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Software / Parameter Settings

HG 73840ZB

English, Revision 06, Date: 12.07.2011

Figure 20

Screenshot: Lumin. correction function L = 50, C = 50, G = 1

An increase in luminance to e.g. 70% will move the function „up“:

Figure 21

Screenshot: Lumin. correction function L = 70, C = 50, G = 1

An increase in the contrast rotates the function around the point (128,128):

Pixel-Correction press any key to return

OUT

256:..............................................................oo

240:..........................................................ooOOOO

224:......................................................ooOOOOOOOO

208:..................................................ooOOOOOOOOOOOO

192:..............................................ooOOOOOOOOOOOOOOOO

176:..........................................ooOOOOOOOOOOOOOOOOOOOO

160:......................................ooOOOOOOOOOOOOOOOOOOOOOOOO

144:..................................ooOOOOOOOOOOOOOOOOOOOOOOOOOOOO

128:..............................ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

112:..........................ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

96:......................ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

80:..................ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

64:..............ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

48:..........ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

32:......ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

16:..ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---

0 16 32 48 64 80 96 112 128 144 160 176 192 208 224 240

Luminance --> IN

Pixel-Correction press any key to return

OUT

256:.....................................ooooooooooooooooooooooooooo

240:.................................ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

224:.............................ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

208:.........................ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

192:.....................ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

176:.................ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

160:.............ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

144:.........ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

128:.....ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

112:.ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

96:OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

80:OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

64:OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

48:OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

32:OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

16:OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---+---

0 16 32 48 64 80 96 112 128 144 160 176 192 208 224 240

Luminance --> IN

Summary of Contents for HG 73840ZB

Page 1: ...CANopen serial parallel port HG 73840ZB English Revision 06 Dev by W M Date 12 07 2011 Author s RAD SIS L S S M Götting KG Celler Str 5 D 31275 Lehrte Röddensen Germany Tel 49 0 51 36 80 96 0 Fax 49 0 51 36 80 96 80 eMail techdoc goetting de Internet www goetting de ...

Page 2: ... barcode label 12 2 6 4 Inverse track 12 2 6 5 Position 12 3 Hardware 13 3 1 Casing 13 3 2 Block Diagram 13 3 3 Pin Allocations 14 3 4 Control LEDs 16 3 5 Operation with CANopen Interface 16 3 6 Operation with serial interface RS 232 interface 17 3 7 Operation with digital analog interface 17 4 Software Parameter Settings 19 4 1 Terminal program 19 4 1 1 Locate HyperTerminal Add to the system 19 4...

Page 3: ...a Interface CANopen 38 5 1 Description of the Process Data Object PDO 38 5 1 1 TxPDO 38 5 1 2 RxPDO 39 5 2 Heartbeat 39 5 3 Node Guarding 39 5 4 Description of the Service Data Objects SDOs 39 5 5 Object Index 40 5 5 1 Communication specific Entries within the Range of 0x1000 to 0x1FFF 40 5 5 2 Manufacturer specific Entries starting at 0x2000 42 5 5 3 Standardized Device Profile higher than 0x6000...

Page 4: ...TxPDO 1 51 5 6 20 16 Bit Analog Inputs transm in TxPDO 1 51 5 7 EDS Configuration File 51 6 Serial Interface 52 6 1 Telegram Structure Optical Line Tracker Host 52 6 2 Telegram Structure Host Optical line tracker 53 7 Troubleshooting 56 8 Technical Data 57 8 1 Optical Line Tracker 57 8 2 Ordering Information 58 9 Appendix 59 A Accuracy 59 10 List of Figures 60 11 List of Tables 61 12 Index 63 13 H...

Page 5: ...cimal encoding can range from 0 to 99 a code analysis will not be carried out The barcode provides a high density information Thus it is pos sible to limit the barcode width nearly to the track width The Optical Line Tracker is located inside a top hat rail casing The suitable cameras HG 73841ZA inside an M30 industrial casing with M12 connector are available from Götting KG The data output is gen...

