On this page, you may find information concerning:
- General composition of a Pick-to-Light system
- Connecting the system
- Signal processing during working processes
General composition of a Pick-to-Light system
P2L digital
The digital P2L-sensors are parallel connected to the PLC via I/O using 6-terminal M8 connectors (not included in delivery). They are then supplied with power from the SPS.
| Digital P2L sensors parallel connected | PLC with I/O | MFR for
|
P2L CAN bus
The P2L sensors with CAN bus are connected in a row by a cable with 4 pins M8 connector (not included in scope of delivery)using only one line to the CAN bus module of the PLC. Up to 100 sensors can be connected in a system. The P2L sensors are supplied with power by the CAN bus line.
| P2L sensors with CAN bus in a row
|
PLC with I/O | MFR for
|
Connection
P2L digital
P2L CAN bus
Signal processing
P2L digital
P2L CAN bus
CAN – Data Telegram
P2L CAN Bus uses CAN protocol 2.0 A.
Message Protocol
The sensor transmission rate is 125 kBit/s. The data block uses only one Byte of data, meaning 8 of 64 bits are used.
Signals sent to the sensor and functions
| Command | Description |
| 0 | Turns the LED off and ends the teach-in procedure and the picking modus |
| 1 | Begin teaching |
| 2 | Picking operation started |
| 3 | Turns red LED on |
| 4 | Turns green LED on |
| 5 | Turns green and red LED on |
| 6 | Sensor reachable? If yes: answer with 200 |
| 7 | Switches LEDs off, which were on. Does not overwrite any picking or teach-in operation |
When a picking message is delivered, the corresponding command will be executed and the green LED lights up. The picking signal and teaching signal have higher priority.
P2L sensor answers
| Command | Description |
| 128 | Sensor teaching process has taken place |
| 129 | The piece got picked while in picking modus |
| 130 | Error |
| 200 | Signal answer of the sensor while it’s reachable |
LEDs at P2L sensor show the actual operation status. In case of a picking error during assembly or an error during teaching-in procedure, the red LED blinks periodically.