3D vision system for robotic part handling EN from the ...
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
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.
Warning: Class A equipment is intended for use in an
industrial environment.
a
3 Documentation
Documentation can be downloaded from .
com/. The following documentation is available: Operating
Instructions, Alignment Target and Quickstart.
4 Connections
China
Phone +852-2763 6966
E-Mail ghk@.hk
Danmark
Phone +45 45 82 64 00
E-Mail sick@sick.dk
Deutschland
Phone +49 211 5301-301
E-Mail kundenservice@sick.de
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¨C22¨C4033 8333
E-Mail info@sick-
Israel
Phone +972-4-999-0590
E-Mail info@sick-
Italia
Phone +39 02 27 43 41
E-Mail info@sick.it
Japan
Phone +81 (0)3 3358 1341
E-Mail support@sick.jp
Magyarorsz¨¢g
Phone +36 1 371 2680
E-Mail office@sick.hu
Nederlands
Phone +31 (0)30 229 25 44
E-Mail info@sick.nl
Russia
Phone +7 495 775 05 30
E-Mail info@sick.ru
Schweiz
Phone +41 41 619 29 39
E-Mail contact@sick.ch
Singapore
Phone +65 6744 3732
E-Mail admin@.sg
South Africa
Phone +27 11 472 3733
E-Mail info@sickautomation.co.za
South Korea
Phone +82-2 786 6321/4
E-Mail info@
Slovenija
Phone +386 (0)1-47 69 990
E-Mail office@sick.si
Suomi
Phone +358-9-25 15 800
E-Mail sick@sick.fi
Sverige
Phone +46 10 110 10 00
E-Mail info@sick.se
Taiwan
Phone +886 2 2375-6288
E-Mail sales@.tw
T¨¹rkiye
Phone +90 216 528 50 00
E-Mail info@.tr
United Arab Emirates
Phone +971 4 8865 878
E-Mail info@sick.ae
USA/M¨¦xico
Phone +1(952) 941-6780
1 800-325-7425 ¨C tollfree
E-Mail info@
More representatives and agencies
at
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?
20
(0.79)
12
(0.46)
1 (0.04)
6x
18
(0.71)
6 Installation
NWD
189.5 (7.46)
?
?
a
a
7 Service and Maintenance
The PLR contains no user-serviceable parts. The device
warranty will be void if the device is opened.
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.
a
8 Support
189 (7.44)
73 (2.87)
?
LA
PLR-3210111:
NWD: 365 mm
LA: 32?
?
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
C
Type of system
Part localization
Applications
Localization of body parts stored
in racks
System Features
Localization of mainly oriented sheetmetal parts using a combination of
2D and 3D measurement
Working distance
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
Field of view
200 mm x 260 mm1)
Resolution
1024 x 768 pixel
Illumination
Laser (660 nm), and LED (630 nm)
Laser class
2/2M
LED class
Risk group 1 (low risk IEC
62471:2006)
Output data
x, y, z (mm), roll, pitch, yaw (degrees)
Image sensor
CMOS
PLR
Ethernet TCP/IP
XML/CSV, Web
server
Robot
Controller
H
Suitable image positions
The PLR should be mounted so that the laser-cross is
projected onto a flat area of the part.
Laser cross
target area
Performance
Part localization accuracy
PLR-3210111:
¡À 0.5 mm, ¡À 0.1? 2
PLR-3210111S02:
¡À 0.8 mm, ¡À 0.2? 2)
Part localization time
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