Sick nanoscan 3 setup

General Application Help: How do I?
1

Hi,

I am trying to configure a sick nanoscan3 pro sensor (Sbot speed package with 1 sensor, no SPLC and no URcap) with a UR5e

The Sick scanner is sending inputs to the cobot’s config inputs:
config_in[0], config_in[1]: needs to be configured to “Automatic Mode safeguard stop”
config_in[2], config_in[3]: configured to “reduced mode”

But 3 Position switch needs to be assigned to a config input pair for “Automatic mode Safeguard stop” option to be available. Is there a workaround? Is this required?

I have wired a two position key switch to “config_in[6], config_in[7]” which is for mode selection (Automatic/Manual).

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2

You shoukdn’t need the 3-position if you connect the safety inputs to the Safeguard Stop terminals instead of the configurable. :slight_smile:

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3

Thanks @efn

But the scanner is always active, so I am not able to program or even start the cobot within the safeguard zone, How can I setup a mode selector to isolate the sensor so I can program the cobot.

Also when I try running a program I get the following error:

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Had to save installation file to get rid of this.

4

Well. I typically just physically bypass the safeguard inputs when I program a robot with a safety scanner or other equipment triggering the safeguard.

But you will indeed have to set up a 3PE device to do this, as the robot is telling you. :slight_smile: There is no workaround.
You can use a rotary switch or something and connect as instructed in the user manual. And then use two configurable inputs as 3PE.

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I have seen your exception before, and from what I remember, the only solution is to make a whole new program. Make sure your robot is updated.

5

Thanks @efn

I’ve implemented a relay and key switch setup to switch the input to safeguard stop, placed between the sensor and the 24V supply. This setup is now working as intended.

However, I’m facing an issue in automatic mode:

When the sensor detects an obstacle, it triggers a safeguard stop and the program execution pauses. During this time, if the robot is waiting for an input signal from a peripheral device (which only stays active for about 1 second), the robot may miss this signal. By the time the obstacle is cleared and the robot resumes the program, the peripheral’s output signal has already expired.

How would I avoid this?

6

There’s no way to avoid that except for having the signal stay on until the robot has received the signal.

7

@efn is right. The only other solution I could recommend is a cheap PLC that can latch the signal from the peripheral device, and the robot looks at the PLC instead. The PLC will always listen, even if the robot is paused.

8

I have an ESP32 (later upgrade to a plc) microcontroller that sends/recieves IO to/from cobot, thinking about setting an output that goes high when cobot is in safeguard stop and then the ESP can pause until this goes low.

Hoping this way it wouldnt miss any IO.

Thanks for your input guys.