Page 6: ...ding on the indicated branching mode the right or left maxima are used accordingly Afterwards two different sets of parameters can be used for each of the two connectable cameras NOTE For each optical image processing a constant lighting for good results is required Because of this environmental light and its reflection on the ground have to be shielded from the camera A shining reflective dark tr...

Page 7: ...not matter if the parallel output is activated or not A new pulse is only possible after changing a code to prevent a multiple Data_Ready_Pulse for example due to dirt etc on a label To let the device read the same label again for instance after changing the driving di rection the following options are provided Parallel port the inputs IN_1 and IN_2 have to be set to 0 for a moment here it has to ...

Page 8: ... of the drop out and the velocity Shadows and light beams may have significant influence on the performance of the system as the track recognition may be impaired It is for example possible that a combination of shad ows and light beams simulates a virtual guidance that may be followed by the vehicle Therefore it is recommended to ensure that the guidance line is protected from exter nal light usi...

Page 9: ...the parameters refer to chapter 4 on page 19 Offset and deviation of the analog output voltage are adjustable in steps of 20 mV using the menu O utput Input Settings For the exact setting it is necessary to check the output voltage with a voltameter Place the camera at the final installation height above a section of the guidance line with bad quality and set straight forward travel Enter the read...

Page 10: ...rresponding chapter This feature enables inspection of the brightness contrast of the picture The further away the narrow and high bars are located the better the contrast In case the bars become thick and low leaving no space in between them the quality of the guidance line is not sufficient It is necessary to repair the guidance line The two following settings are only possible when using of the...

Page 11: ...ectly the resolution of the system is 1mm The resolution can be improved by applying the following trick Example installation height 100 mm track width 25 mm Enter 200 mm as installation height and 50 mm for the track width then the resolu tion will be 0 5 mm when entering 400 mm as installation height and 100mm as the track width the resolution increases to 0 25 mm Therefore the thresholds for th...

Page 12: ...dest line or space cannot be bolder than 1 3 of the parametrized track width the rest zones in front of and behind the code have to be bolder than 1 8 of the parametrized track width the smaller the module width if lines the more sensitive the interpreter reacts to no or a wrong decoding The barcode shown in picture 1 has a module width of 1 55 mm 31mm code width 2 6 3 Length of the barcode label ...

Page 13: ...3 3 Hardware 3 1 Casing Figure 5 Drawing of the casing incl dimensions 3 2 Block Diagram Figure 6 Block diagram 117 5 124 3 59 7 72 5 1 µP RS 232 CAN DIGITAL I O CAN DIGITAL in out RS 232 A Video RAM DC DC D CAM 1 CAM 2 Cursor Einblendung Monitor MUX 24V 12V ...

Page 14: ...amera 1 75 Ohm Ground Video Ground 12 V Camera 1 power supply max 150 mA Ground Camera Ground CV2 Composite Video Input Camera 2 75 Ohm Ground Video Ground 12 V Camera 2 power supply max 150 mA Ground Camera Ground Ground Analog Ground Uout Analog Output 10 V max 1 mA for track deviation Ground Analog Ground Ground Signal Ground Tx Serial RS232 Output parallel to Pin 2 of the 9 pin Sub D socket Rx...

Page 15: ...r digital outputs OUT1 OUT 8 OUT1 Lateral deviation threshold 1 or lowest barcode bit C0 OUT2 Lateral deviation threshold 2 or barcode bit C1 OUT3 Lateral deviation threshold 1 or barcode bit C2 OUT4 Lateral deviation threshold 2 or barcode bit C3 OUT5 pulse output with adjustable length and time lag barcode decoded OUT6 No error identified OUT7 Track quality poor OUT8 Track identified CANH CAN co...

Page 16: ... is in OFF status It is also lit whenever there is a system error also refer to Description System Status Byte in Table 7 on page 22 The green LED shows the CANopen status of the device Node stop slow flashing Node reset communication as well as node preoperational fast flashing Node operational LED continuously lit 3 Camera and Track C1 C2 green LEDs for indicating the currently active camera inp...

