Leuze electronic OGS 600 Original Operating Instructions Download Page 66

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Commissioning

Leuze electronic

OGS 600

TNT

35/7-2

Table 8.11:

Object directory for serial interfaces (UART)

201

Error

Error description

Bit 0: Teach: compensation values missing
Bit 1: Teach: valid traces > 1; invalid traces;

switch active

Bit 2: Angle compensation:

compensation values missing

Bit 3: Angle compensation:

trace or edge detected

Bit 4: Hardware error:

Measurement interrupt error

Bit 5: Supply voltage warning
Bit 6: Supply voltage error
Bit 7: Switch: unknown trace

0…
2

-1

uint32

202

Pixel

Single pixel measurement val-
ues

Amplitude of 94 receiver signals,
unit: [LSB]

0…
65535

188

array
_uint16

205

TraceValidNum

Valid traces: number

Value: 0 … 6

0…6

uint16

206

TraceValidPixel

Valid traces: pixels

Contains raw edge data of valid traces

0…
65535

array
_uint16

207

TraceValidSubPixel

Valid traces: sub-pixels in mm

Contains edge positions of valid traces, unit:
[mm] (see Chapter 7.8)

0…
65535

array
_uint16

208

TraceValidAmp

Valid traces: amplitude

Contains amplitude of environment and of
valid trace, unit: [LSB]
(see Chapter 7.8)

0…
65535

array
_uint16

209

TraceValidThreshold

Valid traces: threshold

Contains threshold for edge position of every
detected trace, unit: [LSB]

0…
65535

array
_uint16

210

TraceValidStatus

Valid traces: status

Status is signaled for every valid trace:
Bit 0: Contrast warning
Bit 1: Trace amplitude warning
(see Chapter 7.8)

0…
65535

array
_uint16

211

TraceInvalidNum

Invalid traces: number

Value: 0 … 6

0…6

uint16

212

TraceInvalidPixel

Invalid traces: pixels

Contains raw edge data of invalid traces

0…
65535

array
_uint16

213

TraceInvalidSubPixel

Invalid traces: subpixels in mm

Contains edge positions of invalid traces, unit:
[mm] (see Chapter 7.8)

0…
65535

array
_uint16

214

TraceInvalidAmp

Invalid traces: amplitude

Contains amplitude of environment and of
invalid trace, unit: [LSB]
(see Chapter 7.8)

0…
65535

array
_uint16

215

TraceInvalidStatus

Invalid traces: status

Status is signaled for every invalid trace:
Bit 0: Contrast error
Bit 1: Trace amplitude error
Bit 1: Trace width error
(see Chapter 7.8)

0…
65535

array
_uint16

216

Contrast

Minimum contrast of all traces

Unit: [LSB]

0…
65535

uint16

220

SupplyVoltage

Supply voltage

Unit: [mV]

0…
65535

uint16

221

TempController

Temperature controller

Unit: [°C]

0…
65535

uint16

UART
Index

UART
Sub
Index

Name

Description

Access Comments

Default Value

range

Length
[byte]

Data
type

Summary of Contents for OGS 600

Page 1: ...OGS 600 Optical guidance sensor EN 01 2017 11 50137686 We reserve the right to make technical changes Original operating instructions ...

Page 2: ...Leuze electronic OGS 600 TNT 35 7 24V 2017 Leuze electronic GmbH Co KG In der Braike 1 D 73277 Owen Germany Phone 49 7021 573 0 Fax 49 7021 573 199 http www leuze com info leuze com ...

Page 3: ...s 10 3 2 5 Faults 10 3 2 6 Output value 11 3 2 7 Example Guide trace detection with active Trace width filter 13 3 3 Guide trace requirements 14 3 3 1 Trace color 14 3 3 2 Trace width 15 3 3 3 Free space next to the trace 15 3 4 Connection technology 16 3 5 Operating and display elements 16 4 Mounting 17 4 1 General mounting instructions 17 4 2 Selecting a mounting location 18 4 3 Mounting accesso...

Page 4: ... sensor Angle compensation teach 31 7 2 Configuring the guide trace light dark retro reflective 32 7 3 Offset to the edge positions 33 7 4 Switch 34 7 4 1 Switch function Settings for type 2 switches 36 7 4 2 Index accesses for activation of the Switch function 38 7 5 Trace width filter 39 7 5 1 Teaching the trace width 40 7 5 2 Manual configuration of the trace width 40 7 5 3 Process data informa...

Page 5: ...3 1 1 Topology 66 8 3 1 2 Bus line trunk line 66 8 3 1 3 Address assignment 66 8 3 1 4 Baud rate setting 67 8 3 1 5 Communication mechanisms of the OGS 600 in the CANopen network 68 8 3 1 6 Objects 68 8 3 1 7 EDS file 69 8 3 1 8 SDOs and PDOs 69 8 3 1 9 Default 11 bit identifier 71 8 3 1 10 Object structure of the OGS 600 72 8 3 1 11 Process data objects 73 8 3 1 12 Overview of the mapped data in ...

Page 6: ...awing OGS 600 140 CN M12 short version 91 11 2 4 Dimensioned drawing OGS 600 140 D M12 8 short version 92 11 3 Diagrams 93 11 3 1 Sensor characteristic curve with one guide trace 93 11 3 2 Linearity error 94 12 Order guide and accessories 95 12 1 Sensor part number code 95 12 2 Order guide for sensor 95 12 3 Accessories 96 12 3 1 Connection cables for CANopen RS232 devices 96 12 3 2 Connection cab...

