SICK MLS Line guidance sensors Operating instructions

O P E R A T I N G I N S T R U C T I O N S

MLS

Line guidance sensors

Described product

MLS

MLSE-0200

MLSE

-0300

MLSE-0400

MLSE-0500

MLSE-0600

Manufacturer

SIC

K A

G

Erwin-Sick-Str. 1

79183 Waldkirch

Germany

Production location

SICK G

HU, Hungary

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 modifica‐

tion, abridgment or translation of this document is prohibited without the express writ‐

ten permission of SICK AG.

The trademarks stated in this document are the property of their respective owner.

Original document

T

his doc

ument 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 Limitation of liability................................................................................. 7

2.4 Requirements for skilled persons and operating personnel.................. 8

2.5 Hazard warnings and operational safety................................................. 8

2.6 Repairs...................................................................................................... 8

3 Product description........................................................................... 9

3.1 Product identification............................................................................... 9

3.2 Product characteristics............................................................................ 10

4 Transport and storage....................................................................... 13

4.1 Transport................................................................................................... 13

4.2 Transport inspection................................................................................. 13

4.3 Storage...................................................................................................... 13

5 Mounting............................................................................................. 14

5.1 Preparation for mounting......................................................................... 14

5.2 Mounting the sensor................................................................................ 15

5.3 Mounting of the magnetic tape............................................................... 16

6 Electrical installation........................................................................ 19

6.1 Safety......................................................................................................... 19

6.2 Pin assignment of the connections......................................................... 21

6.3 Connecting the supply voltage................................................................. 21

6.4 CAN connection........................................................................................ 22

7 Commissioning.................................................................................. 23

7.1 Overview of commissioning steps........................................................... 23

7.2 Commissioning the sensor for the first time.......................................... 23

7.3 Quick-start guide for the MLS CANopen................................................. 23

8 Operation............................................................................................ 26

8.1 CANopen.................................................................................................... 26

8.2 Operating and status indicators.............................................................. 38

8.3 Teach-in mode........................................................................................... 39

8.4 General notes on operation..................................................................... 40

CONTENTS

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8.5 Track optimization..................................................................................... 43

8.6 Marker detection...................................................................................... 47

8.7 Inertial measuring unit............................................................................. 49

8.8 Temperature sensor.................................................................................. 52

8.9 Event detection......................................................................................... 52

9 Maintenance...................................................................................... 54

9.1 Maintenance............................................................................................. 54

9.2 Repairs...................................................................................................... 54

10 Decommissioning............................................................................. 55

10.1 Decommissioning..................................................................................... 55

11 Troubleshooting................................................................................. 56

12 Technical data.................................................................................... 57

13 Annex.................................................................................................. 59

13.1 EU declaration of conformity.................................................................... 59

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 A

G.

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

R

e

ad 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

immediat

e 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 instruc‐

tions of the particular machine.

1.2 Scope

These operating instructions are used for incorporating a sensor into a customer sys‐

tem. S

tep-by-step instructions are given for all the actions required.

These instructions apply to all available device variants of the sensor.

Available device variants are listed on the online product page.

b

www.sic

k.com/mls

Commissioning is described using one particular device variant as an example.

Simplified device designation in the document

In the f

ollowing, the sensor is referred to in simplified form as “MLS”.

1.3 Explanation of symbols

Warnings and important information in this document are labeled with symbols. The

war

nings 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, per‐

sonal injury, and material damage.

DANGER

… indica

tes a situation of imminent danger, which will lead to a fatality or serious

injuries if not prevented.

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WARNING

… indica

tes a potentially dangerous situation, which may lead to a fatality or serious

injuries if not prevented.

CAUTION

… indica

tes a potentially dangerous situation, which may lead to minor/slight injuries if

not prevented.

NOTICE

… indica

tes a potentially harmful situation, which may lead to material damage if not

prevented.

NOTE

… hig

hlights useful tips and recommendations as well as information for efficient and

trouble-free operation.

1.4 Further information

NOTE

All the doc

umentation available for the sensor can be found on the online product page

at:

b

www.sick.com/mls

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

•

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

t

o he

lp. To find your representative, see the final page of this document.

NOTE

Bef

ore calling, make a note of all type label data such as type code etc. to ensure faster

processing.

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2 Safety information

2.1 Intended use

The MLS sensor is a non-contact sensor used to determine the position of a magnetic

line tape

.

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.

NOTICE

Radio int

erference may occur when the sensor is used in residential areas.

b

Only use the device in industrial environments (EN 61000-6-4).

2.2 Improper use

•

T

he sensor doe

s not constitute a safety-relevant device according to the EC

Machinery 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.

NOTICE

Dan

ger due to improper use!

Any improper use can result in dangerous situations.

