SICK DL100 Pro – EtherCAT® DISTANCE MEASURING DEVICE Operating instructions

OPERATING INSTRUCTIONS

DL100 Pro – EtherCAT

®

DISTANCE MEASURING DEVICE

2 © SICK AG • Subject to change without notice • 8023160/2018-06-12

Product described

DL100 Pro

Manufacturer

SICK AG

Erwin-Sick-Str. 1

79183 Waldkirch

Germany

Legal notes

This work is protected by copyright. The associated rights are reserved by SICK AG. Reproduction of this document

or parts of this document is only permissible within the limits of the legal provisions of copyright law. Any modica-

tion, abridgment, or translation of this document is prohibited without the express written permission of SICK AG.

The trademarks mentioned in this document are the property of their respective owners.

EtherCAT

®

EtherCAT

®

is a registered trademark and patented technology licensed by Beckho Automation GmbH, Germany.

Original document

This document is an original document of SICK AG.

IND. CONT. EQ.

4R97

8023160/2018-06-12 • © SICK AG • Subject to change without notice 3

Table of contents

Important safety notes ............................................................................... 7

1 General ............................................................................................... 8

1.1 Information about these operating instructions ...................... 8

1.2 Explanation of symbols .............................................................9

1.3 Limitation of liability ............................................................... 10

1.4 Scope of delivery .................................................................... 10

1.5 Customer service .................................................................... 10

1.6 EU declaration of conformity .................................................. 10

1.7 Environmental protection ....................................................... 11

2 Safety ................................................................................................ 12

2.1 Intended use ........................................................................... 12

2.2 Improper use ........................................................................... 12

2.3 Modications and conversions .............................................. 13

2.4 Requirements for skilled persons and operating

personnel ................................................................................ 13

2.5 Operational safety and particular hazards .......................... 13

2.6 Warning symbol on the device ............................................... 14

2.7 Hazard warnings and operational safety .............................. 15

3 Identication .................................................................................... 16

3.1 Type label ............................................................................... 16

4 Structure and function .................................................................... 17

4.1 Structure ................................................................................. 17

4.2 Function ................................................................................... 18

4.3 Display and operating elements ............................................ 18

4.4 Display ..................................................................................... 20

5 Transport and storage ..................................................................... 22

5.1 Transport ................................................................................. 22

5.2 Transport inspection ............................................................... 22

5.3 Storage .................................................................................... 23

6 Mounting .......................................................................................... 24

6.1 Mounting procedure ............................................................... 24

6.2 Mounting instructions ............................................................ 24

6.3 Selecting and mounting the reector .................................... 25

6.4 Arrangement of multiple distance measuring devices ......... 26

Table of contents

4 © SICK AG • Subject to change without notice • 8023160/2018-06-12

6.5 Arranging a distance measuring device with adjacent

data transfer photoelectric sensor ........................................ 28

6.6 Aligning the distance measuring device and reector

to each other ........................................................................... 29

6.7 Mounting the alignment bracket and distance

measuring device.................................................................... 30

6.8 Aligning the distance measuring device using the

alignment bracket ................................................................... 32

7 Electrical connection ...................................................................... 33

7.1 Safety ....................................................................................... 33

7.2 Wiring instructions .................................................................. 33

7.3 Connecting the distance measuring device electrically ....... 37

7.4 Connection diagrams ............................................................. 38

7.4.1 Supply voltage connection diagram ...................... 38

7.4.2 EtherCAT

®

connection diagram ............................. 38

8 Operating the measuring device .................................................... 39

8.1 Measured value display ......................................................... 39

8.2 Selecting parameters ............................................................. 39

8.3 Selecting an option ................................................................. 40

8.4 Changing a value .................................................................... 40

8.5 Parameter description ............................................................ 41

8.5.1 Main menu .............................................................. 41

8.5.2 “SwVers” menu ....................................................... 41

8.5.3 “HwVers” menu ....................................................... 42

8.5.4 “more” menu ........................................................... 42

8.5.5 “MFx On” menu ....................................................... 43

8.5.6 “MF1” menu ............................................................ 44

8.5.7 “MF1 – Dist” submenu ........................................... 45

8.5.8 “MF1 – Speed” submenu ...................................... 46

8.5.9 “MF1 – Srvice” submenu ....................................... 47

8.5.10 “Preset” submenu – move to initialization

position .................................................................... 48

8.5.11 “MF2” menu ............................................................ 50