Page 7: ... which must strictly be observed Failure to observe the provided instructions could lead to personal injury or damage to equipment NOTE This symbol indicates text passages containing important information AGV Automated Guided Vehicle DTM Device Type Manager EMC Electromagnetic compatibility EN European standard FDT Field Device Tool FE Functional earth GUI Graphical User Interface IO or I O Input ...

Page 8: ...at use is considered improper use CAUTION Observe intended use The protection of personnel and the device cannot be guaranteed if the device is oper ated in a manner not complying with its intended use Only operate the device in accordance with its intended use Leuze electronic GmbH Co KG is not liable for damages caused by improper use Read the supplement and these operating instructions for the ...

Page 9: ...familiarity with relevant standards and regulations certified electricians are able to perform work on elec trical systems and independently detect possible dangers In Germany certified electricians must fulfill the requirements of accident prevention regu lations BGV A3 e g electrician foreman In other countries there are respective regula tions that must be observed 2 4 Exemption of liability Le...

Page 10: ...verview Figure 3 1 Device overview A Integrated illumination transmitter small lenses B Receiver modules receiver large lenses C Groove with 2 sliding blocks for fastening the mounting bracket D 2 x M12 connector 5 pin E 1 x M12 connector 8 pin A B C D OGS 600 280 CN M12 OGS 600 140 D M12 8 E ...

Page 11: ...elow and a right edge show in green below This edge information is output for each detected guide trace When a guide trace is detected the sensor therefore outputs two pieces of information in the process data for each trace position of the left edge of the guide trace and position of the right edge of the guide trace The difference between these two edge positions is the track width Figure 3 2 Sc...

Page 12: ...ecide which trace they want to follow The switch function is provided to ensure that the wide midpoint of the type 2 switch see chapter 7 4 Switch is detected properly when the trace width filter is active Example When the vehicle moves over a seamlessly bonded switch type 2 and a turn request is given the vehicle control unit can very early on follow the edge position in the direction in which th...

Page 13: ...s detected if it enters the sensor s measurement field by at least 17mm at the left or right edge This corresponds to an output value of Short version OGS 600 140 170 1330 Long version OGS 600 280 170 2830 Figure 3 3 Measurement field of the guidance sensor The trace width is the absolute value of the difference between the right and left edge of the trace 150mm 17mm 17mm A B A Start of measuremen...

Page 14: ...x 0 500 1000 1500 2000 3000 2500 3500 0 100 50 150 200 250 300 350 D C A B A Measurement value for left edge of guide trace B Measurement value for right edge of guide trace C Output value Position of left edge D Output value Position of right edge x Position of left edge of guide trace under sensor y Output value Edge positions ...

Page 15: ...ce here dark trace on light background B Left edge of guide trace C Right edge of guide trace D E Trace too wide according to active Trace width filter F Width of the sensor s measurement field G AGV direction of travel H Objects not detected as trace G E F F H H If the Trace width filter detects an exces sively wide trace you can e g activate the Switch function manually increase the upper tolera...

Page 16: ...olor perceived by human eye Floor background Guide trace RAL color RAL no Measurement value of the sensor Amplitude LSB Suitable trace color White Traffic white 9016 21200 Leuze black 1 1 Leuze trace tapes available as accessories OTB 40 BK250 black 40mm wide self adhesive 25m roll part no 50137874 OTB 40 WH250 white 40mm wide self adhesive 25m roll part no 50137875 Black Jet black 9005 400 Leuze ...

Page 17: ...ace widths 3 3 3 Free space next to the trace To ensure error free detection there should not be any other marking within a distance of at least 30mm from the actual trace At distances greater than 30mm from the trace the floor can have any color Figure 3 7 Minimum distance between the guide trace and other objects on the floor The same applies to an inverted layout with a light guide trace on a d...

Page 18: ...hapter 5 Electrical connection 3 5 Operating and display elements The optical guidance sensor does not have any operating elements or indicators The sensor is operated and its configuration checked only via the serial interface or via the CAN bus NOTE Shielding The shielding is connected via the M12 connector housing Use only shielded connection cables ...

Page 19: ... to prevent unwanted reflection The sensor can be mounted using the mounting brackets included in the delivery see chapter 4 3 Mounting accessories They ensure that the sensor is pointing at the floor at the correct angle NOTE Mount the sensor at an angle The sensor must be mounted at an angle of 20 to ensure that reflective surfaces have no effect on the evaluation 20 A B C A Optical guidance sen...

Page 20: ...e 10 70mm The guide trace must have a minimum width of 20mm The linearity error of the output value depends on the distance to the floor Diffuse reflection of the trace Ideally a jet black guide trace on a pure white back ground should be used 4 3 Mounting accessories The following items are included with the sensor 2x M6 sliding blocks inserted in the groove 2x mounting brackets for mounting the ...

Page 21: ...ied electrician Ensure that the functional earth FE is connected correctly Unimpaired operation is only guaranteed when the functional earth is connected properly If faults cannot be cleared the device should be switched off and protected against accidental use NOTE Protective Extra Low Voltage PELV The OGS 600 optical guidance sensors are designed in accordance with protection class III for suppl...

Page 22: ...mA 5 2 1 Shielding NOTE Shielded connection cables Only shielded connection cables should be used they ensure that the housing of the OGS 600 is connected to functional earth Use only shielded connection cables The shielding must be connected to earth potential on the connection side If unshielded connection cables are used a separate cable must be routed from the housing to the earth potential ad...