Therefore, take note of 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 Limitation of liability

Applicable standards and regulations, the latest state of technological development,

and our man

y y

ears 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

With special variants, where optional extras have been ordered, or owing to the latest

t

ec

hnical changes, the actual scope of delivery may vary from the features and illustra‐

tions shown here.

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2.4 Requirements for skilled persons and operating personnel

WARNING

Risk of injur

y 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

are

as 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 elec‐

trical systems and to detect and avoid any potential dangers independently. In Ger‐

many, electricians must meet the specifications of the BGV A3 Work Safety Regu‐

lations (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 pr

actical technical training

■

Knowledge of the current safety regulations in the workplace

Electrical installation,

dev

ice replacement

■

Prac

tical 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 con‐

nections 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 par

ticular application

■

Know

ledge of the operation and control of the devices in their

particular application

■

Knowledge of the software and hardware environment in the

application

2.5 Hazard warnings and operational safety

Please observe the safety notes and the warnings listed here and in other chapters of

t

he

se operating instructions to reduce the possibility of risks to health and avoid dan‐

gerous situations.

2.6 Repairs

Repair work on the sensor may only be performed by qualified and authorized person‐

nel fr

om SICK AG. Interruptions or modifications to the sensor on the part of the cus‐

tomer will invalidate any warranty claims against SICK AG.

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3 Product description

3.1 Product identification

3.1.1 Type label

DC 9 ... 30V class2

R

MLSE-0100AATP0 01A

1735

D-79183 Waldkirch

Made in Hungary

MLS

1

2

7

5

4

3

6

8

9

ß

à

Figure 1: Type label

1

MLS

2

Type designation

3

Material number

4

Country of origin

5

Date code (YYCW)

6

Machine-readable code

7

CE

8

UL certification

9

Rating UL certification

10

CanOpen

11

RoHS China

3.1.2 Device view

1

2

4

5

3

Figure 2: Device view

1

Aluminum housing with T-slot

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2

Front end cap with capacitive teachpad

3

2 x LED indicators

4

Cable outlet

5

Rear end cap

20

(0.79)

14 (0.55)

7.5 (0.3)

ø 2.6 (0.10)

L1

19.5

(0.77)

ø 8.2 (0.32)

1

3

2

Total length

(L1) mm

MLSE-0200 217

MLSE-0300 325

MLSE-0400 397

MLSE-0500 505

MLSE-0600 613

20

(0.79)

Figure 3: Dimensional drawing

3.2 Product characteristics

3.2.1 Product features

The MLS is a non-contact sensor used to determine the position of a magnetic line tape

or t

he posit

ion of up to three line tapes simultaneously; these tapes are primarily used

in conjunction with AGCs (autonomous guided carts).

The sensor is also capable of detecting defined markers positioned adjacent to the

actual line.

NOTE

Fr

om firmware version 5, an inertial measuring unit (IMU) is integrated as an additional

navigation aid which allows for detection of the current orientation of the sensor (see

"Inertial measuring unit", page 49).

Other new features of firmware version 5 are:

•

Bitmap, see "Bitmap", page 42

•

Track optimization, see "Track optimization", page 43

•

Temperature sensor, see "Temperature sensor", page 52

•

Event detection, see "Event detection", page 52

3.2.2 Operating principle

Principle of operation

T

he MLS de

termines the position of the magnetic tape via a row of hall sensors. The

raw data from the hall sensors is fed into an algorithm to calculate the position of the

line tape.

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Line position

The line posit

ion is indicated relative to the geometric center of the longitudinal axis of

the sensor. However, this only applies when the user has not set an offset for the zero

position.

+

–

Resolution

R

e

solution refers to the minimum position change of the magnetic tape relative to the

sensor that can be reflected in the sensor output.

Cycle time

The cycle time indicates the time interval within which the sensor can provide a new

output signal.

Repeatability

Repeatability refers to the change in output signal when the relative position of the

magnetic tape to the sensor does not change.

Orientation of the sensor

The orientation of the sensor indicates the tilt of the sensor around the gravity axis

(expressed with roll and pitch angle) as well as the rotation of the sensor around this

axis (expressed by the yaw angle).

3.2.3 Suitable magnetic tape

The sensor is compatible with

•

Magne

tic tape with a single pole pair (north or south), unipolar magnetization on

one side

•

Various magnetic tape widths

•

Various distances from the magnetic tape

Table 1: Magnetic tape

N

S

N

S

NS

NN S S S

S S SN N N N

With magnetic tape that uses another form of magnetization (e.g., strip magnetization),

corr

ect functioning cannot be guaranteed.

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Suitable magnetic tapes are available as accessories for the MLS, see www.sic

k.com/

MLS.

NOTE

The suit

ability of foreign magnetic tapes should be checked before use. Use the MLS

configuration software for this purpose (download via www.sick.com/MLS).

1. Hold the MLS over the magnetic tape at the desired working distance.

✓

The Track Level output in the configurator should be ≥ 4 and therefore in the green

range.

