PILZ safety laser scanner PSENscan

Package: psen_scan_v2

The psen_scan_v2 package is a ROS integration driver for the PSENscan safety laser scanner product. It lets you integrate the laser scanner data into your ROS Environment easily. Using the standard [sensor_msgs/LaserScan][] message format ensures compatibility with other laserscan-post-processing nodes such as [gmapping][]. For a general overview, link collection and tutorials we refer to the ROS wiki page.

Common features:

• Compliant and approved in accordance with:
  • EN/IEC 61496-1: Type 3
  • EN ISO 13849-1: PL d
  • IEC 61508: SIL 2
• Opening angle: 275°
• Operating range: 3.0 or 5.5 m safety zone, 40 m warning zone
• Reaction time: 62 ms
• Protection type: IP65
• Dimensions (H x W x D) in mm: 152 x 102 x 112.5

The PSENscan firmware (3.1.x) is supported on the following models:

Light versions

| Type | Features | Order number | |———————–|————————————————————————–|————–| | PSEN sc L 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000012 | | PSEN sc L 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000013 |

Additional features: Muting, EDM, Override

Master versions

| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc M 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000016 | | PSEN sc M 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000017 | | PSEN sc M 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000019 | | PSEN sc ME 5.5 08-17 | 5.5 m safety zone, 8 or 17-pin, two safety zones active at the same time | 6D000034 |

Additional features: Muting, EDM, Override, restart in accordance with EN ISO 61496-3, vertical applications

Subscriber versions

| Type | Features | Order number | |———————–|—————————————————————————|————–| | PSEN sc S 3.0 08-12 | 3.0 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000020 | | PSEN sc S 5.5 08-12 | 5.5 m safety zone, 8 or 12-pin, two safety zones active at the same time | 6D000021 |

Additional features: reference marks, vertical applications

C++ standalone library

If you are interested in using the PSENscan safety laser scanner without ROS, please take a look at our C++ standalone library. You can read more about it in the standalone folder.

Table of Contents

1. Installation
2. Usage
   • Parameters
   • Optional Parameters
   • Expert Parameters (optional)
   • Published Topics
   • TF Frames
   • Defining the scan range
   • Timestamp details
   • Transferred IOs
   • Importing the zoneset configuration
   • Visualizing the active zoneset
3. Developer Information
   • Build Status
   • Branching model
   • Test concept
4. Migration

Installation

Needed Equipment:

• PSENscan safety laser scanner
• ROS Machine

To use the package, you can install prebuilt packages with

sudo apt install ros-$ROS_DISTRO-psen-scan-v2

Usage

This package is capable to read data from 1 Master safety laser scanner, and up to 3 Subscribers safety laser scanners, as shown below:

To read data and publishing scans from 1 safety laser scanner (Master, Light), execute in a command line:

```bash roslaunch psen_scan_v2 psen_scan_v2.launch sensor_ip:=192.168.0.10

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