OPERATING INSTRUCTIONS

MLS
Line guidance sensors
 Described product
MLS
MLSE-0200
MLSE-0300
MLSE-0400
MLSE-0500
MLSE-0600

Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany

Production location
SICK GHU, 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.
© SICK AG. All rights reserved.

Original document
This document is an original document of SICK AG.

NO

2006/42/EC
SAFETY

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 CONTENTS

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

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CONTENTS

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

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 ABOUT THIS DOCUMENT 1

1 About this document

1.1 Information on the operating instructions

These operating instructions provide important information on how to use sensors 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
sensor applications.
The operating instructions are intended to be used by qualified personnel and electrical
specialists.

NOTE
Read 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
immediate 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. Step-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.sick.com/mls

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

Simplified device designation in the document

In the following, 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
warnings 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
… indicates a situation of imminent danger, which will lead to a fatality or serious
injuries if not prevented.

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1 ABOUT THIS DOCUMENT

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.

1.4 Further information

NOTE
All the documentation 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
to help. To find your representative, see the final page of this document.

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

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 SAFETY INFORMATION 2

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 interference 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

• The sensor does 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
Danger 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 many years 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
technical changes, the actual scope of delivery may vary from the features and illustra‐
tions shown here.

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2 SAFETY INFORMATION

2.4 Requirements for skilled persons and operating personnel

WARNING
Risk of injury 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
areas 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 practical technical training
■ Knowledge of the current safety regulations in the workplace
Electrical installation, ■ Practical electrical training
device replacement ■ Knowledge of current electrical safety regulations
■ Knowledge of the operation and control of the devices in their
particular application
Commissioning, configura‐ ■ Basic knowledge of the design and setup of the described con‐
tion 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 ■ Knowledge of the operation and control of the devices in their
their particular application 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
these 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 from 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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 PRODUCT DESCRIPTION 3

3 Product description
3.1 Product identification

3.1.1 Type label

2 3 4 5

MLSE-0100AATP0 01A 6
R

D-79183 Waldkirch Made in Hungary 1735

8
1 MLS DC 9 ... 30V class2

7 9ß 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

3
2
4

Figure 2: Device view

1 Aluminum housing with T-slot

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3 PRODUCT DESCRIPTION

2 Front end cap with capacitive teachpad

3 2 x LED indicators
4 Cable outlet
5 Rear end cap

(0.79)
20
3
2

L1
ø 8.2 (0.32)

ø 2.6 (0.10)
19.5 20
(0.79)
(0.77)

14 (0.55)
7.5 (0.3)
Total length
(L1) mm
MLSE-0200 217
MLSE-0300 325
MLSE-0400 397
MLSE-0500 505
MLSE-0600 613

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 the position 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
From 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
The MLS determines 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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 PRODUCT DESCRIPTION 3

Line position
The line position 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
Resolution 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
• Magnetic 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 S N S N S N S
S N N S N S N S N

With magnetic tape that uses another form of magnetization (e.g., strip magnetization),
correct functioning cannot be guaranteed.

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3 PRODUCT DESCRIPTION

Suitable magnetic tapes are available as accessories for the MLS, see www.sick.com/
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).
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) 7
Sensor detects the tape as specified
6
5
4
Critical (yellow) 3
Sensor detects the tape as specified, but near
2
the limits
1
Bad (red) 0
Sensor detects the tape, but not within the
specified range

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 TRANSPORT AND STORAGE 4

4 Transport and storage

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

NOTE
Damage 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‐
ness 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
Complaints 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:
■ Recommendation: 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 Mounting
5.1 Preparation for mounting

5.1.1 Mounting requirements

NOTICE
Radio interference may occur when the sensor is used in residential areas.
Only use the device in industrial environments (EN 61000-6-4).

■ Typical 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 selecting 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 mm1). The use of other magnetic tapes is possible, but should be tested in
advance (see "Suitable magnetic tape", page 11).

90 °

90 °

Figure 4: Mounting location

5.1.2 Scope of delivery

The following are included with delivery:
• 1 MLS sensor in the version ordered
• 1 quick-start guide
Accessories:
Accessories (e.g., cables, fastening adapters) are only supplied if ordered separately.

1) with 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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 MOUNTING 5

The available accessories are listed at www.sick.com/mls.

5.2 Mounting the sensor

3
2
1

Figure 5: Horizontal mounting

1 MLS-xxx
2 Mounting bracket, part number number 2065973
3 Mounting panel

1
Figure 6: Vertical mounting

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5 MOUNTING

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
specifies 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 following 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
must be ensured 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 avoided, 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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 MOUNTING 5

Figure 7: Laying curves

Forks
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).

l l l

l l l

Intersections
For track 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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5 MOUNTING

The MLS can detect and differentiate between both magnetic tape with north pole on
the top 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
protective 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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 ELECTRICAL INSTALLATION 6

6 Electrical installation
6.1 Safety

6.1.1 Notes on the electrical installation

CAUTION
Danger 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 electrical 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

guidelines 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
Preassembled cables can be found online at:
b www.sick.com/mls

Please observe the following wiring notes:

■ During 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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6 ELECTRICAL INSTALLATION

° Group 1: Cables 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
3

3 90
4
4
2
1
90

Figure 8: Cross cables at right angles

1 3

2 4

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

23

Figure 10: Alternative laying – Separate cables with metallic separators

NOTE
Prevent equipotential bonding currents via the cable shield with a suitable grounding
method, see "Safety", page 19.

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 ELECTRICAL INSTALLATION 6

6.2 Pin assignment of the connections

M8 connection
2 4

1 3

Figure 11: Pin assignment: M8-male, A-coded, 4-pin

Pin Wire color Pin assignment

1 Brown L+
2 White CAN-HIGH
3 Blue GND
4 Black CAN-LOW

M12 connection
4 3

1 2

Figure 12: Pin assignment: M12-male, A-coded, 4-pin

Pin Wire color Pin assignment

1 Brown L+
2 White CAN-HIGH
3 Blue GND
4 Black CAN-LOW

Cable outlet
Wire color Pin assignment
Brown L+
White CAN-HIGH
Blue GND
Black CAN-LOW

6.3 Connecting the supply voltage

The sensor must be connected to a voltage supply with the following properties:
• Supply voltage DC 9 V ... 30 V (stabilized safety extra-low voltage [SELV] as per cur‐
rent standard EN 60950-1)
• Electricity source with at least 5 W power

Protecting the supply cables

To ensure protection against short-circuits/overload in the customer’s supply cables,
the conductor cross sections used must be appropriately selected and protected.
The following standards must be observed in Germany:
• DIN VDE 0100 (part 430)
• DIN VDE 0298 (part 4) and/or DIN VDE 0891 (part 1)

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6 ELECTRICAL INSTALLATION

6.4 CAN connection

We recommend connecting the ground cable to the CANopen communication interface
as a reference.
The sensor is available with a 120 Ohm terminator as an option.
The selection of the version with or without the internal terminator is made via the prod‐
uct short text:
• MLSE-0200A2TP0 → T = Termination, internal 120 Ohm terminator
• MLSE-0200A2NP0 → N = No termination, no internal 120 Ohm terminator

NOTE
For the variant without an internal terminator, we strongly recommend connecting an
external 120 Ohm terminator at both ends of the CANopen bus network for maximum
protection against electromagnetic interference.

L+
M

CAN GND
CAN L CANOPEN
Master
CAN H

Figure 13: MLS with terminator

L+
M CANOPEN Bus

CAN GND
CAN L
CAN H

Figure 14: MLS without terminator

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 COMMISSIONING 7

7 Commissioning
7.1 Overview of commissioning steps
■ Connect the voltage supply.
■ Commission the sensor using the factory settings.
■ Configure the sensor.