Page 17: ... the vehicle could for example drive slower in order to securely get through an area of bad tracking quality For higher security reasons output OUT6 has been created once the device has been switched on it becomes inactive if it is detected that the EEProm s set of parameters is faulty In addition it becomes inactive in case an activated output OUT1 OUT8 is short circuited In the latter case a che...

Page 18: ... inputs as follows The PLC interface has to be activated in menu Output Input Settings using sub menu Parallel Input Active Input IN3 camera IN4 set of parameters Set of parameters no 0 camera 1 active 0 1 0 camera 1 active 1 2 1 camera 2 active 0 3 1 camera 2 active 1 4 Table 4 Allocation of the sets of parameters ...

Page 19: ...g your Windows installation CD Open System Control below in the illustration Windows 95 Figure 7 Adding HyperTerminal to your system 5 Click on icon Software Select the card index tab Windows Setup in the window Properties of Software Windows Setup Then choose the point connections from the components Click 6 Now check in the window connections if there is a marker before HyperTer minal yes no If ...

Page 20: ... in the submenu Connections the corresponding port and confirm with OK Save the altered parameters when receiving the corresponding mes sage while closing the program 4 2 Using the configuration program The terminal PC with Hyperterm program is to be connected to the interpreter via the corresponding socket CANopen The interface parameters are 38400 8 e 1 and VT52 terminal emula tion After enterin...

Page 21: ...al deviation value in millimeters within the range of max 500 to 500 mm Status Hexadecimal output of system status similar to the output PDO_1 for CANopen refer to Table 7 on page 22 Entering B enables viewing the set status bits as plain text messages refer to Figure 9 on page 22 With the entry of the set status and configuration bits as a plain text can be shown refer to Figure 9 on page 22 Code...

Page 22: ...0x0020 Status of the parallel inputs IN1 and IN2 for turning and release of the analog output according to 0x0010 0x0008 No further track on the right further track to the right of the current is found Table 7 Allocation of status bits Peak 22359 263 X mm 3 S 4030 Code 255 SCmin 0 State 4030 Config E1C9 2 0 0 PARAM_CRC_OK 1 CANopen AUTOSTART 2 1 0 PAR_OUT_OK 0 CAM_1 2 2 0 NO_TRACK_L_DET 0 NO WIDTH...

Page 23: ... white its frequency of occur rence is indicated This enables evaluating the quality of the track 2 perpendicu lar lines at maximum distance are ideal refer to section 4 8 on page 30 generates the brightness values of a line relative to the location refer to section 4 9 on page 31 initiates the display of the calculated covariance function refer to section 4 10 on page 32 With the Luminance correc...

Page 24: ...nce function refer to Peak of the status line in Figure 9 on page 22 must exceed this threshold in order to enable track recognition If the track widths are significantly larger or smaller than the set track width parameter or the track contrast is very poor the maximum of the covariance function will fall below the threshold value enables setting a Warning threshold If the maximum of the covarian...

Page 25: ...urns to the main menu The sub menu A djust width of track with image cursor is structured as follows Figure 11 Screenshot Determination of the calibration factor in submenu A djust width of track with image cursor This menu enables calibrating the Optical Line Tracker for a certain camera Position the camera above the guidance track The track width in millimeters and the installation height of the...

Page 26: ...ere the following meanings By using the time lag of the code output from OUT_1 OUT_4 to DATA_READY pulse to OUT_5 can be chosen With the duration of the DATA_READY pulse to OUT_5 can be set In the following figure the outputs OUT_1 OUT_4 will be used as indicators for edge wise deviation Peak 27889 265 X mm 4 S 4000 Code 255 SCmin 0 Parallel Output X Deviation on OUT_1 OUT4 1 CODE_OK OUT_5 setup t...

Page 27: ... cannot be recognized the behaviour of the analog output can be adjusted via Either the value 0 V or the voltage value corre sponding to the offset value is output or the last value is maintained Furthermore enables setting an interruption filter The set value is a picture counter which indicates for how many pictures the guidance track may cease to be recognized before output OUT8 track recognize...