Page 23: ...ge 0VDC reference ground IN 4 SW_IO Switching output OUT 5 RX TX Signal line of RS485 interface IN OUT 6 RX TX Signal line of RS485 interface IN OUT 7 n c Not connected 8 n c Not connected Thread FE Functional earth housing M12 plug A coded PWR RS422 8 pin M12 connector A coded Pin Name Comment IN OUT 1 VIN Operating voltage 18 30VDC IN 2 IO Switching input or switching output IN OUT 3 GND Operati...

Page 24: ... VIN Operating voltage 18 30VDC IN 2 RxD Signal line of RS232 interface IN 3 GND Operating voltage 0VDC reference ground IN 4 SW_IO Switching output OUT 5 TxD Signal line of RS232 interface OUT Thread FE Functional earth housing CAN 5 pin M12 socket A coded Pin Name Comment IN OUT 1 SHIELD CAN functional earth 2 n c Not connected 3 CAN_GND Reference level for CAN signal lines 4 CAN_High CAN bus A ...

Page 25: ...value the switching output is activated If more than one trace is detected then the outermost edges are always used for monitoring The function has a hysteresis Contrast monitoring An upper and a lower value can be defined for contrast using two parameters The limit values are compared internally with the values of the contrast measured for the current trace If the contrast is greater or less than...

Page 26: ...switching outputs can be configured independently of each other as Push pull switching output PNP switching output NPN switching output OFF ON OFF ON 3 1 2 6 5 4 1 High signal within switching points 2 High signal outside switching points 3 Hysteresis 4 Measurement value object position or contrast 5 Upper switching point 6 Lower switching point ...

Page 27: ...h 2 RW 0d 0d deactivated 1d trace monitoring 2d contrast monitoring Q1UpperSwitchingPoint 77d 2003h 1h 2 RW 0d Upper limit Trace position in mm 10 Contrast value in LSB Q1LowerSwitchingPoint 78d 2003h 2h 2 RW 0d Lower limit Trace position in mm 10 Contrast value in LSB Q1Hysteresis 81d 2003h 5h 2 RW 20d Hysteresis in absolute values Applies to both limits Unit mm 10 or LSB Q1LightDark 79d 2003h 3h...

Page 28: ...304h In_NPN activation input 305h In_PNP activation input Q2SwitchPtMode 85d 2004h 4h 2 RW 0d 0d deactivated 1d trace monitoring 2d contrast monitoring Q2UpperSwitchingPoint 82d 2004h 1h 2 RW 0d Upper limit Trace position in mm 10 Contrast value in LSB Q2LowerSwitchingPoint 83d 2004h 2h 2 RW 0d Lower limit Trace position in mm 10 Contrast value in LSB Q2Hysteresis 86d 2004h 5h 2 RW 20d Hysteresis ...

Page 29: ...igh signal at the switching input deactivates the sensor illumination a low signal activates the sensor illumination NOTE Output behavior with deactivated sensor illumination With the sensor illumination deactivated the sensor does not deliver any measurement values In this case the output behavior of the switching output pin 2 pin 4 with the trace moni toring or contrast monitoring function can b...

Page 30: ...485 interface a USB adapter and a Y cable are available as accessories for setting up the connection between the sensor voltage supply and USB adapter Figure 5 2 Connection of the OGS 600 to the PC using the RS485 interface The adapter set and the Y connection cable are available as accessories on request Information about installation and use of the software can be found in Chapter 6 Configu rati...

Page 31: ...install the current Windows service packs 6 1 2 Installation of the software RS485 USB adapter A driver must be installed for the USB RS485 422 interface adapter available as an acces sory It can be found on the supplied CD The file CDM21216_Setup exe can be found on the CD in the folder Windows This file must be executed by double clicking Admin rights are required for correct installation Config...

Page 32: ...isualized There is a function for recording raw values and data of the guide trace This can be used for configuring CANopen devices via the RS232 interface The control software offers the following functions Firmware update via UART boot loader Visualization of the measurement values Saving of measurement values Visualizing the detected guide traces Visualizing the filter settings Changing filter ...

Page 33: ...st between the trace and environment to be evaluated is extremely low A low contrast is a value less than 5000 LSB Figure 7 1 Angle compensation teach for compensation of the installation position Procedure 1 The sensor must be pointing at a light homogeneous object A sheet of white paper is ideal for this purpose 2 Perform the teach System Command UART index 2d and CAN index 2000h 0h value 193d 3...

Page 34: ...s Retro reflective guide trace The retro reflective guide trace is a special variant of the light guide trace on a dark back ground The amount of light reflected by the retro reflective medium is greater than the amount of light reflected by the background For the sensor this signal looks like a light trace With this setting the transmitting current of the LEDs for the sensor illumination is reduc...

Page 35: ...x 109d and CAN index 2010h Ah Name Index UART Index sub index CANopen Index length byte Access Data Dec Function value Dark trace type 2d 2000h 0h 2 W 212d Dark trace light background Light trace type 2d 2000h 0h 2 W 213d Light trace dark background Retro reflective trace 2d 2000h 0h 2 W 214d Retro reflective trace Name Index UART Index sub index CANopen Index length byte Access Data Function valu...

Page 36: ...ace Switch type 2 with branching guide trace Figure 7 3 Type 1 and type 2 trace switches The sensor supports both switch types NOTE The users themselves must decide in which direction they want to turn A B C D A Switch type 1 B Switch type 2 C Minimum distance 30mm D Midpoint of switch E Left edge of guide trace F Left edge of guide trace too wide G Right edge of guide trace H Right edge of guide ...

