SICK GLS611 User manual

OPERATING INSTRUCTIONS
GLS611
Grid localization

Described product
GLS611
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.
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Contents
1 About this document........................................................................ 6
1.1 Information on the operating instructions.............................................. 6
1.2 Explanation of symbols............................................................................ 6
1.3 Further information................................................................................... 7
2 Safety information............................................................................ 8
2.1 Intended use............................................................................................. 8
2.1.1 Conditions for specified enclosure rating.............................. 8
2.2 Improper use............................................................................................. 8
2.3 Cybersecurity............................................................................................ 8
2.4 Limitation of liability................................................................................. 9
2.5 Modifications and conversions................................................................ 9
2.6 Requirements for skilled persons and operating personnel.................. 9
2.7 Operational safety and specific hazards................................................. 10
3 Product description........................................................................... 12
3.1 Scope of delivery....................................................................................... 12
3.2 Type label.................................................................................................. 12
3.3 Device view................................................................................................ 13
3.4 Illumination unit........................................................................................ 14
3.5 Display and operating elements.............................................................. 14
3.6 Function and use...................................................................................... 15
3.7 2D codes................................................................................................... 16
4 Transport and storage....................................................................... 18
4.1 Transport................................................................................................... 18
4.2 Unpacking.................................................................................................. 18
4.3 Transport inspection................................................................................. 18
4.4 Storage...................................................................................................... 18
5 Mounting............................................................................................. 19
5.1 Mounting instructions............................................................................... 19
5.2 Preparation for mounting......................................................................... 19
5.2.1 Installation requirements........................................................ 19
5.2.2 Mounting systems.................................................................... 19
5.3 Mounting location..................................................................................... 20
5.3.1 Determining alignment............................................................ 20
5.3.2 Working range.......................................................................... 20
5.3.3 Mounting angle........................................................................ 21
5.3.4 Adjusting focus with the focus adjustment tool..................... 23
5.4 Mounting the device................................................................................. 25
6 Electrical installation........................................................................ 26
6.1 Wiring instructions.................................................................................... 26
6.1.1 Data cables.............................................................................. 27
CONTENTS
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6.2 Prerequisites for safe operation of the device........................................ 27
6.3 Connection principle................................................................................. 28
6.3.1 Service mode connection schematic..................................... 28
6.3.2 Connection principle for read mode....................................... 29
6.4 Pin assignments of electrical connections............................................. 29
6.4.1 Power/Serial Data/CAN........................................................... 29
6.4.2 Ethernet.................................................................................... 30
6.5 Connecting the device.............................................................................. 31
6.5.1 Connecting the supply voltage................................................ 31
6.5.2 Wiring the data interface......................................................... 31
6.5.3 CAN interface........................................................................... 32
7 Commissioning.................................................................................. 33
7.1 SOPASET configuration software............................................................ 33
7.2 Configuration with SOPAS ET................................................................... 33
7.2.1 Configuring the device manually............................................ 33
7.2.2 Complete the configuration..................................................... 34
7.3 Initial commissioning................................................................................ 34
7.4 External data back-up............................................................................... 35
7.5 Coordinate system.................................................................................... 36
8 Maintenance...................................................................................... 37
8.1 Maintenance plan..................................................................................... 37
8.2 Cleaning..................................................................................................... 37
9 Troubleshooting................................................................................. 40
9.1 General faults, warnings, and errors....................................................... 40
9.2 Displaying the status log.......................................................................... 40
9.3 Repairs...................................................................................................... 40
9.4 Returns...................................................................................................... 40
9.5 Replacing the device................................................................................ 41
10 Decommissioning............................................................................. 42
10.1 Disposal..................................................................................................... 42
11 Technical data.................................................................................... 43
11.1 Features.................................................................................................... 43
11.2 Mechanics/electronics............................................................................. 44
11.3 Dimensional drawing................................................................................ 45
11.4 Performance............................................................................................. 45
11.5 Interfaces.................................................................................................. 46
11.6 Ambient data............................................................................................. 46
12 Accessories........................................................................................ 47
13 Annex.................................................................................................. 48
13.1 Declarations of conformity and certificates............................................ 48
CONTENTS
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13.2 Typical reference values during operation.............................................. 48
13.3 Signal assignment of cables with open cable end at one end.............. 50
13.3.1 Power/Serial Data/CAN........................................................... 50
13.3.2 Power/Serial Data/CAN........................................................... 51
13.4 Licenses.................................................................................................... 52
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 devices 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
device applications
The operating instructions are intended to be used by qualified personnel and electrical
specialists.
