OPERATING INSTRUCTIONS
S3000 in a Narrow Aisle and
S3000 Anti Collision
Safety laser scanners
en
Operating instructions
S3000 Anti Collision
2 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8017936/2015-02-24
Subject to change without notice
This document is protected by the law of copyright, whereby all rights established therein remain with the com-
pany SICK AG. Any duplication of this document or of parts thereof is only permitted within the bounds of the
statutory provisions of the German Copyright Law. Alteration or abridgement of the document is not permitted
without the explicit written approval of the company SICK AG.
Operating instructions
S3000 Anti Collision
8017936/2015-02-24 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 3
Subject to change without notice
Contents
Contents
1 About this document.........................................................................................................5
1
.1 Scope of the document.........................................................................................5
1.2 Scope of the individual chapters..........................................................................5
2 For your safety ...................................................................................................................6
2.1 Regulations to be observed..................................................................................6
2.2 Correct use ............................................................................................................6
3 Product description S3000 ..............................................................................................8
4 Planning the protective fields for the detection of persons.........................................9
4.1 Example for determining the permissible play on the industrial truck ..............9
4.2 Dimensioning of the protective field ..................................................................10
4.2.1 Required protective field length .......................................................11
4.2.2 Required protective field width ........................................................13
4.2.3 Example for protective field configuration.......................................14
4.2.4 Example for usable protective field length and stopping
distance .............................................................................................16
4.2.5 Example for protective field configuration for single-sided
narrow aisle situation .......................................................................17
5 Product description S3000 Anti Collision ....................................................................19
5.1 Product identification..........................................................................................19
5.2 Product features of the S3000 Anti Collision....................................................20
5.2.1 Field types .........................................................................................21
5.2.2 Field modes .......................................................................................22
5.2.3 Interfaces, inputs and outputs .........................................................23
5.3 Application examples..........................................................................................23
5.3.1 Example of usage of monitoring case switching .............................23
5.3.2 Two collision protection fields in combination with the
Drive Monitor.....................................................................................24
5.3.3 Entrance and exit from the narrow aisle..........................................25
6 Planning the collision protection ..................................................................................26
6.1 Position of the S3000 Anti Collision on the vehicle..........................................27
6.2 Using the S3000 Anti Collision as a reference target.......................................28
6.3 Using the reflectors as a reference target.........................................................28
6.3.1 Attaching the reference targets........................................................29
6.4 Dimensioning of the collision protection field ...................................................31
6.4.1 Necessary collision protection field length......................................32
6.4.2 Required collision protection field width .........................................34
6.5 Integrating in the electrical control ....................................................................36
7 Installation and mounting ..............................................................................................38
7.1 Scope of delivery .................................................................................................38
7.2 Installing the S3000 Anti Collision.....................................................................38
7.3 Mounting the reflectors ......................................................................................38
7.3.1 Preparing for mounting.....................................................................39
7.3.2 Bonding the reflector ........................................................................39
7.3.3 Preliminary tests on the adhesive strength.....................................39
Operating instructions
S3000 Anti Collision
4 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8017936/2015-02-24
Subject to change without notice
Contents
8 Electrical installation S3000 Anti Collision................................................................. 40
8.1 Pin assignment for the I/O module of the S3000 Anti Collision......................40
9 Configuration................................................................................................................... 42
9.1 Configuration of all S3000 variants in the narrow aisle................................... 42
