SICK S3000 in a Narrow Aisle and S3000 Anti Collision Operating instructions

Brand: SICK

Model: S3000 in a Narrow Aisle and S3000 Anti Collision

Type: Operating instructions

OPERATING INSTRUCTIONS

S3000 in a Narrow Aisle and

S3000 Anti Collision

Safety laser scanners

Operating instructions

S3000 Anti Collision

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

Subject to change without notice

Contents

1 About this document.........................................................................................................5

.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

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

.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

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.

Scope of the

individual chapters

Chapter 2 Operating instructions

S3000 Anti Collision

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-

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 61496-3

 SIL2 according to IEC 61508

 category 3 as well as PL d according to EN ISO 13849-1

 SILCL2 according to EN 62061

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

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

ork safety regulations “Flurförderzeuge” (Industrial trucks) (BGV D27) as well as

DIN 15185, part 2.

These regulations include, among other aspects:



DIN 15185-2 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 13849-1. 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

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

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.

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

0.9

0.8

0.7

0.6

0.5

0.4

0.3

Chapter 4 Operating instructions

S3000 Anti Collision

Subject to change without notice

Planning the protective fields

for the detection of persons

4.2 Dimensioning of the protective field

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

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.

Dimensioning of the

protective field

Guide rail

PF–Shelf

PFleft

Protective

field length

Vehicle

S3000–Shelf

Shelf

S3000

Max.

protective

field radius

Guide rail

Operating instructions Chapter 4

S3000 Anti Collision

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.

Test object and

positioning

Notes

Front of shelf



70 mm

TO–Shelf



120 mm

400 mm

700 mm

Guide rail

Chapter 4 Operating instructions

S3000 Anti Collision

Subject to change without notice

Planning the protective fields

for the detection of persons

The length of the protective field to be programmed L

is to be calculated as follows:

= L

Stop

× 1.1 + L

Fork

+ V

PFL

here:

Stop

= Maximum stopping distance

1.1 = Supplement R 10% of the stopping distance for wear on the brakes

Fork

= Fork length or maximum distance from the mounting position for the S3000 to the

ront edge of the load

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

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

PFmax

after deducting the value for the supplement to the protective field length V

PFL

PFuse

= L

PFmax

– V

PFL

Operating instructions Chapter 4

S3000 Anti Collision

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

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:

PFleft

or W

PFright

= X

S3000–Shelf

– D

PF–Shelf

(see Fig. 2)

Fig.

Maximum and usable

protective field length as a

function of the position of the

safety laser scanner

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

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)

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

Subject to change without notice

Planning the protective fields

for the detection of persons

Distance middle of S3000 to front of shelf

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

TO–Shelf

[cm]

15 16 18 20

Maximum protective field

length

PFmax

[cm]

690 680 670 650

Value for the supplement to

the protective field length

PFL

[cm]

70 90 130 170

Usable protective field

length

PFuse

[cm]

620 590 540 480

Protective field length

[cm]

Protective field distance to front of shelf

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

– Depending on the protective field length L

, 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:

PFleft

= X

S3000–Shelf

– D

PF–Shelf

= –100 + 9.5 = –90.5 cm

– right protective field width:

PFright

= X

S3000–Shelf

– D

PF–Shelf

= 120 – 9.5 = 110.5 cm

 required protective field length L

– left half of the protective field:

PFleft

= L

Stop

× 1.1 + L

Fork

+ V

PFL(100 cm)

= 350 × 1.1 + 120 + 70 = 575 cm

– right half of the protective field:

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

= 595 cm. The

maximum permissible protective field length for the right half of the protective field is

PFmax

= 680 cm, see Tab. 2.

Tab.

Distance between

protective field and front of

shelf

Operating instructions Chapter 4

S3000 Anti Collision

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.

Corner points

Corner point away from the

vehicle

Corner point close to the

vehicle

Chapter 4 Operating instructions

S3000 Anti Collision

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]

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

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]

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:

PFuse

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:

Stop

W (L

PFuse

– L

Fork

) : 1.1

W (590 cm – 200 cm) : 1.1

W 354.5 cm

Tab.

Example values for

the left half of the protective

field

Tab.

Examples values for

the right half of the protective

field

Operating instructions Chapter 4

S3000 Anti Collision

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

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.

Maximum protective

field length for single-sided

narrow aisle situation

Fig.

Industrial truck with

single sided narrow aisle

situation

Guide rail

PF–Shelf

away from vehicle

Protective field

length

< 700 cm

Shelf

Max. protective

field radius

Protective field width < 700 cm

Supplement to

the protective

field width

PFW

= 10.0 cm

PF–Shelf

close to vehicle

Vehicle

Chapter 4 Operating instructions

S3000 Anti Collision

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

– left protective field width, as per section 4.2.2 and Tab. 2 on page 14:

PFleft

S3000–Shelf

– D

PF–Shelf

= 60 cm – 9.5 cm

= 50.5 cm for protective field length 0 cm and 100 cm

PFleft

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:

PFright

S3000–VCright

+ V

PFW

= 270 cm + 10.0 cm

= 280 cm

 required protective field length L

– left half of the protective field:

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

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

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.

Position of the t

ype

label

Fig.

Type label of the

S3000 Anti Collision

Type label

Label

Chapter 5 Operating instructions

S3000 Anti Collision

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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SICK S3000 in a Narrow Aisle and S3000 Anti Collision Operating instructions

SICK S3000 in a Narrow Aisle and S3000 Anti Collision Operating instructions

SICK S3000 in a Narrow Aisle and S3000 Anti Collision Operating instructions

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