Page 28: ...rational mode The following two menu functions only exist for the asynchro nous operational mode input the Inhibit time of the TPDO_1 via In TPDO_1 the system status and the calculated distances are transmitted The Inhibit time is the short est possible time period between two subsequential transmissions select the cycle time of the TPDO_1 transmission via In case both val ues are 0 TPDO_1 is not ...

Page 29: ...creenshot Menu output input settings Threshold output In this menu the serial interface will be switched on off with corresponding the CANopen will be switched on off the interface parameter will be modified with and NOTE Up to 10 seconds after the start the interface will always be at 38400 baud even parity and one stop bit as adjusted The byte sequence of the 16 bit value in the TxPDO will be ad...

Page 30: ...alized to one value The vertical axis shows the respective frequencies The above given example shows a certain ac cumulation at maximum luminance and a second accumulation at less luminance This enables perfect guidance track recognition However a black and white check pattern will give the same luminance picture but at the same time be completely use less for track recognition Therefore two addit...

Page 31: ...hm is shown in the following diagram Video Line press any key to return 256 ooooooooooooooo 240 OOOOOOOOOOOOOOO 224 OOOOOOOOOOOOOOOO 208 OOOOOOOOOOOOOOOO 192 OOOOOOOOOOOOOOOO 176 OOOOOOOOOOOOOOOO 160 OOOOOOOOOOOOOOOO 144 OOOOOOOOOOOOOOOOO 128 OOOOOOOOOOOOOOOOO 112 OOOOOOOOOOOOOOOOOO 96 oooooooooooooOoOOOOOOOOOOOOOOOOOOOoooooo 80 OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO 64 OOOOOOOOOOOOOOOOO...

Page 32: ... 3 on page 24 4 11 P ixel Correction In this diagram the relation between the luminance value of the camera which is given and the luminance value of the processing which is preferred will be displayed In the case luminance 50 contrast 50 and gamma 1 it will be a straight line which means the luminance value will not be changed Covariance press any key to return 20000 19000 18000 17000 16000 Mo 15...

Page 33: ...OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO 0 16 32 48 64 80 96 112 128 144 160 176 192 208 224 240 Luminance IN Pixel Correction press any key to return OUT 256 ooooooooooooooooooooooooooo 240 ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOO 224 ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO 208 ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO 192 ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO 176 ooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO...

Page 34: ...OOOOOOOOOOOOOOOOOOOOOO 16 oOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO 0 16 32 48 64 80 96 112 128 144 160 176 192 208 224 240 Luminance IN Pixel Correction press any key to return OUT 256 oooo 240 ooooOOOOOOOO 224 ooooOOOOOOOOOOOOOOOO 208 ooooOOOOOOOOOOOOOOOOOOOOOOO 192 oooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO 176 oooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO 160 oooOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO 144...

Page 35: ...then stored into a file for analysis Figure 25 Screenshot CSV output within menu Print C SV Values 4 12 2 W rite User Parameters to Screen This submenu is used for recording parameter settings The following message ap pears Activate File recording press any key to continue Peak 10612 287 X mm 4 S 4030 Code 255 SCmin 0 C SV Values W rite User Parameters to Screen I mport User Parameters from Host t...

Page 36: ...ers into EEProm in the main menu in BILD 8 on page 21 With the adjusted parameter set can be transmitted into the PC host and they can be save there After pressing the XMODEM data connection should be started In HyperTerminal the following should be used Transmission receive file folder and then a data file has to be chosen After the transmission the mes sage success appears on the screen 4 12 4 S...

Page 37: ...that the Hyperterm connection is interrupted afterwards e g via submenu connect interrupt or the corresponding Icon Now select Program Target Device within program Flash ST10F269 and confirm the appearing question Once the programming has been successful it is essential to switch off the device and then switch it on again The main menu refer to Figure 8 on page 21 now displays the corresponding pr...

Page 38: ... It is however possible to transmit a PDO cyclically In this case it is necessary to select the Event Time accordingly and also set the Inhibit Time 0 It is possible to permanently deactivate a TxPDO by selecting the asynchronous mode 255 with Inhibit Time 0 Event_time 0 and storing the parameters In addition it is possible to temporarily deactivate activate the TxPDO by setting deleting the high ...

