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
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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
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PLC with I/O | MFR for
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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.