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Baumer 11188367, Operating Manual

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Baumer 11188367 Operating Manual Download Page 17

 

 

 

 

 

Manual R600V.DAE0 (EN) 

R600V.DAE0_manual_1.5 (EN).docm 

Page 17 of 29 

Last Update: 07 Jan 2021 

2.5  CAN Interface (Physical Layer) 

The CAN physical layer is according to SAE J1939-15 (reduced physical layer). Some base 

parameters are shown in the table below. 

Tab 6 

CAN Interface 

Parameter 

Value 

Bus Speed 

250 kbit / sec (1) 

Bus Termination 

External termination 

Bus Voltage 

5V 

Wiring 

Unshielded twisted pair (UTP) 

Cable impedance 

120 Ohm (+/- 10%) 

 

(1) may be customized to 500 kbit/sec for customer specific versions. 

 

The bus termination resistor is not included in the device. The bus setup is shown in the figure 

below: 

 

Fig 8 

CAN connection setup diagram 

 

For further information please refer to the CAN Protocol chapter. 

120 

 

120 

 

CAN HI 

CAN LO 

R600V 

Radar Sensor 

R600V 

Radar Sensor 

Summary of Contents for 11188367

Page 1: ...Baumer Electric AG Hummelstrasse 17 8501 Frauenfeld Switzer land 1 29 R600V DAE0 Operating Manual EN Off Highway Ground Crop Radar Sensor Last Update 07 Jan 2021 ...

Page 2: ...cal Integration 9 2 1 1 Mounting Direction Blind range 9 2 1 2 Mounting 9 2 1 3 Free Space and Directional Sensitivity 12 2 2 Targets and Measurement 13 2 2 1 Reference Target 13 2 2 2 Structured application environment targets and stationary situations 13 2 2 3 On Vehicle Calibration 14 2 3 Electrical Integration 15 2 4 Visual Diagnostic 16 2 5 CAN Interface Physical Layer 17 3 CAN Protocol 18 3 ...

Page 3: ...served 21 3 4 Exemplary Decoding of a CAN message frame 22 3 5 Sensor Configuration 23 3 5 1 Tool ISO name acceptance criteria 23 3 5 2 Adjustable Parameters 23 4 Trouble Shooting 24 5 Accessories 24 6 Appendix 25 6 1 Table Overview 25 6 2 Figures Overview 25 6 3 Definitions and Abbreviations 26 7 Terms and conditions of use 27 7 1 1 Copyright 27 7 1 2 No Warranty 27 7 1 3 No Offer 27 7 1 4 Limita...

Page 4: ...MSF 1 8 0 or higher 11188367 R600V DAE0 11188367 Radar sensor for general applications 250 kbaud R600VMOF 1 13 0 or higher 1 2 Comments notes and warnings 1 3 Intended Use 1 3 1 General The Radar Sensor for Ground Crop Radar Sensor has been developed with the off high way market agriculture vehicles construction vehicles etc in mind It is intended for use cases in which the structured ground rough...

Page 5: ...d during a safety assessment of the con sequences of this product s integration The Baumer Off highway Ground Crop Radar sen sors are not intended for safety applications and potentially explosive atmospheres The OEM or system integrator must ensure the safety of the equipment on which this product is used The manual is written based on current information Baumer reserves the right to update prod ...

Page 6: ...ification of the state of function of the vehicle Baumer ensures the compliance of its products to the specifications and declarations of con formity made available through its website www baumer com All conditions of use provided in the data sheet top level drawing must be observed The machines or equipment manufactured by the customer utilizing Baumer product must only be put on the market as co...

Page 7: ...made to this equipment not expressly approved by Baumer may void the FCC authorization to operate this equipment NOTE This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a com mercial environment T...

Page 8: ...compromettre le fonctionnement Cet équipement est conforme aux limites d exposition aux rayonnements IC établies pour un environnement non contrôlé Cet équipement doit être installé et utilisé avec un minimum de 20 cm de distance entre la source de rayonnement et votre corps Ce transmetteur ne doit pas etre place au meme endroit ou utilise simultanement avec un autre transmetteur ou antenne 1 3 5 ...