Page 39: ...replies to a Remote Transmission Request of the Identifier 0x700 Node address with the device status refer to Table 10 above while the highest bit changes The device does not monitor the timely re ception of RTR Frames 5 4 Description of the Service Data Objects SDOs The service data object is used to access to the object index An SDO is always trans mitted with a confirmation i e each reception o...

Page 40: ... Number Description SDO_ABORT_UNSUPPORTED 0x06010000 non supported access to an object SDO_ABORT_READONLY 0x06010001 write access to a read only object SDO_ABORT_NOT_EXISTS 0x06020000 object not implemented SDO_ABORT_TRANSFER 0x08000020 The signature load or save was not used for load ing or saving parameters SDO_ABORT_PARA_VALUE 0x06090030 Parameter value range exceeded SDO_ABORT_PARA_TO_HIGH 0x0...

Page 41: ... ID 2 RO Transmission Type 0x1600 0 RO Number of Objects mapped to Receive PDO_1 1 RO Specification of Appl Object 1 0x1800 0 RO Number of entries of Transmit PDO_1 1 RW COB ID 2 RW Transmission Type C 3 RW Inhibit Time C 5 RW Event Time C 0x1A00 0 RO Number of Objects mapped to Transmit PDO_1 1 RO Specification of Appl Object 1 2 RO Specification of Appl Object 2 3 RO Specification of Appl Object...

Page 42: ...Track_mm M 7 RW Height_mm M 8 RW Peak_Level M 9 RW Warn_Level M 10 RW Calib_factor M 11 RW SCmin M 12 RW Luminance M 13 RW Contrast M 14 RW Gamma M 0x2001 0 RO Number of Parameter 1 RW Node Baudrate C 2 RW Node ID C Table 13 Overview object index II 0x6000 0 RO Number of 8 Bit Digital Inputs 1 RO Dig Inputs 2 RO Barcode 0x6100 0 RO Number of 16 Bit Digital Inputs 1 RW System status R delete port e...

Page 43: ...Default Description 0x1001 00 Error Register Unsigned 8 RO No 0x00 Error Register Table 16 CANopen Directory Error Register Index Sub Index Name Type Attr Map Default Description 0x1005 00 COB ID SYNC Unsigned 32 RO No 0x80000080 Sync Consumer Sync ID 0x80 Table 17 CANopen Directory COB ID SYNC message Index Sub Index Name Type Attr Map Default Description 0x1008 00 Device Name Visible string RO N...

Page 44: ...so set to 1 and the baud rate to 125 Kbaud Index Sub Index Name Type Attr Map Default Description 0x100A 00 Software Version Visible_String R0 No 2 01 Version number Table 20 CANopen Directory Software Version Index Sub Index Name Type Attr Map Default Description 0x1010 00 Save Parame ter Unsigned 8 RO No 0x01 number of sub indexes 01 Save All Unsigned 32 RW No 0x00000001 Save All is possible Tab...

Page 45: ... Object Unsigned 8 RO No 0x04 Number of sub indexes 01 Vendor ID Unsigned 32 RO No 0x00000202 Manufacturer number given by CiA 02 Product Code Unsigned 32 RO No 0x00073840 HG Number 7384 0 03 Revision Unsigned 32 RO No 0x00000100 Version 2 00 04 Serial Number Unsigned 32 RO No 9999999 Serial number Table 24 CANopen Directory Identity Object Index Sub Index Name Type Attr Map Default Description 0x...

Page 46: ...pped to index 0x2000 03 with 16 Bit length Config Table 26 CANopen Directory Mapping RxPDO_1 Index Sub Index Name Type Attr Map Default Description 0x1800 00 TxPDO_1 Parameter Unsigned 8 RO No 0x05 Number of sub indexes 01 COB ID Unsigned 32 RW No 0x40000180 Node ID TPDO_1 valid ID 0x180 Node ID 02 Transmis sion Type Unsigned 8 RW No 255 Asynchronous event control 03 Inhibit Time Unsigned 16 RW No...