7.2 Commissioning the sensor for the first time

Establish voltage supply: When the voltage supply is correct and no line is detected by
the sensor, the green LED flashes in the following pattern:
ON: 0.8 s, OFF: 0.2 s
If at least one line is detected with sufficient magnetic field strength, the yellow LED
lights up.
If exactly one line is detected, the approximate position is indicated via the green and
blue LED.

7.3 Quick-start guide for the MLS CANopen

7.3.1 Setting ID and bit rate

The following conditions must be met for communication with the master:
• A correct node ID must be set on the MLS.
The following are correct:
° A node ID which is free in the CANopen network
° A node ID which the master expects
• The same bit rate must be set on the MLS as in the master.
The following parameters are factory set on the MLS:
• Node ID: 0x0A
• Bit rate: 125 kbit
• TPDO1 active: Time-controlled, 10 ms cycle time

LSS, NMT

SDO, PDO
Master
Node-ID = 0

Slave
Node-ID = 1 ... 127

The following communication parameters can be allocated to the MLS:

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7 COMMISSIONING

• Node ID: 1 to 127 (0 is generally assigned to the master)

• Bit rate: 10 kbit/s, 20 kbit/s, 50 kbit/s, 100 kbit/s, 125 kbit/s, 250 kbit/s,
500 kbit/s, 800 kbit/s, 1,000 kbit/s
NOTE
The bus load increases with low transmission rates.

The node ID and bit rate are set as follows:

Using layer setting services (See also: CiA Standard 305: “Layer setting services (LSS)
and protocols”).

NOTE
After amending the node ID, the Reset Communication command (NMT command 0x82)
must be executed.
The NMT command is always transmitted with COB-ID 0x000 and in the following for‐
mat:
Table 3: COB-ID 0x000
COB-ID rtr len NMT function Target node
0x000 0 2 1 byte 1 byte

The target node is either a specific node 0x01-0x7F or 0x00 for all nodes in the bus
network.
After amending the bit rate, the sensor must be restarted.

The node ID and bit rate can also be set via the MLS configuration software (download
via www.sick.com/MLS ).
1. 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.

2. Establish a connection between the sensor and configurator via Device – Connect.
3. In the connection settings, enter the desired bit rate and NodeID and confirm with
OK. The entered settings are saved in the sensor.
NOTE
The saved bit rate and NodeID cannot be read out via the configurator. It is ideal to
note the saved settings on the sensor.

7.3.2 Process data objects (PDOs)

The MLS supports up to seven transmit PDOs (up to four at a time) and no receive
PDOs.
Objects 1800h to 1806h contain the communication parameters. The mapping is fixed
and cannot be changed.

7.3.3 PDO communication

The transmission type is factory-set to time driven for TPDO1 in object 1800h. This
means that the sensor sends its TPDO cyclically. Only TPDO1 is activated at the factory,
other TPDOs (TPDO2 in firmware V2 and TPDO2-TPDO7 in firmware V5) must be acti‐
vated via the COB-ID before use.

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 COMMISSIONING 7

Changing the factory-set transmission type

The following options are available for the cyclical or acyclical output of transmit-PDOs
by the MLS:
• Change the event timer in object 1800h (see table 4)
• Change the transmission type in object 1800h (see "Transmission types",
page 38)
The same adjustments apply to TPDO2 to TPDO7 in indexes 1801h to 1806h.

Take note of the inhibition time

NOTE
The inhibition time of the PDOs limits the communication of a device to the CANopen
bus. It always has higher priority than the event timer, the CoS events, and Sync trigger‐
ing.

If, for example, the event timer is set to 100 ms and the inhibition time to 1 s, the
respective PDO is only sent every second.
If the event timer is set to below 10 ms, a new TPDO may be transmitted before any
new data has been recorded by the sensor. In such cases, the old data is transmitted
again.

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8 OPERATION

8 Operation
8.1 CANopen
All sensor functions can be accessed via the CANopen interface. All settings can be
configured in this interface.
The EDS file can also be found at www.sick.com/mls

8.1.1 CANopen service data object directory

This section only describes the SDOs that do not have a fixed definition in the CANopen
standard. Default values are listed only for parameters that can be modified by the
user.

NOTE
The SDOs marked with a footnote are implemented from firmware version V5.

Table 4: SDOs
Index Sub R/W Data type Object name Default Description
value
0x1000 RO UINT32 Device type - No device profile
supported
0x1001 RO UINT8 Error register - No error output
0x1008 RO STRING Manufacturer - Magnetic line
device name guidance sensor
0x1009 RO STRING Manufacturer - Hardware ver‐
hardware version sion, sensor
0x100A RO STRING Manufacturer - Firmware version,
software version sensor
0x100C1 R/W UINT16 Guard time 0 Node guarding
not supported
0x100D1 R/W UINT8 Life time factor 0 Node guarding
not supported
0x10101 Store parameter
field
1 R/W UINT32 Save all parame‐ 2 Sets the saving
ters behavior of the
CANopen para‐
meters
0x10171 R/W UINT16 Heartbeat time 0 Heartbeat time in
[ms]
0x1018 Identity object
1 RO UINT32 Vendor-ID - 0x01000056
(SICK AG)
2 RO UINT32 Product code - 0x00001100
(MLS)
3 RO UINT32 Revision number - 0x00000005

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Index Sub R/W Data type Object name Default Description

value
4 RO UINT32 Serial number - Format: YYYY‐
WWnnnn
YYYY: Year of pro‐
duction
WW: Week of pro‐
duction
nnnn: Sequential
number
0x12001 Server SDO para‐
meter
1 RO UINT32 COB ID client to - Standard COB-ID
server for SDO transfer
master to sensor
2 RO UINT32 COB ID server to - Standard COB-ID
client for SDO transfer
sensor to master
0x1800 Transmit PDO
communication
parameter 0
1 R/W UINT32 COB ID 0x0000018 see "Transmis‐
A sion types",
page 38
2 R/W UINT8 Transmission 0xFF see "Transmis‐
type sion types",
page 38
5 R/W UINT16 Event timer 0x000A see "Transmis‐
sion types",
page 38
0x18011 Transmit PDO
communication
parameter 1
1 R/W UINT32 COB ID 0x8000028 see "Transmis‐
A sion types",
page 38
2 R/W UINT8 Transmission see "Transmis‐
sion types",
page 38
5 R/W UINT16 Event timer see "Transmis‐
sion types",
page 38
0x18021 Transmit PDO
communication
parameter 2
1 R/W UINT32 COB ID 0x8000038 see "Transmis‐
A sion types",
page 38
2 R/W UINT8 Transmission 0xFF see "Transmis‐
type sion types",
page 38
5 R/W UINT16 Event timer 0x0000 see "Transmis‐
sion types",
page 38

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8 OPERATION

Index Sub R/W Data type Object name Default Description

value
0x18031 Transmit PDO
communication
parameter 3
1 R/W UINT32 COB ID 0x8000048 see "Transmis‐
A sion types",
page 38
2 R/W UINT8 Transmission 0xFF see "Transmis‐
type sion types",
page 38
5 R/W UINT16 Event timer 0x0000 see "Transmis‐
sion types",
page 38
0x18041 Transmit PDO
communication
parameter 4
1 R/W UINT32 COB ID 0x8000000 see "Transmis‐
0 sion types",
page 38
2 R/W UINT8 Transmission 0xFF see "Transmis‐
type sion types",
page 38
5 R/W UINT16 Event timer 0x0000 see "Transmis‐
sion types",
page 38
0x18051 Transmit PDO
communication
parameter 5
1 R/W UINT32 COB ID 0x8000000 see "Transmis‐
0 sion types",
page 38
2 R/W UINT8 Transmission 0xFF see "Transmis‐
type sion types",
page 38
5 R/W UINT16 Event timer 0x0000 see "Transmis‐
sion types",
page 38
0x18061 Transmit PDO
communication
parameter 6
1 R/W UINT32 COB ID 0x8000000 see "Transmis‐
0 sion types",
page 38
2 R/W UINT8 Transmission 0xFF see "Transmis‐
type sion types",
page 38
5 R/W UINT16 Event timer 0x0000 see "Transmis‐
sion types",
page 381
0x1F801 R/W UINT32 NMTStartup 8 Sets the start-up
behavior of the
MLS
0x20001 Hall values

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Index Sub R/W Data type Object name Default Description

value
1-A8 RO INT16 - Raw values of the
sensor elements
0x2006 Variant configura‐
tion
1 R/W UINT8 Variant TPDO1 3 Switching data
output in TPDO1,
see "Process
data objects",
page 34

NOTE
After a change,
the device must
be restarted for
activation.

