SICK KT8 CAN Contrast scanner Operating instructions

SICK
Brand
SICK
Model
KT8 CAN Contrast scanner
Category
Measuring, testing & control
Type
Operating instructions
1 © SICK AG • Presence Detection • Germany • Subject to change without notice 8015299/2012-08-03
OPERATING INSTRUCTION
KT8 CAN
Contrast Scanner
Operating Instruction
KT8 CAN
2 © SICK AG • Presence Detection • Germany • Subject to change without notice 8015299/2012-08-03
Contents
This document is protected by the law of copyright, whereby all rights established therein
remain with the company SICK AG. Reproduction of this document or parts of this
document is only permissible within the limits of the legal determination of Copyright Law.
Alteration or abridgement of the document is not permitted without the explicit written
approval of the company SICK AG.
Operating Instruction
KT8 CAN
8015299/2012-08-03 © SICK AG • Presence Detection • Germany • Subject to change without notice 3
Contents
Contents
1 Terminology ..................................................................................................................... 6
2 Safety Notes .................................................................................................................... 6
3 Proper Use ....................................................................................................................... 6
4 Technical Specifications ................................................................................................ 7
4.1 Optical Specifications ........................................................................................... 7
4.2 Electrical Specifications ........................................................................................ 7
4.3 Mechanical Specifications .................................................................................... 7
4.4 Characteristics ...................................................................................................... 8
4.5 Control Panel ......................................................................................................... 8
5 Assembly.......................................................................................................................... 9
6 Electrical Connection .................................................................................................. 10
6.1 Pin Assignment ....................................................................................................10
6.2 Integration into a CAN Network ..........................................................................11
7 Teach-in Function ........................................................................................................ 12
7.1 Teach-in Method .................................................................................................12
7.1.1 2-point Teach-in ................................................................................12
7.1.2 Dynamic Teach-in ..............................................................................12
7.2 Quality of Teach-in ...............................................................................................13
7.3 Output Logic Light-/Dark-Switching ...................................................................13
7.3.1 Via Teach-in procedure: ....................................................................13
7.3.2 Always light-switching .......................................................................13
7.3.3 Always dark-switching .......................................................................13
7.4 Activating a Teach-in ...........................................................................................13
7.4.1 Teach-in via control panel .................................................................13
7.4.2 Teach-in via the external Teach-in cable ET ....................................13
7.4.3 Teach-in via a CAN telegram ............................................................14
8 Switching Threshold Adjustment ................................................................................ 15
8.1 Manual Switching Threshold Adjustment ..........................................................15
8.2 Automatic Switching Threshold Tracking ...........................................................15
8.3 Contamination Message Output ........................................................................15
9 Setting the Bus Address and Baud Rate on the Sensor ........................................... 16
10 CAN Interface ............................................................................................................... 18
10.1 Overview ..............................................................................................................18
10.1.1 Summary ...........................................................................................18
10.1.2 Node address ....................................................................................19
10.1.3 Baud rate ...........................................................................................19
10.1.4 Optical return message on sensor ...................................................19
10.2 Description of the String Structure ....................................................................19
10.3 SDO/PDO Message Description .........................................................................20
10.3.1 SDO message ....................................................................................20
10.3.2 CCD coding ........................................................................................21
10.3.3 PDO message (akin to CAN OPEN) ...................................................22
10.4 Parameter String (Object 30 00) ........................................................................24
10.4.1 Send colour .......................................................................................24
10.4.2 Teach-in value active ........................................................................24