9.1.1 Application variant............................................................................ 42
9.1.2 Restart............................................................................................... 42
9
.1.3 Protective fields ................................................................................ 42
9.2 Configuration of the S3000 Anti Collision......................................................... 43
9.2.1 Application variant............................................................................ 43
9.2.2 Resolution ......................................................................................... 43
9.2.3 Angular resolution/basic response time......................................... 43
9.2.4 Field mode ........................................................................................ 43
9.2.5 Drawing collision protection fields................................................... 44
10 Commissioning................................................................................................................ 45
10.1 Protective field .................................................................................................... 45
10.1.1 Test object......................................................................................... 45
10.1.2 Driving trials to test the protective field .......................................... 45
10.2 Collision protection field.....................................................................................46
10.3 Checking the system ..........................................................................................47
11 Operation .........................................................................................................................48
12 Maintenance.................................................................................................................... 49
12.1 Maintenance of all S3000 variants................................................................... 49
12.2 Maintenance of the S3000 Anti Collision ......................................................... 49
12.2.1 Reference targets ............................................................................. 49
12.2.2 Scan plane of the S3000 Anti Collision........................................... 49
13 Technical specifications ................................................................................................50
14 Ordering information ...................................................................................................... 51
14.1 Available systems of the S3000 Anti Collision ................................................. 51
14.2 Accessories/spare parts for the S3000 in a narrow aisle ............................... 51
14.2.1 Mounting kits .................................................................................... 51
14.2.2 System plug....................................................................................... 51
14.2.3 Service cables...................................................................................52
14.2.4 Self assembly connecting cables .................................................... 52
14.2.5 Network solutions............................................................................. 52
14.2.6 Miscellaneous...................................................................................53
14.2.7 Expanded system solution with Flexi Soft ....................................... 53
15 Annex................................................................................................................................ 54
15.1 List of tables ....................................................................................................... 54
15.2 List of illustrations .............................................................................................. 55
Operating instructions Chapter 1
S3000 Anti Collision
8017936/2015-02-24 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 5
Subject to change without notice
About this document
1 About this document
This document is an original document.
1.1 Scope of the document
These operating instructions apply to all S3000 safety laser scanners in narrow aisle
applications as per section 2.2 “Correct use” on page 6.
These operating instructions are also applicable to the S3000 Anti Collision safety laser
scanner with the following entry on the type label in the field Operating Instructions:
8017892.
This document is the English edition of the operating instructions “Sicherheits-Laser-
scanner S3000 im Schmalgang und S3000 Anti Collision” with SICK part number
8017892. This document describes only the boundary conditions to be observed on the
usage of the S3000 in a narrow aisle as well as on the usage of the S3000 Anti Collision in
a narrow aisle with collision protection field.
These operating instructions do not describe the properties of the S3000. These ope-
rating instructions only apply in conjunction with the original operating instructions
“S3000 Safety Laser Scanner” (SICK part number 8009791, “S3000 Safety Laser
Scanner” operating instructions in all available languages).
For the configuration and diagnostics of these devices you require CDS (Configuration &
Diagnostic Software) version 3.7.0 or higher.
1.2 Scope of the individual chapters
Some of the chapters in these operating instructions are applicable to all S3000 in narrow
aisle applications, some only to the S3000 Anti Collision.
No. Chapter Valid for all S3000
variants
Valid for S3000
Anti Collision
Page
1 About this document 5
2 For your safety 6
3 Product description S3000 8
4 Planning the protective fields
for the detection of persons
9
5 Product description S3000
Anti Collision
19
6 Planning the collision
protection
26
7 Installation and mounting 38
8 Electrical installation S3000
Anti Collision
40
9 Configuration 42
10 Commissioning 45
11 Operation 48
12 Maintenance 49
13 Technical specifications 50
14 Ordering information 51
Note
Tab.
