HOKUYO UAM-05LP-T301 Series Safety laser scanner Instruction Manual

UAM-05LP-T301 Series Safety laser scanner

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Specifications

• Protection Range: Max 5m

• Warning Range: Max 20m

• Distance Tolerance: +100mm

• Detection Capability: From black sheet (1.8%)
  to retro-reflectorsheet

• Detectable Range: Minimum detectable width:
  30mm (1.8m), 40mm (2.5m), 50mm (max: 3.0m), 70/150mm (5.0m)

• Scan Frequency: 30ms (rotational speed
  2000rpm)

• Number of Field-set: Max.32/Max.128 when using
  encoder input mode

• Number of Zone per Field-set: Max.3 (1
  protection + 2 warning zones) / Max.2 protection zones (dual
  protection mode)

• Response Time: OFF 60ms-510ms | ON
  270ms-510ms

• Element: Pulsed laser diode

• Wavelength: 905nm

• Safety Class: Laser class 1

• Type: Type 3 (IEC614961, IEC614963)

• Functional Safety: SIL2 (Type B, HFT=1)
  (IEC61508)

• Size: 80mm x 80mm x 95mm (without cable)

• Weight: Approx. 800g (excluding cable)

• Protection: IP65

• Power Supply: DC24V-30% / +20% when operating
  using battery

• Configuration: USB 2.0 (USB micro type-B
  connector)

• Data Output: Ethernet 100BASE-TX

Product Usage Instructions

Safety Laser Scanner UAM-05LP Series

Description: One of the smallest safety laser
scanners in the world with advanced functions for AGV & AMR
applications.

Benefits at a Glance

• Master-Slave Control Function: UAM-05LP
  provides a master/slave configuration where one unit is configured
  as a master and up to 3 units as slaves. The communication between
  the master and slave units is handled by two RS-485 wires. Each
  device has independent configuration, saving cabling, harnesses,
  and extra IO modules costs and enabling faster commissioning.

• Encoder Input Function (Dynamic Field-Set
  Change): UAM-05LP has 1 pair of encoder inputs which allow
  users to connect encoders directly and change the scanner’s
  field-sets dynamically depending on the speed of AGV. When using
  encoder input function, a maximum of 128 field-sets can be
  configured.

• Distance Measurement Output: UAM-05LP is
  equipped with Ethernet connection to maximize offering. Distance,
  RSSI, IO state, and internal state information are all accessible
  over Ethernet. The measurement data is suitable for natural
  navigation and detecting reflectors for precise localization. ROS
  package (urg_node) is available.

Frequently Asked Questions

Q: What is the protection range of the UAM-05LP series?

A: The maximum protection range is 5m.

Q: What is the power supply requirement for the UAM-05LP

series?

A: The power supply required is DC24V with a tolerance range of
-30% to +20% when operating using a battery.

Q: How many field-sets can be configured when using the encoder

input mode?

A: A maximum of 128 field-sets can be configured when using the
encoder input mode with the UAM-05LP series.

Q: What is the IP rating for the UAM-05LP series?

A: The UAM-05LP series has an IP65 protection rating.

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SafetyProductCatalog

HokuyoSafetyproductlineup
Safetylaserscanner UAM-05LPseries
UAM-05LP-T301 UAM-05LP-T301C(Connectormodel)

UAM-05LP Productwebsite

Safetylaserscanner UAM-05LPAseries
UAM-05LPA-T301 UAM-05LPA-T301C(Connectormodel)

UAM-05LPA Productwebsite

EtherCATSafetylaserscanner UAM-05LECseries
UAM-05LEC-T301(Scannermainmodule) UAM-5CUBO(Bottomfacingconnectormodule) UAM- 5CUBA(Rearfacingconnectormodule)

UAM-05LEC Productwebsite

Programmablesafetycontroller HSCseries
HSC-A100ENC(EtherCATsupportmodel) HSC-A100/M-ENC(ModbusTCPsupportmodel)

HSC-A100 Productwebsite

Page2.