2 R/W UINT8 Variant MEMS 1 De-/Activation of

the integrated
IMU including
temperature sen‐
sor, see "Inertial
measuring unit",
page 49

NOTE
After a change,
the device must
be restarted for
activation.

0x2019 RO UINT32 Order number - Part number of

the sensor
0x2021 LCPs see "Process
data objects",
page 34
1 RO UINT16 LCP1 - Line Center Point
1
2 RO UINT16 LCP2 - Line Center Point
2
3 RO UINT16 LCP3 - Line Center Point
3
4 RO UINT8 #LCP - Figure for number
of detected
tracks and mark‐
ers
51 RO UINT8 LCP1_width - Width of track
tape 1
61 RO UINT8 LCP2_width - Width of track
tape 2
71 RO UINT8 LCP3_width - Width of track
tape 3
81 RO UINT16 LCP1_Combi - Combination of
LCP1 and
LCP1_width

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Index Sub R/W Data type Object name Default Description

value
91 RO UINT16 LCP2_Combi - Combination of
LCP2 and
LCP2_width
A1 RO UINT16 LCP3_Combi - Combination of
LCP3 and
LCP3_width
B1 RO INT8 Line Level 1 - Measured mag‐
netic field
C1
RO INT8 Line Level 2 -
strength of each
D 1
RO INT8 Line Level 3 - individual track
(positive or nega‐
tive) LSB =
0.048mT
0x2022 RO UINT8 Status - see "Process
data objects",
page 34
0x2023 RO UINT16 Track Level - see table 17,
page 41
0x2024 RO UINT16 Field level - Measured mag‐
netic field
strength with full
resolution
0x2025 R/W UINT16 Min. level 200 Minimum mag‐
netic field
strength in digits
above which a
line is detected
0x2026 R/W INT16 Offset 0 Offset [mm] for
sensor zero point
0x2027 R/W BOOL Sensor flipped 0 Sensor rotated by
180°
0 => Positive
positions on
cable outlet
1 => Negative
positions on
cable outlet
0x2028 Markers see "Marker
detection",
page 47
1 R/W BOOL Use markers 0 0 => No marker
detected in TPDO
1 => Detected
markers dis‐
played in TPDO1
2 R/W UINT8 Marker style 0 0 => No marker
detection
1 => SICK marker
standard mode
2 => SICK marker
extended mode
see "Marker
detection",
page 47

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Index Sub R/W Data type Object name Default Description

value
3 R/W BOOL Failsafe mode 0 0 => Failsafe
mode deacti‐
vated
1 => Failsafe
mode activated
see "Marker
detection",
page 47
0x2029 R/W BOOL Lock teach 0 0 => Teach key
activated
1 => Teach key
deactivated
0x202A WO BOOL Set param. to - 1 => All parame‐
default ters are set to
factory defaults

NOTE
To reset the para‐
meters “Trans‐
mission type”
and “Event
timer”, a commu‐
nication reset
must also be per‐
formed.

0x202B WO BOOL Trigger user off‐ - 1 => Offset cali‐

set calibration bration of the hall
elements is per‐
formed; the sen‐
sor is then
restarted
0x202C WO BOOL Trigger zero posi‐ - 1 => Teaches the
tion teach current position
as the new zero
point
0x202D1 Detection config
1 R/W UINT8 First Level 30 Lowest Detection
Level for track
detection in [%]
of the main peak
2 R/W UINT8 Last level 30 Highest Detection
Level for track
detection in [%]
of the main peak
3 R/W UINT8 Averaging mag‐ 1 Average filter for
netic track output val‐
ues
4 R/W UINT8 Averaging inertial 0 Average filter for
position, see
“Inertial measur‐
ing unit”, see
"Inertial measur‐
ing unit",
page 49

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8 OPERATION

Index Sub R/W Data type Object name Default Description

value
5 R/W UINT8 Tape polarity 0 Track polarity
0 - both polarities
valid
1 - track has
north polarity
2 - track has
south polarity
0x202E1 Bitmap see "Bitmap",
page 42
1 RO UINT32 Bitmap byte 1-4 - Elements 1-32
2 RO UINT32 Bitmap byte 5-8 - Elements 33-64
3 RO UINT32 Bitmap byte 9-12 - Elements 65-96
4 RO UINT32 Bitmap byte - Elements 97-128
13-16
0x202F1 Bitmap config Bitmap configura‐
tion
1 R/W UINT16 Bitmap threshold 500 Detection thresh‐
old
2 R/W UINT8 Bitmap mode 0 0 - deactivated
1 - both polarities
valid
2 - only south
polarity valid
3 - only north
polarity valid
0x20301 Orientation of Orientation in
Euler angles Euler angle repre‐
sentation in
1/10000rad,
1 RO INT16 Roll - Roll angle ϕ
2 RO INT16 Pitch - Pitch angle θ
3 RO INT16 Yaw - Yaw angle ψ
0x2031 1
Orientation of Orientation in
quaternion quaternion dis‐
play in 1/10000
(no unit), see
"Inertial measur‐
ing unit",
page 49
1 RO INT16 w (real part) - Real part
2 RO INT16 x (imaginary part) - 1. Imaginary part
3 RO INT16 y (imaginary part) - 2. Imaginary part
4 RO INT16 z (imaginary part) - 3. Imaginary part
0x2032 1
IMU settings see "Inertial mea‐
suring unit",
page 49
1 WO UINT8 Reset yaw - Resetting yaw
angle to 0
2 WO UINT8 Reset accelera‐ - Resetting accel‐
tion peaks eration peaks

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Index Sub R/W Data type Object name Default Description

value
0x20331 Acceleration Acceleration raw
data in 2-11 g or
4.79 x 10-3 m/s2,
see "Inertial mea‐
suring unit",
page 49
1 RO INT16 x-axis - x-axis
2 RO INT16 y-axis - y-axis
3 RO INT16 z-axis - z-axis
0x20341 Angular velocity Yaw rate raw data
in 125 x 2-11°/s
or 1.065 x 10-3
rad/s, see "Iner‐
tial measuring
unit", page 49
1 RO INT16 x-axis - x-axis
2 RO INT16 y-axis - y-axis
3 RO INT16 z-axis - z-axis
0x2035 1
RO UINT16 Sample time - Time stamp (run‐
stamp ning over) in ms
for raw data val‐
ues / orientation,
see "Inertial mea‐
suring unit",
page 49
0x20701 Temperature Temperature in
°C
1 RO INT8 Current tempera‐ - Current tempera‐
ture ture
2 RO INT8 Max. temperature - Maximum tem‐
all time perature through‐
out entire operat‐
ing time of the
sensor
3 RO INT8 Min. temperature - Minimum temper‐
all time ature throughout
entire operating
time of the sen‐
sor
4 R/W INT8 Max. temperature - Maximum tem‐
since last reset perature since
last reset
5 R/W INT8 Min. temperature - Minimum temper‐
since last reset ature since last
reset
6 R/W INT8 Upper tempera‐ 80 Temperature
ture threshold threshold above
which a tempera‐
ture event is gen‐
erated, see
"Event detection",
page 52