1
:
Scope of the
individual chapters
Chapter 2 Operating instructions
S3000 Anti Collision
6 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8017936/2015-02-24
Subject to change without notice
For your safety
2 For your safety
2.1 Regulations to be observed
Along with the requirements stated in these operating instructions and the operating in-
s
tructions for the S3000, the following documents from the responsible trade association
for retail and goods logistics (Berufsgenossenschaft Handel und Warenlogistik, BGHW) are
to be followed:
1. Empfehlungen für die Prüfung von Personenschutzsystemen an Flurförderzeugen für
die Regalbedienung in Schmalgängen (Recommendations for the testing of personnel
protection systems on conveyor equipment employed for rack service work in narrow
aisles)
2. Check list for the protection of personnel in narrow aisles
3. Personenschutz beim Einsatz von Flurförderzeugen in Schmalgängen (Protection of
persons on the usage of industrial vehicles in narrow aisles)
Can be obtained from
Document 1 can be downloaded from the Internet at
http://www.dguv.de/medien/ifa/de/pra/zeuge/pruefem.pdf
The documents 2 and 3 can be obtained from the BGHW:
BGHW – Direktion Mannheim
M5, 7
68161 Mannheim
phone: 0621/183-0
fax: 0621/183-5191
e-mail: info@bghw.de
http://www.bghw.de
2.2 Correct use
The S3000 Anti Collision is an item of protective equipment for the protection of persons:
type 3 according to IEC 61496-3
SIL2 according to IEC 61508
category 3 as well as PL d according to EN ISO 13849-1
SILCL2 according to EN 62061
The S3000 Anti Collision is also used to prevent collisions between vehicles.
The S3000 safety laser scanner is suitable for use on industrial trucks in narrow aisles.
Taking into account document 3 in section 2.1 “Regulations to be observed” on page 6,
usage is also possible on the correct simultaneous presence in a narrow aisle of pedestri-
ans and industrial trucks for accessing shelving.
Operating instructions Chapter 2
S3000 Anti Collision
8017936/2015-02-24 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 7
Subject to change without notice
For your safety
Miscellaneous
The following notes relate to the mounting and the operation of the S3000, as per the
w
ork safety regulations “Flurförderzeuge” (Industrial trucks) (BGV D27) as well as
DIN 15185, part 2.
These regulations include, among other aspects:
DIN 15185-2 defines that if the S3000 is shut down as the industrial truck leaves the
narrow aisle, this end of aisle shutdown must correspond as a minimum to category 2
as per EN ISO 13849-1. The point for the shut down must be selected such that the
path covered with the S3000 deactivated is as short as possible. The application-spe-
cific boundary conditions such as aisle width, aisle length, speed (maximum 2.5 km/h)
and if necessary other criteria must be taken into account. After the vehicle has re-
entered a narrow aisle, the S3000 must be switched back on automatically.
There must not be any crossing aisles in the narrow aisles. Crossing aisles that are only
provided as an emergency exit route for the operators are excluded from this require-
ment.
The speed of the industrial truck must be reduced to creep speed (maximum 2.5 km/h)
before leaving the narrow aisle, or the industrial truck must be stopped without inter-
vention by the operator. This statement also applies on approaching the end of an aisle.
If the S3000 is bypassed by the driver, only creep speed is allowed.
For operation with high availability, goods must not protrude beyond the front of the
shelf in the narrow aisle after storage. Otherwise operation with acceptable availability
of the industrial truck is not possible with the stipulated distance for the protective field
and front of the shelf. In addition, at these heights retroreflectors are not permitted. If
the end of aisle detection is triggered using photoelectric switches with reflectors, the
reflectors that are necessary on the entrances and exits to the narrow aisle are exemp-
ted from this rule.
The protective field dimensions allowed for the protection of narrow aisles as given in
section 4.2.1 in Fig. 4 on page 11 and in section 4.2.2 in Tab. 2 on page 13.
The guide play on the industrial truck as well as the vertical play on the scan plane of
the S3000 have a crucial impact on the reliability of detection and availability of the
overall system. The maximum permissible angular error relative to the symmetrical
middle position for the industrial truck defines the guide play in the narrow aisle and is
±0.3°. This aspect is to be taken into account on dimensioning the protective fields
(see section 4.2 on page 10). The related value pairs for the distance between the
guide elements for the industrial truck and maximum play per guide element are given
in section 4.1, Fig. 1 on page 9.
Chapter 3 Operating instructions
S3000 Anti Collision
8 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8017936/2015-02-24
Subject to change without notice
Product description S3000
3 Product description S3000
You will find the product description for S3000 variants in the underlying operating
instructions “S3000 Safety Laser Scanner” (SICK part number 8009791).