NOTE
Read these operating instructions carefully to familiarize yourself with the device and its
functions before commencing any work.
The operating instructions are an integral part of the product. Store the instructions
in the immediate vicinity of the device so they remain accessible to staff at all times.
Should the device be passed on to a third party, these operating instructions should be
handed over with it.
These operating instructions do not provide information on the handling and safe
operation of the machine or system in which the device is integrated. Information on
this can be found in the operating instructions for the machine or system.
1.2 Explanation of symbols
Warnings and important information in this document are labeled with symbols. Sig‐
nal words introduce the instructions and indicate the extent of the hazard. To avoid
accidents, damage, and personal injury, always comply with the instructions and act
carefully.
DANGER
…indicates a situation of imminent danger, which will lead to a fatality or serious
injuries if not prevented.
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 ABOUT THIS DOCUMENT
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1.3 Further information
More information can be found on the product page. It can be called up via SICK
ProductID: pid.sick.com/{P/N}
{P/N} corresponds to the part number of the product (see type label).
The following information is available depending on the product:
•Data sheets
•This document in all available language versions
•CAD files and dimensional drawings
•Certificates (e.g., declaration of conformity)
•Other publications
•Software
•Accessories
ABOUT THIS DOCUMENT 1
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2 Safety information
2.1 Intended use
The GLS611 is used for automatic localization of automatic guided vehicles (AGVs) 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 is localized and repositioned by a higher-level controller (e.g. PLC). The device
supports 4Dpro connectivity.
The device is primarily designed for use in industrial and logistics areas. The device
meets the applicable requirements for industrial robustness, interfaces and data proc‐
essing.
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.
2.1.1 Conditions for specified enclosure rating
To ensure compliance with the specified enclosure rating of the product during opera‐
tion, the following requirements must be met: If these requirements are not met, the
product does not fulfill any specified enclosure rating.
•The electrical connections must be tightly screwed to the contacted female con‐
nector or male connector.
•The Ethernet connection, if not used, must be sealed with a tightly-fastened pro‐
tective cap (as in the delivery condition).
2.2 Improper use
Any use outside of the stated areas, in particular use outside of the technical specifica‐
tions and the requirements for intended use, will be deemed to be incorrect use.
•The device does not constitute a safety component in accordance with the respec‐
tive applicable safety standards for machines.
•The device must not be used in explosion-hazardous areas, in corrosive environ‐
ments or under extreme environmental conditions.
•The device must not be operated in the temperature range below 0°C.
•Any use of accessories not specifically approved by SICK AG is at your own risk.
WARNING
Danger due to improper use!
Any improper use can result in dangerous situations.
Therefore, observe the following information:
■Product should be used only in accordance with its intended use.
■All information in the documentation must be strictly observed.
■Shut down the product immediately in case of damage.
2.3 Cybersecurity
Overview
To protect against cybersecurity threats, it is necessary to continuously monitor and
maintain a comprehensive cybersecurity concept. A suitable concept consists of organi‐
zational, technical, procedural, electronic, and physical levels of defense and considers
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suitable measures for different types of risks. The measures implemented in this
product can only support protection against cybersecurity threats if the product is used
as part of such a concept.
You will find further information at www.sick.com/psirt, e.g.:
•General information on cybersecurity
•Contact option for reporting vulnerabilities
•Information on known vulnerabilities (security advisories)
2.4 Limitation of liability
Relevant standards and regulations, the latest technological developments, and our
many years of knowledge and experience have all been taken into account when
compiling the data and information contained in these operating instructions. The
manufacturer accepts no liability for damage caused by:
■Non-adherence to the product documentation (e.g., operating instructions)
■Incorrect use
■Use of untrained staff
■Unauthorized conversions or repair
■Technical modifications
■Use of unauthorized spare parts, consumables, and accessories
2.5 Modifications and conversions
NOTICE
Modifications and conversions to the device may result in unforeseeable dangers.
Interrupting or modifying the device or SICK software will invalidate any warranty claims
against SICK AG. This applies in particular to opening the housing, even as part of
mounting and electrical installation.
