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

?

?

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

................
................

In order to avoid copyright disputes, this page is only a partial summary.

Google Online Preview   Download