Page 37: ...der to improve detection of the wide trace at the midpoint of the switch as well as to receive two trace values in the output as soon as possible in the triangular extremely low contrast area after the switch Figure 7 4 Midpoint of type 2 switch NOTE One switch can have three branches A B C D A Midpoint of a type 2 switch B Dead zone C Left edge of guide trace D Right edge of guide trace E Area wi...

Page 38: ...unction is activated TraceWidthMax_Switch TraceWidthMax TraceWidthMax SwitchTraceWidthFactor 100 The result of the calculation can be checked in TraceWidthMax After deactivation of the SwitchNumber function the original value is entered in TraceWidthMax Why write trace number To ensure that the dead zone see Figure 7 4 is as small as possible internal parameters for the guide trace are set on acti...

Page 39: ...races are numbered in ascending order from 1 to 6 The sequence is derived from the sequence in which the edges are output in the pro cess data see Table 8 8 3 This trace number must be written to the SwitchNumber index UART index 170d and CAN index 2012h 0h or sent via the query with the process data with byte 2 PD In1 4 Internal adaptation of the values in the sensor to the trace which the vehicl...

Page 40: ...ex length Byte Access Default value data Dec Info SwitchNumber 170d 2012h 0h 2 W 0 0d inactive 1d trace no 1 2d trace no 2 3d trace no 3 4d trace no 4 5d trace no 5 6d trace no 6 SwitchTraceWidthFactor 110d 2010h Bh 2 RW 150 Factor in for increase in Trace WidthMax parameter when switch function is activated Type Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Node no identifier PD type PD In1 data in PD In2 r...

Page 41: ...calculated The position of the left and right edge is determined for the amplitude of this threshold If a trace is detected which does not allow the trace width to be calculated with the threshold determined during the teach then the threshold is adapted for this particular trace The taught threshold is used as soon as the amplitude of the found background trace combination permits this Figure 7 5...

Page 42: ...h TraceWidthTol 7 5 2 Manual configuration of the trace width If the trace width is to be configured manually the values can be written directly to the parameters TraceWidthMax UART index 100d and CAN index 2010h 1h and Trace WidthMin UART index 101d and CAN index 2010h 2h Remember to apply the factor 10 during conversion 10d corresponds to 1mm 7 5 3 Process data information for the Trace width fi...

Page 43: ...ch 2d 2000h 0h 2 W 194d System command TraceWidthMax 100d 2010h 1h 2 RW 490d Maximum trace width For manual configuration or result from teach Value mm 10 TraceWidthMin 101d 2010h 2h 2 RW 290d Minimum trace width For manual configuration or result from teach Value mm 10 TraceWidthTol 102d 2010h 3h 2 RW 100d Trace width tolerance Only required for teach Value mm 10 TraceTeachThr 112d 2010h Dh 2 R D...

Page 44: ...RT index 105d and CAN index 2010h 6h is used for calculating a minimum threshold for the contrast using the contrast value measured during the teach The value appears as a percentage in the index Calculation in the sensor Contrast Amplitude_environment Amplitude_trace TraceContrastMin Contrast Contrast TraceContrastTol 100 0 3000 y x A B C D x Edge position y Reception signal amplitude A Left edge...

Page 45: ...10h 5h There is no index for calling up this value directly Calculation TraceContrastWarning_threshold TraceContrastMin TraceContrastMin TraceContrastWarning 7 6 4 Process data information for the Minimum contrast filter In the status byte of the process data there are two bits for information relating to the minimum contrast Bit 1 Minimum contrast warning Bit 4 Minimum contrast error Bit 1 Minimu...

Page 46: ...g the minimum contrast 2d 2000h 0h 2 W 195d System command TraceContrastMin 103d 2010h 4h 2 RW 5500d Result from teach or manual entry unit LSB TraceContrastWarning 104d 2010h 5h 2 RW 20d Factorforcalculation ofwarningthresh old unit TraceContrastTol 105d 2010h 6h 2 RW 30d Tolerance is used in teach event unit Status 200d 2020h 1h 2 R Bit no 6 1 Minimum contrast error See also process data status ...

Page 47: ...ghter than the optical trace The filter for trace amplitude is the limit value TraceAmplitudeMin UART index 106d and CAN index 2010h 7h which marks as incorrect all traces for which the amplitude of the trace signal is greater than the limit value There is a warning threshold which is set using the TraceAmplitudeWarning parameter UART index 107d and CAN index 2010h 8h Figure 7 7 Application of the...

Page 48: ... to the TraceAmplitudeMin parameter UART index 106d and CAN index 2010h 7h as a value in LSB 7 7 3 Warning for trace amplitude The warning threshold corresponds to a percentage deviation from the trace amplitude limit value TraceAmplitudeMin UART index 106d and CAN index 2010h 7h The warning threshold for the trace amplitude is calculated using the TraceAmplitudeWarning factor UART index 107d and ...

Page 49: ...litude filter Bit counting method bit0 bit15 Table 7 7 Index accesses for the Trace amplitude filter Name Index UART Index sub index CANopen Index length byte Access Data default value Info Activate filter 2d 2000h 0h 2 W 233d System command Deactivate filter 2d 2000h 0h 2 W 234d System command Teaching the minimum contrast 2d 2000h 0h 2 W 196d System command TraceAmplitudeMin 106d 2010h 7h 2 RW 2...