Page 9: ...to the tip of the lens A blind range of 300mm must be considered No reliable measurement is possible within the blind range of the sensor though strong targets may be detected No targets above 6m are de tected Fig 1 Mechanical Setup for visualization only 2 1 2 Mounting A mounting plate with a flatness of better than 0 2mm per 100mm shall be used Baumer recommends soft steel as material to match s...

Page 10: ...nting torque for 10 9 property class screws must be within 12Nm 15Nm and for 8 8 property class screws it must be within 10Nm 12Nm For the mounting pattern and available tool space for tightening the mounting screws please refer to the Figure below Enough space must be allowed for the wiring harness to avoid excessive bending of the wires or wire assembly The wires must also be appropriately secur...

Page 11: ...Manual R600V DAE0 EN R600V DAE0_manual_1 5 EN docm Page 11 of 29 Last Update 07 Jan 2021 Fig 4 Mounting pattern tool space ATTENTION Observe mounting torque and tool space to avoid damage to sensor ...

Page 12: ...or Baumer recommends to limit intrusion of in particular non stationary objects into a rotational cone of approx 60 70 from the lens Integration testing must be done to ensure that the integration with available free space does not have impact on the measurement It is known that dangling wires cables hoses water droplets may be picked up Fig 6 Recommended Free Space NOTE Non stationary objects in ...

Page 13: ...sured distance will be aver aged over the whole area covered by the sensor opening angle directionality In static sit uations distances with a strong reflection will be favoured When moving over the structured object statistics will avoid these strong reflections at distinct distances and the ground distance can be determined well Nevertheless the structure of the surface of the soil will be refle...

Page 14: ...e to slight changes in position due to vibration and varying radar wave interference For on machine calibration purposes a flat sur face of adequate size e g larger than 1200mm by 1200mm with good radar reflection and with its geometric centre lined up with the sensor centre axis must be used to avoid this effect and ensure a stable calibration procedure NOTE For distance calibration on a vehicle ...

Page 15: ...ce shall be protected by an external R C or listed fuse rated max 100W Vp or max 5A below 20VDC and a UL class 2 power supply be used Tab 3 Connector Pin Out Connection type Ampseal 16 4P 776536 1 Mating connector Ampseal 16 4P 776524 1 Pin Code Description 1 Vs Positive Supply voltage 12VDC 24VDC nominal 2 CAN HI CAN High 3 GND Ground supply voltage 4 CAN LO CAN Low This product may be used on ve...

Page 16: ...ensor fully operational ob ject detected 100ms Green LED ON 400ms LED OFF Sensor fully operational no object detected Green LED as above with additional 100ms Yellow LED ON in LED OFF interval Hardware fault 50ms Red LED ON 50ms LED OFF CAN Bus Off malfunction 50ms Magenta LED ON 150ms LED OFF Address claim failed 50ms Magenta LED ON 50ms LED OFF Waiting for Master ECU ad dress claim 500ms Magenta...

Page 17: ...er Value Bus Speed 250 kbit sec 1 Bus Termination External termination Bus Voltage 5V Wiring Unshielded twisted pair UTP Cable impedance 120 Ohm 10 1 may be customized to 500 kbit sec for customer specific versions The bus termination resistor is not included in the device The bus setup is shown in the figure below Fig 8 CAN connection setup diagram For further information please refer to the CAN ...

Page 18: ... Session N A Transportation Layer SAE J1939 21 Data Link Layer Network Layer SAE J1939 31 Data Link Layer SAE J1939 21 Physical Layer SAE J1939 14 SAE J1939 15 Not all functions listed in the referenced standards have been implemented The following chapters explain the extent and implemented functions DBC files can be downloaded from the respective product page on www baumer com 3 1 ISO Name Manuf...

Page 19: ...it as claimed and claim the next free address in the table 1 5 Start transmitting the cyclic ground canopy message The CAN SAE J1939 standard generally defines the address claim procedure Each device on the bus can request an new address claiming from a single device or all nodes The re questing device has to send a request PGN 0xEA00 with the desired destination address DA address of node global ...

Page 20: ...and message PGN 0xD900 Direction Receive Transmission rate Random 3 3 4 DM15 Memory access reply message PGN 0xD800 Direction Transmit Transmission rate Reply to DM14 command message 3 3 5 DM16 Memory access binary data PGN 0xD700 Direction Transmit receive Transmission rate When needed 3 3 6 Ground Canopy Message PGN 0xC000 Direction Transmit Transmission rate 50ms Source address Sensor address D...