8.5.12 “Oset” menu .......................................................... 51

8.5.13 “SpecFu” menu ....................................................... 51

8.6 Performing a reset .................................................................. 53

8023160/2018-06-12 • © SICK AG • Subject to change without notice 5

Table of contents

9 EtherCAT

®

interface ........................................................................ 54

9.1 ESI le ...................................................................................... 54

9.2 CANopen over EtherCAT

®

(CoE).............................................. 54

9.3 Object directory overview ....................................................... 55

9.4 Detailed description ............................................................... 57

9.5 CiA 406 (absolute linear encoder) device prole ................. 64

9.5.1 Object 6000h – Operating Parameters ................. 65

9.5.2 Object 6003h – Preset Value................................. 65

9.5.3 Object 6004h – Position Value .............................. 66

9.5.4 Object 6005h – Linear Encoder Measuring

Step Settings ........................................................... 66

9.5.5 Object 6030h – Speed Value................................. 67

9.5.6 Object 6500h – Operating Status ......................... 67

9.5.7 Object 6501h – Single-turn Resolution and

Measuring Step ....................................................... 67

9.5.8 Object 6502h – Number of Distinguishable

Revolutions .............................................................. 67

9.5.9 Object 6507h – Prole and Software Version ...... 67

9.5.10 Object 6508h – Operating Time ............................ 67

9.5.11 Object 6509h – Oset Value ................................. 67

10 Cleaning and maintenance ............................................................. 68

10.1 Cleaning .................................................................................. 68

10.2 Maintenance ........................................................................... 68

11 Troubleshooting ............................................................................... 69

11.1 Warning messages ................................................................. 69

11.2 Error messages ....................................................................... 70

11.3 Returns .................................................................................... 70

11.4 Disposal ................................................................................... 70

12 Repair ................................................................................................ 71

13 Technical data .................................................................................. 71

13.1 Dimensions ............................................................................. 72

13.2 Laser/optics ............................................................................ 73

13.3 Performance data ................................................................... 73

13.4 Supply ...................................................................................... 73

13.5 Inputs ....................................................................................... 74

13.6 Outputs .................................................................................... 74

13.7 Interfaces ................................................................................ 74

Table of contents

6 © SICK AG • Subject to change without notice • 8023160/2018-06-12

13.8 Ambient conditions ................................................................. 75

13.9 Structural design .................................................................... 75

14 Accessories ...................................................................................... 76

14.1 Reectors and reective tape ................................................ 76

14.1.1 Reectors ................................................................ 76

14.1.2 Reective tape ........................................................ 78

14.2 Plug connectors and cables ................................................... 79

14.2.1 Connection cables with M12 male connector,

straight, to M12 male connector, straight ............. 79

14.2.2 Connection cables with M12 male connector,

angled, to M12 male connector, straight .............. 79

14.2.3 Connection cables with M12 male connector,

straight, to RJ45 connector, straight ..................... 79

14.2.4 Connection cables with M12 male connector,

angled, to RJ45 connector ..................................... 79

14.2.5 M12 male connector, straight with cable,

open end ................................................................. 80

14.2.6 M12 male connector, angled with cable,

open end ................................................................. 80

14.3 Mounting systems................................................................... 81

14.4 Other accessories ................................................................... 82

15 Menu structure................................................................................. 83

Index .......................................................................................................... 86

8023160/2018-06-12 • © SICK AG • Subject to change without notice 7

Important safety notes

IND. CONT. EQ.

4R97

NFPA79 applications only.

UL-listed adapters including eld wiring cables are available.

See product information. → See “www.sick.com/dl100”.

CAUTION!

Using control elements or settings or executing proce-

dures other than those specied in this document may

result in dangerous exposure to radiation.

General

8 © SICK AG • Subject to change without notice • 8023160/2018-06-12

1 General

1.1 Information about these operating instructions

These operating instructions provide important information on how to han-

dle the DL100 Pro distance measuring devices from SICK AG. Adherence

to all the specied safety notes and guidelines is a prerequisite for working

safely.