10.4.3 Teach-in value inactive .....................................................................24
Operating Instruction
KT8 CAN
4 © SICK AG • Presence Detection • Germany • Subject to change without notice 8015299/2012-08-03
Contents
10.4.4 Switching threshold .......................................................................... 24
10.4.5 Example ............................................................................................. 25
10.5 Service String (Object 30 01) ............................................................................. 26
10.5.1 Switched state .................................................................................. 26
10.5.2 Light-/dark-switching ........................................................................ 26
10.5.3 Last light value .................................................................................. 26
10.5.4 Last dark value ................................................................................. 26
10.5.5 Current switching threshold (incl. automatic or manual SSN) ....... 26
10.6 Measurement Value String (Object 30 02) ....................................................... 27
10.7 Configuration String (Object 30 03) .................................................................. 28
10.7.1 Switching threshold tracking (drift correction) ................................ 29
10.7.2 Contamination message output (VMA) ........................................... 29
10.7.3 The sensor’s operational mode ....................................................... 29
10.7.4 Repeat frequency for the measurement value mode .................... 30
10.7.5 Teach-in method ............................................................................... 30
10.7.6 Definition of Teach-in threshold value............................................. 30
10.7.7 Output logic ....................................................................................... 30
10.7.8 Off delay timer .................................................................................. 31
10.7.9 Release Teach-in function ................................................................ 31
10.7.10 Release special mode via control panel ......................................... 31
10.7.11 Function of the bar display in RUN .................................................. 31
10.7.12 Switching output change message .................................................. 31
10.8 Teach String (Object 30 04) ............................................................................... 32
10.8.1 Teach request ................................................................................... 32
10.8.2 Blanking ............................................................................................ 32
10.8.3 Quality of Teach (%) .......................................................................... 32
10.9 Bank Store / Select String (Object 30 05) ........................................................ 33
10.10 Communication String (Object 30 06) .............................................................. 34
10.10.1 Setting CAN address and baud rate via Communication
String ................................................................................................. 34
10.10.2 Reset via Communication String ..................................................... 34
10.11 Communication Profile CAN Objects (from Object 0x1000) ............................ 35
11 Order Information ......................................................................................................... 37
11.1 Sensor ................................................................................................................. 37
11.2 Cable ................................................................................................................... 37
Operating Instruction
KT8 CAN
8015299/2012-08-03 © SICK AG • Presence Detection • Germany • Subject to change without notice 5
Tables
Tables
Table 10-1: CAN object “Service String” .................................................................................26
Table 10-2: CAN-Objekt „Messwert-Value String“ ..................................................................27
Table 10-3: CAN object “Teach String” ...................................................................................32
Table 10-4: CAN object “Bank Store/Select String” ...............................................................33
Table 10-5: CAN object “Communication String“ ...................................................................34
Table 10-6: Object directory “Communication Profile“ ..........................................................35
Chapter 1 Operating Instruction
KT8 CAN
6 © SICK AG • Presence Detection • Germany • Subject to change without notice 8015299/2012-08-03
Terminology
1 Terminology
Term/abbreviation Explanation
Dark-switching Switching output active at dark mark above bright background
Light-switching Switching output active at bright mark above dark background
CAN Controller Area Network
Material to be sensed Film to be detected with appropriate contrast ratio (mark to background)
Repeated pattern Smallest, repeated pattern on the material
0..1023 Value range of the system resolution 0 = no signal / 1023 = full signal
PON Power on (voltage supply at L+ and ground)
SSN Switching threshold tracking
automatic switching threshold tracking (drift correction)
manual switching threshold tracking
SDO Service Data Object
PDO Process Data Object
2 Safety Notes
Read the operating instructions, prior to commissioning.
Connection, assembly and adjustment only by specialist staff.
Protect device from humidity and contamination during commissioning.
Not a safety component according to EU Machinery Directive.
3 Proper Use
The KT8 CAN contrast scanner is an optoelectronic sensor and is used for the optical, non-
contact acquisition of contrast marks or contrast runs following RGB colour components.