2.6 Requirements for skilled persons and operating personnel
WARNING
Risk of injury due to insufficient training.
Improper handling of the device may result in considerable personal injury and material
damage.
■All work must only ever be carried out by the stipulated persons.
The following qualifications are required for various activities:
Table 1: Activities and technical requirements
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
SAFETY INFORMATION 2
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Activities Qualification
Commissioning, configura‐
tion
■Basic knowledge of the computer operating system used
■Basic knowledge of the design and setup of the described
connections and interfaces
■Basic knowledge of data transmission
■Basic knowledge of the 2D technology (Data Matrix code, QR
code)
Operation of the device for
the particular application
■Knowledge of the operation and control of the devices in their
particular application
■Knowledge of the software and hardware environment for the
particular application
2.7 Operational safety and specific hazards
Please observe the safety notes and the warnings listed here and in other sections
of this product documentation to reduce the possibility of risks to health and avoid
dangerous situations.
The product is fitted with LEDs in risk group 0. The accessible radiation from these
LEDs does not pose a danger to the eyes or skin.
The product is fitted with LEDs of risk group 1 for object illumination.
CAUTION
Optical radiation: LED risk group 1, visible radiation, 400nm to 780nm
The LEDs may pose a danger to the eyes in the event of incorrect use.
■Do not look into the light source intentionally.
■Do not open the housing. Opening the housing will not switch off the light source.
Opening the housing may increase the level of risk.
■Comply with the current national regulations on photobiological security of lamps
and lamp systems.
If the product is operated in conjunction with external illumination systems, the risks
described here may be exceeded. This must be taken into consideration by users on a
case-by-case basis.
Time-of-flight sensor (invisible infrared light, distance measurement in configuration
mode)
CAUTION
Optical radiation: Class 1 Laser Product
The accessible radiation does not pose a danger when viewed directly for up to 100
seconds. It may pose a danger to the eyes and skin in the event of incorrect use.
■Do not open the housing. Opening the housing may increase the level of risk.
■Current national regulations regarding laser protection must be observed.
Caution – Use of controls or adjustments or performance of procedures other than
those specified herein may result in hazardous radiation exposure.
For both radiation types:
It is not possible to entirely rule out temporary disorienting optical effects, particularly
in conditions of dim lighting. Disorienting optical effects may come in the form of 
dazzle, flash blindness, afterimages, photosensitive epilepsy, or impairment of color
vision, for example.
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CAUTION
Risk of injury due to hot device surface.
The surface of the device can become hot.
•Before performing work on the device (e.g. mounting, cleaning, disassembly),
switch off the device and allow it to cool down.
•Ensure good dissipation of excess heat from the device to the surroundings.
WARNING
Electrical voltage!
Electrical voltage can cause severe injury or death.
■Work on electrical systems must only be performed by qualified electricians.
■The power supply must be disconnected when attaching and detaching electrical
connections.
■The product must only be connected to a voltage supply as set out in the require‐
ments in the operating instructions.
■National and regional regulations must be complied with.
■Safety requirements relating to work on electrical systems must be complied with.
WARNING
Risk of injury and damage caused by potential equalization currents!
Improper grounding can lead to dangerous equipotential bonding currents, which may
in turn lead to dangerous voltages on metallic surfaces, such as the housing. Electrical
voltage can cause severe injury or death.
■Work on electrical systems must only be performed by qualified electricians.
■Follow the notes in the operating instructions.
■Install the grounding for the product and the system in accordance with national
and regional regulations.
SAFETY INFORMATION 2
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3 Product description
3.1 Scope of delivery
Scope of delivery
No. of
units
Component Note
1 Device in the version ordered The Ethernet connection is sealed with a tightly-fas‐
tened protective cap.
Without bracket
1 Protective cap To seal off the Ethernet connection if the interface
is not being used. The device complies with protec‐
tion class IP54 when the protective cap is screwed
in.
1 Focus adjustment tool Only available for the V2D61xx-xMxxxx product type
For manual focus adjustment
1 Printed safety notes, multilin‐
gual
Brief information and general safety notes
Further topics
•Accessories
The actual scope of delivery may differ for special designs, additional orders or due to
the latest technical changes.
3.2 Type label
The type label gives information for identification of the device.
