SICK GLS100 Operating Instructions Manual
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SICK GLS100 Operating Instructions Manual

SICK GLS100 Operating Instructions Manual

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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
GLS100
Grid localization

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Summary of Contents for SICK GLS100

  • Page 1 O P E R A T I N G I N S T R U C T I O N S GLS100 Grid localization...
  • Page 2 This document is an original document of SICK AG. 2006/42/EC SAFETY O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK Subject to change without notice...

  • Page 3: Table Of Contents

    Operation via CANopen................Operation via Modbus RTU..............Transformation of output values.............. 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...
  • Page 4 Licenses....................45 Annex....................46 14.1 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 | GLS100 8026282/2021-05-26 | 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. 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • 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 | GLS100 8026282/2021-05-26 | SICK...

  • Page 7: Safety Information

    Use of unauthorized spare parts, consumables, and accessories ■ 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • Page 8: Requirements For Skilled Persons And Operating Personnel

    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). O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK...

  • Page 9: Repairs

    SICK AG. 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • Page 10: Product Description

    Machine-readable code Serial number Pin assignment example for CAN device O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK Subject to change without notice...
  • Page 11 Figure 3: Field of view Field of view (W x H) 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • Page 12: Product Features

    The individual 2D codes are numbered and contain position information. O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK...
  • Page 13 • Time stamp • Overspeed in x- and y-direction 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...
  • Page 14 This convention is called the sensor coordinate system in the following, see table 3 O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK...
  • Page 15 3 Field of view 160 mm x 120 mm 4 Coordinates in the sensor coordination system (x/y) 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...
  • Page 16 1.0 mm. If the module size is configured incorrectly, the sensor cannot determine the z-position correctly. O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK...

  • Page 17: Transport And Storage

    For storage periods of longer than 3 months, check the general condition of all ■ components and packaging on a regular basis. 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • Page 18: Mounting

    To achieve the maximum overspeed, the sensor should be positioned perpendicular to the direction of travel. O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK...
  • Page 19 Figure 6: Arrangement via code grid and traverse direction 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • Page 20: Electrical Installation

    O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK...
  • Page 21 Figure 9: Alternative laying – Separate cables with metallic separators 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • Page 22: Pin Assignment Of The Connections

    • Connect the sensor according to the connection diagram. O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK Subject to change without notice...

  • Page 23: Can Connection

    If there is no separate CAN GND in the system, this pin is to be connected to the FE. 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • Page 24: Commissioning

    A passive 120 Ω bus terminating resistor is sufficient for this purpose. O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK...
  • Page 25 The LSS slave is accessed via its LSS address (identity object), which is stored in object 1018h. 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...
  • Page 26 04 01 00 00 00 00 00 00 command, result: Slave is in “configuration” state O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK...

  • Page 27: First Step To Commissioning With Modbus Rtu

    A correct slave address must be set on the GLS100. Correct is: 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...
  • Page 28 “Input regis‐ ters” Value (hex) 0x0A 0x04 0x0140 0x000C 0xF15C O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK Subject to change without notice...
  • Page 29 The value indicates the time duration since the code was recorded in ms. 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • Page 30: Operation

    Product code 0x000010 UINT32 Revision num‐ 0x000100 UINT32 Firmware version O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK Subject to change without notice...
  • Page 31 R/W Mapping Entry 0x000000 UINT32 R/W Mapping Entry 0x000000 UINT32 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...
  • Page 32 0x1A03 R/W Number of map‐ 0x00 UINT8 ped objects O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK Subject to change without notice...
  • Page 33 Result transformation (e.g. for non- transform vehicle-centered sensor mounting) 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...
  • Page 34 Table 7: PDO2 Byte Value Time offset Angle Z-Position Status O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK Subject to change without notice...
  • Page 35 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • Page 36: Operation Via Modbus Rtu

    230 bytes of code data [UINT]. Status bits in register 320 O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK Subject to change without notice...
  • Page 37 Module size 1.0 mm (default) (definition SICK MultiCode Tag) 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • Page 38: Transformation Of Output Values

    16-bit two's complement. By default, the angle is output as a signed value and therefore maps the orientation angle from -pi to + pi. O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK...
  • Page 39 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • Page 40: Maintenance

    Repairs on the sensor may only be carried out by the manufacturer. Any interruption or modification of the sensor will invalidate the manufacturer warranty. O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK...

  • Page 41: Decommissioning

    The sensor is electronic waste and must under no circumstances be disposed of with general waste. 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • Page 42: Technical Data

    On the basis of ISO/IEC 16022, ISO/IEC 15415, ISO/IEC 15416, ISO/IEC tion 18004 O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK Subject to change without notice...
  • Page 43 -25 °C ... +75 °C ture Permissible rela‐ 90%, non-condensing tive humidity 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • Page 44: Accessories

    Accessories can be found on the online product page at: www.sick.com/1114008 www.sick.com/1116319 O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK Subject to change without notice...

  • Page 45: Licenses

    Printed copies of the license texts are also available on request. 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...

  • Page 46: Annex

    The EU declaration of conformity can be downloaded from the Internet at: www.sick.com/1114008 www.sick.com/1116319 O P E R A T I N G I N S T R U C T I O N S | GLS100 8026282/2021-05-26 | SICK Subject to change without notice...
  • Page 47 ANNEX 8026282/2021-05-26 | SICK O P E R A T I N G I N S T R U C T I O N S | GLS100 Subject to change without notice...
  • Page 48 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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