to change without notice
Configurable functions
4.10.2 Monitoring case switching via velocity information
WARNING
When switching the monitoring cases using dynamic control inputs, please note the
following points:
Ensure that the control — using dynamic control inputs (incremental encoder inputs) —
provides switching between the monitoring cases in the correct time frame. Note that at
the time of the switching there may be a person in the protective field. Only by means of
switching in the correct time frame (i.e. before the hazard occurs at this point for the
person) is protection provided (see section 5.6 “Time for monitoring case switching” on
page 86).
Ensure that only one safety laser scanner is connected to an incremental encoder.
Two incremental encoders are necessary to detect a possible fault in one encoder.
It is imperative you lay the connecting cables to the incremental encoders separately.
Prerequisites
For dynamic sampling using incremental encoders, configure …
the Use velocity option (see section 4.5 “Inputs” on page 43).
for each monitoring case the velocity range for switching to the monitoring case.
Example:
Monitoring case 1 (standstill) –10 … +10 cm/s
Monitoring case 2 (forward movement 1) 11 … 50 cm/s
Monitoring case 3 (forward movement 2) 51 … 100 cm/s
Monitoring case 4 (forward movement 3) 101 … 200 cm/s
During the configuration of the monitoring cases in the CDS, you must cover all possible or
allowed velocities of the vehicle. An undefined velocity will result in the switching of the
OSSDs to the OFF state (useful e.g. for safe maximum velocity monitoring on vehicles).
Disabling tolerance ranges, monitor speed thresholds
Modern applications for autonomous vehicles require additional configuration features for
driving around tight bends. The S3000 offers the following additional functions:
The tolerance ranges shown in Fig. 17 can be disabled if the vehicle is to drive around
tight bends and as a result the standard tolerances will result in unintentional shut
downs.
On the Cases CDS tab choose the Monitor speed thresholds function.
If a defined threshold is exceeded, the safety laser scanner shuts down. Velocity
differences larger than 45% are tolerated for 60 seconds. Only if the threshold is
exceeded does a shut down occur.
The information on the minimum and maximum velocity is determined for the threshold
and in this case is not used for the velocity-dependent monitoring case activation.
Warning — The redundant velocity monitoring by the safety laser scanner is deactivated
for max. 60 seconds. Ensure the safety requirements for the application are met.
For safety reasons the 60 seconds criterion must never be exceeded. The safety laser
scanner then switches its OSSDs to the OFF state, i.e. tight bends are not allowed to last
more than 60 seconds.
Note
Notes
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