GLS611
V2D611G- MMSBE4
1114539
XXXX XXXX
DC 12-24V 3,5W
Imax = 1,5A
SICK D-79276 Reute
Made
Exchange
2020
in Malaysia
5
9
6
4
33
2
1
7
8
2
1
1114539
XXXX XXXX
V2D611G
MAC
-
MMSBE4
00:00:00:00:00:00
GLS
25
1Type designation according to type code
2Part number
3Serial number (placeholder)
4Supply voltage, power consumption and maximum current consumption
5Data Matrix code with product data (part number, serial number, MAC address)
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6Manufacturer and production location
7Date of manufacture
8MAC address (placeholder)
9Conformity mark and certification mark
3.3 Device view
Device view
1 2
5
1 2
3
4
1Connecting cable with Ethernet connection (female connector, M12, 4-pin, D-coded),
length of cable: 0.25m
2Connecting cable with Power/Serial Data/CAN connection (male connector, M12, 17-pin,
A-coded), length of cable: 0.35m
3Viewing window with 8 integrated illumination LEDs, 2 LED alignment aids, 1 feedback
LED, 1 time-of-flight sensor
4Optics, manual focus adjustment with the help of a focus adjustment tool
56 status LEDs
Further topics
•Dimensional drawing
PRODUCT DESCRIPTION 3
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3.4 Illumination unit
3
4
1
1
1
1
1
12
2
1
1
Figure 1: Illumination unit (integrated illumination unit)
18 integrated illumination LEDs (color: 4 visible amber light, 4 visible blue light)
22 LED alignment aids, can be deactivated (color: visible red light)
3Feedback LED (color: visible green light, visible red light; green for example for Good
Read, red for example for No Read)
4Time-of-flight sensor for measuring the working distance in configuration mode (color:
invisible infrared light)
NOTE
To avoid being dazzled by the integrated illumination unit, do not look into the viewing
window of the device.
3.5 Display and operating elements
Overview
Ready
5070120200300
Light
Test
Aiming
Focus
U-Def
L/A Eth
Tuning
Result
21
Figure 2: Status LEDs (2 display levels) on the side of the housing
1Distance display (focus position and working distance) in configuration mode
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2Device status in read mode
Distance displays
•Product type V2D61xx-xMxxxx: The distance display supports adjustment of the
focus position with the focus adjustment tool. The LEDs indicate the working
distance and the set focus position.
Device status
Display LED
(green)
LED
(red)
LED
(yellow)
Status
Ready Oo- The device is ready for use.
oO- The device is not ready for use (hardware fault or soft‐
ware error).
Result Oo- The read is successful.
oO- The read is not unsuccessful.
Light O- - Read mode: illumination on, internal reading interval
open
U-Def - - OData output via the host interface
L/A Eth Ö- - Data traffic via the Ethernet interface
O = lights up; Ö = flashes; o = does not light up
PROFINET operation (single port)
The Ready status LED signals the device status in the PROFINET network.
Ready LED Device status Remarks
Green com‐
ponents
Red compo‐
nents
OoDevice is ready for use.
OÖ
Flashes
every
0.5seconds.
PROFINET is activated in
the device. The device is
not connected to the PRO‐
FINET IO controller (PLC)
or the device is not config‐
ured.
To not use PROFINET, deactivate
PROFINET.
In the default configuration of the
device, automatic PROFINET network
detection is activated. This detects
during startup whether the device is
in a PROFINET environment and acti‐
vates PROFINET automatically.
To apply the changed settings, per‐
manently save the changes and
restart the device.
ÖÖThe flashing function is acti‐
vated via the configuration
software.
The red and green components of
the LED flash alternately.
Prerequisite: PROFINET is activated
in the device.
O = lights up; Ö = flashes; o = does not light up
Further topics
•Adjusting focus with the focus adjustment tool
3.6 Function and use
The device localizes automated guided vehicles (AGVs) by means of 2D codes.
PRODUCT DESCRIPTION 3
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The device is mounted on the underside of the AGV. The 2D codes are attached in
the form of a grid on the floor. The individual 2D codes are numbered and contain
position information. The device detects and decodes 2D codes. The device uses the
host interface to send the read data, the additionally determined X- and Y-coordinates,
and the angle of shift to a higher-level controller (e.g., PLC). Using this data, the AGV is
localized and repositioned by the controller.
