O P E R A T I N G I N S T R U C T I O N S
GLS100
Grid localization
Described product
GLS100
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be
reserved for SICK AG. Reproduction of this document or parts of this document is
only permissible within the limits of the legal determination of Copyright Law. Any modi‐
fication, abridgment or translation of this document is prohibited without the express
written permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.
Original document
This document is an original document of SICK AG.
2006/42/EC
NO
SAFETY
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Subject to change without notice
Contents
1 About this document........................................................................ 5
1.1 Information on the operating instructions.............................................. 5
1.2 Scope......................................................................................................... 5
1.3 Explanation of symbols............................................................................ 5
1.4 Further information................................................................................... 6
1.5 Customer service...................................................................................... 6
2 Safety information............................................................................ 7
2.1 Intended use............................................................................................. 7
2.2 Improper use............................................................................................. 7
2.3 Notes on UL approval............................................................................... 7
2.4 Limitation of liability................................................................................. 7
2.5 Requirements for skilled persons and operating personnel.................. 8
2.6 Hazard warnings and operational safety................................................. 8
2.7 Repairs...................................................................................................... 9
3 Product description........................................................................... 10
3.1 Product identification............................................................................... 10
3.2 Product features....................................................................................... 12
4 Transport and storage....................................................................... 17
4.1 Transport................................................................................................... 17
4.2 Transport inspection................................................................................. 17
4.3 Storage...................................................................................................... 17
5 Mounting............................................................................................. 18
5.1 Preparation for mounting......................................................................... 18
5.2 Mounting the sensor................................................................................ 18
6 Electrical installation........................................................................ 20
6.1 Safety......................................................................................................... 20
6.2 Pin assignment of the connections......................................................... 22
6.3 Connecting the supply voltage................................................................. 22
6.4 CAN connection........................................................................................ 23
7 Commissioning.................................................................................. 24
7.1 Overview of commissioning steps........................................................... 24
7.2 Commissioning the sensor for the first time.......................................... 24
7.3 First step to commissioning with CANopen............................................ 24
7.4 First step to commissioning with Modbus RTU....................................... 27
8 Operation............................................................................................ 30
8.1 Operation via CANopen............................................................................ 30
8.2 Operation via Modbus RTU...................................................................... 36
8.3 Transformation of output values.............................................................. 38
CONTENTS
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9 Maintenance...................................................................................... 40
9.1 Cleaning..................................................................................................... 40
9.2 Maintenance............................................................................................. 40
9.3 Repairs...................................................................................................... 40
10 Decommissioning............................................................................. 41
10.1 Decommissioning..................................................................................... 41
11 Technical data.................................................................................... 42
12 Accessories........................................................................................ 44
13 Licenses.............................................................................................. 45
14 Annex.................................................................................................. 46
14.1 EU declaration of conformity.................................................................... 46
CONTENTS
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1 About this document
1.1 Information on the operating instructions
These operating instructions provide important information on how to use sensors from
SICK AG.
Prerequisites for safe work are:
•
Compliance with all safety notes and handling instructions supplied.
•
Compliance with local work safety regulations and general safety regulations for
sensor applications.
The operating instructions are intended to be used by qualified personnel and electrical
specialists.
NOTE
Read these operating instructions carefully before starting any work on the sensor, in
order to familiarize yourself with the sensor and its functions.
The instructions constitute an integral part of the product and are to be stored in the
immediate vicinity of the sensor so they remain accessible to staff at all times. If the
sensor is passed on to a third party, these operating instructions should be handed
over with it.
These operating instructions do not provide information on operating the machine
in which the sensor is integrated. For information about this, refer to the operating
instructions of the particular machine.
1.2 Scope
These operating instructions explain how to incorporate a sensor into a customer
system. Step-by-step instructions are given for all required actions.
These instructions apply to all available device variants of the sensor.
b
www.sick.com/1114008
b
www.sick.com/1116319
Commissioning is described using one particular device variant as an example.
