3D vision system for robotic part handling EN from the ...

PLR 3000

QUICKSTART

3D vision system for robotic part handling

EN

Australia Phone +61 3 9497 4100

1800 334 802 ? tollfree E-Mail sales@.au

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Espa?a Phone +34 93 480 31 00 E-Mail info@sick.es

France Phone +33 1 64 62 35 00 E-Mail info@sick.fr

Great Britain Phone +44 (0)1727 831121 E-Mail info@sick.co.uk

India Phone +91?22?4033 8333 E-Mail info@sick-

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1 800-325-7425 ? tollfree E-Mail info@

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8014878/ZAV3/2017-02 All rights reserved Subject to change without notice

1 Safety

b Read the entire Quickstart before using the device. b Connection, assembly, and settings must be performed by

competent technicians. b Do not connect external I/O signals to the device while it is

powered. This could damage the device. b Do not use the device in areas where there is a risk of

explosion. b The criteria that must be met to ensure safe operation

depend on the laser and LED class of the device (see E). Read the section on laser safety A and the safety instructions in the user manuals carefully.

2 Product Specification

The PLR is a stand-alone system for robot guidance in partpicking applications. The sensor can be used in applications such as de-racking, de-palletizing and handling. The sensor measures the 3D pose of the part (X, Y, Z, roll, pitch and yaw).

The PLR is an integrated, calibrated and pre-configured device, ready to be mounted in the robot gripper and connected to the robot controller. The robot controller communicates with the PLR through a simple control interface over which commands are sent to the PLR and the PLR outputs part-pose data.

This is a class A product. In a domestic environment this product may cause radio interference, in which case the user may be required to take adequate measures.

a Warning: Class A equipment is intended for use in an industrial environment.

3 Documentation

Documentation can be downloaded from . com/. The following documentation is available: Operating Instructions, Alignment Target and Quickstart.

4 Connections C

The PLR is connected to a 24 V DC power supply and to a computer running a supported web browser. (See 5 PLR User Interface) and a web browser. b The power supply is connected to the Power connector

(M12). b The computer used to display the PLR User Interface is

connected to the Ethernet connector (M12), either directly or through an Ethernet switch. b The LED illumination is connected to the LED illumination connector (M12).

5 PLR User Interface

The PLR is configured via the PLR User Interface which is hosted on a web server running on the PLR. The PLR User Interface is accessed by a web browser. No additional software has to be installed.

Web browsers supported by the PLR User Interface: ? Internet Explorer ? Google Chrome ? Mozilla Firefox

Administrator user ID: admin Default administrator password: admin

The default IP address is 192.168.0.45. The default URL to the PLR User Interface is

6 Installation G

a Ensure that all laser safety requirements for the appropriate laser system class are fulfilled (see A).

a Ensure that the PLR is powered down during the installation process and is disconnected from the power supply. b Mount the PLR in the correct position relative to the part in

the rack, see D b Connect the Ethernet connector on the PLR to a computer

with a web browser. b Connect the I/O connector on the PLR to an unpowered 24 V

DC power supply unit. b Switch on the power supply.

7 Service and Maintenance

The PLR contains no user-serviceable parts. The device warranty will be void if the device is opened.

a Warning: To avoid exposure to hazardous radiation, the power to the PLR must be turned off before maintenance is performed b Check screw connections and connectors at regular

intervals. b Clean the housing with a soft cloth. This can be either dry or

dampened with a mild, water-diluted cleaning agent without powder additives. If the unit fails, please contact SICK or the SICK representative that supplied the unit for further instructions.