Page 50: ...in ascending order Direct access to all data of valid traces Table 7 8 Index overview direct access to all data of valid traces Name Index UART Index sub index CANopen Index length byte Access Data Info TraceValidSubPixel 207d 2022h 1h Ch 24 R LeftEdge1 LowByte LeftEdge1 HighByte RightEdge1 LowByte RightEdge1 HighByte LeftEdge2 LowByte LeftEdge2 HighByte RightEdge2 LowByte RightEdge2 HighByte Cont...

Page 51: ...dge2 HighByte Contains the edge positions of the valid traces 16 bit for each edge Divided into LowByte and HighByte Only traces are displayed A trace always consists of two consecutive edges TraceInvalidAmp 214d 2028h 1h Ch 24 R Environment1LowByte Environment1 HighByte Trace1 LowByte Trace1 HighByte Environment2 LowByte Environment2 HighByte Trace2 LowByte Trace2 HighByte Contains the amplitude ...

Page 52: ...evice is reset to the factory settings the default address 1 is restored This avoids an address collision 8 1 2 Error handling The following communication errors are intercepted and or returned Too few characters after timeout 1 6ms the receive buffer is cleared no error telegram Too many characters cannot be detected The valid characters are processed CRC check and the remaining characters are di...

Page 53: ...e identifier indicates what is to be done There are three different query identifiers The sensor returns a corresponding identifier in response to the query If an error was detected in the data transfer the identifier nFh and an error code see chapter 8 1 5 Error codes are returned as the response Identifiers Table 8 2 Identifiers for working with indices Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 ...

Page 54: ... query to read byte Node no 1 Index 200 LowByte C8h HighByte 00h Type Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte n 1 Node no identifier Length Index lowbyte Index highbyte Sub index Data n CRC Query Read 11h 0 C8h 00h 0 CRC Response Read 14h Quantity Data bytes C8h 00h 0 Data n CRC ...

Page 55: ...er to change settings example Switch function The changed setting is applied for the first time with the next PD query Byte 3 PD In2 Reserve Byte 4 CRC is calculated from byte 0 to byte 3 Process XOR with start value 0 Process data response Table 8 4 Request for process data Byte 0 Device number as well as identifier in this case nCh Byte 1 Number of sent user data bytes varies depending on the PD...

Page 56: ...ral error Reading out of index 201 Error Bit 1 Minimum contrast warning see chapter 7 6 Minimum contrast filter Bit 2 Trace amplitude warning see chapter 7 7 Trace amplitude filter Bit 3 Trace width error see chapter 7 5 Trace width filter Bit 4 Minimum contrast error see chapter 7 6 Minimum contrast filter Bit 5 Trace amplitude error see chapter 7 7 Trace amplitude filter Bit 6 Switch active see ...

Page 57: ...of the system By moving over the guide trace when it is in its new condition it is possible to determine the poorest contrast of the system The state of the guide trace can be checked continuously during operation Conversion To be able to compare the contrast value in the process data with the values in the indices of the Minimum contrast or Trace amplitude filters the value from the process data ...

Page 58: ...tude are active they are effec tive for PD type 1 Figure 8 1 Output of the left edge and right edge with PD type 1 The Trace width filter is OFF in Figure 8 1 because the wide trace would otherwise not be detected at the midpoint of the switch With active Trace width filter the Switch function can be used as an alternative see chapter 7 4 Switch In this case additional information is sent in byte ...

Page 59: ...ft edge of the trace 1200 10 120 0 mm Right edge of the trace 1300 10 130 0 mm Type Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Node no identifier PD type PD In1 PD In2 CRC Query PD 13h 1h 0h 0h CRC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Node no identifier User data length PD status Contrast Left edge lowbyte Left edge highbyte Right edge lowbyte Right edge highbyte CRC Response 1Ch...

Page 60: ...nged in ascending order according to their posi tion and the trace number is incremented If filters such as trace width minimum contrast or trace amplitude are active they are effec tive for PD type 4 Figure 8 2 Output of the left edge and right edge with PD type 1 The Trace width filter is OFF in Figure 8 2 recognizable by the fact that the wide trace is detected at the midpoint of the switch Wit...

Page 61: ...it is possible to calculate how many traces have been found per edge 2 bytes per trace 2 edges This results in 4 bytes of user data per trace Type Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Node no identifier PD type PD In1 PD In2 CRC Query PD 13h 04h 0h 0h CRC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Trace 1 Node no identifier User data length PD status Contrast Left edge lowbyte Left edge...

Page 62: ...n to index see Table 8 11 8031h Maximum is above permissible value range Check value which is to be written to index see Table 8 11 8032h Minimum is below permissible value range Check value which is to be written to index see Table 8 11 8033h Length of object is above maximum Check data length see Table 8 11 8034h Length of object is below minimum Check data length see Table 8 11 8035h Unknown co...

Page 63: ...g 22d 0d Hardware Revision Version of the device hardware RO Hardware revision e g 000B 8 string 23d 0d Firmware Revision Version of the device firmware RO Firmware revision e g 1 1 8 string 70d 0d UART Node No UART node address RW RS485 RS422 device address 1 0 15 2 uint16 71d 0d UART Baud rate UART baud rate RW For future use 2 uint16 72d 0d Can Node No CAN node address RW CANopen device address...