Page 21: ...ing else than 80 for canopy Signal strength the number of targets detected and the history of ground and canopy distance are considered to determine this value The confidence values are an indi cation only Thresholds for decisions made on the controller system level need to be deter mined through application testing 3 3 7 Vehicle Speed Message reserved PGN 0xC100 PDU Type PDU1 Direction Receive Re...

Page 22: ... 29bit PDU1 format 3 bit priority PRIO 1 bit reserved R 1 bit data page DP 8 bit PDU format 240 8 bit PDU specific group extension 8 bit source address 0x06 110 2 0x00 0 2 0x00 0 2 0xC0 1100 0000 2 FF 0x 1111 1111 2 0x80 1000 0000 2 PDU1 format Global destination address PGN parameter group number Tab 13 Example for decoding the 8 byte data field 0x 8C AB 27 0C 34 0C 00 00 1000 1100 1010 1011 0010...

Page 23: ...a ISO name Function field 129 ISO name Industry group field 0 3 5 2 Adjustable Parameters The following parameters are available for adjustment Tab 14 Adjustable Parameters Address Parameter range offset scaling Default value LED settings 0x07DFAA Green LED duty cycle 0 100 0 1 N A 4 0x07DFAB Green LED period 0 255 0 100ms N A 4 0x07DFAC Red LED duty cycle 0 100 0 1 N A 4 0x07DFAD Red LED period 0...

Page 24: ...aces Unexplained targets distance meas urement in far range Check for double reflections and limit measurement range The LED is blinking red 50ms on 50ms off Hardware fault Replace part by qualified personnel The LED is blinking magenta CAN bus error Check Tab 5 for details The LED is blinking blue for a long pe riod Try a power cycle If this does not fix the issue replace part by qualified person...

Page 25: ... a CAN SAE J1939 message frame 22 Tab 12 Example for decoding the CAN ID 29bit PDU1 format 22 Tab 13 Example for decoding the 8 byte data field 22 Tab 14 Adjustable Parameters 23 Tab 15 Trouble Shooting Overview 24 Tab 16 Accessories 24 Tab 17 Definitions and Abbreviations 26 Tab 18 Document revision history 28 6 2 Figures Overview Fig 1 Mechanical Setup for visualization only 9 Fig 2 Mounting on ...

Page 26: ...h code CAN message frame DM Direct Memory ECU Electronic Control Unit EOF End of frame CAN message frame IDE Identifier extension bit ISO International Standardization Organization LED Light Emitting Device MA Memory Access OEM Original Equipment Manufacturer OSI Open Systems Interconnection PDU Protocol Data Unit PF PDU Format PGN Parameter Group Number PS PDU Specific RTR Remote request bit CAN ...

Page 27: ...e The suitability of the Baumer product must be validated by the customer for every application Intellec tual property rights may exist for some applications and or end use cases Baumer does neither implic itly nor explicitly warrant the usage for specific application and or end use case 7 1 3 No Offer The information published in this manual does not constitute a solicitation to submit an offer n...

Page 28: ...elease wemi lph sfri N A 1 01 28 Nov 2019 Fix addresses for settings wemi N A N A 1 1 29 Nov 2019 Align with other documents wemi N A N A 1 2 04 Feb 2020 Add a decoded CAN mes sage as example wemi linz N A 1 3 03 Jul 2020 Add address management table and adapt address allo cation sequence change transmit period wemi rma N A 1 4 01 Dec 2020 Reset parameter 0x07EF40 included Only LED Parame ters are...

Page 29: ...one 49 0 6031 60 070 India Baumer India Private Ltd IN 411058 Pune Phone 91 2066292400 Italy Baumer Italia S r l IT 20090 Assago MI Phone 39 0 245 70 60 65 Republic of Korea Baumer Korea Co Ltd KR 411 766 Seoul Phone 82 2 6351 9909 Poland Baumer Sp z o o PL 92 333 Łódź Phone 48 42 676 7330 Singapore Baumer Singapore Pte Ltd SG 339412 Singapore Phone 65 6396 4131 Spain Baumer Automación Ibérica S L...

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