Operating Instruction Chapter 4
KT8 CAN
8015299/2012-08-03 © SICK AG • Presence Detection • Germany • Subject to change without notice 7
Technical Specifications
4 Technical Specifications
4.1 Optical Specifications
Scanning distance from lens
front edge
10 ± 3 mm
Light sender light type LED; red, green, blue
Wavelength (nm) 640, 525, 470
Light spot dimensions 4.0 x 1.2 mm
Light spot location longitudinal
4.2 Electrical Specifications
Switching frequency max. 22000/s
Response time 22 μs
Supply voltage UV DC 10 ... 30 V
Residual ripple < 5 V
Power consumption < 120 mA
Switching outputs PNP: HIGH = UV – < 2 V / LOW = 0 V
NPN: HIGH = UV / LOW = < 2 V
Output current IA max. < 100 mA
Teach-in-input ET PNP: Teach > 10 V … < UV
Run 0 V or unswitched
NPN: Teach 0 V
Run UV or unswitched
4.3 Mechanical Specifications
Rating IP 67
Ambient temperature Operation -10 ... +55°C
Ambient temperature Storage -25 ... +75°C
Shock loading to IEC 68
Weight 400 g approx.
Housing diecast zinc
Type of connection plug connection M12, 8 pin
Chapter 4 Operating Instruction
KT8 CAN
8 © SICK AG • Presence Detection • Germany • Subject to change without notice 8015299/2012-08-03
Technical Specifications
VDE protection V
Protective circuits A, B, C, D
4.4 Characteristics
Interface CAN with CANopen functions
Functions Heartbeat function, setting/reading of process parameters via
SDO/PDO mechanism and object directory, contamination
message, switching threshold tracking, sensor, light-/dark-
switching fixed selectable or via Teach-in sequence, selection of
Teach-in methods, selection of OFF delay
Data rate 20 kBaud, 50 kBaud, 100 kBaud, 125 kBaud, 250 kBaud, 500
kBaud, 800 kBaud 1 MBaud
Inputs External Teach-in cable ET
Outputs Switching output Q
4.5 Control Panel
RxD – Receive Data
TxD – Transmit Data
Q – Switching output display
Bar display – function 1 = Quality of Teach
function 2 = Quality of Run
function 3 = Present Reflectance
Setting of CAN baud rate and CAN address
6...Function display, yellow
7...Bar display, green
8...Teach-in button: “+” and “--“ button
Operating Instruction Chapter 5
KT8 CAN
8015299/2012-08-03 © SICK AG • Presence Detection • Germany • Subject to change without notice 9
Assembly
5 Assembly
The sensor has M5 fixing threads. Optionally, light emission may be on the short or long
side of the device.
1 Lens (light exit), interchangeable with item 3
2 M5 fixing thread – 5.5 mm deep
3 See dimensional drawing for lens
4 Blind screw connection, interchangeable with item 1
5 Plug, 8 pin, M12 x 1 (90° rotatable)
Mount sensor with fixing holes in the position where the test object makes the smallest
side and height movements.
For reflective or shiny object surfaces, tilt the sensor through 0° to 10° to the material
surface.
0 ... 10°
Chapter 6 Operating Instruction
KT8 CAN
10 © SICK AG • Presence Detection • Germany • Subject to change without notice 8015299/2012-08-03
Electrical Connection
6 Electrical Connection
6.1 Pin Assignment
This is an M12 plug with 8 pin assignment.
Operating Instruction Chapter 6
KT8 CAN
8015299/2012-08-03 © SICK AG • Presence Detection • Germany • Subject to change without notice 11
Electrical Connection
6.2 Integration into a CAN Network
There are 2 possible options for the electrical connection of the KT8 CAN in the CAN
network.
Option 1
Using 2 cables, the sensor is connected with the CAN network. The general CiA provisions
regarding spur length depending on the baud rate, shall apply.