Table 2: Track Levels

Track Level

Good (green)

Sensor det

ects the tape as specified

7

6

5

4

Critical (yellow)

Sensor det

ects the tape as specified, but near

the limits

3

2

1

Bad (red)

Sensor detects the tape, but not within the

specified range

0

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4 Transport and storage

4.1 Transport

For your own safety, please read and observe the following notes:

NOTE

Dama

ge to the sensor due to improper transport.

■

The device must be packaged for transport with protection against shock and

damp.

■

Recommendation: Use the original packaging as it provides the best protection.

■

Transport should be performed by specialist staff only.

■

The utmost care and attention is required at all times during unloading and trans‐

portation on company premises.

■

Note the symbols on the packaging.

■

Do not remove packaging until immediately before you start mounting.

4.2 Transport inspection

Immediately upon receipt at the receiving work station, check the delivery for complete‐

nes

s and for any damage that may have occurred in transit. In the case of transit dam‐

age 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 com‐

pany’s delivery note.

■

File a complaint.

NOTE

Com

plaints 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:

■

R

ecommend

ation: Use the original packaging.

■

Do not store outdoors.

■

Store in a dry area that is protected from dust.

■

So that any residual damp can evaporate, do not package in airtight containers.

■

Do not expose to any aggressive substances.

■

Protect from sunlight.

■

Avoid mechanical shocks.

■

For storage periods of longer than 3 months, check the general condition of all

components and packaging on a regular basis.

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5 Mounting

5.1 Preparation for mounting

5.1.1 Mounting requirements

NOTICE

Radio int

erference may occur when the sensor is used in residential areas.

Only use the device in industrial environments (EN 61000-6-4).

■

Typic

al space requirements for sensor, see "Mechanics/electronics", page 57.

■

Comply with technical parameters such as the permitted ambient conditions for

the operation of the sensor (e.g., temperature range, EM interference), see "techni‐

cal data", page 57.

■

Protect the sensor from direct sunlight.

■

Only affix the sensor using accessories supplied for this purpose -> there are no

screw connections on the sensor

Mounting location

When se

lecting the mounting location, the following factors must be considered:

■

The mounting location must be as free from (electro)magnetic disturbance fields

as possible

■

The sensor must be fitted on the AGC at a 90° angle to the direction of travel

■

The sensor must be fitted with the greatest possible accuracy in a horizontal posi‐

tion

■

The sensor must be fitted with the label facing upward

■

The center point of the sensor should be positioned at the AGC center point, at a

right angle to the direction of travel if possible

■

The working distance between the sensor and SICK magnetic tape is 10 mm -

70 mm

1)

. The use of other magnetic tapes is possible, but should be tested in

advance (see "Suitable magnetic tape", page 11).

90 °

Figure 4: Mounting location

5.1.2 Scope of delivery

The following are included with delivery:

•

1 MLS sensor in t

he v

ersion ordered

•

1 quick-start guide

Accessories:

Accessories (e.g., cables, fastening adapters) are only supplied if ordered separately.

1)

w

it

h magnetic averaging value “4”, see "Average filter for track output values", page 46.

The working distance with previous firmware version V2 is 10-50 mm

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The available accessories are listed at www.sic

k.com/mls.

5.2 Mounting the sensor

1

2

3

Figure 5: Horizontal mounting

1

MLS-xxx

2

Mounting bracket, part number number 2065973

3

Mounting panel

3

2

1

Figure 6: Vertical mounting

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1

MLS-xxx

2

Mounting bracket, part number number 2065577

3

Mounting panel

5.3 Mounting of the magnetic tape

To navigate AGCs, the MLS is aligned to the Line Center Point of a magnetic tape, which

specif

ies the route of the AGC. The magnetic tape is stuck to the ground or embedded

in the ground. The criteria for selecting the suitable magnetic tape are described in

chapter 3.2.3. SICK offers respective self-adhesive magnetic tapes as accessories for

the MLS (see www.sick.com/MLS).

NOTE

The f

ollowing information is based on internal test results. However, this does not mean

that all users do not have to test the suitability of the magnetic tape for their intended

purposes.

5.3.1 Preparation

The SICK magnetic tape is well-suited for laying in the inner area. The following points

mus

t be ensur

ed before mounting the magnetic tape:

•

The surface must be fixed, flat and closed.

°

Moisture and contamination such as dirt, grease, dust, etc. must be removed

to make sure the magnetic tape will really hold. Use clean cloths and solvents

(e.g. benzine, acetone, pure alcohol) or floor cleaners with degreasing effect.

Make sure the substrate can tolerate any solvents used.

•

Any paint surfaces must adhere firmly, be free of solvents and silicone and be

completely dry.

•

After cleaning with solvents, let the substrate air out for about 10 minutes.