Page 64: ...nge 0 1500 short device version unit 0 1mm With contrast monitoring range 0 21200 unit LSB 0 0 65535 2 uint16 84d 0d Q2LightDark Switching behavior Light dark switching for switching output IO pin 2 RW 0d Q high outside switching points 1d Q high inside switching points see Table 5 1 0 0 1 2 uint16 85d 0d Q2SwitchPtMode Switching point mode for switching output IO pin 2 RW 0d switching output deac...

Page 65: ...2 uint16 112d 0d TraceTeachThr Threshold which is taught RW Unit LSB 7000 0 65535 2 uint16 149d 0d RS485Delay Delay before sending on RS485 RW Delay after reception of a telegram until response is sent unit ms 1 0 65535 2 uint16 151d 0d UserState Status RO Bit 0 1 angle compensation OK Bit 1 1 trace teach OK 0 0 65535 2 uint16 170d 0d SwitchNumber Switch function RW Activation of switch function f...

Page 66: ...es threshold RO Contains threshold for edge position of every detected trace unit LSB 0 0 65535 24 array _uint16 210d 0d TraceValidStatus Valid traces status RO Status is signaled for every valid trace Bit 0 Contrast warning Bit 1 Trace amplitude warning see Chapter 7 8 0 0 65535 12 array _uint16 211d 0d TraceInvalidNum Invalid traces number RO Value 0 6 0 0 6 2 uint16 212d 0d TraceInvalidPixel In...

Page 67: ... trace amplitude minimum contrast Teach angle compensation measure ment 193d C1h Angle compensation teach Teach on trace mode 1 194d C2h Trace width only Teach on trace mode 2 195d C3h Minimum contrast only Teach on trace mode 3 196d C4h Trace amplitude only Dark trace light background 212d D4h Light trace dark background 213d D5h Retro reflective trace 214d D6h Mode Trace width filter ON 229d E5h...

Page 68: ...usly at all nodes participants Therefore the cable length of the trunk cable must be adapted to the baud rate Table 8 13 CANopen bus length in relation to baud rate 8 3 1 3 Address assignment Each participant connected to CANopen is assigned its own address Node ID Up to 127 participants can be connected to one network The addresses range from 1 to 127 The address 0 is usually reserved for the CAN...

Page 69: ...kBit s The OGS 600 is set to 1 Mbit s by default The baud rate can be set in two ways Via the object directory Via the Layer Setting Services function LSS see DS305 of CiA Index Sub index Name Description Length byte Data type 2001h 2h Can Baud rate CAN baud rate 0 1 Mbit s 1 not used 2 500 kBit s 3 250 kBit s 4 125 kBit s 5 100 kBit s 6 50 kBit s 7 20 kBit s 8 10 kBit s 9 automatically by LSS 2 u...

Page 70: ...ority than for example variable objects SDOs of a device The node address of the participant is another criterion for prioritizing a participant in the network The smaller the node address the higher the priority of the participant in the network Since every participant compares its own priority with that of the other participants at the time of bus access the participants with low priority discon...

Page 71: ...egrams place a part of the SDO addressing into the user data area Eventually a user data area with a width of 4 bytes out of the possible 8 bytes of user data remains for each SDO telegram The target address always responds to SDO transfers In the following the index and sub index address of the OGS 600 parameters and variables can be found in the individual object descriptions PDOs PDOs are objec...

Page 72: ...then transmits them immediately afterwards as soon as the bus permits this see Arbi tration process on page 68 As the SYNC process can very quickly lead to high bus loads another distinction is made between event controlled synchronization and a timer synchronization Time controlled transmission In this case the transmission of a PDO is triggered when an adjustable time period has elapsed The time...

Page 73: ...le synchronization and emergency objects have the highest priority This is followed by the PDOs at the end of the prioritization are the SDOs Table 8 14 11 bit identifier NOTE Low value identifiers have a higher priority in the arbitration 11 bit identifier binary Identifier Dec Identifier Hex Function 00000000000 0d 0h Network management 00010000000 128d 80h Synchronization 0001xxxxxxx 129d 255d ...

Page 74: ...301 Table 8 15 Standard objects of CANopen specification CIA DS301 Object address in hex CANopen specific object area 1000h Device type 1001h Error register 1002h Manufacturer status 1003h Pre defined error field 1005h COB ID SYNC 1006h SYNC cycle time 1008h Manufacturer device name 1009h Manufacturer hardware version 100Ah Manufacturer software version 100Ch Guard time 100Dh Life time factor 1010...

Page 75: ...DO3 7th to 10th edge TPDO4 11th and 12th edge The communication parameters of the PDOs are determined via defined objects Synchro nous or asynchronous access a possible inhibit time for the PDO object in the CAN network as well as an event timer are defined in these objects TPDO1 object address 1800h TPDO2 object address 1801h TPDO3 object address 1802h TPDO4 object address 1803h Asynchronous tran...

Page 76: ...edge low byte Left edge high byte Right edge low byte Right edge high byte Mapped object 2020h 1h 2030h 2h 2021h 2022h 1h 2022h 2h Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Trace 2 Trace 3 Left edge low byte Left edge high byte Right edge low byte Right edge high byte Left edge low byte Left edge high byte Right edge low byte Right edge high byte Mapped object 2022h 3h 2022h 4h 2022h...

Page 77: ...of the mapped data in the RxPDO The PD command is transmitted in the RxPDO PD In1 0 Switch not active 1 Trace 1 switch 2 Trace 2 switch 3 Trace 3 switch 4 Trace 4 switch 5 Trace 5 switch 6 Trace 6 switch PD In2 Reserve RxPDO Byte 0 Byte 1 PD In1 PD In2 Mapped object 2051h 0h ...

