SICK MLS Series Operating Instructions Manual
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SICK MLS Series Operating Instructions Manual

SICK MLS Series Operating Instructions Manual

Line guidance sensors
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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

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Summary of Contents for SICK MLS Series

  • Page 1 O P E R A T I N G I N S T R U C T I O N S Line guidance sensors...
  • Page 2 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‐...

  • Page 3: Table Of Contents

    Operating and status indicators.............. Teach-in mode................... General notes on operation..............8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...
  • Page 4 Technical data..................57 Annex....................59 13.1 EU declaration of conformity..............O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...

  • Page 5: About This Document

    … indicates a situation of imminent danger, which will lead to a fatality or serious injuries if not prevented. 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS...

  • Page 6: Further Information

    Before calling, make a note of all type label data such as type code etc. to ensure faster processing. O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...

  • Page 7: Safety Information

    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.

  • Page 8: Requirements For Skilled Persons And Operating Personnel

    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 cus‐ tomer will invalidate any warranty claims against SICK AG.

  • Page 9: Product Description

    Device view Figure 2: Device view Aluminum housing with T-slot 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...

  • Page 10: Product Characteristics

    O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...
  • Page 11 With magnetic tape that uses another form of magnetization (e.g., strip magnetization), correct functioning cannot be guaranteed. 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS...
  • Page 12 MLS. NOTE The suitability of foreign magnetic tapes should be checked before use. Use the MLS configuration software for this purpose (download via www.sick.com/MLS). 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.

  • Page 13: Transport And Storage

    For storage periods of longer than 3 months, check the general condition of all ■ components and packaging on a regular basis. 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...

  • Page 14: Mounting

    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 .

  • Page 15: Mounting The Sensor

    MOUNTING The available accessories are listed at www.sick.com/mls. Mounting the sensor Figure 5: Horizontal mounting MLS-xxx Mounting bracket, part number number 2065973 Mounting panel Figure 6: Vertical mounting 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS...

  • Page 16: Mounting Of The Magnetic Tape

    5.3.1 Preparation The SICK magnetic tape is well-suited for laying in the inner area. The following points must be ensured before mounting the magnetic tape: • The surface must be fixed, flat and closed.
  • Page 17 #LCP = 7; LCP1 = LCP2 = LCP3 Zones 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...
  • Page 18 If this cannot be avoided, lowering the magnetic tape into the ground is recommended. O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...

  • Page 19: Electrical Installation

    8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS...
  • Page 20 Prevent equipotential bonding currents via the cable shield with a suitable grounding method, see "Safety", page O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...

  • Page 21: Pin Assignment Of The Connections

    • DIN VDE 0298 (part 4) and/or DIN VDE 0891 (part 1) 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...

  • Page 22: Can Connection

    CAN L CAN H Figure 14: MLS without terminator O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...

  • Page 23: Commissioning

    Node-ID = 1 ... 127 The following communication parameters can be allocated to the MLS: 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS...
  • Page 24 The node ID and bit rate can also be set via the MLS configuration software (download www.sick.com/MLS Connect the MLS to your PC (you can find matching cables and adapters online www.sick.com/MLS) and start the configuration software. NOTE Installing the driver is required for use of the CAN USB converter.
  • Page 25 In such cases, the old data is transmitted again. 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS...

  • Page 26: Operation

    UINT32 Product code 0x00001100 (MLS) UINT32 Revision number 0x00000005 O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...
  • Page 27 Event timer 0x0000 see "Transmis‐ sion types", page 38 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...
  • Page 28 Sets the start-up behavior of the 0x2000 Hall values O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...
  • Page 29 3 UINT16 LCP1_Combi Combination of LCP1 and LCP1_width 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...
  • Page 30 1 => Detected markers dis‐ played in TPDO1 UINT8 Marker style 0 => No marker detection 1 => SICK marker standard mode 2 => SICK marker extended mode see "Marker detection", page 47 O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK...
  • Page 31 “Inertial measur‐ ing unit”, "Inertial measur‐ ing unit", page 49 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...
  • Page 32 UINT8 Reset accelera‐ Resetting accel‐ tion peaks eration peaks O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...
  • Page 33 "Event detection", page 52 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...
  • Page 34 1, the COB-ID 0x280+{NodeID} is written, the quaternions are sent as TPDO2. O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...
  • Page 35 0 => No track or track too weak 1 => Sufficiently strong track detected 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS...
  • Page 36 90° angle to the track if possible. Switching on can occur without a track. O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...
  • Page 37 LSB yaw MSB yaw LSB time pitch pitch stamp time stamp 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...