Simplified device designation in the document
In the following, the sensor is referred to in simplified form as “GLS100”.
1.3 Explanation of symbols
Warnings and important information in this document are labeled with symbols. The
warnings are introduced by signal words that indicate the extent of the danger. These
warnings must be observed at all times and care must be taken to avoid accidents,
personal injury, and material damage.
DANGER
… indicates a situation of imminent danger, which will lead to a fatality or serious
injuries if not prevented.
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WARNING
… indicates a potentially dangerous situation, which may lead to a fatality or serious
injuries if not prevented.
CAUTION
… indicates a potentially dangerous situation, which may lead to minor/slight injuries if
not prevented.
NOTICE
… indicates a potentially harmful situation, which may lead to material damage if not
prevented.
NOTE
… highlights useful tips and recommendations as well as information for efficient and
trouble-free operation.
1.4 Further information
NOTE
All the documentation available for the sensor can be found on the online product page
at:
b
www.sick.com/ols20
The following information is available for download from this page:
•
Type-specific online data sheets for device variants, containing technical data and
dimensional drawings
•
EU declaration of conformity for the product family
•
Dimensional drawings and 3D CAD dimension models in various electronic for‐
mats
•
These operating instructions, available in English and German, and in other lan‐
guages if necessary
•
Other publications related to the sensors described here
•
Interface descriptions for CANopen and RS485 (Modbus)
•
Publications dealing with accessories
•
EDS device description file
1.5 Customer service
If you require any technical information, our customer service department will be happy
to help. To find your representative, see the final page of this document.
NOTE
Before calling, make a note of all type label data such as type code etc. to ensure faster
processing.
1 ABOUT THIS DOCUMENT
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2 Safety information
2.1 Intended use
The GLS100 is used for automatic localization of automatic guided vehicle system (AGV
systems) in warehouses, logistics and distribution.
The device detects and decodes 2D codes which are attached in the form of a grid
on the floor. Using the data provided by the device, the AGV system is localized and
repositioned by a higher-level control (e.g. PLC). The device is primarily designed for
use in industrial and logistics areas. It meets the applicable requirements for industrial
robustness, interfaces, and data processing.
SICK AG assumes no liability for losses or damage arising from the use of the product,
either directly or indirectly. This applies in particular to use of the product that does not
conform to its intended purpose and is not described in this documentation.
2.2
Improper use
•
The sensor does not constitute a safety-relevant device according to the EC Machi‐
nery Directive (2006/42 / EC).
•
The sensor must not be used in explosion-hazardous areas.
•
Any other use that is not described as intended use is prohibited.
•
Any use of accessories not specifically approved by SICK AG is at your own risk.
•
The sensor is not suitable for outdoor applications.
•
The sensor must not be operated with a long cable > 30 m according to EN
61000-6-2.
NOTICE
Danger due to improper use!
Any improper use can result in dangerous situations.
Therefore, observe the following information:
b
The sensor should be used only in line with intended use specifications.
b
All information in these operating instructions must be strictly complied with.
2.3 Notes on UL approval
The device must be supplied by a Class 2 source of supply.
UL Environmental Rating: Enclosure type 1
Maximum ambient temperature 50°C
2.4 Limitation of liability
Applicable standards and regulations, the latest state of technological development,
and our many years of knowledge and experience have all been taken into account
when assembling the data and information contained in these operating instructions.
The manufacturer accepts no liability for damage caused by:
■
Failing to observe the operating instructions
■
Improper use
■
Use by untrained personnel
■
Unauthorized conversions
■
Technical modifications
■
Use of unauthorized spare parts, consumables, and accessories
SAFETY INFORMATION 2
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Subject to change without notice
With special variants, where optional extras have been ordered, or owing to the latest
technical changes, the actual scope of delivery may vary from the features and illustra‐
tions shown here.