Page 78: ...nt from object 2020h 1h 2h Contrast PD uint32 ro 20300208h Content from object 2030h 2h 3h Number of traces uint32 ro 20210008h Content from object 2021h 0h 4h 1st edge uint32 ro 20220110h Content from object 2022h 1h 5h 2nd edge uint32 ro 20220210h Content from object 2022h 2h Index hex Sub index hex Name Data type Access Default Comment 1801h 1h COB ID for TPDO2 uint32 ro 280h node ID 2h Transmi...

Page 79: ... ro 20220710h Content from object 2022h 7h 2h 8th edge uint32 ro 20220810h Content from object 2022h 8h 3h 9th edge uint32 ro 20220910h Content from object 2022h 9h 4h 10th edge uint32 ro 20220A10h Content from object 2022h Ah Index hex Sub index hex Name Data type Access Default Comment 1803h 1h COB ID for TPDO4 uint32 ro 480h node ID 2h Transmission type uin8 rw 254 254 asynchronous 3h Inhibit t...

Page 80: ...t 1600h RPDO1 Index hex Sub index hex Name Data type Access Default Comment 1400h 1h COB ID for RPDO1 uint32 ro 200h node ID 2h Transmission type uin8 rw 255 255 asynchronous 3h Inhibit time uint16 rw 0 Inhibit time 4h Reserve 5h Event timer uint16 rw Event timer 6h Sync start value uint8 rw 0 Sync start value Index hex Sub index hex Name Data type Access Default Comment 1600h 1h PDO CMD uint32 ro...

Page 81: ...er contrast Bit 4 filter amplitude Bit 5 teach trace width Bit 6 teach contrast Bit 7 teach amplitude Bit 8 retro reflective trace Bit 0 1 0 65535 2 uint16 2003h 1h Q1UpperSwitchingPoint Upper switching point for switching output SW_IO pin 4 RW With trace monitoring range 0 3000 long device version range 0 1500 short device version unit 0 1mm With contrast monitoring range 0 21200 unit LSB 0 0 655...

Page 82: ...B 20 0 65535 2 uint16 2004h 6h Q2UserConfig Configuration of IO switching output switching input pin 2 RW 0h not active 1h Out_PP push pull 2h Out_NPN 3h Out_PNP 104h In_NPN deactivation input 105h In_PNP deactivation input 304h In_NPN activation input 305h In_PNP activation input 0 0 65535 2 uint16 2005h 0h Qproperty Output behavior with no mea surement value RW 0d off 1d on 2d unchanged applies ...

Page 83: ...on factors valid Bit 2 Teach compensation measurement running Bit 3 Trace contrast warning Bit 4 Trace amplitude warning Bit 5 Trace width error Bit 6 Contrast error Bit 7 Amplitude error Bit 8 Supply voltage warning Bit 9 Supply voltage error Bit 10 Teaching error Bit 11 Compensation error Bit 12 Switch function active Bit 13 Switch error unknown trace Bit 14 No trace detected number of edges 2 0...

Page 84: ..._uint16 2028h 1h Ch TraceInvalidAmp Invalid traces amplitude RO Contains amplitude of environment and of invalid trace unit LSB see Chapter 7 8 0 0 65535 24 array _uint16 2029h 1h 6h TraceInvalidStatus Invalid traces status RO Status is signaled for every invalid trace Bit 0 Contrast error Bit 1 Trace amplitude error Bit 1 Trace width error see Chapter 7 8 0 0 65535 12 array _uint16 2030h 01 Contr...

Page 85: ...ory settings Activation 176d B0h Sensor illumination ON Deactivation 177d B1h Sensor illumination OFF UART Boot 180d B4h Start UART boot loader Teach on trace mode 4 192d C0h Trace width trace amplitude minimum contrast Teach angle compensation measure ment 193d C1h Angle compensation teach Teach on trace mode 1 194d C2h Trace width only Teach on trace mode 2 195d C3h Minimum contrast only Teach o...

Page 86: ... filter is responsible for this Alternatively Status UART index 200 and CAN index 2020h 1h can be evaluated By evaluating the warning bits and error bits a corresponding action can be triggered in the vehicle s control unit The warning can help in detecting gradual soiling of the guide trace Alternatively the contrast information from the process data response can be evaluated The system user can ...

Page 87: ...en these two values is the width The trace width information can be used to inform the vehicle whether e g it should move slower or faster Markings next to the trace Additional markings can be attached next to the trace in order to e g create a code For example a 4 bit code can be realized by the presence of detected traces which satisfy the filters at a certain position From the process data the ...

Page 88: ... control 9 2 Basic settings for the filters The basic settings for the filters were determined using a black 40mm wide guide trace on a white background The distance between the trace and the lower edge of the sensor was 35mm The values were selected such that the trace is still detected with a change in vehicle height of 30mm the trace is still detected with a change in the angle between the trac...

Page 89: ...rcumstances The housing of the sensor contains no parts that need to be adjusted or maintained by the user If faults cannot be cleared the device should be switched off and protected against accidental use Package the device for transport and storage in such a way that is protected against shock and humidity Optimum protection is achieved when using the original packag ing Ensure compliance with t...