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8 OPERATION

Index Sub R/W Data type Object name Default Description

value
7 R/W INT8 Lower tempera‐ -30 Temperature
ture threshold threshold below
which a tempera‐
ture event is gen‐
erated, see
"Event detection",
page 52
2x20801 Event code Error code (set
when exceeding
the temperature
threshold, among
other things), see
"Event detection",
page 52
1 WO UINT8 Reset event flag - Reset event code
2 RO UINT8 Event source - Event source
4 RO UINT8 Magnetic field - Magnetic field
event code
5 RO UINT8 Temperature - Temperature
event code
1 This index is implemented from firmware version V5

8.1.2 Process data objects

TPDO activation
From firmware version 5, a total of 7 possible TPDOs are defined, of which a maximum
of 4 can be activated at one time. The TPDOs with fixed mapping are activated/deacti‐
vated via the setting of the respective COB-ID (subindex 1):
Table 5: Overview of TPDOs
TPDO communication SDO Default COB ID Description
parameter index (subindex 1)
TPDO1 0x1800 0x180 + {NodeID} Track position and width, marker, sta‐
tus
TPDO2 0x1801 0x80000280 + Line Width and Line Level
{NodeID}
TPDO31 0x1802 0x80000380 + Bitmap
{NodeID}
TPDO41 0x1803 0x80000480 + Euler angle + time stamp
{NodeID}
TPDO51 0x1804 0x80000000 + Quaternions + time stamp
{NodeID}
TPDO61 0x1805 0x80000000 + Acceleration raw data + time stamp
{NodeID}
TPDO71 0x1806 0x80000000 + Yaw rate raw data + time stamp
{NodeID}
1 This index is implemented from firmware version V5

In general: For a COB-ID, the MSB is set, so this PDO is deactivated. By default,
TPDO2…TPDO7 are therefore deactivated. To activate a PDO, a valid COB-ID is assigned
to it. The valid COB-IDs are 0x180, 0x280, 0x380 and 0x480 (each +{NodeID}). The
COB-IDs can be freely assigned to the TPDOs. If, for example, in index 1804, subindex
1, the COB-ID 0x280+{NodeID} is written, the quaternions are sent as TPDO2.

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To send the TPDO in Time driven mode, value 255 must be entered in subindex 2 for
the communication parameter (default setting). First, the time interval in which the
TPDO is sent must be set in [ms] in subindex 5.

Description of TPDOs
The TPDO1 contains track position and width, marker and status. By default, the
TPDO1 is structured as follows:
Table 6: TPDO1
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
TPDO1 LSB MSB LSB MSB LSB MSB #LCP Status
LCP1 LCP1 LCP2 LCP2 LCP3 LCP3

Value Data type Description

LCP1 INT16 Position of Line Center Point 1 [mm]
LCP2 INT16 Position of Line Center Point 2 [mm]
LCP3 INT16 Position of Line Center Point 3 [mm]
#LCP - See table #LCP
Status - See status table

Table 7: TPDO1, byte 7: #LCP

Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7
#LCP #LCP #LCP #LCP Marker Marker Marker Marker Marker
Bit 0 Bit 1 Bit 2 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4

Value Data type Description

#LCP UINT3 The following assignment applies (see "Output
of line center points", page 40):
0 => No track found
2 => One track found
3 => Two tracks found: Left diverter
6 => Two tracks found: Left diverter
7 => Three tracks found or 90 °C intersection2
Marker INT5 Bit 0 is the introductory character bit
Bit 1...4 represent code 1...15
2 see "Laying", page 16

Table 8: TPDO1, byte 8: Status

Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7
Status Line Track Track Track Sensor Polarity Reading Event
good Level Level Level flipped code flag
Bit 0 Bit 1 Bit 2

Value Data type Description

Line good BOOL 0 => No track or track too weak
1 => Sufficiently strong track detected

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8 OPERATION

Value Data type Description

Track Level UINT3 Display of magnetic field strength in accor‐
dance with the following table:
Table 9: Track Level
FieldLevel Line Level
4500 7
2250 7
2000 7
1750 6
1500 5
1250 4
1000 3
750 2
500 1
450 0
350 0

NOTE
Detailed table see table 18, page 41.

Sensor flipped BOOL Indicates whether or not the measuring range

has been inverted
0 => Negative positions on cable outlet side
1 => Positive positions on cable outlet side
Polarity BOOL Indicates whether the upper surface of the
magnetic tape is magnetized to the north or
south pole
0 => North pole
1 => South pole
Reading code BOOL 0 => No code present to read
1 => Sensor is reading code

Setting options of the TPDO1:

With firmware version 5, improved track detection on diverters is implemented in which
the forked track goes directly from the main track. Including the measured Line Width
makes it possible to detect diverters early on and prevent jumps in Line Center Point
output.

NOTE
When switching the sensor on, it should not be located in the area of a diverter and
should be at a 90° angle to the track if possible. Switching on can occur without a
track.

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Figure 15: Behavior with standard set‐ Figure 16: Behavior with improved track
ting detection on diverters

The improved track detection on diverters can be deactivated via index 0x2006,
subindex 1, value 0. The behavior at diverters then corresponds to firmware version 2.
An alternative output of data is offered by value 1 in index 0x2006, subindex 1. The
information on Line Center Point (LCP) and Line Width (LCP_width) are combined in one
value here (2 byte). The changed data types are to be observed here:
• LCPx: INT10 (value range -511 … 511)
• LCPx_width: UINT6 (value range 0 … 63)
The two bytes are divided up as follows:
Byte Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7
LSB LCPx (0 ... 7)
MSB LCPx (8) LCP_width (0 … 5) LCPx (9)

The following table offers an overview of the setting options:

Value Behavior
0 Resetting the track output to firmware version 2
1 Combination of Line Center Point and Line Width in one TPDO
2 Reserved for future functions
3 Improved track output at diverters, activated in firmware version 5 by
default

TPDO2 contains Line Width and Line Level:

Table 10: TPDO2
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
TPD02 Width Width Width Line Line Line
LCP1 LCP2 LCP3 Level Level Level
LCP1 LCP2 LCP3

TPDO3 contains the bitmap:

Table 11: TPDO3
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
TPDO3 Bitmap Bitmap Bitmap Bitmap Bitmap Bitmap Bitmap Bitmap
byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8

TPDO4 contains the position in Euler angles + time stamp:

Table 12: TPDO4
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
TPDO4 LSB roll MSB roll LSB MSB LSB yaw MSB yaw LSB time MSB
pitch pitch stamp time
stamp

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8 OPERATION

TPDO5 contains the position as quaternion + time stamp:

Table 13: TPDO5
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
TPDO5 LSB x MSB x LSB y MSB y LSB z MSB z LSB time MSB
stamp time
stamp

TPDO6 contains the acceleration raw data + time stamp:

Table 14: TPDO6
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
TPDO6 LSB MSB LSB MSB LSB MSB LSB time MSB
x-axis x-axis y-axis y-axis z-axis z-axis stamp time
stamp

TPDO7 contains the yaw rate raw data + time stamp:

Table 15: TPDO7
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
TPDO7 LSB MSB LSB MSB LSB MSB LSB time MSB
x-axis x-axis y-axis y-axis z-axis z-axis stamp time
stamp

8.1.3 Transmission types

The various transmission types of the TPDO1 can be set in indexes 0x1800 (TPDO1) to
0x1806 (TPDO7). These indexes are each comprised of the following subindexes:
Subind Name Permis‐ Description
ex sible
values
1 COB-ID - The COB ID is automatically adjusted to the note ID and
should not be amended by the user.
2 Transmission 0xFE, The transmission type is set here. The MLS only sup‐
type 0xFF ports event-driven transmission; the permissible values
are 0xFE and 0xFF
3 Not used - Not used
4 Compatibility - Not used
entry
5 Event timer 0 ... The event timer sets the time between two transmis‐
65535 sions from the TPDO in [ms]. A value of 0 deactivates the
transmission of the process data.