Option 2
The CAN network is split open, and all 4 CAN cables are connected appropriately. Thus, the
complete bus node is moved into the device, in order to minimise the spur length.
in
Chapter 7 Operating Instruction
KT8 CAN
12 © SICK AG • Presence Detection • Germany • Subject to change without notice 8015299/2012-08-03
Teach-in Function
7 Teach-in Function
7.1 Teach-in Method
During the Teach-in phase, the sensor determines all setting parameters required. These
are permanently stored. It is possible to swap these parameters between sensor and
controller.
The sensor provides 2 different Teach-in methods.
• 2-point Teach-in
• Dynamic Teach-in
The selection of the two Teach-in variants is made via the CAN interface (see parameter
string).
7.1.1 2-point Teach-in
1st Teach-in operation:
Bring mark or background into the light spot and activate Teach-in. The red send
light and the function display flash slowly.
2nd Teach-in operation:
Bring background or mark into the light spot and activate Teach-in.
Teach-in operation completed. If the Q function display and the switching are flashing fast:
contrast not sufficient. Logic light-/dark-switching (see 7.3).
7.1.2 Dynamic Teach-in
Map light spot onto the template before the mark.
Activate and hold Teach-in signal.
Move template with the mark in the scanning distance through light spot.
Deactivate Teach-in signal.
Teach-in operation completed. If the Q function display and the switching output are
flashing fast: contrast not sufficient.
Material to detect
Teach-in signal
Received signal (internal)
Output
SS = Switching Threshold
M = Mark
Operating Instruction Chapter 7
KT8 CAN
8015299/2012-08-03 © SICK AG • Presence Detection • Germany • Subject to change without notice 13
Teach-in Function
Note:
• Logic light-/dark-switching (see 7.3)
• Select material speed < 10 m/min.
7.2 Quality of Teach-in
Display Operation Contrast
Bar display: display of the detection
safety
The more LEDs
are illuminated,
the better the Teach-in.
One LED
illuminated:
no safe operation possible smallest contrast difference.
Two to four LEDs
illuminated:
operation within the system
reserve
sufficient contrast difference.
More than four
LEDs illuminated:
safe operation high contrast difference.
7.3 Output Logic Light-/Dark-Switching
There are three ways of setting the light- and dark-switching logic
7.3.1 Via Teach-in procedure:
Factory setting, the output logic is set by the sequence of the Teach-in operation. This
shows as follows, for both Teach-in methods:
2-point Teach-in: The sensor switches to the grey value first taught in.
Dynamic Teach-in: The sensor switches to the contrast jump, which is incorporated during
the Teach-in.
7.3.2 Always light-switching
Sensor always switches to the lighter grey value, irrespective of the Teach-in sequence.
7.3.3 Always dark-switching
Sensor always switches to the darker grey value, irrespective of the Teach-in sequence.
7.4 Activating a Teach-in
A Teach-in operation can, from the normal mode, be triggered via the following events:
• Teach-in via control panel on sensor
• Teach-in via the external Teach-in cable ET
• Teach-in via a CAN telegram
7.4.1 Teach-in via control panel
The Teach-in procedure is triggered via the Teach-in button on the sensor. Activation
requires an unlocking time of 1 second, to protect the sensor from unwanted operating.
7.4.2 Teach-in via the external Teach-in cable ET
The Teach-in procedure is triggered via the external Teach-in cable. A trigger time of >2 ms
is required.
Chapter 7 Operating Instruction
KT8 CAN
14 © SICK AG • Presence Detection • Germany • Subject to change without notice 8015299/2012-08-03
Teach-in Function
7.4.3 Teach-in via a CAN telegram
The Teach-in procedure is triggered via sending an SDO telegram. For this, see CAN
interface, “Teach” data string.
Operating Instruction Chapter 8
KT8 CAN
8015299/2012-08-03 © SICK AG • Presence Detection • Germany • Subject to change without notice 15
Switching Threshold Adjustment
8 Switching Threshold Adjustment
8.1 Manual Switching Threshold Adjustment
The taught-in switching threshold can be manually readjusted. For this, the component
SSN = manual (01) must be set in the configuration string. The automatic SSN is enabled
in the factory setting.