Page 47: ...dex 0x6100 01 with 16 bit length Status 02 2ndmapped object Unsigned 32 RO No 0x64040110 mapped on index 0x6404 01 with 16 bit length X 03 3rd mapped object Unsigned 32 RO No 0x64040210 mapped on index 0x6404 02 with 16 bit length peak 04 4th mapped object Unsigned 32 RO No 0x60000108 mapped on index 0x6000 01 with 8 bit length dig input 05 5th mapped object Unsigned 8 RO No 0x60000208 mapped on i...

Page 48: ...width in mm 07 Height_mm Unsigned 16 RW No 100 installation height of camera in mm 08 Peak_Level Unsigned 16 RW No 6000 threshold value for covariance evalua tion 09 Warn_Level Unsigned 16 RW No 7000 threshold for track warning 0A Calib_factor Unsigned 16 RW No 490 calibration for cam era 0B SCmin Unsigned 8 RW No 20 minimal symbol con trast for barcode reading 0C Luminance Unsigned 8 RW No 50 Lum...

Page 49: ..._1 OUT_4 0x1000 PARASET Selection of the parameter set for every camera see Table 4 on page 18 0x2000 INVTRACK_2 From parameter set no 2 Evaluation dark track on light ground 0x4000 INVTRACK_3 From parameter set no 3 Evaluation dark track on light ground 0x8000 INVTRACK_4 From parameter set no 4 Evaluation dark track on light ground Once any of these parameters have been changed they have to be sa...

Page 50: ...t baudrate kbaud 7 20 6 50 5 100 4 Default 125 3 250 2 500 0 1000 Table 33 Manufacture Parameter Node Parameter Coding of baudrate Index Sub Index Name Type Attr Map Default Description 6000 00 number of 8 bit inputs Unsigned 8 RO No 0x02 Number of 8 Bit Inputs 01 4 bit digital input Unsigned 8 RO Yes In the lower 4 Bits the status of the digital inputs according to Table 35 below 02 barcode Unsig...

Page 51: ...Map Default Description 0x6100 00 number of 16 bit inputs Unsigned 8 RO No 0x01 number of 16 bit inputs 01 16 bit digital input Unsigned 16 RW Yes System status TxPDO_1 accord to Table 7 on page 22 delete port errors Table 36 CANopen Directory 16 Bit Status transmission in TxPDO 1 Index Sub Index Name Type Attr Map Default Description 0x6404 00 number of 16 bit analog inputs Unsigned 8 RO No 0x02 ...

Page 52: ...ding to Table 40 on page 52 Unsigned int 0x0000h 0xFFFFh 3 Status Lo 4 X Hi Tracking deviation in the area 250 mm Signed int 32768 32767 5 X Lo 6 Peak Hi Highest value of the covariance func tion Unsigned int 0 65535 7 Peak Lo 8 Dig In Status of the 4 digital inputs Unsigned char 0x00h 0x0Fh 9 Barcode Last read barcode Unsigned char 0x00h 0x99h BCD 10 Check sum The hexadecimal Modulo 8 sum of all ...

Page 53: ...istake in EEProm of parameter set Sign Description Data type Range 1 STX Starting sign Unsigned char 0x02h 2 Config Hi configuration bits according to Table 43 on page 53 Unsigned int 0x0000h 0xFFFFh 3 Config Lo 4 Parity The hexadecimal Modulo 8 sum of all signs 2 to 4 will be 0 Table 41 Content of the received telegrams Rating Name Description if set 0x8000 INVTRACK_22 Analysis of dark track on l...

Page 54: ...in the monitor 0x0080 TURN_LEFT 0x0040 TURN_RIGHT 0x0020 PARALLEL_IN Activation of the parallel inputs 0x0010 HOLD_ANA_OUT See menu O utput Input settings section 4 4 on page 26 H old analogue value 0x0008 INVTRACK_11 Evaluation of dark track on light ground parameter set 11 0x0004 WIDTH_CHECK The width of the covariance function will be checked 0x0002 CAMSEL Camera input 2 is active if set see Ta...