Safetylaserscanner
UAM-05LPseries
DESCRIPTION
Oneofthesmallestsafetylaserscannersintheworld withadvancedfunctionsforAGV&AMRapplications.
Smallsizeandlightweight Max.5metersprotectionrangewith270°FoV Max.20meterswarningrange Max.40mdistancemeasurementdataoutput AGVspecialfunctions(master-slave,encoderinput) CertifiedasType3acc.toIEC61496-1/3 PLdacc.toENISO13849-1 SIL2acc.toIEC61508 cULusapproved
Benefitsataglance
»Smallsizeandlightweight Thecompactsizeandthelightweightmakethedevicesuitableforthemobilerobotapplications.
»Onescannermodelforallsafetyapplications Ontopofitscompactsize ,theextensivesafetyfunctionsoftheUAM-05LPallowstheusertouseitforany typeofsafetyapplicationssuchasmobilerobotics,cobots,roboticcellsandsafeguardingofdangerous machines.
»AGVspecialfeatures
Master-salvecontrolfunction: UAM- 05LPprovidesamaster/slaveconfigurationwhereoneunitisconfiguredasamasterandupto3units asslaves.ThecommunicationbetweenthemasterandslaveunitsishandledbytwoRS- 485wires.Each devicehasindependentconfiguration.Thisfeaturesavescaballing,harnessesandextraIOmodulescosts andalsoenablesfastercommissioning.
Encoderinputfunction(Dynamicfield-setchange): UAM- 05LPhas1pairofencoderinputswhichallowuserstoconnectencoder(s)directlyandchangethe scanner sfield- setsdynamicallydependingonthespeedofAGV.Whenusingencoderinputfunction, max .128field-setscanbeconfigured.
Distancemeasurementoutput UAM- 05LPisequippedwithEthernetconnectiontomaximizeouroffering.Distance,RSSI,IOstateand internalstateinformationareallaccessibleoverEthernet.Themeasurementdataissuitablefornatural navigationanddetectingreflectorsforpreciselocalization.ROSpackage(urg_node)isavailable.
Page3.

Specificationoverview

Protectionrange:

Max5m

Warningrange:

Max20m

Distancetolerance:

+100mm

Detectioncapability:

Fromblacksheet(1.8%)toretro-reflectorsheet

Detectablerange:

270°

Minimumdetectablewidth: 30mm(1.8m),40mm(2.5m),50mm(max:3.0m),70/150mm(5.0m)

Scanfrequency:

30ms(rotationalspeed2000rpm)

Numberoffield-set:

Max.32/Max.128whenusingencoderinputmode

Numberofzoneperfield-set: Max.3(1protection+2warningzones)/Max.2protectionzones(dualprotectionmode)

Responsetime:

OFF60ms-510ms|ON270ms-510ms

Element:

Pulsedlaserdiode

Wavelength:

905nm

Safetyclass:

Laserclass1

Type:

Type3(IEC614961,IEC614963)

Functionalsafety:

SIL2(TypeB,HFT=1)(IEC61508)

PFHd:

7.8×10-8(T1=20year):Whenmasterslavefunctionisnotinuse.

PFHd:

1.6×10-7(T1=20year):Whenmasterslavefunctionisinuse.

Size:

80mmx80mmx95mm(withoutcable)

Weight:

Approx.800g(excludingcable)

Protection:

IP65

Powersupply:

DC24V±10%:whenoperationusingconverter

Powersupply:

DC24V-30%/+20%:whenoperatingusingbattery

Configuration:

USB2.0(USBmicrotype-Bconnector)

Dataoutput:

Ethernet100BASE-TX

Functionrichsafetyscanner

Allstandardandadvancedsafetyfunctionsareintegratedintothecompactscanner.

StandardFunctions ReferenceMonitor EDM Interlock Muting AreaSequence
AdvancedFunctions Dualprotection Encoderinput Master-slavecontrol ConfigurationbySDcard DataoutputviaEthernet

Master-Slavecontrolfunction

Encoderinput(Dynamicfield-setchange)

Page4

Safetylaserscanner
UAM-05LPAseries

DESCRIPTION
High-endmodelfromtheUAM-05LPseriesboostingadvanced featuresandenhancedavailability
InheritedthecompactsizeandlightweightfromUAM-05LPseries Drop- inreplacementoftheUAM-05LPandunifiedsoftware Max.5metersprotectionrangewith270°FoV ExtendedwarningrangeofMax.30meters Max.40mdistancemeasurementoutput UpgradedAGVspecialfunctions(encoderinput) CertifiedasType3acc.toIEC61496-1/3 PLdacc.toENISO13849-1 SIL2acc.toIEC61508 cULusapproved

