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SETUP OF DISTANCE SENSOR

SICK DT35

APPLICATION ON GRIPPER
-DETECTION OF STACK MISALIGNMENT-
SICK sensor DT35 could be set to detect two switching points in different distance. In our case, we need to setup
sensor to detect obstacle between gripper and floor when gripper catching crate(s) on two places of catching - in
warehouse floor and on inbound conveyor. Output Q1 is used as feedback for obstacle between gripper and the
floor, and output Q2 as feedback for obstacle between gripper and conveyor.

1. Output Q2 may work in one of three modes: 4-20mA, 0-10V, and switching. By default Q2 is set to 4-20mA.
First, we need to ensure that output Q2 is parameterized to be in switching mode. To do that , next steps need to be
followed:
1.1 For access to setup of Q2 output, sensor need to be in "Expert mode". To do that, press both buttons for more
than 10s.

1.2 "Q1 near" is active and "slow" LED blinking.

1.3 Press "select" button.


1.4 Now is active "Q1 far".

1.5 Press "select" again.

1.6 Now is active "Q2 near". "slow" LED in this step may blinking for 1, 2, or times. That mean that actual mode is 4-
20mA, 0-10V, switching, respectively. To change actual mode of Q2 press "set".

Press "set" button until "slow" start flashing for three times. When "slow" LED flashing for three times that mean
that actual mode of Q2 is selected to be in switching mode. Press "select" for more than 5s to save setup. Output Q2
is in switching mode now.
For setup of reacting behavior of sensors outputs in our case we need to follow these steps:

REACTING ON THE FLOOR


Gripper need to be in upper position(default upper). Put some flat object (black if it's possible) to the floor under
sensor which you want to setup. Height of that object need to be ~5cm.

SETUP OF Q1 OUTPUT

2.1 To enter to setup mode of output press "select" for more than 5s.

2.2 "Q1 near" appear.


2.3 Press "select" shortly.

2.4 "Q1 far" is active now. Press "set". "Q1" and "Q2" blinking for few times, and that mean acceptance of setting. To
save setup press "select" for more than 5s.

Setting acceptance Setup saving

REACTING ON THE INBOUND CONVEYOR


Gripper need to be in upper position(default upper). Put stack of three crates to the floor under sensor which you
want to setup. Height should be ~58cm.
SETUP OF Q2 OUTPUT

3.1 To enter to setup mode of output press "select" for more than 5s.

3.2 Press "select" few times until "Q2 far" becomes active.

3.3 Press "set". "Q1" and "Q2" blinking for few times, and that mean acceptance of setting. To save setup press
"select" for more than 5s.

Setting acceptance Setup saving