Page 90: ...value resolution Typ 1mm at a sensor floor distance of 30mm Guide trace width Ideally 40mm at least 10mm Guide trace color Light trace on dark floor Dark trace on light floor Branches Switch filter Interface type OGS 600 CN OGS 600 D3 OGS 600 D2 CANopen and RS232 RS485 RS422 Switching inputs outputs 1 adjustable switching output all OGS 600s 1 configurable switching input output only OGS 600s with...

Page 91: ...electronic OGS 600 89 TNT 35 7 24V 11 2 Dimensioned drawings 11 2 1 Dimensioned drawing OGS 600 280 CN M12 long version Figure 11 1 Dimensioned drawing OGS 600 280 CN M12 long version A Center of sensor s measurement field ...

Page 92: ... data Leuze electronic OGS 600 90 TNT 35 7 24V 11 2 2 Dimensioned drawing OGS 600 280 D M12 8 long version Figure 11 2 Dimensioned drawing OGS 600 280 D M12 8 long version A Center of sensor s measurement field ...

Page 93: ... data Leuze electronic OGS 600 91 TNT 35 7 24V 11 2 3 Dimensioned drawing OGS 600 140 CN M12 short version Figure 11 3 Dimensioned drawing OGS 600 140 CN M12 short version A Center of sensor s measurement field ...

Page 94: ...data Leuze electronic OGS 600 92 TNT 35 7 24V 11 2 4 Dimensioned drawing OGS 600 140 D M12 8 short version Figure 11 4 Dimensioned drawing OGS 600 140 D M12 8 short version A Center of sensor s measurement field ...

Page 95: ...tic curve with one trace y x 0 500 1000 1500 2000 3000 2500 3500 0 100 50 150 200 250 300 350 D C A B A Measurement value for left edge of guide trace B Measurement value for right edge of guide trace C Output value Position of left edge D Output value Position of right edge x Position of left edge of guide trace under sensor y Output value Edge positions ...

Page 96: ...y error as a function of distance between sensor and ground y x 0 2 4 6 8 12 10 14 0 20 10 30 40 50 60 70 A B C A Characteristic curve typical linearity error B Characteristic curve maximum linearity error C Characteristic curve minimum linearity error x Distance of sensor to ground y Linearity error ...

Page 97: ...80 CN M12 Optical guidance sensor OGS 600 long version CANopen and RS232 interface 2x M12 connector 5 pin 50137473 OGS 600 140 CN M12 Optical guidance sensor OGS 600 short version CANopen and RS232 interface 2x M12 connector 5 pin 50137474 OGS 600 280 D3 M12 8 Optical guidance sensor OGS 600 long version RS485 interface 1x M12 connector 8 pin 50137475 OGS 600 140 D3 M12 8 Optical guidance sensor O...

Page 98: ...ngth 5m 2x M12 plug 5 pin A coded axial 1x M12 socket 5 pin A coded axial 50118185 K YCN M12A M12A S PUR CANopen Y interconnection cable PUR black branch 1 length 0 25m branch 2 length 0 35m 2x M12 plug 5 pin A coded axial 1x M12 socket 5 pin A coded axial 50114691 KB DN CAN 1000 SBA CANopen interconnection cable length 1m PUR black 1x M12 plug 5 pin A coded axial 1x M12 socket 5 pin A coded axial...

Page 99: ...nnection cable length 5m PUR black M12 socket 8 pin A coded axial open end Part no Type designation Description On request RS485 USB adapter RS485 USB converter Y cable Connection cable for connection of sensor RS485 USB converter and supply voltage Part no Type designation Description 50137874 OTB 40 BK250 Black trace tape width 40mm self adhesive 25m roll 50137875 OTB 40 WH250 White trace tape w...

Page 100: ...Appendix Sensor measurement values for RAL col Leuze electronic OGS 600 98 TNT 35 7 24V 13 Appendix Sensor measurement values for RAL colors Overview RAL colors Figure 13 1 Excerpt from RAL color chart ...

Page 101: ...een 6001 1200 0 05660377 Granite gray 7026 1300 0 06132075 Gray brown 8019 1300 0 06132075 Violet blue 5000 1400 0 06603774 Leaf green 6002 1400 0 06603774 Black red 3007 1900 0 08962264 Patina green 6000 1900 0 08962264 Yellow olive 6014 1900 0 08962264 Graphite gray 7024 2100 0 0990566 Brilliant blue 5007 2400 0 11320755 Olive green 6003 2400 0 11320755 Traffic gray B 7043 2500 0 11792453 Purple...

Page 102: ...0 0 51886792 Traffic purple 4006 11100 0 52358491 Coral red 3016 11600 0 54716981 Tomato red 3013 11800 0 55660377 Agate gray 7038 12400 0 58490566 Pebble gray 7032 13000 0 61320755 Honey yellow 1005 13400 0 63207547 Signal red 3001 13500 0 63679245 Silk gray 7044 13900 0 65566038 Flame red 3000 14000 0 66037736 Beige red 3012 14000 0 66037736 Carmine red 3002 14500 0 68396226 Maize yellow 1006 15...

Page 103: ...Oyster white 1013 18500 0 87264151 Light ivory 1015 18600 0 87735849 Signal yellow 1003 18900 0 89150943 Zinc yellow 1018 19100 0 9009434 Strawberry red 3018 19100 0 9009434 Saffron yellow 1017 19300 0 91037736 Cream 9001 19600 0 9245283 Sulfur yellow 1016 19700 0 92924528 Melon yellow 1028 19800 0 93396226 Luminous yellow 1026 20100 0 94811321 Luminous orange 2005 20100 0 94811321 Signal white 90...

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