8.2 Operating and status indicators

Operating indicator
The sensor has a capacitive keypad for performing configuration and setting parame‐
ters.
Operation is carried out by pressing a series of keys with various time windows:
Press: Touch the keypad from 0.1 to 0.5 s, then release (> 0.1 s).
Hold: Touch the keypad for several seconds without releasing.
Lift finger: The finger does not touch the keypad for several seconds.

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NOTE
Operating the keypad requires a little practice because the response times are limited
and the required settings are configured with time dependence.
Tip: Memorize the series for the required settings before you configure the sensor.

A full description of the various configuration options can be found in the chapter
"Teach mode", page 39.

Status indicators
The table below describes the individual function displays. The actual behavior of the
LEDs during operation represents a combination of these function displays.
There are two LED windows, each of which has two colors:
• LED window 1: yellow and red
• LED window 2: green and blue
LED window 1:
• Yellow LED on when a magnetic tape with sufficient magnetic field strength is
detected (at line level 3 or above)
• Yellow LED flashes when a magnetic field with insufficient field strength is
detected (at line level 2 or below)
• Yellow LED off if no magnetic tape is detected
• Red LED on if an error is detected
LED window 2:
• Indicates whether the line has been detected on the left or the right. The blue and
green LEDs are dimmed using a software PWM (base frequency 1 kHz, refresh
rate 50 Hz; see figure 17).
If the detected line is on the left-hand side, this is indicated via a dimly illuminated
green LED; if the detected line is on the right-hand side, this is indicated via a dimly
illuminated blue LED. In position = 0, both LEDs are permanently on.

– 0 +

Figure 17: Status indicators

For each color, the full scale ranges from 0 mm --> brightly lit |MB/2| --> very dimly lit.
If no magnetic field or multiple lines are detected, this indicator is off. In such cases,
the green LED flashes in a special cycle.
The inversion of the position signal (sensor flipped) does not affect the LED behavior.

8.3 Teach-in mode

8.3.1 General information on teach-in mode

In teach-in mode, the current mode is displayed by the LEDs lighting up in a specific
way.

8.3.2 Calling up teach-in mode

To activate teach-in mode, press and hold the keypad until the required teach-in mode
is reached.

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Double-click

2 Hz Inversion release
Measuring range End of teach

hold > 2 sec

Teach release
Zero point End of teach
2 Hz
hold > 5 sec

2 Hz Offset calibration release

execute End of teach

hold > 8 sec

Time out =
End of teach

Figure 18: Teach-in sequence

All incorrect teach-in attempts are acknowledged by the sensor with a red flashing LED.
If the user attempts to teach in an invalid configuration, the red LED will also flash (e.g.,
teach zero point with multiple lines).

8.4 General notes on operation

8.4.1 Output of line center points

The MLS is capable of detecting up to three line center points (LCPs) and their width
(LCP_width), and providing the related data as output via the CANopen interface. The
position of each line center point is output to a resolution of 1 mm. The geometric cen‐
ter of the sensor’s longitudinal axis is the zero point.
Should the installation space of the AGV not allow for center installation of the sensor,
the zero point of the sensor can be moved in the service data (see "CANopen service
data object directory", page 26).

– 0 +

By default, the negative measuring range is towards the cable outlet, and the positive
measuring range is on the opposite side.
The alignment of the sensor (positive/negative measuring range) can be changed via
the service data.
If only one Line Center Point is found, it is output as LCP2. If a further Line Center Point
is found, it is output as LCP1 or LCP3, depending on its direction. If three LCPs are
found, then each LCP is output.

x m m m

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To make it easier for the control system to evaluate this process byte, the combination
of tracks detected is output in an additional data item #LCP. The LCPs are binary-
weighted:
Table 16: Line center points
LCP1 detected LCP2 detected LCP3 detected Output value Comments
No No No 0 Special case: No line
detected
No Yes No 2 Only one line detected
Yes Yes No 3 Single diverter detected
No Yes Yes 6 Single diverter detected
Yes Yes Yes 7 Double diverter detected

The principle of LCP1 < LCP2 < LCP3 always applies to the LCPs.

8.4.2 Inversion of the relative position

This function enables the user to invert the convention that the negative range is at the
cable outlet. This flips the position by 180° to facilitate sensor installation.
The selected setting affects the output of the inertial measuring unit (IMU), see "Inertial
measuring unit", page 49.
The inversion can be done via CANopen or the teach process on the device.
The inversion of the position signal (sensor flipped) does not affect the LED behavior.

8.4.3 Accuracy of line detection

In order to guarantee the specified repeatability of +/- 1 mm even at large working dis‐
tances, a configured average filter (chapter 8.5.3) is installed in the MLS. In general,
the following applies: The greater the working distance, the higher the filter value
should be. At the same time, a higher filter value also results in a higher delay time in
the signal output. Die t90-time of the step response for various filters settings is listed in
the following table:
Table 17: Filter settings
Filter value t90-time
0 0
1 35 ms
2 57 ms
3 80 ms
4 100 ms

The correlation between track distance, magnetic field strength and filter setting are
listed in the following table. The magnetic field strength is output in three parameters:
• Field Level: Maximum measured absolute field strength (UINT16, measuring range
25 mT, resolution 0.00076 mT)
• Line Level: Field strength for each detected track (INT8, measuring range 6.25 mT,
resolution 0.049 mT)
• Track Level: Evaluation of the magnetic field strength as 3-bit value in TPDO1. For
the assignment of Field Level to Track Tevel see table 18
Table 18: Assignment table
FieldLevel LineLevel Track Level Magnetic field Distance to Recommended
strength [mT] track tape1 filtering
4500 71 7 3.43 10 mm 0

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FieldLevel LineLevel Track Level Magnetic field Distance to Recommended

strength [mT] track tape1 filtering
2250 35 7 1.72 20 mm 0
2000 31 7 1.53 22 mm 0
1750 28 6 1.34 25 mm 0
1500 24 5 1.14 28 mm 0
1250 20 4 0.95 31 mm 0
1000 16 3 0.76 37 mm 1
750 12 2 0.57 44 mm 1
500 8 1 0.38 55 mm 1
450 7 0 0.34 60 mm 2
350 5 0 0.27 70 mm 4
1 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.

8.4.4 Bitmap

NOTE
This function is available from firmware version 5.

The sensor offers the option of digitally outputting the current magnetic field. The mea‐
sured value of each sensor element is compared to a threshold when doing so. The fol‐
lowing table provides an overview of the number of installed sensor elements of the
length variants:
MLS variant Number of sensor elements
MLSE-0200 36
MLSE-0300 54
MLSE-0400 66
MLSE-0500 84
MLSE-0600 102

If the measured value is larger than this threshold, a 1 is assigned to the element, oth‐
erwise a 0 is assigned. This bitmap is output via TPDO3 (parameter in index 0x1802) or
SDO index 0x202E, subindexes 1-4. The following settings can be made:
• Bitmap_threshold (index 0x202F, subindex 1): The threshold (default: 500) with
which the measured value of the respective sensor element is compared can be
set here. This is a UINT16 value.
• Bitmap mode (index 0x202F, subindex 2): The following settings are available:
Value Meaning
0 Bitmap detection is deactivated.
1 Both polarities are detected as valid. A 1 is assigned to the element
when the value is larger than the Bitmap_threshold or smaller than the
Bitmap_threshold.
2 Only south polarity is detected as valid. A 1 is assigned to the element
when the value is larger than the Bitmap_threshold.

