GLS100L - Setup for mixed operation

Example for GLS100L-1MEB1FZ with CANOpen.

The Configuration is done via IO-Link and SOPAS ET. A SiLink2 IO-Link Master may be necessary.

1) Operating Mode

select “Lane Guidance”

2) Code Reading

we use Multi Code or Code Tape (default)

Note: QR-Codes are not supported in Lane Guidance Mode, but DataMatrix Codes.

The example was created with SOPAS ET, for this the SiLink2 master is required.

There are a few rules for CANOpen that should be followed when configuring the process data:

• the process data is called PDO = Process-Data-Object Data, when coming from sensor = Transmit-PDO = TPDO
• each TPDO is assigned a "COB ID" under which the data is output. In SOPAS, this is called CAN-ID
• the maximum data size per TPDO is 8 bytes
• the number of TPDOs for a each node address is limited to 4 TPDOs
• In the state of delivery, the first three TPDOs are already activated, if more than 3 are needed, they have to be activated first.
• if more than 4 TPDOS are used, the surplus TPDOs must run under a still free node address

Please note: All settings shown below can also be made with the CANOpen automation system - in most cases.

For this purpose, we provide a device description file, which can be downloaded from the website.

This file is called "EDS-file" = Electronic Data Sheet.

1) TPDO 1

X-Y- Position - only needed for Multi Code usage.

It is not relevant for Lane Guidance Mode.

2) TPDO 2

Data usable only for Code Navigation Mode.

3) TPDO 3

Tag ID, X-Y-velocity

• no velocity available in Lane Guidance Mode

4) TPDO 4

Lane Status, Guidance Data for up to 3 Lanes

• relevant for Lane Guidance Mode
• must be activated

5) TPDO 5

Lane Angle, Y-Position

• relevant for Lane Guidance Mode
• must be activated and the CAN-ID must be defined due to CANOpen limitations
• the data is valid only after a restart!

6) TPDO 6

Tag-ID code tape, X-position

• relevant for Lane Guidance Mode with Code Tape
• must be activated and the CAN-ID must be defined due to CANOpen limitations
• the data is valid only after a restart!

7) TPDO 7

X-position of the Third Code Tape

• relevant for Lane Guidance Mode with Code Tape
• must be activated and the CAN-ID must be defined due to CANOpen limitations
• the data is valid only after a restart!

To keep the number of TPDOs low, the data content can be mapped individually.

In the following example, the required data is reduced to three TPDOs.

1) TPDO 1
3 x Color Tape guiding position + Lane Status / Quality

2) TPDO 2

3 x Color Tape Angle + Distance

3) TPDO 3

Tag-ID MultiCode & Position of the code tape center

• the MultiCode serves as a control code as orientation mark - works only together with Color Tape!