You will find the product description for the S3000 Anti Collision in chapter 5 on page 19.
Operating instructions Chapter 4
S3000 Anti Collision
8017936/2015-02-24 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 9
Subject to change without notice
Planning the protective fields
for the detection of persons
4 Planning the protective fields for the detection of persons
In principle all S3000 variants can fulfill the function of the detection of persons in a
narrow aisle application using a protective field. It is a prerequisite that they achieve the
protective field range calculated in this chapter.
If you use the S3000 Anti Collision, you must also undertake the planning steps described
in this chapter.
4.1 Example for determining the permissible play on the
industrial truck
At a distance between the guide elements on the industrial truck of 1.8 m, the maximum
permissible play per guide element is ±0.5 cm (see Fig. 1). The calculation is based on the
maximum angular error for the guide play of = ±0.3°.
Determination of the guide play at the vehicle:
– for mechanical guides: If the guide elements on the left are in contact with the guide
rail (0 cm play) the distance between the elements on the right and the rail is allowed
to be a maximum of 2 × 0.5 cm = 1 cm.
– for inductive guides: The industrial truck is allowed to diverge from the guide line by a
maximum of ±0.5 cm.
Note
Fig.
1
:
Maximum permissible
play per guide element.
Magnitude as a function of
the distance between the
guide elements on the
stacker in the direction of
travel for the maximum
permissible angular error
of ±0.3°
Max. play per guide element [cm]
Distance between the guide elements on the stacker
in the direction of travel [cm]
150
200
250
300
350
1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
Chapter 4 Operating instructions
S3000 Anti Collision
10 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8017936/2015-02-24
Subject to change without notice
Planning the protective fields
for the detection of persons
4.2 Dimensioning of the protective field
T
he size of the protective field is defined by means of:
the length of the protective field at which the industrial truck comes to a standstill under
all conditions before the load or the vehicle contour come into contact with people. The
maximum protective field radii of up to 4.0 m (S3000 with short-range sensor head), up
to 5.5 m (S3000 with medium-range sensor head), or up to 7.0 m (S3000 with long-
range sensor head) can be programmed.
the protective field width at which people or the test object in accordance with Fig. 3 are
reliably detected in the boundary area in front of the shelf. The unmonitored area of
width D
P
F–Shelf
(see Fig. 2) between the protective field and the front of the shelf is ne-
cessary due to the angular error on the industrial truck and the measuring accuracy of
the S3000 and should be as small as possible (see section 4.2.2 on page 13).
Definitive for the dimensions of the protective field is the final test on the reliability of de-
tection in accordance with section 10 “Commissioning” on page 45.
Fig.
2
:
Dimensioning of the
protective field
Guide rail
D
PF–Shelf
W
PFleft
Protective
field length
L
PF
Vehicle
X
S3000–Shelf
Shelf
Shelf
S3000
Max.
protective
field radius
X
Y
Guide rail
Operating instructions Chapter 4
S3000 Anti Collision
8017936/2015-02-24 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 11
Subject to change without notice
Planning the protective fields
for the detection of persons
During the design of the protective field ensure the field is adequate to prevent a
hazard.
Note that the CDS function Protective field suggestion is unsuitable due to the random
actual position of the vehicle in the aisle and the yaw motion of the vehicle as it moves
along the aisle.
All S3000 variants provide the required resolution of 70 mm at the maximum protective
field radius. In this way the detection capability is also ensured for the bottom part of
the test object.
4.2.1 Required protective field length
During the determination of the necessary protective field length by driving trials, the para-
meters are to be set in the vehicle to produce the longest stopping distance. As a rule
these are:
the maximum speed that can be achieved
the maximum load to be expected and the maximum load dimensions to be expected
unevenness on the floor that could affect the stopping distance
Carry out the driving trials as per section 10.1.2 “Driving trials to test the protective
field” on page 45.