•

The ambient and surface temperature should be at least +15 °C; if applicable,

provide for supply of warm air before, during and after processing. This activates

the adhesive very well.

•

The route should be as free of ferromagnetic materials as possible.

A sample adhesion of the magnetic tape is recommended.

5.3.2 Laying

Before laying the magnetic tape, plan out the route on the ground in line with the layout.

Gaps should be a

voided, magnetic tape overlaps can be used in a targeted manner

(see intersections).

•

Remove about 10 cm of protective paper from the back of the magnetic tape.

•

Place the exposed end of the strip in the correct position and press down on it.

Use your hand to peel off the rest of the protective paper and rub the strip firmly

with your other hand. With a suitable pressure roller or a wood roller, press down

on the marking tape.

•

With wide strips, always roll from the center to the edge to roll out air pockets.

Curves

The magnetic tapes from SICK are suitable for laying curves with large radii. A minimum

curve radius of 1.5 m must be observed. For smaller curve radii, cut up the magnetic

tape and stick the pieces together so they are flush. When selecting the curve radius,

make sure that the “field of view” of the MLS on the AGC does not leave the route,

which causes detection to fail.

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Figure 7: Laying curves

For

ks

To make forks, one track per side can be detected in addition to the main route. If the

diverters are stuck together so that the forked track comes directly out of the main

track, data output as improved track detection at diverters is recommended (can be

adjusted via index 0x2006, subindex 1, see "Process data objects", page 34).

X

l l l

Intersections

For t

rack intersections (the track tapes cross at a 90° angle), one track should be com‐

pletely glued over the other. Splitting a track band and attaching a bump to the through

track band is not recommended. This causes difficulties with track detection. If the sen‐

sor detects such a situation, however, it outputs the following process data:

#LCP = 7; LCP1 = LCP2 = LCP3

Zones

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The MLS can detect and differentiate between both magnetic tape with north pole on

the t

op side (5337613) and south pole on the top side (5337614). To limit zones on a

route, it is therefore possible to change from one magnetic tape to the other in a tar‐

geted manner.

Markers

The MLS is capable of detecting magnetic codes using so-called markers next to the

main track. For a detailed description, see chapter chapter 8.6.

5.3.3 Protection

To protect the magnetic tape if there is a strong mechanical load, a protective tape or

pr

o

tective epoxy layer can be attached to the magnetic tape.

In general, rotating or turning vehicles on the magnetic tape, as well as moving objects

like pallets against the tape, should be avoided. If this cannot be avoided, lowering the

magnetic tape into the ground is recommended.

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6 Electrical installation

6.1 Safety

6.1.1 Notes on the electrical installation

CAUTION

Dan

ger 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 extra-low voltage (SELV).

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 e

lectrical installation must only be performed by electrically qualified person‐

nel.

■

Standard safety requirements must be met when working in 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 customer’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).

■

Circuits connected to the device must be designed as SELV circuits (SELV = Safety

Extra Low Voltage).

■

Protect the device with a separate fuse at the start of the supply circuit.

A shielded cable is not required in order to adhere to the electromagnetic compatibility

guideline

s specified by EN 61000-6-2/4. It is recommended, however, especially when

working with longer connecting cables.

The IP enclosure rating for the sensor is only achieved if the connected cable is com‐

pletely screwed in.

6.1.2 Wiring notes

NOTE

Pre

assembled cables can be found online at:

b

www.sick.com/mls

Please observe the following wiring notes:

■

Durin

g 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:

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°

Group 1: C

ables very sensitive to interference, such as analog measuring

cables

°

Group 2: Cables sensitive to interference, such as sensor cables, communi‐

cation signals, bus signals

°

Group 3: Cables which are a source of interference, such as control cables

for inductive loads, motor brakes

°

Group 4: Cables which are powerful sources of interference, such as output

cables from frequency inverters, welding system power supplies, power

cables

b

Cables in groups 1, 2 and 3, 4 must be crossed at right angles, see figure 8.

b

Cables in groups 1, 2 and 3, 4 must be routed in different cable channels or

metallic separators must be used, see figure 9 and see figure 10. This

applies particularly where cables of devices with a high level of radiated emis‐

sion, such as frequency converters, are laid parallel to sensor cables.

1

2

4

3

1

2

4

3

90

Figure 8: Cross cables at right angles

1

2

3

4

Figure 9: Ideal laying – Place cables in different cable channels

1

2

3

4

Figure 10: Alternative laying – Separate cables with metallic separators

NOTE

Pr

e

vent equipotential bonding currents via the cable shield with a suitable grounding

method, see "Safety", page 19.

6 ELECTRICAL INSTALLATION

20

O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2020-03-09 | SICK

Subject to change without notice

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SICK MLS Line guidance sensors Operating instructions

SICK MLS Line guidance sensors Operating instructions

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