2.5 Requirements for skilled persons and operating personnel
WARNING
Risk of injury due to insufficient training.
Improper handling of the sensor may result in considerable personal injury and material
damage.
■
All work must only ever be carried out by the stipulated persons.
The operating instructions state the following qualification requirements for the various
areas of work:
■
Instructed personnel have been briefed by the operating entity about the tasks
assigned to them and about potential dangers arising from improper action.
■
Skilled personnel have the specialist training, skills, and experience, as well as
knowledge of the relevant regulations, to be able to perform tasks assigned to
them and to detect and avoid any potential dangers independently.
■
Electricians have the specialist training, skills, and experience, as well as knowl‐
edge of the relevant standards and provisions to be able to carry out work on
electrical systems and to detect and avoid any potential dangers independently. In
Germany, electricians must meet the specifications of the BGV A3 Work Safety
Regulations (e.g., Master Electrician). Other relevant regulations applicable in
other countries must be observed.
The following qualifications are required for various activities:
Activities Qualification
Mounting, maintenance
■
Basic practical technical training
■
Knowledge of the current safety regulations in the workplace
Electrical installation,
device replacement
■
Practical electrical training
■
Knowledge of current electrical safety regulations
■
Knowledge of the operation and control of the devices in their
particular application
Commissioning, configura‐
tion
■
Basic knowledge of the design and setup of the described
connections and interfaces
■
Basic knowledge of data transmission
■
Knowledge of the operation and control of the devices in their
particular application
Operation of the devices in
their particular application
■
Knowledge of the operation and control of the devices in their
particular application
■
Knowledge of the software and hardware environment in the
application
2.6 Hazard warnings and operational safety
Please observe the safety notes and the warnings listed here and in other chapters
of these operating instructions to reduce the possibility of risks to health and avoid
dangerous situations.
NOTE
The device is equipped with LEDs. The device meets the criteria of risk group 0 accord‐
ing to IEC 62471:2006. No special measures are required (e.g., eye protection).
2 SAFETY INFORMATION
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Subject to change without notice
2.7 Repairs
Repair work on the sensor may only be performed by qualified and authorized person‐
nel from SICK AG. Interruptions or modifications to the sensor on the part of the
customer will invalidate any warranty claims against SICK AG.
SAFETY INFORMATION 2
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Subject to change without notice
3 Product description
3.1 Product identification
3.1.1 Type label
1
2
4
5
3
Figure 1: Type label
1
Type designation
2
Part number
3
Machine-readable code
4
Serial number
5
Pin assignment example for CAN device
3 PRODUCT DESCRIPTION
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3.1.2 Structure and status indicators
31 (1.22)
15.5 (0.61)
1
100 (3.94)
120 (4.72)
48.3 (1.9)
52.5 (2.07)
5.5 (0.22)
9 (0.35)
62
(2.44)
4.1
(
0.16)
32 (1.26)
53.6
(2.11)
4.2 (0.17)
24
(0.94)
1
2
3
Figure 2: Device view
1
Optical axis
2
Fixing hole Ø4.1 mm
3
M12 male connector, rotatable by 180°
130.6
(5.14
)
98 (3.86)
1
Figure 3: Field of view
1
Field of view (W x H)
PRODUCT DESCRIPTION 3
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1
Figure 4: Status indicators
1
Status indicators
Function indicators (LEDs)
Table 1: Function indicators (LEDs)
Function indicator Description
Q Status indicator
•
LED yellow: Code detected and read
•
LED off: No code detected
PWR Operational status display
•
Green LED: Normal operation/Supply voltage on
•
LED off: No operation
3.2 Product features
Function and use
The GLS100 localizes automatic guided vehicle systems (AGV systems) using 2D codes.
The device is mounted on the underside of the AGV system. The 2D codes are attached
in the form of a grid on the floor. The individual 2D codes are numbered and contain
position information.