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Value Meaning
3 Only north polarity is detected as valid. A 1 is assigned to the element
when the value is smaller than the Bitmap_threshold.

8.5 Track optimization

NOTE
This function is available from firmware version 5.

8.5.1 Offset calibration

In production, the MLS is calibrated RAW Data

(11.81)
300 3
freely in the air (not mounted) at the (10.24)
260

factory. 220
(8.66)

In this case, the raw data is near the 180

(7.09)

zero line (sensor position: label on the

140
(5.51)

100
upper side). (3.94)

60
(2.36)

Field Level [digits]

20
2
(0.79)
0
-20 1
(-0.79)

-60
(-2.36)

-100
(-3.94)

-140
(-5.51)

-180
(-7.09)

-220
(-8.66)

-260
(-10.24)

-300
(-11.81) 4
-159 -120 -80 -40 0 40 80 120 161
(-6.26) (-4.72) (-3.15) (-1.57) (1.57) (3.15) (4.72) (6.34)
Position [mm]
[inch]

Figure 19: MLS not mounted

If the MLS is mounted in the applica‐ RAW Data

(11.81)
300 3
tion (in the AGC/AGV), installation can (10.24)
260

influence the sensor: 220

(8.66)

180
(7.09)

140
(5.51)

100
(3.94)

60
(2.36)
Field Level [digits]

20
(0.79)
0 1
-20
(-0.79)

-60
(-2.36)

-100 2
(-3.94)

-140
(-5.51)

-180
(-7.09)

-220
(-8.66)

-260
(-10.24)

-300
(-11.81) 4
-159 -120 -80 -40 0 40 80 120 161
(-6.26) (-4.72) (-3.15) (-1.57) (1.57) (3.15) (4.72) (6.34)
Position [mm]
[inch]

Figure 20: MLS mounted

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8 OPERATION

These influences can be permanently RAW Data

(11.81)
300 3
compensated for with an offset calibra‐ (10.24)
260

tion. To do so, write value 1 in index 220

(8.66)

0x202B. The raw data then looks as 180

(7.09)

follows: 140
(5.51)

100
(3.94)

60
(2.36)

Field Level [digits]

20
(0.79) 2
0
-20 1
(-0.79)

-60
(-2.36)

-100
(-3.94)

-140
(-5.51)

-180
(-7.09)

-220
(-8.66)

-260
(-10.24)

-300
(-11.81) 4
-159 -120 -80 -40 0 40 80 120 161
(-6.26) (-4.72) (-3.15) (-1.57) (1.57) (3.15) (4.72) (6.34)
Position [mm]
[inch]

Figure 21: Raw data after offset calibration

1 Detection Level positive
2 Raw data
3 Min Level positive
4 Min Level negative
5 Detection Level negative

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8.5.2 Detection Level

If the MLS is placed over the magnetic RAW Data
4000
(157.48)

track, it detects positive and negative 3600

(141.73)

signal peaks. 3200

(125.98)

The set Detection Level applies both 2800

(110.24)

for the detection of positive and nega‐

2400
(94.49)

2000
tive signal peaks. (78.74)

1600 1
(62.99)

• Positive peaks are detected above 1200 2

(47.24)

Field Level [digits]

the level of the blue solid line (1). 800
(31.50)

• Negative peaks are detected below

400
(15.75)
3
0
the level of the blue dashed line (5). -400
4
(-15.75)

If the magnetic field has a main maxi‐ -800

(-31.50)

mum (largest absolute value is posi‐

-1200
(-47.24)

-1600
tive), it should be ensured that the neg‐ (-62.99)

-2000
5

ative Detection Level (5) is far enough (-78.74)

-159
(-6.26)
-120
(-4.72)
-80
(-3.15)
-40
(-1.57)
0 40
(1.57)
80
(3.15)
120
(4.72)
161
(6.34)

UNDER the negative overshoots. In Position [mm]

[inch]

contrast, with a main minimum, the Figure 22: Magnetic field with main maxi‐
positive Detection Level (1) must be mum
high enough OVER the positive over‐
shoots. This prevents unwanted error RAW Data
1200
detection of tracks or markers. (47.24)

800
1

(31.50)
2
400
(15.75)
3
0
4
-400
(-15.75)

Field Level [digits] -800

(-31.50)
5
-1200
(-47.24)

-1600
(-62.99)

-2000
(-78.74)

-2400
(-94.49)

-2800
(-110.24)

-3200
(-125.98)

-3600
(-141.73)
-159 -120 -80 -40 0 40 80 120 161
(-6.26) (-4.72) (-3.15) (-1.57) (1.57) (3.15) (4.72) (6.34)
Position [mm]
[inch]

Figure 23: Magnetic field with main mini‐

mum

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The Detection Level of the MLS can be RAW Data

4200
(165.35)

adjusted with the First Level (index 4000

(157.48)

0x202D.1) and Last Level (0x202D.2) 3600

(141.73)

parameters. The currently imple‐ 3200

(125.98)

mented algorithm of the MLS works

2800
(110.24)

2400
with only one level, which is why: (94.49)

2000

First_Level = Last_Level. The value is (78.74)

2

Field Level [digits]

1600

given in percent of the peak level. The

(62.99)
1
1200
(47.24)

actual Detection Level is calculated as 800

(31.50)

follows: 400
(15.75)
3
Detection Level = (Field Level – Min 0
4
-400
Level)*First Level + Min Level (-15.75)

-800

In addition, the Min Level (3)/(4), which

(-31.50)

-1200
(-47.24) 5
defines the threshold for detection of a -1600
(-62.99)

track, can be moved (index 0x2025). -159

(-6.26)
-120
(-4.72)
-80
(-3.15)
-40
(-1.57)
0 40
(1.57)
80
(3.15)
120
(4.72)
161
(6.34)
Position [mm]

The parameters can be best optimized [inch]

when two tracks are very close to one Figure 24: Min Level
another (e.g. with a diverter). The nega‐
tive overshoots can lead to problems RAW Data
4200
(165.35)
(figure 24) which can be prevented by 4000
(157.48)

a higher (absolute) Min Level 3600

(141.73)

(figure 25). 3200

(125.98)

2800
(110.24)

2400
(94.49)

2000
(78.74)
1

Field Level [digits]

1600
(62.99)

1200
2
(47.24)
3
800
(31.50)

400
(15.75)

-400
(-15.75)

-800
(-31.50) 4
-1200
(-47.24)

-1600
(-62.99) 5
-2000
(-78.74)
-159 -120 -80 -40 0 40 80 120 161
(-6.26) (-4.72) (-3.15) (-1.57) (1.57) (3.15) (4.72) (6.34)
Position [mm]
[inch]

Figure 25: Moved Min Level

1 Detection Level positive
2 Raw data
3 Min Level positive
4 Min Level negative
5 Detection Level negative

8.5.3 Average filter for track output values

Another optimization of the track detection is possible thanks to the Averaging Magnetic
function. This function encompasses the filtering of the LCP (Line Center Point), Line
Width and Line Level track parameters. The filter value is calculated as follows:
Value_filtered(n) = (value_filtered(n-1)*<Averaging Magnetic>+value(n))/(<Averaging
Magnetic>+1)
Value_filtered(n): Currently filtered value
Value_filtered(n-1): Old filtered value
Value(n): Current (unfiltered) measured value
The Averaging_magnetic filter value = 0 deactivates this function.
The filter value is configured via index 0x202D, subindex 3:

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Table 19: Index 0x202D, subindex 3

Index Sub R/W Object name Default value
0x202D 3 R/W Averaging magnetic 1

In general, the following applies: The greater the working distance, the higher the filter
value should be. At the same time, a higher filter value also results in a higher delay
time in the signal output (see table 17, page 41).