Benefitsataglance
»2-axismonitoringwith4encoderinputs UAM- 05LPAcandirectlyconnectto2safeincrementalencoders. ItenablesUAMtosupportSDIontopofSTO,SMS,SLSacc.EC61800-5-2withouttheneedofmotionmodules.
»ConfigurationthroughEthernetconnection UAM- 05LPAallowsconfigurationthroughEthernetinadditiontoUSBorSDcard. Distance,RSSI,IOstateandinternalstateinformationareallaccessibleoverEthernet.
»3differentfield-setswitchingmethods Ontopoftheconventionalpairedswitchingmode(Max.32field- sets)andencoderinputmode(Max.128), fixedswitchingmodeisaddedwiththeMax .numberof128field-sets.Itenableshigherflexibilityfor user sintegrationofthescanner. »Higherenvironmentalresistance AnewdataprocessingalgorithmappliedtoUAM- 05LPAmakesthescannerevenmorerobustinharsherconditions.
BackwardcompatibilitytotheUAM-05LPseries

ThesameconfigurationsoftwareandtheprojectfileoftheUAM- 05LPcanbeusedalsofortheUAM-05LPA. Both,theUAM-05LPandUAM-05LPA ,canoperatewithinthesamemaster-slavenetwork.

UAM-05LP

UAM-05LP/LPA Configurationsoftware

UAM-05LPA

UAM-05LP

UAM-05LPA

RS485+ RS485-
Master-Slavecommunication

Page5.

Specificationoverview

Protectionrange: Warningrange: Distancetolerance: Detectioncapability: Detectablerange: Minimumdetectablewidth: Scanfrequency: Numberoffield-set: Numberofzoneperfield-set: Responsetime: Element: Wavelength: Safetyclass: Type: Functionalsafety: PFHd: PFHd: Size: Weight: Protection: Powersupply: Powersupply: Configuration: Dataoutput:

Max5m Max30m +100mm Fromblacksheet(1.8%)toretro-reflectorsheet 270° 30mm(1.8m),40mm(2.5m),50mm(max:3.0m),70/150mm(5.0m) 30ms(rotationalspeed2000rpm) Max.32(Pairedinput),Max.128(Fixedinput),Max.128(Encoderinput) Max.3(1protection+2warningzones)/Max.2protectionzones(dualprotectionmode) OFF60ms-510ms|ON270ms-510ms Pulsedlaserdiode 905nm Laserclass1 Type3(IEC614961,IEC614963) SIL2(TypeB,HFT=1)(IEC61508) 7.8×10-8(T1=20year):Whenmasterslavefunctionisnotinuse. 1.6×10-7(T1=20year):Whenmasterslavefunctionisinuse. 80mmx80mmx95mm(withoutcable) Approx.800g(excludingcable) IP65 DC24V±10%:whenoperationusingconverter DC24V-30%/+20%:whenoperatingusingbattery USB2.0(USBmicrotype-Bconnector) Ethernet100BASE-TX

Wiringexampleof4encoderinputsforthedifferentialwheels

ENC1A ENC1B ENC2A ENC2B ENC3A ENC3B ENC4A ENC4B

PLdIncremental encoder
PLdIncremental encoder

Motor

Gear

AGV left wheel
AGV right wheel

Deviceconfigurationinterface ConfigurationviaUSB,SD-CardandEthernet

Angularvelocitymonitoring

Page6.

EtherCATSafetylaserscanner
UAM-05LECseries

DESCRIPTION
ThesmallestsafetylaserscannerwithFSoEsupport!
Smallsizeandlightweight Max.5metersprotectionrangewith270°FoV Max.20meterswarningrange Max.40mdistancemeasurementoutput FullynetworkedscannerwithsupportedEtherCATprofiles Max.176field- setsconfigurable Hybridconnectivitywithhardwiring(optional) CertifiedasType3acc.toIEC61496-1/3 PLdacc.toENISO13849-1 SIL2acc.toIEC61508 cULusapproved

Benefitsataglance

»Smallsizeandlightweight Thecompactsize:80x104x95mmandthelightweightmakethedevicesuitableforthemobilerobot applications.

