How to select and integrate multi-dimensional safety systems to protect workers from cobots
commissioning new machines or processes. It can monitor an unsupervised test run like a multi- hour or multi-day continuous test and quickly identify error sources. Multiple EventCams can monitor a single process, providing visual information from several angles at once for a deeper and more thorough analysis of errors (Figure 5). EventCam is offered in two variants. Model 1102028 has a working range of 0.4 m to 0.6 m and can be suitable for use with stationary cobots with relatively small protective spaces. Model 1093139 has a working range of 0.8 to 6 m and can accommodate larger protective spaces encountered with bigger cobots, AMRs, and AGVs. Summary 2D LiDAR sensors like the TiM family from SICK can provide the first line of defense in a safety system for cobots, AMRs, AGVs, and similar machines. They provide a series of protective fields to monitor the approach of people. The addition of a safety controller can support intrusion analysis and enhance system performance. Finally, one or more EventCams can monitor the primary 2D LiDAR sensor to help identify the root cause of any sporadic tripping.
Safety controllers add another layer
Figure 4: The Flexi Soft safety controller system consists of a CPU module (1) and one or more I/O modules (2). Image source: SICK
LiDAR laser scanners detect hazards and send alerts, while a modular safety controller can add another layer of safety to a protection system. For example, the Flexi Soft safety controller is a modular system that can be connected to various sensors and switching elements, including laser scanners. It’s rated SIL3 according to IEC 61508 and PLe with a PFHd of 1.07 x 10-9 according to ISO 13849. A basic system consists of at least two modules (Figure 4): 1. The CPU0, like model 1043783 , is the central logic unit where signals from sensors like LiDAR are analyzed and evaluated, offloading safety analysis from the central machine controller. The output of the CPU0 connects with a higher level machine control, such as a programmable logic controller (PLC), where safety functions are implemented
What happened? An important element in a safety system can be the ability to analyze and understand the root cause of any faults, answering the question, ‘What happened to cause the safety laser scanner to trigger?’ An event camera, EventCam from SICK, is specifically designed to detect and analyze sporadic faults in industrial settings. EventCam is self-contained with optics, illumination, electronics, and memory and can be integrated into mobile or stationary systems. The cast aluminum housing is IP65-rated and can be mounted in various positions. EventCam can be connected to an automation
Figure 3: Field sets in TiM 2D LiDAR sensors consist of three preconfigured fields. Image source: SICK
system like a safety controller or directly to a sensor. Once an error has been reported, EventCam begins storing single frames or video sequences. The internal ring memory can store up to 240 seconds before and 100 seconds after an event. In high- definition (HD) mode, it can record up to 25 seconds before and 15 seconds after. The video frames per second (fps) rate ranges from 13 to 65, depending on the required resolution.
received signal strength indicator (RSSI) output. This expanded data set can be especially useful for collision avoidance and navigation for AMRs in changing environments. Safety LiDARs, adding the first protective layers The TiM 2D LiDAR family has safety-related variants, the TiM361S (field evaluation) and TiM781S (field evaluation and measurement data output), that meet the requirements of PL b and can be used for both stationary and mobile applications. They can be used for personal protection in access monitoring for industrial cobots and on mobile platforms like AMRs and AGVs. ■ Type TIM361S-2134101 , model number 1090608, is suited for indoor use with a detection range of 0.05 to 10 m and HDDM technology ■ Type TIM781S-2174104 , model number 1096363, is also suited for indoor use with a detection
range of 0.05 to 25 m and HDDM+ technology
Simplified integration
TiM 2D LiDAR sensors are designed to simplify integration. With an enclosing rating of up to IP67, neither dust nor moisture can enter the housing. They are highly immune to bright ambient lighting up to 80,000 lx. Their rugged design meets the vibration resistance requirements of IEC 60068-2-6 and the shock resistance requirements of IEC 60068-2-27. Their ruggedness can be enhanced when needed using damped mountings of protective plates. The compact design, light weight, and low power consumption of TiM 2D LiDAR sensors make them well-suited for mobile platforms. The Type TIM361S-2134101 and Type TIM781S-2174104 both weigh only 250g, have a typical power consumption of 4W, and measure 60mm long x 60mm wide x 86mm high.
EventCam can also be useful when
2. The XTIO I/O expansion module, such as model
1044125, is required to connect laser scanners to the system. One XTIO I/O expansion module is necessary for every two laser scanners, as each laser scanner uses three switching inputs. The controller can operate up to 12 I/O modules
Figure 5: Multiple EventCams can be synchronized to record a single event from several angles simultaneously. Image source: SICK
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