You must also comply with any local work safety regulations and general

safety specications applicable to the application of the distance measur-

ing device.

Ensure that you read through these operating instructions carefully before

starting any work. They constitute an integral part of the product and

should be stored in the direct vicinity of the distance measuring device so

they remain accessible to personnel at all times.

Should the distance measuring device be passed on to a third party, these

operating instructions should be handed over with it.

8023160/2018-06-12 • © SICK AG • Subject to change without notice 9

General

1.2 Explanation of symbols

Warnings Warnings in these operating instructions are labeled with symbols. The

warnings are introduced by signal words that indicate the extent of the

danger.

These warnings must be observed at all times and care must be taken to

avoid accidents, personal injury, and material damage.

DANGER!

… indicates a situation of imminent danger, which will

lead to a fatality or serious injuries if not prevented.

WARNING!

… indicates a potentially dangerous situation, which may

lead to a fatality or serious injuries if not prevented.

CAUTION!

… indicates a potentially dangerous situation, which may

lead to minor/slight injuries if not prevented.

WARNING!

… indicates a possible hazardous situation which may

lead to physical damage if it is not avoided.

Tips and recommendations

NOTE!

… highlights useful tips and recommendations as well as

information for ecient and trouble-free operation.

General

10 © SICK AG • Subject to change without notice • 8023160/2018-06-12

1.3 Limitation of liability

Applicable standards and regulations, the latest technological develop-

ments, and our many years of knowledge and experience have all been

taken into account when assembling the data and information contained in

these operating instructions.

The manufacturer accepts no liability for damage caused by:

• failing to observe the operating instructions

• improper use

• use by untrained personnel

• unauthorized conversions

• technical modications

• use of unauthorized spare parts/consumable parts.

With special variants, where optional extras have been ordered, or owing to

the latest technical changes, the actual scope of delivery may dier from

the features and illustrations shown here.

1.4 Scope of delivery

Included in scope of delivery:

• DL100 Pro distance measuring device

• Optional: Accessories (→ Page 76, Chapter 14)

Documentation included with each distance measuring device:

• Quick-start guide

1.5 Customer service

If you require any technical information, our customer service department

will be happy to help.

See the back page for relevant contact details.

NOTE!

Before calling, make a note of all type label data such as

type code and serial number to ensure faster processing.

1.6 EU declaration of conformity

→ You can download the EU declaration of conformity from

“www.sick.com/dl100”.

8023160/2018-06-12 • © SICK AG • Subject to change without notice 11

General

1.7 Environmental protection

WARNING!

Danger to the environment due to improper disposal of

the distance measuring device.

Disposing of the distance measuring device improperly

may cause damage to the environment.

For this reason:

• Always observe the valid regulations on environmental

protection.

• Following correct disassembly, recycle the disassem-

bled components.

• Separate the recyclable materials by type and place

them in recycling containers.

Safety

12 © SICK AG • Subject to change without notice • 8023160/2018-06-12

2 Safety

2.1 Intended use

The DL100 Pro distance measuring device is a measuring device consist-

ing of an opto-electronic sensor and integrated evaluation electronics.

The measuring device is intended solely for non-contact measurement of

distances to system components that are in linear motion. The distance

measurement is performed by means of a reector.

SICK AG assumes no liability for losses or damage arising from the use of

the product, either directly or indirectly. This applies in particular to use of

the product that does not conform to its intended purpose and is neither

described nor mentioned in this documentation.

2.2 Improper use

The DL100 Pro distance measuring devices do not constitute safety com-

ponents in accordance with the EC Machinery Directive (2006/42/EC).

The distance measuring devices must not be used in explosion-hazardous

areas.

Any other use that is not described as intended use is prohibited.

Never install or connect accessories if their quantity and composition are

not clearly specied, or if they have not been approved by SICK AG.

WARNING!

Danger due to improper use!

Any improper use can result in dangerous situations.

For this reason:

• Distance measuring devices should be used only in

accordance with their intended use.

• All information in these operating instructions must be

strictly observed.