8.5.4 Track polarity setting

The track polarity of the track tape used can be fixed to increase the reliability of the
sensor in challenging applications. The following setting options exist (index 0x202D,
subindex 5):
Value Meaning
0 The track polarity is automatically detected, both track polarities are valid.
Both south tracks (with north markers) and north tracks (with south mark‐
ers) are detected (standard setting).
1 Only tracks with north polarity are detected. Markers must have south polar‐
ity.
2 Only tracks with south polarity are detected. Markers must have north polar‐
ity.

8.6 Marker detection

The MLS is capable of detecting magnetic codes using so-called markers. Markers are
small strips of magnetic tape placed adjacent to the actual line.
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; line tape with the south pole facing up, marker with the
north pole facing up. The sensor automatically detects the polarity of the (main) line
tape.
The value of the code is determined by the distance between the marker and the line.
The markers are placed on a 30 mm raster.
A marker length of 100 mm is recommended.

NOTE
For optimum functioning of automated polarity detection, we recommend that the sen‐
sor is not switched on over a marker.

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8 OPERATION

a1

S N S
a2

The following principle applies:

If a1 > a2: Marker detected in positive travel direction.
If a1 < a2: Marker detected in negative travel direction.

NOTICE
The inversion of the position signal (sensor flipped) affects marker detection. The posi‐
tion signals after inversion are used to detect the markers.

There are a number of different modes:

Standard mode (7 different codes possible): The values of the markers are added:
Marker 1 Marker 2
A1 [mm] Template1 A2 [mm] -Template1 Total Code
30 M4 - - 30 1
60 M3 - - 60 2
60 M3 30 M5 90 3
90 M2 - - 90 3
90 M2 30 M5 120 4
120 M1 - - 120 4
90 M2 60 M6 150 5
120 M1 30 M5 150 5
120 M1 60 M6 180 6
120 M1 90 M7 210 7
1 Marker-template (SICK-accessories, order number 4097520)

Extended mode (10 different codes possible):

Marker 1 Marker 2
A1 [mm] template 1
A2 [mm] template1 Code
30 M4 - - 1
60 M3 - - 2
60 M3 30 M5 3

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Marker 1 Marker 2
A1 [mm] template 1
A2 [mm] template1 Code
90 M2 - - 4
90 M2 30 M5 5
90 M2 60 M6 6
120 M1 - - 7
120 M1 30 M5 8
120 M1 60 M6 9
120 M1 90 M7 10
1 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. This results in the
marker code being misinterpreted. The failsafe mode delays the output of the marker
code until the sensor has traveled over the marker, and only then outputs the detected
code. If failsafe mode is deactivated, the sensor outputs the detected marker immedi‐
ately.

8.7 Inertial measuring unit

NOTE
This function is available from firmware version 5.

The line guidance sensor contains an integrated inertial measuring unit (IMU) which
enables determination of the current orientation of the sensor. The position is output as
sensor rotation compared to a reference system which is defined in "Coordinate sys‐
tem", page 50. The rotation can either be represented by Euler angles or a quater‐
nion. The raw data (acceleration and yaw rate) of the IMU can also be read out. All data
of the IMU are output with a refresh rate of 100Hz.

NOTE
The IMU is activated by default and can be deactivated via index 0x2006, subindex 2.
Value Meaning
0 IMU and temperature sensor inactive
1 IMU and temperature sensor active

NOTE
The determined rotation of the sensor around the gravity axis (yaw angle) is not stable
in the long term due to the principle.
Tip: Only use the yaw angle for relative measurements over limited periods of time. It
can be reset to zero before a measurement, see "Resetting the yaw angle", page 51.

NOTE
During its initialization, which runs in 640 ms after start-up of the sensor, the inertial
measuring unit does not output valid data (all output values are zero at this time).

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8.7.1 Coordinate system

During orientation measurement, the sensor rotation is determined compared to a ref‐
erence system. The coordinate system used depends on the value of the Sensor Flipped
parameter (index 0x2027). For setting Sensor Flipped = 0, the coordinate system is illus‐
trated as in the following figure:

Figure 26: Standard axis definition

For the Sensor Flipped = 1 setting, on the other hand, the following coordinate system is
used:

Figure 27: Flipped axis definition

Reference system:
In the reference system, the z-axis is antiparallel to the gravity vector.
z-axis
↑
↓
Gravity
The zero point for rotation of the reference coordinate system around the z-axis results
from the position of the sensor at the power-up delay time (or at the time at which the
respective alignment was reset to zero, see "Resetting the yaw angle", page 51).

8.7.2 Time stamp

A sample time stamp in index 0x2035 is provided for the measured values. This speci‐
fies the measuring time in milliseconds. From the output UINT16 value, the sample
time can be calculated as
TIME = 1/1,000 s · TIMESTAMP_UINT16
The sample time stamp runs to zero every 65.536 s.

8.7.3 Output of orientation in Euler angle representation

The current orientation in Euler angle representation can be called up in index 0x2030,
subindex 1 – 3, whereby the three subindexes contain the Roll, Pitch and Yaw compo‐
nents. Alternatively, the angles can be output in TPDO4. In addition to the three angles,
the TPDO contains the time stamp sample.

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The angles specify the rotation of the sensor compared to the reference position
according to DIN 9300 / DIN ISO 8855 in Z/Y'/X'’ sequence (intrinsic) or X/Y/Z (extrin‐
sic).
The Euler angles are output in radians. The output INT16 value can be converted to the
angle in radians as follows:
ANGLE = 1/10,000 rad · VALUE_INT16

8.7.4 Output of orientation in quaternion display

The current orientation in quaternion representation can be called up in index 0x2031,
subindex 1 – 4, whereby the four subindexes contain the three imaginary parts of the
quaternion. The output quaternion is standardized to value 1 and the real part of the
quaternion is always positive.
Alternatively, the quaternion can be output in TPDO5. This TPDO contains the imaginary
parts of the quaternion and the sample time stamp. Due to the standardization, the
real part of the quaternion (not contained in the TPDO) can be calculated as the imagi‐
nary parts with

x, y and z and the real part with w.

The components of the quaternions do not have units. The value of the components is
output as the INT16 value, the actual value can be calculated as
COMPONENT = 1/10000 · VALUE_INT16

8.7.5 Resetting the yaw angle

The output yaw angle is not stable in the long term due to the principle of its measure‐
ment. That is why it can be reset to zero by writing value 1 into the SDO Reset Yaw (index
0x2032, subindex 1).

8.7.6 Low pass filter for position

The output values for the position can be filtered with an adjustable IIR low pass of the
first order, whereby the filter affects the Euler angle and the quaternion representations
in the same manner.
The filter is configured via filter parameter K in index 0x202D, subindex 4, which can be
set to whole values between 0 and 100. The resulting -3 dB limit frequency for the out‐
put signals can be calculated as

Higher values for K therefore result in stronger low pass filtering of the signal. For a
value of 0 for K, the low pass filter is deactivated (default setting).

8.7.7 Output of raw data for acceleration and yaw rate

For acceleration and yaw rate, the raw data can be called up in index 0x2033, subindex
1–3 (acceleration) and index 0x2034, subindex 1–3 (yaw rate). The raw data can also
be output as 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.