The stopping distance L
Stop
comprises the distance covered during the response time of
the S3000 as per the operating instructions, the response time of the controller and the
braking distance.
Determine the stopping distance with action of the protective field only.
Fig.
3
:
Test object and
positioning
Notes
Front of shelf
70 mm
X
TO–Shelf
120 mm
400 mm
700 mm
Guide rail
Z
X
Chapter 4 Operating instructions
S3000 Anti Collision
12 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8017936/2015-02-24
Subject to change without notice
Planning the protective fields
for the detection of persons
The length of the protective field to be programmed L
P
F
is to be calculated as follows:
L
PF
= L
Stop
× 1.1 + L
Fork
+ V
PFL
W
here:
L
Stop
= Maximum stopping distance
1.1 = Supplement R 10% of the stopping distance for wear on the brakes
L
Fork
= Fork length or maximum distance from the mounting position for the S3000 to the
f
ront edge of the load
V
PFL
= Value for the supplement to the protective field length from Tab. 2
This value takes into account:
– the measurement error on the S3000
– compensation for greater distance between the middle of the test object and the
front of the shelf X
TO–Shelf
with increasing aisle width, see Fig. 3, to suit the
supplement rule. The supplement rule states that for each centimeter that the
test object is displaced from its original position (X
TO–Shelf
= 12.5 cm) in the
direction of the middle of the narrow aisle, a supplement of 20 cm must be
applied to the protective field length. The maximum distance from the middle
of the test object to the front of the shelf that can be assumed is 20 cm
(X
TO–Shelf
= maximum 20 cm).
The maximum permissible protective field lengths as a function of the distance from the
middle of the S3000 to the front of the empty shelf (X
S3000–Shelf
, see Fig. 2) are defined in
Tab. 2 on page 14 and shown in Fig. 4.
The usable protective field length L
PFuse
is defined by the maximum protective field length
L
PFmax
after deducting the value for the supplement to the protective field length V
PFL
.
L
PFuse
= L
PFmax
– V
PFL
Operating instructions Chapter 4
S3000 Anti Collision
8017936/2015-02-24 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 13
Subject to change without notice
Planning the protective fields
for the detection of persons
It is shown in gray in Fig. 4 (cf. Tab. 2):
4.2.2 Required protective field width
The distance D
PF–Shelf
between the protective field and the front of the shelf to be pro-
grammed is given in Tab. 2 as a function of distance X
S3000–Shelf
from the middle of the
S3000 to the front of the empty shelf.
The distances X
S3000–Shelf
are to be calculated or measured for an industrial truck in the
middle of the narrow aisle with an angular error of 0° for the left and right protective
field width. The necessary supplements for the value determined can be read in Tab. 2.
If the S3000 is mounted off center on the industrial truck the larger supplements V
PFW
for the wider half of the protective field are to be used. The protective field distances
D
PF–Shelf
are to be used correspondingly for the left and right width.
The left or right protective field width, W
PFleft
or W
PFright
, is defined from Tab. 2 using the
following formula:
W
PFleft
or W
PFright
= X
S3000–Shelf
– D
PF–Shelf
(see Fig. 2)
Fig.