3 PRODUCT DESCRIPTION
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Figure 5: Grid localization with the GLS
The device detects and decodes 2D codes. The device sends the following read data
via the interface:
•
Status
•
Code label position x,y,z
•
Code label orientation as angle
•
Code data: Number of the MultiCode label
•
Time stamp
•
Overspeed in x- and y-direction
PRODUCT DESCRIPTION
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Code alignment
In the grid navigation application, the position of the vehicle is determined in relation to
the code. This convention (code coordinate system) is preset in the factory setting for
the GLS100, see table 2
Table 2: Code coordinate system
Data Matrix MultiCode (coordinate origin is the center of the label).
Code coordinate system
Y
rY
Y
Y
angle
X
rX
1 2 3
1
4
1 y-direction Code - coordinate system
2 y-direction Sensor - coordinate system
3 Field of view 160 mm x 120 mm
4 Coordinates in the sensor coordination system (x/y)
In addition, it is possible – for applications with stationary sensor mounting – to obtain
the position and angular orientation of the code label in relation to the sensor center.
This convention is called the sensor coordinate system in the following, see table 3
3
PRODUCT DESCRIPTION
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Table 3: Sensor coordinate system
Coordinate origin is the optical center of the sensor
Sensor coordinate system
Y
rY
Y
- angle
X
rX
1 2 3
4
1 y-direction Code - coordinate system
2 y-direction Sensor - coordinate system
3 Field of view 160 mm x 120 mm
4 Coordinates in the sensor coordination system (x/y)
PRODUCT DESCRIPTION
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2D codes
MultiCode labels are optionally available as accessories for the device, see “Accesso‐
ries”, see "", page 44. The MultiCode labels are made out of several Data Matrix
codes.
2
3
4
5
1
1
Data Matrix Code
2
Auxiliary line for alignment
3
Center of the multicode label
4
Grayscale Scale (testing of print quality of the customer print)
5
Code data: Number of the MultiCode label
Using the SICK MultiCode label is recommended as it is optimally tailored to the appli‐
cation. The SICK MultiCode label also enables the highest overspeeds to be reached.
Alternatively, single 2D codes or 2D MultiCodes in QR (single code only) or Data Matrix
(MultiCode) formats provided by the customer can be used. QR single codes must
correspond to the 21x21, 25x25, 29x29, 33x33 or formats. The maximum edge length
must not exceed 38 mm. The 2D codes must have a minimum size of 1 mm (code
module size). The type of code to be read out can be selected under the “operating
mode” setting. DM MultiCodes are selected in the factory setting.
When using customer codes, the module size may have to be configured (ModBus: Reg‐
ister 151/152. CANopen Index 0x02002 Sub 02). Factory setting for the module size is
1.0 mm. If the module size is configured incorrectly, the sensor cannot determine the
z-position correctly.
3
PRODUCT DESCRIPTION
16
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4 Transport and storage
4.1 Transport
Improper transport
CAUTION DAMAGE TO THE PATTERN SENSOR DUE TO IMPROPER TRANSPORT!
Substantial material damage may result in the event of improper transport.
For this reason:
•
The device should be transported only by trained specialist staff.
•
The utmost care and attention is required at all times during unloading and
transportation on company premises.
•
Note the symbols on the packaging.
•
Do not remove packaging until immediately before starting installation work.
4.2 Transport inspection
Immediately upon receipt at the receiving work station, check the delivery for complete‐
ness and for any damage that may have occurred in transit. In the case of transit
damage that is visible externally, proceed as follows:
■
Do not accept the delivery or only do so conditionally.
■
Note the scope of damage on the transport documents or on the transport compa‐
ny’s delivery note.
■
File a complaint.
NOTE
Complaints regarding defects should be filed as soon as these are detected. Damage
claims are only valid before the applicable complaint deadlines.
4.3 Storage
Store the device under the following conditions:
■
Recommendation: Use the original packaging.