1. Operate PLUS or MINUS button > 1 s to unlock.
2. The switching threshold increases/decreases with every button operation (MINUS or
PLUS).
Tip: For better adjustment, activate the “current reflectance” display in the bar display.
The switching threshold lies in the middle (arrow). Once the switching threshold is run
through, the output changes its state.
8.2 Automatic Switching Threshold Tracking
If the automatic switching threshold tracking (drift correction) is activated, the sensor
independently readjusts the switching threshold. This happens depending on the light
values. With this function, irregular environmental conditions (print quality, scanning
distance change, flutter etc.) can be compensated for.
8.3 Contamination Message Output
If this function is activated, there will be a message that the external lens surface of the
sensor is contaminated. The message is sent, via PDO message, to the controller.
Switching threshold
Chapter 9 Operating Instruction
KT8 CAN
16 © SICK AG • Presence Detection • Germany • Subject to change without notice 8015299/2012-08-03
Setting the Bus Address and
Baud Rate on the Sensor
9 Setting the Bus Address and Baud Rate on
the Sensor
The CAN-Bus address (point A) and the CAN baud rate can be set via the control panel on
the sensor. The factory setting is address decimal d‘64‘ = hexadecimal 0x40.
The bus address is binary via the green 10-position bar display at the sensor, coded right-
justified.
No. Parameter Q-LEDs Display bar Value/description Default
1. CAN Bus
address
Address (binary represent.) min.
0x01
...
0x3F
0x40 (standard) = d‘64‘ X
0x41
…
Maximum 0x7F = d’127
2. CAN baud rate 20 kBaud
50 kBaud
100 kBaud
125 kBaud
250 kBaud
500 kBaud X
800 kBaud
1 MBaud
Operating Instruction Chapter 9
KT8 CAN
8015299/2012-08-03 © SICK AG • Presence Detection • Germany • Subject to change without notice 17
Setting the Bus Address and
Baud Rate on the Sensor
Setting procedure via control panel:
“PLUS” and “MINUS” > 1 s: Entering the special mode/leaving the special mode.
“PLUS” or “MINUS”: Navigating;
“SET”: Confirming/saving
a.) Setting Adress
b) Setting Rate
Chapter 10 Operating Instruction
KT8 CAN
18 © SICK AG • Presence Detection • Germany • Subject to change without notice 8015299/2012-08-03
CAN Interface
10 CAN Interface
10.1 Overview
10.1.1 Summary
The interface structure of the KT8 CAN is neatly based on seven data strings (objects). The
individual data strings are thematically summarised such that they are integrated into the
machine control concept as effectively and simply as possible.
The reading and writing of parameters is possible through SDO telegrams. For example,
this also enables changing the sender colour, or even triggering a “Teach”. Furthermore,
the user can have PDO telegrams sent, for certain states of the sensor.
The sensor features the heartbeat function according to CANopen definition.
The objects and the information contained therein, in part, have different access
privileges, e.g. “read/write” (r/w), read-only (ro).
If an object is to be described, which must only be read, an appropriate error message
according to CANopen definition is returned.
If a component of an object is to be described with the read-only access privilege, this will
be ignored without returning an error message.
The objects with the application-specific user parameters are deposited from index
0x3000.
The user can perform a job protection and job backup via the CAN bus. For this, the
objects “Parameter String” and “Config String” must be communicated via CAN.
When writing the “Parameter String” (i.e. job backup), all system parameters are
recalculated.
The sensor needs 200 ms processing time after receipt of an SDO telegram. Exception:
enquiry for a measurement value string. This happens more quickly.
Name
Index (0x...)
Subindex
(0x...)