8 Support

For technical support, please see the SICK Support web site:

144 (5.67 )

87 (3.43) 1 5

(0.59)

A

Laser and LED Safety

PLR is a laser product and, as such, complies with standard EN/IEC 60825-1:2014. It also complies with 21 CFR 1040.10 / 11 (CDRH) except for deviations pursuant to Laser Notice No. 50, dated June 24, 2007. The legal regulations on laser safety for the laser class corresponding to the PLR must be adhered to. The PLR is equipped with a Class 2 laser (Class 2M according to EN/IEC 60825-1:2007).

a CAUTION: Class 2/2M lasers emit visible radiation in the wavelength range from 400 nm to 700 nm where eye protection is normally afforded by aversion responses including the blink reflex. However, it is dangerous to look directly at the beam source using an optical instrument or to intentionally suppress the blink reflex. b Do not stare into beam. b Do not view the laser beam directly with optical instruments such as magnifying glasses.

a Warning: The laser may be activated as soon as the PLR is powered on. Avoid direct exposure to the laser beam. Avoid looking at reflected laser light.

b Appropriate eye protection should be used during installation and alignment operations.

b A beam attenuator and an emission indicator are recommended for the system.

PLR is a laser product; operation or the use of procedures other than as specified in the present documentation may result in exposure to hazardous radiation.

AVOID EXPOSURE LASER RADIATION

EMITTED FROM THIS APERTURE

B

Dimensional Drawing

310 (12.20) 211.2 (8.32) 132.5 (5.22)

30 (1.18)

60 (2.36)

150 (5.91)

12 (0.46)

1 (0.04)

80 (3.15)

150 (5.91)

189.5 (7.46)

6 x 18 (0.71)

WARNING: OPTICAL RADIATION DO NOT STARE INTO BEAM RISK GROUP 1 (LOW RISK)

according to IEC 62471:2006 visible LED light = 400-800 nm

20 (0.79)

NWD

189 (7.44)

73 (2.87)

1 (0.04)

50 (1.97)

85.4 (3.36)

LA

PLR-3210111:

NWD: 365 mm LA: 32?

PLR-3210111S02

NWD: 730 mm LA: 16?

1 Power connector (M12, male) 2 LED illumination connector (M12, female) 3 Ethernet connector (M12, female) 4 Laser opening 5 Camera opening 6 Mounting hole pattern M8 x 8 mm depth 7 Fitting hole pattern ? 6H7 x 8 mm depth

8 LED illumination mounted on top of device, mounting in 4 directions around the camera open-

ing is also possible 9 Transmitted beam ? Reflected beam

C Connections

POWER CONNECTOR

65 7

Pin Signal 1 Trigger In/In 0 2 DC 24 V, 1.3A 3-

Comment

Reset to factory defaults ?20% Reserved

4 1

82 3

4567 GND

Reserved Reserved Reserved

8-

Reserved

Note: The shielding of the power connector cable should be connected to ground.

In 0

Low

High

Comment

Device inputs (24 V)

0 ... +2.0 V +7.0 ... Usupply

Reset, Pulldown 30 k.

D Environment

The PLR should be mounted in the robot gripper in such a way that both the camera and the laser have a clear view of the part to be localized.

The PLR should be mounted so that a part, irrespective of its position in the rack, is visible to the PLR from the measurement position.

The PLR must be firmly attached to the gripper. Any movement of the PLR could significantly impair the accuracy of hand-eye alignment.

E Technical Data

G Connecting Devices

Type Features Type of system Applications System Features

Working distance

Field of view Resolution

PLR-3210111 / PLR-3210111S02

Part localization

Localization of body parts stored in racks

Localization of mainly oriented sheetmetal parts using a combination of 2D and 3D measurement

PLR-3210111: 360 - 370 mm High-accuracy range 350 - 1500 mm Coarse measurement range PLR-3210111S02: 720 - 740 mm High-accuracy range 700 - 1500 mm Coarse measurement range

200 mm x 260 mm1)

1024 x 768 pixel

H

Web browser

-PLR User

Interface

PLR

-Setup

-Maintenance

Ethernet TCP/IP

XML/CSV, Web server

Robot Controller

Suitable image positions

Illumination Laser class LED class Output data

Laser (660 nm), and LED (630 nm)

2/2M

Risk group 1 (low risk IEC 62471:2006)

x, y, z (mm), roll, pitch, yaw (degrees)

The PLR should be mounted so that the laser-cross is projected onto a flat area of the part.

Laser cross target area

Image sensor

CMOS

Performance

Part localization accuracy Part localization time

PLR-3210111: ? 0.5 mm, ? 0.1? 2 PLR-3210111S02: ? 0.8 mm, ? 0.2? 2)

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