8023160/2018-06-12 • © SICK AG • Subject to change without notice 13

Safety

2.3 Modicationsandconversions

Modications and conversions to the distance measuring device and/or

the installation may result in unforeseeable dangers.

Before any technical modications to and expansions of the distance

measuring device, the prior written approval of the manufacturer must be

obtained.

2.4 Requirements for skilled persons and operating personnel

WARNING!

Riskofinjuryduetoinsucienttraining.

Improper handling may result in considerable personal

injury and material damage.

For this reason:

• All work must only ever be carried out by the stipulated

persons.

The operating instructions state the following qualication requirements for

the various areas of work:

• Instructed personnel

have been given a brieng by the operating entity about the tasks

assigned to them and about potential dangers arising from improper

action.

• Qualied personnel

are able to carry out the work assigned to them and independently

recognize potential risks due to their specialist training, knowledge, and

experience, as well as knowledge of the relevant regulations.

• Electrical specialists

are able to carry out work on electrical systems and independently

recognize potential risks due to their specialist training, knowledge, and

experience, as well as knowledge of the relevant standards and regula-

tions.

In Germany, electrical specialists must meet the specications of the

work safety regulation BGV A3 (e.g., master electrician). Other relevant

regulations applicable in other countries must be observed.

2.5 Operational safety and particular hazards

Please observe the safety notes and the warnings listed here and in other

chapters of these operating instructions to reduce the possibility of risks to

health and avoid dangerous situations.

Safety

14 © SICK AG • Subject to change without notice • 8023160/2018-06-12

2.6 Warning symbol on the device

A class 2 laser is installed in the DL100 Pro distance measuring device.

The measuring device is labeled with a warning.

Complies with

21 CFR 1040.10

and 1040.11

except for

deviations

pursuant to laser

notice

No. 50,

date June 24, 2007

EN/IEC 60825-1:2014

MEAN OUTPUT P

O

<1mW

CW-MODULATION ± 0.85 P

O

WAVELENGTH = 655nm

FREQUENCY ≥ 90 MHz

Fig. 1: Warning symbol on the device: Class 2 laser (EN/IEC 60825-1:2014)

Identical laser class for issue EN/IEC 60825-1:2007

Complies with 21 CFR 1040.10

and 1040.11 except for the listed

tolerances in the document Laser

Notice No. 50 of June 24, 2007.

Laser radiation – Never look into

the light beam – Laser class 2

(EN/IEC 60825-1:2014)

Laser output aperture

8023160/2018-06-12 • © SICK AG • Subject to change without notice 15

Safety

2.7 Hazard warnings and operational safety

Laser radiation For your own safety, please read and observe the following instructions:

CAUTION!

Optical radiation: Laser class 2

The human eye is not at risk when briey exposed to the

radiation for up to 0.25 seconds. Exposure to the laser

beam for longer periods of time may cause damage to

the retina. The laser radiation is harmless to human skin.

• Do not look into the laser beam intentionally.

• Never point the laser beam at people’s eyes.

• If it is not possible to avoid looking directly into the

laser beam, e.g., during commissioning and mainte-

nance work, suitable eye protection must be worn.

• Avoid laser beam reections caused by reective

surfaces. Be particularly careful during mounting and

alignment work.

• Do not open the housing. Opening the housing will not

switch o the laser. Opening the housing may increase

the level of risk.

• Applicable national regulations regarding laser protec-

tion must be observed.

Identication

16 © SICK AG • Subject to change without notice • 8023160/2018-06-12

3 Identication

3.1 Type label

The type label is located on the measuring device.