Page 55: ...ion of the four parameter sets to the bits PARASET and CAMSEL and the digital inputs is as follows Input CAMSEL IN3 PARASET IN4 Active Parameter set No 0 Camera1 active 0 1 0 Camera1 active 1 2 1 Camera 2 active 0 3 1 Camera 2 active 1 4 Table 44 Allocation of the parameter sets ...

Page 56: ...g in close proximity to strong interference currents can cause image interferences distor tion Use shielded lines and cable chokes No reaction to modified parallel input Parallel input not activated Activate the parallel inputs in the menu Output Input Settings see section 4 4 on page 26 The analog output does not correspond to track modifications Output not activated While the parallel interface ...

Page 57: ...top bits 1 2 digital ON inactive for Uin 9 V active for Uin 15 V 30 V Uin 30 V Ri 3300 Ohm digital OFF Ri 0 4 Ohm Ua Ub for active Ua 1 5 V for inactive Ia 0 7 A per channel short circuit resistant Analog output not electrically isolated short circuit resistant 10 V max 1 mA Monitor serial 38400 baud 8 data bits even parity 1 stop bit not electrically insulated Accuracy refer to Figure 27 on page ...

Page 58: ...ision 06 Date 12 07 2011 58 8 2 Ordering Information The following components are available from Götting KG Component Ordering number Camera HG 73841ZA Phoenix Connector 20 pin HW CON 00041 14 pin HW CON 00042 Table 47 Ordering Information ...

Page 59: ...Appendix HG 73840ZB English Revision 06 Date 12 07 2011 59 9 Appendix A Accuracy Figure 27 Accuracy ...

Page 60: ...u O utput Input Settings output of threshold 26 Figure 13 Menu Output Input settings output of code 27 Figure 14 Screenshot CAN Menu 28 Figure 15 Screenshot Menu output input settings Threshold output 29 Figure 16 Barcode menu 29 Figure 17 Screenshot Luminance intensity within a Luminance Histogram 30 Figure 18 Screenshot Display of one video line menu Video Line V alues 31 Figure 19 Screenshot Co...

Page 61: ...ble 16 CANopen Directory Error Register 43 Table 17 CANopen Directory COB ID SYNC message 43 Table 18 CANopen Directory Device Name 43 Table 19 CANopen Directory Hardware Version 43 Table 20 CANopen Directory Software Version 44 Table 21 CANopen Directory Save Parameter 44 Table 22 CANopen Directory Restore Default Parameter 44 Table 23 CANopen Directory Producer Heartbeat Time 45 Table 24 CANopen...

Page 62: ...transm in TxPDO 1 51 Table 38 Content of the send telegrams 52 Table 40 Description of the status bits 52 Table 39 Coding of the inputs IN1 and IN2 53 Table 41 Content of the received telegrams 53 Table 43 Description of the configuration bits 53 Table 42 Coding of the turning order 54 Table 44 Allocation of the parameter sets 55 Table 45 Troubleshooting 56 Table 46 Technical Data Optical Line Tra...

Page 63: ...mware Update 36 H HG 73840 5 73841 5 8 9 I Image Settings 24 input voltages 15 Installation height 24 interruption filter 10 J jump filter 10 L LEDs 16 Luminance histogram 30 Luminance values 31 M Main Course 9 Main Menu 21 P parallel inputs 15 Parameter Settings 19 20 Peak 21 Pin Allocations 14 pin contacts 14 Preconditions 8 R reaction time 10 S SDO service data object 16 Status 21 Status bits 2...

Page 64: ...tion each documents includes a list of contents showing the page numbers following the front If a document exceeds 10 pages it also has a drawings list and a list of tables on the last few pages If required in case a doc ument is correspondingly long and complex a index is added in the back Each document shows a small table including meta information such as deveo pler author revision and date of ...

Page 65: ...are used according to the description This instruction manual has been drawn up to the best of our knowledge Installation setup and operation of the device will be on the customer s own risk Liability for con sequential defects is excluded We reserve the right for changes encouraging techni cal improvements We also reserve the right to change the contents of this manual without having to give noti...

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