■
Do not store outdoors.
■
Store in a dry area that is protected from dust.
■
To allow any residual dampness to evaporate, do not package in airtight contain‐
ers.
■
Do not expose to any aggressive substances.
■
Protect from sunlight.
■
Avoid mechanical shocks.
■
Storage temperature: see "Ambient data", page 43.
■
Relative humidity: see "Ambient data", page 43.
■
For storage periods of longer than 3 months, check the general condition of all
components and packaging on a regular basis.
TRANSPORT AND STORAGE 4
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Subject to change without notice
5 Mounting
5.1 Preparation for mounting
1 Select the mounting site for the GLS100 in accordance with the following chapter
"Mounting requirements", page 18.
2 Mount the GLS100 using the fixing holes.
"Structure and status indicators", page 11
"Accessories", page 44
5.1.1 Mounting requirements
■
Typical space requirement for sensor, see "", page 42.
■
Comply with technical parameters such as the permitted ambient conditions for
the operation of the sensor (e.g., temperature range, EM interference), see "Ambi‐
ent data", page 43.
■
Protect the sensor from direct sunlight.
■
Only affix the sensor using accessories supplied for this purpose -> there are no
screw connections on the sensor.
■
Sensing distance: 100 mm (±30 mm)
The sensing distance is the distance from the front sensor edge (housing edge) to
the ground.
5.1.2 Scope of delivery
The following are included with delivery of the sensor:
•
GLS100 grid localization sensor
•
1 quick-start guide
Accessories:
Accessories (e.g., cables, fastening adapters) are only included with delivery if ordered
separately.
5.2
Mounting the sensor
Arrangement over guide track
The GLS100 must be positioned orthogonally to the 2D code to be detected.
To achieve the maximum overspeed, the sensor should be positioned perpendicular to
the direction of travel.
5 MOUNTING
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Table 4: Mounting
Figure 6: Arrangement via code grid and traverse direction
MOUNTING 5
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Subject to change without notice
6 Electrical installation
6.1 Safety
6.1.1 Notes on electrical installation
CAUTION
Danger due to incorrect supply voltage!
An incorrect supply voltage may result in injuries from electric shocks and/or damage to
the device.
■
Only operate the sensor with safety/protective extra-low voltage (SELV/PELV).
NOTICE
Sensor damage or unpredictable operation due to working with live parts!
Working with live parts may result in unpredictable operation.
■
Only carry out wiring work when the power is off.
■
Only connect and disconnect electrical connections when the power is off.
■
The electrical installation must only be performed by electrically qualified person‐
nel.
■
Standard safety requirements must be observed when working on electrical
systems!
■
Only switch on the supply voltage for the device when the connection tasks have
been completed and the wiring has been thoroughly checked.
■
When using extension cables with open ends, ensure that bare wire ends do not
come into contact with each other (risk of short-circuit when supply voltage is
switched on!). Wires must be appropriately insulated from each other.
■
Wire cross-sections in the supply cable from the user’s power system must be
designed in accordance with the applicable standards. When this is being done in
Germany, observe the following standards: DIN VDE 0100 (Part 430) and DIN VDE
0298 (Part 4) and/or DIN VDE 0891 (Part 1).
■
Electrical circuits connected to the device must be configured as SELV circuits
(SELV = safety extra-low voltage/PELV = protective extra-low voltage).
■
Protect the device with a separate fuse at the start of the supply circuit.
The IP enclosure rating for the sensor is only achieved if the connected cable is
completely screwed in.
6.1.2 Wiring instructions
NOTE
Pre-assembled cables can be found online at:
b
www.sick.com/1114008
b
www.sick.com/1116319
Please observe the following wiring instructions:
■
During installation, pay attention to the different cable groups. The cables are
grouped into the following four groups according to their sensitivity to interference
or radiated emissions:
6 ELECTRICAL INSTALLATION
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