»Largenumberoffield-sets Maximumnumberofzonesinallfield-setis176.Eachfield- setcanhaveavariablenumberandcombinationof upto5zones.Azonecanbeaprotectionzone(max.5meters)orawarningzone(max.20meters). »SupportedEtherCATprofiles UAM- 05LECsupportsFSoE,EoE,FoEandCoEwhichmakethedeviceusableinthefullynetworkedEtherCAT environment.Rawmeasurementdata,RSSI,IOstateandinternalstateinformationareaccessiblethrough EoEfromtheIPCsuchasanavigationcontroller.

»Hybridconnectivity UAM- 05LECisequippedwithphysicalI/Osinthesameconnectorasthepowersupply.Muting,interlock, encoderinputscanbehardwiredasanoptionanditgivesmoreflexibilityinthedesignofuser ssystem. »Connectormodules Dependingonthesystemdesignrequirements,userscanchosefromthe2differentconnectormodules.

UAM-5CUBA(rearfacingconnectormodule)

UAM-5CUBO(bottomfacingconnectormodule)

LCD display

LCD display

67.4(Detection plane) 54.5 95 30 (Optical window)
22 43.5
67.4(Detection plane) 54.5 95 30 (Optical window)

RUN
ERR
L/A IN OUT

OSSD WARNING INTERLOCK

80 USB

40 104

20 20

RUN
ERR
L/A IN OUT

OSSD WARNING INTERLOCK

80 USB

40 104

20 20

Page7.

Specificationoverview
Partnumber: Protectionrange: Warningrange: Distancetolerance: Detectioncapability: Detectablerange: Minimumdetectablewidth: Scanfrequency: Numberoffield-set: Zoneperfield-set: Responsetime: Element: Wavelength: Safetyclass: Type: Functionalsafety: PFHd: Size: Weight: Protection: Connection: Supplycurrent: Configuration: Dataoutput: Maximumrangedataoutput: SupportedEtherCATprofiles:

UAM-05LEC Max5m Max20m +100mm Fromblacksheet(1.8%)toretro-reflectorsheet 270° 30mm(1.8m),40mm(2.5m),50mm(max:3.0m),70/150mm(5.0m) 30ms(rotationalspeed2,000rpm) Max176patterns(when1zoneperfieldset) Max5 OFF80ms-2,030ms|ON270ms-2,010ms Pulsedlaserdiode 905nm Laserclass1 TType3(IEC614961,IEC614963) SIL2(TypeB,HFT=1)(IEC61508) 7.8×10(TI=20year) 100mmx80mmx95mm(withoutcable) Approx.400g(excludingcable) IP65 3xM12-connector:EtherCATIN/OUT,Power,IOs 7W(normal,withoutload),20W(max,withload) USB2.0(USBmicrotype-Bconnector) Ethernet100BASE-TX(EtherCATIN)/Ethernet100BASE-TX(EtherCATOUT) 40m FSoE,EoE,FoE,CoE

Largenumberoffield-setandflexiblezonesconfiguration Allstandardandadvancedsafetyfunctionsareintegratedintothecompactscanner.

Max.5simultaneoussafetyzones max.5mprotectionrangeand270°FoV

Hybridconnectivity

M:Mutinginput S:Switch

+24VDC

GND

MUT_IN1 MUT_IN2 MUT_IN3 MUT_IN4
RESET1

M1 M2
M3 M4

RESET2 OVERRIDE1

OVERRIDE2

RESREQ1/MUT_OUT1

RESREQ2/MUT_OUT2

Frameground

Page8.

Programmablesafetycontroller
HSCseries
SafetyPLC idealforAGVapplication
HSC-A100-ENC HSC-A100/M-ENC
Description
Freelyprogrammableandconfigurablesafetycontrollerwithencoderinterface
Interfaceforupto6safetylaserscanners 4Encoderinterfaces 16safedigitalinputs 10safedigitaloutputs 2relayoutputs 2pulseoutputs PerformanceLevel:PLe(ENISO13849-1) SafetyIntegrityLevel onechannelmode:Cat.3(ENISO13849-1)/SIL2(IEC61508) twochannelmode:Cat.4(ENISO13849-1)/SIL3(IEC61508) cULusapproval
Benefitsataglance
»Safelogicprocessingofinput,output,statusandactivationsignals »EasyandtransparentprogrammingandparameterizationviaHSCprojectdesigner »FastresponsetimewithintegratedFastChannelTaskwithguaranteedprocessingtimeof2ms »Scannermasterfunctions,activationofmonitoringareasandcomputingofmonitoringresults »CompletesetofDrivemonitoring »Deterministicdatacommunicationandprocessingforsafepositionandspeedfunctions viadistributedsensor/multipleaxes »Storageofsafeparametersinthebasemodule »Status-LEDsforIO »Multi-functionbutton(Quit,Start,Reset)frontside »Integratedcommunicationinterface: fieldbusinterfaceandFSoE- MasterstackforsecureconnectivitytohigherlevelsofcontrolorModbusTCP/IP
Page9.