4
:
Maximum and usable
protective field length as a
function of the position of the
safety laser scanner
X
S3000–Shelf
U L
PFmax
= Maximum protec-
tive field length
V< L
PFuse
= Usable protective
field length
800
(cm)
700
600
400
500
300
200
100
0
690
620
680
590
670
540
650
480
630
605
570
Narrow aisle
protection
Restart
“Without time
delay”
Narrow aisle
protection
Restart
“Time delayed
after 2 s”
Single-sided narrow aisle
protection:
Restart
“Without time delay”
Position of the safety laser scanner X
S3000–Shelf
(cm)
L
PFmax
(white), L
PFuse
(gray)
E 100 100 < X 150 150 < X 200 200 < X 250 250 < X 300 300 < X 350 350 < X 400
Chapter 4 Operating instructions
S3000 Anti Collision
14 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8017936/2015-02-24
Subject to change without notice
Planning the protective fields
for the detection of persons
Distance middle of S3000 to front of shelf
X
S3000–Shelf
[cm]
X @ 100 100 < X @ 150 150 < X @ 200 200 < X @ 250
Type of restart Without time delay Time delayed after 2 s
Distance test object
X
TO–Shelf
[cm]
15 16 18 20
Maximum protective field
length
L
PFmax
[cm]
690 680 670 650
Value for the supplement to
the protective field length
V
PFL
[cm]
70 90 130 170
Usable protective field
length
L
PFuse
[cm]
620 590 540 480
Protective field length
L
PF
[cm]
Protective field distance to front of shelf
D
PF–Shelf
[cm]
0 9.5 9.5 10 11
100 9.5 9.5 10 11
200 8.5 9.0 10 11
W L
PFmax
8.5 9.0 10 11
4.2.3 Example for protective field configuration
stopping distance L
Stop
= 350 cm, fork length L
Fork
= 120 cm
off-center mounting of the S3000 on the industrial truck:
– distance on left from S3000–front of shelf X
S3000–Shelf
= 100 cm
– distance on right from S3000–front of shelf X
S3000–Shelf
= 120 cm
The test object must be detected at the following distance from the front of the shelf:
– in front of the shelf on the left at a distance X
TO–Shelf
= 15 cm
– in front of the shelf on the right at a distance X
TO–Shelf
= 16 cm
required protective field width W
PF
:
– Depending on the protective field length L
PF
, 4 to 8 corner points must be
programmed, see Tab. 3.
– For examples for protective field lengths 0 cm and 100 cm, see Tab. 4 and Tab. 5:
– left protective field width:
W
PFleft
= X
S3000–Shelf
– D
PF–Shelf
= –100 + 9.5 = –90.5 cm
– right protective field width:
W
PFright
= X
S3000–Shelf
– D
PF–Shelf
= 120 – 9.5 = 110.5 cm
required protective field length L
PF
:
– left half of the protective field:
L
PFleft
= L
Stop
× 1.1 + L
Fork
+ V
PFL(100 cm)
= 350 × 1.1 + 120 + 70 = 575 cm
– right half of the protective field:
L
PFright
= L
Stop
× 1.1 + L
Fork
+ V
PFL(150 cm)
= 350 × 1.1 + 120 + 90 = 595 cm
The larger value is to be used for the right half of the protective field L
PF
= 595 cm. The
maximum permissible protective field length for the right half of the protective field is
L
PFmax
= 680 cm, see Tab. 2.
Tab.
2
:
Distance between
protective field and front of
shelf
Operating instructions Chapter 4
S3000 Anti Collision
8017936/2015-02-24 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 15
Subject to change without notice
Planning the protective fields
for the detection of persons
During the configuration of the S3000 using the user software CDS (see section 9.1
“
Configuration of all S3000 variants in the narrow aisle” on page 42), the application
variant Mobile is to be set.
If it is not possible to program a permissible corner point because the maximum per-
missible protective field length L
PFmax
or the maximum measuring radius of 700 cm is
exceeded, then with a constant X value, reduce the Y position until a permissible value
W L
PFmax
is achieved. The programmed protective field length and width must always be
larger or equal to that required. The protective field width on the right or left can, if
necessary, be changed by slightly moving the S3000 transverse to the direction of
travel of the industrial truck and as a result the necessary protective field length then
programmed.
On the entry of corner points (X/Y) in CDS the values must be rounded to the next
largest safety-related value.
– For the left corner point close to the vehicle this rounding produces X = –91 cm
instead of –90.5 cm as well as Y = 0 cm.
– For the left corner point away from the vehicle this rounding produces X = –92 cm,
instead of –91.5 cm and Y = 595 cm.
For this example the permissible and programmable co-ordinates for the protective field
corner points are summarized in Tab. 3 and Tab. 4.