Figure 3: Application description: localization and positioning of the AGV
3.7 2D codes
Multicode label
Multicode labels can be used for localization. A multicode label consists of several Data
Matrix codes. We recommend using the SICK multicode label as it is optimally tailored
to the application. Using the multicode label from SICK also enables the highest travel
speeds to be achieved. The multicode label is available as an accessory.
1Data Matrix code
2Helper line for alignment
3Grayscale (testing of print quality of the customer print)
4Center point of the multicode label
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5Distance between code and center point (testing of the dimensions of the customer print)
6Number of the label (letters and numbers can be adjusted for the customer)
Single 2D codes
Alternatively, single 2D codes provided by the customer can be used. The 2D codes
must meet specific requirements on the code resolution depending on the working
distance and the mounting direction.
Further topics
•Requirements on the code resolution of single 2D codes: Typical reference values
during operation
PRODUCT DESCRIPTION 3
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4 Transport and storage
4.1 Transport
NOTICE
Damage due to improper transport!
■The product must be packaged with protection against shock and damp.
■Recommendation: Use the original packaging.
■Note the symbols on the packaging.
■Do not remove packaging until immediately before you start mounting.
4.2 Unpacking
•To protect the device against condensation, allow it to equilibrate with the ambient
temperature before unpacking if necessary.
•Handle the device with care and protect it from mechanical damage.
4.3 Transport inspection
Immediately upon receipt in Goods-in, check the delivery for completeness 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.
4.4 Storage
•Electrical connections are provided with a protective cap.
•Do not store outdoors.
•Store in a place protected from moisture and dust.
•Recommendation: Use the original packaging.
•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 "Technical data", page 43.
•Relative humidity: see "Technical data", page 43.
•For storage periods of longer than 3months, check the general condition of all
components and packaging on a regular basis.
4 TRANSPORT AND STORAGE
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5 Mounting
5.1 Mounting instructions
•Observe the technical data.
•Protect the sensor from direct and indirect sunlight.
•To prevent condensation, avoid exposing the device to rapid changes in tempera‐
ture.
•The mounting site has to be designed for the weight of the device.
•Ensure a good dissipation of excess heat from the device to the surroundings, in
particular at higher ambient temperatures. Good heat transfer from the device can
be achieved, for example, by using a bracket on the mounting base or by ensuring
that the back of the device is located at a sufficient distance from the wall of an
enclosure.
5.2 Preparation for mounting
5.2.1 Installation requirements
Mounting requirements
•Typical space requirement: see type-specific dimensional drawing
•Comply with the technical data, such as the permitted ambient conditions for
operation, see "Technical data", page 43.
•Only mount the device using the threaded mounting holes provided.
•The surface over which the AGV moves must be level.
•Make sure the device has a clear view of the codes.
Auxiliary equipment required
■Mounting system with sufficient load-bearing capacity and suitable dimensions
■4 or 2 M4 screws for mounting the device on a mounting system supplied by the
customer
■Alternatively: 2 M3 screws to mount the device on a bracket supplied by the
customer (screw length: at least 35mm)
The screw length depends on the mounting base (wall thickness of the bracket). When
using an optional SICK mounting system, the screws for mounting the device are
included with delivery.
5.2.2 Mounting systems
Mount the device to the mounting systems using at least 2 threaded mounting holes
(M4).
The threaded mounting holes are located on the right and left side of the device.
SICK offers prefabricated mounting systems that are optimally suited for mounting the
device, see "Accessories", page 47.
Customer-supplied mounting system
A customer-supplied mounting system must meet the following requirements:
•The device can be aligned in the X- and Y-axes.
•The mounting system must be able to bear the weight of the device and connect‐
ing cables without shock.
•Mounting options for the device using the threaded mounting holes must be
available.
MOUNTING 5
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5.3 Mounting location
5.3.1 Determining alignment
Alignment at maximum reading field width:
Figure 4: Mounting opposite to the direction of movement of the AGV
Alignment at maximum transport speed of the AGV:
Figure 5: Mounting in the direction of movement of the AGV
The selected alignment affects the speed of the AGV and the size of the field of view
depending on the configured working distance and the 2D codes used, see "Typical
reference values during operation", page 48.
5.3.2 Working range
Working range
The possible working range for reading is 50mm to 300mm.
5 MOUNTING
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