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8 OPERATION

The coordinate system for the raw data is the system shown in section "Coordinate sys‐
tem", page 50 for Sensor Flipped = 1. The selected Sensor Flipped setting has no influence
on the raw data (these are real, uncorrected raw values).
The raw data has the following parameters:
• Sampling rate: 200 Hz
• Measuring range:
Acceleration: ± 16 g
Yaw rate: ± 2,000°/s
The raw data is output as INT16 values.
The measured acceleration in g can be calculated from this as
ACCELERATION = 2-11 g · VALUE_INT16
or the acceleration in m/s2 as
ACCELERATION = 4.79 x 10-3 m/s2 · VALUE_INT16
The measured yaw rate in °/s can be calculated from the INT16 values as
YAW RATE = 125 x 2-11°/s · VALUE_INT16
or the yaw rate in rad/s as
YAW RATE = 1.065 x 10-3 rad/s · VALUE_INT16

8.8 Temperature sensor

NOTE
This function is available from firmware version 5.

The temperature currently measured in the sensor can be called up in index 0x2070,
subindex 1. The temperature values have data type INT8 and represent the tempera‐
ture in °C.
The minimum or maximum temperature measured over the entire operating time of the
sensor is available in index 0x2070, subindex 2 and 3. The minimum and maximum
temperature through the operating time can also be read out of index 0x2070,
subindex 4 and 5, but the values can be reset here. Resetting is done by writing value
-127 into index 0x2070, subindex 4 and value 127 in index 0x2070, subindex 5. The
temperature can be monitored via the adjustable temperature threshold in index
0x2070, subindex 6 and 7, see "Event detection", page 52.

NOTE
The temperature sensor is activated/deactivated by activating/deactivating the IMU in
index 0x2006, subindex 2.

8.9 Event detection

NOTE
This function is available from firmware version 5.

The line guidance sensor can detect two types of events:

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 OPERATION 8

• Magnetic field event: This event is triggered when the critical magnetic field
strength is undercut. When the critical magnetic field strength is undercut, it can
no longer be guaranteed that the unfiltered track position fulfills the data sheet
specifications.
• Temperature event: This event is triggered when the current temperature exceeds
the temperature set in index 0x2070, subindex 6 or the temperature thresholds
set in index 0x2070, subindex 7.
When the event occurs, the “Event” flag is set in the status byte in TPDO1 and in index
0x2022. The cause for the event can be called up in index 0x2080, subindex 2. The
assignment is shown in table table 20.
Table 20: Event source
Value in Event source Cause for event
0 No event
2 Magnetic field
4 Temperature
6 Magnetic field and temperature

Further data on the cause of the event can be called up for a magnetic field event in
index 0x2080, subindex 4 and for a temperature event in index 0x2080, subindex 5.
The possible error codes are shown in table table 21 (magnetic field event) or table 22
(temperature event).
Table 21: Magnetic field error code
Magnetic field error code Cause for event
0 No event
1 Magnetic field falls below critical magnetic field strength

Table 22: Temperature error code

Temperature error code Cause for event
0 No event
1 Current temperature falls below lower threshold (index 0x2070,
subindex 7)
2 Current temperature exceeds upper threshold (index 0x2070,
subindex 6)

A reset of the event flag is possible by writing in index 0x2080, subindex 1.

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9 MAINTENANCE

9 Maintenance
9.1 Maintenance
The sensor is maintenance-free.
To ensure it continues operating without problems, however, the screw connection
between the sensor and the slot, and for the electrical connection, should be checked
regularly. The interval at which they are checked should be adapted in line with the con‐
ditions of the application, but should be no more than 6 months.

9.2 Repairs
Repairs on the sensor may only be carried out by the manufacturer. Any interruption or
modification of the sensor will invalidate the manufacturer warranty.

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 DECOMMISSIONING 10

10 Decommissioning
10.1 Decommissioning
Removing the sensor
1. Switch off the supply voltage to the sensor.
2. Detach all connecting cables from the sensor.
3. If the sensor is being replaced, mark its position and alignment on the bracket or
surroundings.
4. Remove the sensor from the slot.

Disposing of the sensor

Any sensor which can no longer be used must be disposed of in an environmentally
friendly manner in accordance with the applicable country-specific waste disposal regu‐
lations. The sensor is electronic waste and must under no circumstances be disposed
of with general waste.

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11 TROUBLESHOOTING

11 Troubleshooting
Possible faults and corrective actions are described in the table below for troubleshoot‐
ing. In the case of faults that cannot be rectified using the description below, please
contact the manufacturer. See the back page for relevant contact details.
Table 23: Troubleshooting
LED indicator/fault pattern Cause Measure
No LED illuminated/sensor Problem with sensor voltage Check and restore voltage sup‐
not communicating via supply ply
CANopen
Green LED flashing/sensor Problem with sensor voltage Reduce threshold for detection
does not output track data supply of track tape (index 0x2025)
even though track tape is
positioned at the correct dis‐
tance
Yellow LED lights up/sensor Event timer TPDO2 is set to '0' Set event timer (index 0x1800
does not output track data subindex 3) to a value greater
than 10
Sensor does not send a TPDO2-7 not activated Activate TPDO2-7 via COB ID
TPDO2-7

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 TECHNICAL DATA 12

12 Technical data
Performance
Table 24: Performance
Parameter Conditions Icon Unit min. Typ. max.
Measuring range MR300 mm 300
Repeatability 1
mm 1
Resolution mm 1
Working distance2 mm 10 704
Output refresh Hz 100
rate3
LED display yellow / red, blue / green
Reverse polarity protection Yes
Short-circuit protection Yes
1 Depending on magnetic tape used and working distance
2 Depending on magnetic tape used
3 Depending on sensor length:
200: 100 Hz
300: 100 Hz
400: 80 Hz
500: 70 Hz
600: 60 Hz
4 With magnetic averaging value “4”, see "Track optimization", page 43

Interfaces
Table 25: Interfaces
Parameter Specification
Interface CANopen
Device profile No device profile is supported
Address setting 0 … 127, default: 10
Data transmission rate 10 kBaud … 1000 kBaud, default: 125 kBaud
PDO data Track position and width
Line Level
Marker
Status
Position Euler angle / Quaternion
IMU raw data
Configuration data Minimum permissible magnetic field strength,
offset zero point, inversion of measuring range,
marker detection, activation of teach-in button
Diagnostic data Current magnetic field strength
Status information No LED allocated on CANopen bus
Bus termination Internal 120 Ohm terminator (optional)

Mechanics/electronics
Table 26: Mechanics/electronics
Parameter Specification
Electrical connection PUR cable 0.3 m; M8 4-pin or
PUR cable 0.3 m; M12, 4-pin or
PUR cable 2 m; cable outlet (open strand end)
Supply voltage 9 … 30 V DC, reverse polarity protected

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12 TECHNICAL DATA

Parameter Specification
Residual ripple </= 10%
Power consumption </= 600 mW
Housing Aluminum, PA
Housing color black, end caps: black
EMC In accordance with DIN 61000-6-2/4
Protection class 3
Enclosure rating IP 65, IP 67, IP 68 (in accordance with EN
60529)
Mounting Mounted using accessories in sensor T-slot

Total length Measuring range

MLSE-0200 217 200
MLSE-0300 325 300
MLSE-0400 397 400
MLSE-0500 505 500
MLSE-0600 613 600

Ambient data
Table 27: Ambient data
Parameter Specification
Perm. impact load 30 g/11 ms
Perm. vibration load 10 ... 55 Hz/1 mm
Perm. ambient temperature -20 °C ... 70 °C

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 ANNEX 13

13 Annex
13.1 EU declaration of conformity
The EU declaration of conformity can be downloaded from the Internet at:
www.sick.com/mls

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8021642.12T5/2020-03-09/en

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