Data type
Access
Parameter String 3000 00 U32 r/w Parameter set for a particular material to be
sensed
Service String 3001 00 U32 ro Additional information on current detection
data
Measurement Value
String
3002 00 U32 ro Output of the raw values in red, green and
blue component
Config String 3003 00 U32 r/w Configuration of the sensor
Teach String 3004 00 U32 r/w Triggering of a Teach-in
Bank Store/Select
String
3005 00 U32 r/w Saving of parameter sets in sensor (max. 5
off)
Communication String 3006 00 U32 r/w Device-specific information
Operating Instruction Chapter 10
KT8 CAN
8015299/2012-08-03 © SICK AG • Presence Detection • Germany • Subject to change without notice 19
CAN Interface
10.1.2 Node address
An individual CAN node address can be allocated to each sensor. This is saved, protected
against power failure. The change/setting of the node address can be performed in two
ways:
1. Input via control panel on sensor
2. Via CAN telegram
Factory setting address: 0x40
10.1.3 Baud rate
The baud rate can be set in different ways. This is saved, protected against power failure.
The change/setting of the node address can be performed in two ways:
1. Input via control panel on sensor
2. Via CAN telegram
Factory setting of the baud rate: 500 kBaud
10.1.4 Optical return message on sensor
As an optical return message to the user, when sending and receiving CAN telegrams, the
Rx and Tx LED on the control panel (Q LEDs 3 and 4) are selected separately.
When receiving a telegram, the Rx LED is switched on for 200 ms approx.
When sending a telegram, the Tx LED is switched on for 200 ms approx.
10.2 Description of the String Structure
Using the example of the Parameter String (object 30 00), the composition of a Parameter
String is illustrated here.
Structure of parameter string
r/w r/w r/w r/w
Teach value inactive Switching threshold Teach value active
Send colour
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
D3 D2 D1 D0
0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1
0 (default) 511 (default) 1023 (default) 01 (default)
Value range
0 ... 1023
Value range
0 ... 1023
Value range
0 ... 1023
00 = red
01 = green
10 = blue
11= invalid
Chapter 10 Operating Instruction
KT8 CAN
20 © SICK AG • Presence Detection • Germany • Subject to change without notice 8015299/2012-08-03
CAN Interface
The controller sends a query “Readout of Object 3000” to the KT8 CAN.
Example: SDO query to KT8 CAN
ID Length CCD Index Subindex D0 D1 D2 D3
600H
+Addr
8 40 00 30 00 00 00 00
The KT8 CAN responds to the controller with the appropriate message.
SDO reply from KT8 CAN
ID Length CCD Index Subindex D0 D1 D2 D3
580H
+Addr
8 43 00 30 FC FF 1F 00
The data contents here comprises of the following values:
Teach value inactive 0
Switching threshold 512
Teach value active 1023
Send colour grün
10.3 SDO/PDO Message Description
10.3.1 SDO message
Using Service Data Objects (SDO), it is possible to access the entries of a user parameter,
via index and subindex. The values of the objects can be read and – if allowed – also be
changed. The message structure is implemented similar to CANopen.
The data frame of an SDO message consists of:
• Command code (CCD), in which the SDO message type and the data length of the
transmitted value are encrypted
• Index and subindex, which point to the object, whose data is transported with the SDO
message. In case of error, the faulty SDO itself is specified with index and subindex.
• Data comprising of up to four bytes
Index and data are transmitted left-justified in the Intel format. If the SDO contains
numerical values over byte in length, the data must be rearranged byte-wise, before and
after a transmission.
Component to KT8 CAN
Identifier DLC Data
CCD Index Subindex D0 D1 D2 D3
0x600 + node id 8H XX XX XX XX XX XX XX XX
KT8 CAN to component
Identifier DLC Data
CCD Index Subindex D0 D1 D2 D3
0x580 + node id 8H XX XX XX XX XX XX XX XX
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SICK KT8 CAN Contrast scanner Operating instructions

SICK
Brand
SICK
Model
KT8 CAN Contrast scanner
Category
Measuring, testing & control
Type
Operating instructions
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