Fig.
5
:
Corner points
Corner point away from the
vehicle
Y
X
Corner point close to the
vehicle
Chapter 4 Operating instructions
S3000 Anti Collision
16 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8017936/2015-02-24
Subject to change without notice
Planning the protective fields
for the detection of persons
Entries in CDS Values realized by CDS
Protective field
length [cm]
X
S3000–Shelf
+ D
PF–Shelf
[cm]
Position X
[cm]
Position Y
[cm]
0 –100 + 9.5 = –90.5 –91 0
100 –100 + 9.5 = –90.5 –91 100
2
00 –100 + 8.5 = –91.5 –92 200
595 –100 + 8.5 = –91.5 –92 595
Entries in CDS Values realized by CDS
Protective field
length [cm]
X
S3000–Shelf
– D
PF–Shelf
[cm]
Position X
[cm]
Position Y
[cm]
0 120 – 9.5 = 110.5 111 0
100 120 – 9.5 = 110.5 111 100
200 120 – 9 = 111 111 200
595 120 – 9 = 111 111 595
4.2.4 Example for usable protective field length and stopping distance
fork length L
Fork
= 200 cm
distance S3000–front of shelf X
S3000–Shelf
= 150 cm
As per Tab. 2 the useable protective field length is:
L
PFuse
=L
PFmax
– V
PFL
= 680 cm – 90 cm
= 590 cm
From the usable protective field length L
PFuse
, after the deduction of the fork length and
based on the maximum stopping distance of the industrial truck for the narrow aisle
width given, including the response time of the safety laser scanner and controller and
the factor for brake wear of 1.1, the following is found:
L
Stop
W (L
PFuse
– L
Fork
) : 1.1
W (590 cm – 200 cm) : 1.1
W 354.5 cm
Tab.
3
:
Example values for
the left half of the protective
field
Tab.
4
:
Examples values for
the right half of the protective
field
Operating instructions Chapter 4
S3000 Anti Collision
8017936/2015-02-24 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 17
Subject to change without notice
Planning the protective fields
for the detection of persons
4.2.5 Example for protective field configuration for single-sided narrow aisle
situation
In applications with a single-sided narrow aisle situation (see Fig. 6), the S3000 can be
programmed on the open side to have a half protective field width of W 7 m.
The maximum protective field lengths allowed outside a narrow aisle reduce to values
defined in Tab. 5 and shown in Fig. 4 due to the resolution of the S3000.
Maximum protective field length [cm] Half protective field width W [cm]
690 B W 100
680 100 < B W 150
670 150 < B W 200
650 200 < B W 250
630 250 < B W 300
605 300 < B W 350
570 350 < B < 400
Depending on the distance from the S3000 to the front of the shelf, the supplement
V
PFL
is to be added to the necessary protective field length as per Tab. 2.
A supplement of V
PFW
= 10.0 cm is to be added to the necessary protective field width
on the open side. This supplement takes into account the maximum measurement error
on the S3000 and is independent of the protective field length.
Tab.
5
:
Maximum protective
field length for single-sided
narrow aisle situation
Fig.