  • Page 38: Operating And Status Indicators

    Lift finger: The finger does not touch the keypad for several seconds. O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...

  • Page 39: Teach-In Mode

    To activate teach-in mode, press and hold the keypad until the required teach-in mode is reached. 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS...

  • Page 40: General Notes On Operation

    LCP1 or LCP3, depending on its direction. If three LCPs are found, then each LCP is output. O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...
  • Page 41 [mT] track tape filtering 4500 3.43 10 mm 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...
  • Page 42 60 mm 0.27 70 mm Measured with SICK track tape item 5337613 At an increased working distance (< Track Level 3), an offset calibration should be run. Permanent interfering factors by the AGV can be suppressed in this way. NOTE Do not run the offset calibration in the presence of the magnetic tape.

  • Page 43: Track Optimization

    (4.72) (6.34) Position [mm] [inch] Figure 20: MLS mounted 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...
  • Page 44 Min Level positive Min Level negative Detection Level negative O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...
  • Page 45 Position [mm] [inch] Figure 23: Magnetic field with main mini‐ 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...
  • Page 46 The filter value is configured via index 0x202D, subindex 3: O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...

  • Page 47: Marker Detection

    Various types of marker can be detected: SICK marker detection SICK marker detection uses one or two markers adjacent to the line, but only 1 marker may be placed on each side. The system supports both polarities: line tape with the north pole facing up, marker with the south pole facing up;...
  • Page 48 Standard mode (7 different codes possible): The values of the markers are added: Marker 1 Marker 2 A1 [mm] Template A2 [mm] -Template Total Code Marker-template (SICK-accessories, order number 4097520) Extended mode (10 different codes possible): Marker 1 Marker 2 A1 [mm] template A2 [mm] template Code O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK...

  • Page 49: Inertial Measuring Unit

    Marker-template (SICK-accessories, order number 4097520) Failsafe mode: Failsafe mode only applies to SICK marker detection. Failsafe mode is intended to prevent codes from being read incorrectly if the AGC is not aligned completely parallel to the track and the markers. In such situations, one of the markers may be detected sooner than the marker on the other side.
  • Page 50 Alternatively, the angles can be output in TPDO4. In addition to the three angles, the TPDO contains the time stamp sample. O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...
  • Page 51 TPDOs, the acceleration in TPDO6 and the yaw rate in TPDO7. In addition to the respective raw data, both TPDOs contain the respective sample time stamp. 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS...

  • Page 52: Temperature Sensor

    The line guidance sensor can detect two types of events: O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...
  • Page 53 A reset of the event flag is possible by writing in index 0x2080, subindex 1. 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS...

  • Page 54: Maintenance

    O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...

  • Page 55: Decommissioning

    The sensor is electronic waste and must under no circumstances be disposed of with general waste. 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS...

  • Page 56: Troubleshooting

    TPDO2-7 not activated Activate TPDO2-7 via COB ID TPDO2-7 O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...

  • Page 57: Technical Data

    Supply voltage 9 … 30 V DC, reverse polarity protected 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...
  • Page 58 10 ... 55 Hz/1 mm Perm. ambient temperature -20 °C ... 70 °C O P E R A T I N G I N S T R U C T I O N S | MLS 8021642.12T5/2018-05-30 | SICK Subject to change without notice...

  • Page 59: Annex

    The EU declaration of conformity can be downloaded from the Internet at: www.sick.com/mls 8021642.12T5/2018-05-30 | SICK O P E R A T I N G I N S T R U C T I O N S | MLS Subject to change without notice...
  • Page 60 E-Mail office@sick.com.gr E-Mail info@sick.ru Vietnam Hong Kong Singapore Phone +65 6744 3732 Phone +852 2153 6300 Phone +65 6744 3732 E-Mail sales.gsg@sick.com E-Mail ghk@sick.com.hk E-Mail sales.gsg@sick.com Detailed addresses and further locations at www.sick.com SICK AG | Waldkirch | Germany | www.sick.com...

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