Specificationoverview

Partnumber:

HSC-A100-ENC,HSC-A100/M-ENC

Numberofsafedigitalinput:16

Numberofsafetdigitaloutput:

PNPswitching*(6+2*+4),NPNswitching2

Numberofrelayoutput: 2

Numberofpulseoutput:

2

Numberofencoderinput:4(TTL/HTL,SINCOS,Resolver,SSI,Analog)

Max.connectableUAM: 6

Interface:

2xRJ-45(Ethernet),USB-C

Fieldbus:

Ethernet,EtherCAT/IO,ModbusTCP

Externalmemory:

MicroSDcard

Dimension:

124x95x76mm

Weight:4 13g

Ambienttemperature:

-25to55

Protectionclass:

IP20(ConnectorsIP00EN60529)

Typeofconnection:

Plug-interminalswithspringconnection

*pn/ppareconfigurableviaHSCProjectdesigner

**configurable2pulseoutputsor2ppswitching

Connectivitywiththesafetylaserscanners

Maximum6unitsofUAM-05LP-T301andUAM-05LPA-T301areconnectable. CompatibilitywithHokuyoEtherCATsafetylaserscanner.

Scannerserial interfacegroup1

Safety-fieldbus Master

RS485+ RS485-

Scannerserial interfacegroup2

EtherCAT FSoESlaves

EtherCAT FSoEMaster
EtherCAT

Completesetofencodersupportandbuilt-inSARC(Safearithmeticlibrary)

SafearithmeticlibraryaswellassafemotionblocksareavailableintheconfigurationsoftwareHSCdesigner.

Completesetofdrivemonitoring Safearithmeticlibrary

Safemonitoringfunctionblocks

-IncrementalencoderHTL -IncrementalencoderTTL -Sin/Cos -SSIencoder -Resolver -Analogencoder

Page10.

Built-inmodules AllthemodulessuchasI/Os,relay,motionmodulesarebuiltinonesmalldevice.

95mm 124mm

76mm

System Main

I/O

Relay Motion

Plug Module Module Module Module

WiringexamplesofanAGVapplication WiringexampleimagesofanAGVapplicationwithHokuyosafetyproducts.

Scenario1: UAM-05LP+3rdpartyPLC

Scenario2: UAM-05LP+3rdpartyPLC (Master-Slave&Encoderinputmodeinuse)

Scenario3: UAM-05LP+HSC-A100

Max.numberoffield-setperscanner:32 SupportedEncoder:HTLincremental
Totalnumberofwires:40

Max.numberoffield-setperscanner:128 SupportedEncoder:HTLincremental
Totalnumberofwires:28

Max.numberoffield-setperscanner:128 SupportedEncoder: HTL,TTLincremental,Sin/Cos SSIencoder,Resolver,Analogencoder
Totalnumberofwires:16

Page11.

Cautionforsafetyuse
Readinstructionmanualcarefullybeforeuse. Productspublishedinthisbrochureareintendedtobeusedunderspecificconditions. Forproductrelatedquestionsortechnicalissues,pleasecontactouroffices.

Headquarter HOKUYOAUTOMATICCO.,LTD. HigobashiUnionBuilding,1-9-6Edobori Nishi- kuOsaka-shi,Osaka550-0002Japan TEL:+81-6-6441-2239 Email:info@hokuyo-aut.jp URL:http://www.hokuyo-aut.jp

EuropeanOffice HOKUYOAUTOMATICCO.,LTD.AmsterdamBranch Prof.J.H.Bavincklaan2 1183ATAmstelveen TheNetherlands TEL:+31-20-240-0110 Email:amsterdam.branch @hokuyo-aut.co.jp

References

• aut株式会社
• HOKUYO AUTOMATIC CO., LTD.

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