6
:
Industrial truck with
single sided narrow aisle
situation
Guide rail
D
PF–Shelf
away from vehicle
Protective field
length
L
PF
< 700 cm
Shelf
Max. protective
field radius
Protective field width < 700 cm
Supplement to
the protective
field width
V
PFW
= 10.0 cm
D
PF–Shelf
close to vehicle
Vehicle
Y
X
Chapter 4 Operating instructions
S3000 Anti Collision
18 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8017936/2015-02-24
Subject to change without notice
Planning the protective fields
for the detection of persons
Example
width of the industrial truck = 320 cm
stopping distance L
Stop
= 200 cm
off-center mounting of the S3000 on the industrial truck
– distance on left from S3000–front of shelf X
S3000–Shelf
= 60 cm
– right distance S3000–right vehicle contour X
S3000–VCright
= 270 cm
required protective field width W
PF
– left protective field width, as per section 4.2.2 and Tab. 2 on page 14:
W
PFleft
=X
S3000–Shelf
– D
PF–Shelf
= 60 cm – 9.5 cm
= 50.5 cm for protective field length 0 cm and 100 cm
W
PFleft
=X
S3000–Shelf
– D
PF–Shelf
= 60 cm – 8.5 cm
= 51.5 cm for protective field length 200 cm and L
PFmax
– right protective field width:
W
PFright
=X
S3000–VCright
+ V
PFW
= 270 cm + 10.0 cm
= 280 cm
required protective field length L
P
F
– left half of the protective field:
L
PF
=L
Stop
× 1.1 + V
PFL(100 cm)
= 200 cm × 1.1 + 70 cm
= 290 cm
For V
PFL
refer to Tab. 2.
– right half of the protective field:
In a one-sided narrow aisle situation the protective field length on the side of the
vehicle facing the shelf is to be used. In this case the value for the left half of the
protective field is to be used.
checking the protective field dimensions
– left half of the protective field:
The maximum permissible protective field length for the left half of the protective
field is L
PFmax
= 690 cm in accordance with Tab. 5 and is therefore larger than the
example value required of 290 cm.
– right half of the protective field:
The maximum permissible protective field length for a width on the right of 280 cm is
L
PFmax
= 630 cm in accordance with Tab. 5 and is therefore larger than the example
value required of 290 cm.
Operating instructions Chapter 5
S3000 Anti Collision
8017936/2015-02-24 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 19
Subject to change without notice
Product description S3000 Anti
Collision
5 Product description S3000 Anti Collision
The content of this chapter is exclusively for the S3000 Anti Collision with the type identi-
fier S30A-7021EK.
The S3000 Anti Collision also has safe collision protection fields in addition to the pro-
tective field. With these collision protection fields the S3000 Anti Collision safely detects
vehicles that are equipped with a reference target.
5.1 Product identification
You can identify the S3000 Anti Collision using its type label.
The following points identify the S3000 Anti Collision:
type code: S30A-7021EK
ident no.: 1071544
label: ANTI COLLISION by SICK
Fig.
7
:
Position of the t
ype
label
Fig.
8
:
Type label of the
S3000 Anti Collision
Type label
Label
Chapter 5 Operating instructions
S3000 Anti Collision
20 © SICK AG • Industrial Safety Systems • Germany • All rights reserved 8017936/2015-02-24
Subject to change without notice
Product description S3000 Anti
Collision
5.2 Product features of the S3000 Anti Collision
protective field range 7 m
collision protection field range 15 m
dual field mode with field sets consisting of protective field and collision protection field
(
optional simultaneous monitoring of two field sets)
triple field mode with field sets consisting of one protective field and two collision
protection fields
16 field sets in dual field mode
10 field sets in triple field mode
32 monitoring cases for switching the field sets. In this way, for example protection
fields and collision protection fields can be activated to suit the speed, the load state,
the position of the center of gravity etc.
Limitations
There is no compatibility with other S3000 variants.
(The S3000 Anti Collision cannot be replaced with a different variant.)
There is no interoperability with other S3000 variants.
(The S3000 Anti Collision can form a host-guest group only with other S3000
Anti Collision, however not with other S3000 variants or with the safety laser scanners
S300 or S300 Mini.)
Usage only with EFI partners, e.g. the Flexi Soft safety controller
The S3000 Anti Collision must be used in conjunction with an EFI partner, for example the
Flexi Soft safety controller. The status of the collision protection fields must be output via
EFI and must, e.g., be forwarded via a Flexi Soft safety controller to the vehicle controller
for safe shutdown.
As the Flexi Soft safety controller provides several safe outputs, up to four fields can be
evaluated independently per S3000 Anti Collision.
The S3000 Anti Collision also receives input information for switching the monitoring
cases from the Flexi Soft safety controller.
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