1

2

3

4

1

2

1

2

3

4

3

1

2

3

4

DL100-21AA2110S01

Part No. 1066423

1

2

3

6

5

4

7

12

10

8

9

11

Fig. 2: Type label (example)

1 Type code

2 Device number

3 Supply voltage, multifunctional current output

4 Pictogram: Distance sensor reector operation

5 Assignment for female contact port 1

6 MAC address

7 Serial number

8 Month and year of manufacture

9 Assignment for female contact port 2

10 Assignment for supply voltage male connector

11 Bar code

12 Manufacturer

8023160/2018-06-12 • © SICK AG • Subject to change without notice 17

Structure and function

4 Structure and function

4.1 Structure



















Fig. 3: “DL100 Pro distance measuring device” structure

1 M5 threaded mounting hole

2 Device zero point

3 Sender optical axis

4 Receiver optical axis

5 Hole for the knurled screw of the optional alignment bracket

6 Bracket for optional alignment bracket

7 Electrical connection

8 Display and control unit

Structure and function

18 © SICK AG • Subject to change without notice • 8023160/2018-06-12

4.2 Function

Set

Esc

Et

h P

rofibus

PWR

M

F

1

M

F

2

L

NK

B

F

STA

<

1

2

4

3

Fig. 4: “DL100 Pro distance measuring device” function

1 Vehicle

2 Reector

3 DL100 Pro distance measuring device

4 Alignment bracket

The DL100 Pro distance measuring device consists of the optics, a sender/

receiver unit, and an evaluation unit. The sender emits the laser beam. The

receiver receives the light reected from a reector. The evaluation elec-

tronics determine the distance between the sensor and the reector using

time-of-ight measurement.

For the measurement, either the reector or the measuring device can

move in a linear fashion along the laser beam.

The DL100 Pro distance measuring device is tted with two Ethernet ports.

These are for communication via EtherCAT

®

and for diagnostics and param-

eterization via SOPAS ET. The two interfaces are of equal status and are

internally connected to a switch.

The measured distance is transferred via the “EtherCAT

®

” interface and

can be used for control purposes or in a position control loop, for example.

4.3 Display and operating elements

PWR

MF1/2

L/A2

L/A1

ERR

RUN

EtherCAT

Fig. 5: LEDs

Structure and function

LEDs

LED Description

PWR Operating status display

• LED o: No operation

• LED green: Interference-free operation

• LED ashing orange: Warning (see warning status –

upper level menu)

• LED ashing red: Malfunction (see error status – top-lev-

el menu)

→

For information on troubleshooting, see Page 69,

Chapter 11.

MF1/2

The status of the MF1 multifunctional input/output and

MF2 multifunctional output is indicated by an LED.

→ See Page 19, Table 2.

L/A2

L/A1

Ethernet

• LED o: No Ethernet available

• LED green: Ethernet available

• LED ashing steadily: Data being transmitted

ERR (following the

respective eldbus

specication)

Error

• LED o: No error

• LED ashing red twice briey: Watchdog time-out

• LED ashing red briey: Local error

• LED ashing red, sustained: Conguration error

• LED solidly red: Application error

RUN (following the

respective eldbus

specication)

Operational status

• LED o: Device has initialization status

• LED ashing green briey: Device has safe-operational

status

• LED ashing green, sustained: Device has pre-operation-

al status

• LED green: Device has operational status

Table 1: LEDs

LED MF1/2

LED MF1/2 MF1 MF2

O OFF OFF

Blue ON OFF

Yellow OFF ON

White ON ON

Table 2: LED MF1/2

Structure and function

Symbols for operating modes The device has two dierent operating modes: “measured value display”

and “menu display”, which are indicated on the display by the symbols RUN

and MEN.

Symbol Description

RUN The device is in “measured value display” operating mode

when it is switched on. The RUN symbol and the current

distance value are displayed → Fig. 6.

MEN

The MEN symbol is displayed in “menu display” operating

mode. This symbol is also displayed when there is an error

and no measured value can be recorded.

Table 3: Symbols for operating modes

Pushbuttons

Pushbutton Description

• Select menu, parameter, or option.

• Decrease value.

• Select menu, parameter, or option.

• Increase value.

• Switch to the next-lowest menu level.

• Save parameter change.

• Conrm selection.

• Exit parameters without saving. Switch to the next-high-

est menu level.

Table 4: Pushbuttons

4.4 Display

Measured value display Default measured value display:

EscSet

250000

RUN

Fig. 6: Measured value display

Menu display

EscSet

Menu

MEN

Fig. 7: Menu display

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SICK DL100 Pro – EtherCAT® DISTANCE MEASURING DEVICE Operating instructions

SICK DL100 Pro – EtherCAT® DISTANCE MEASURING DEVICE Operating instructions

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