Pepperl+Fuchs PGV -F200 -B6-V15B Series Manual Download Page 36

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PGV...-F200/-F200A...-B6-V15B

Operation and Communication

Angle Data Module

Response

Size

Type

Content

1 word,
consistent

Input data

16-bit angle data
MSB first
Resolution: 1

(default)

Value range -16,384 to 16,384
Positive value: clockwise angle
Negative value: anticlockwise angle

Example:

Resolution = 1

at an angle resolution of 360

Resolution = 0.1

at an angle resolution of 3600

0 in the event of an unknown angle

Bit no.

Content

Word 1
Angle

AGL00

AGL01

AGL02

AGL03

AGL04

AGL05

AGL06

AGL07

AGL08

AGL09

AGL10

AGL11

AGL12

AGL13

AGL14

AGL15

Summary of Contents for PGV -F200 -B6-V15B Series

Page 1: ...R PGV F200 F200A B6 V15B Incident Light Positioning System FACTORY AUTOMATION MANUAL ...

Page 2: ... of Delivery for Products and Services of the Electrical Indus try published by the Central Association of the Electrical Industry Zentralverband Elektrotechnik und Elektroindustrie ZVEI e V in its most recent version as well as the supplementary clause Expanded reservation of proprietorship PGV F200 F200A B6 V15B ...

Page 3: ... 1 Use and Application 8 4 2 LED Indicators and Controls 9 4 3 Accessories 13 5 Installation 14 5 1 Mounting the Read Head 14 5 2 Mounting the Colored Tape and Code Tape 16 5 3 Electrical Connection 33 5 4 PROFIBUS Connection 35 6 Commissioning 36 6 1 Specifying the First Direction Decision 36 6 2 External Parameterization of the Fieldbus Address Using Code Cards 36 6 2 1 Product Documentation on ...

Page 4: ...neral Information on PROFIBUS DP 37 7 1 2 PROFIBUS DP Communication Parameters 37 7 1 3 PROFIBUS DP Features 37 7 1 4 PROFIBUS DP Functions 37 7 1 5 PROFIBUS Modules 37 7 1 6 Global Primary Data 42 7 2 Operation Using Control Codes 43 7 3 Operation Using Repair Tape 44 8 Appendix 45 8 1 ASCII Table 45 ...

Page 5: ... worldwide scale Symbols used The following symbols are used in this manual Handling instructions You will find handling instructions beside this symbol Contact If you have any questions about the device its functions or accessories please contact us at Pepperl Fuchs GmbH Lilienthalstraße 200 68307 Mannheim Germany Telephone 49 0 621 776 1111 Fax 49 0 621 776 271111 Email fa info de pepperl fuchs ...

Page 6: ... of Conformity 2 Declaration of Conformity 2 1 CE Conformity This product was developed and manufactured under observance of the applicable European standards and guidelines Note A declaration of conformity can be requested from the manufacturer ...

Page 7: ... for planning assembly commissioning operation maintenance and dismounting lies with the plant operator Installation and commissioning of all devices may only be performed by trained and qualified personnel User modification and or repair are dangerous and will void the warranty and exclude the manufacturer from any liability If serious faults occur stop using the device Secure the device against ...

Page 8: ... the form of Data Matrix codes printed on a self adhesive code tape Data Matrix code tapes and Data Matrix tags have priority over colored tapes or colored lanes The Data Matrix code tapes are installed in a fixed position instead of or along with the colored tape The read head is located on an automated guided vehicle AGV and guides this vehicle along the colored tape Figure 4 1 Automated guided ...

Page 9: ...ix tag grid via a colored or Data Matrix lane to another Data Matrix tag grid The extensive yet user friendly parameterization options as well as the configurable inputs and outputs mean that the read head can easily be adapted to suit each application 4 2 LED Indicators and Controls The PGV reader is equipped with seven indicator LEDs for carrying out visual function checks and rapid diagnosis Th...

Page 10: ...x Off Off x No direction selection activated x x x x Lights up Off x Follow left hand spur activated x x x x Off Lights up x Follow right hand spur activated x x x x Lights up Lights up x Straight ahead activated Lights up x x x x x x PROFIBUS data transfer x Flashes x x x x x PROFIBUS error fflash 1 Hz x x Flashes red Flashes Flashes Flashes Off Normal operation Indication for 2 secs if a button ...

Page 11: ...d the service life of these products Model number Description PGV CC25 0 Code tape various control codes PGV M CA25 0 Position tape starting position 0 various lengths PGV CR25 Repair tape PCV SC12 PCV SC12A Grounding clip PCV KBL V19 STR USB USB cable unit with power supply for service interface V19 G ABG PG9 FE Grounding terminal and plug set V15B G M PUR ABG V15B G PROFIBUS bus cable M12 to M12...

Page 12: ...ected a colored tape this colored tape can move in the Y direction from the zero point within the viewing window The maximum Y value at which the read head can still capture this distance is designated as Y Value Out in the following table If the read head swivels onto a colored tape the read head can capture the distance of the colored tape from the zero point only if the tape is less than a cert...

Page 13: ...A 12 5 54 20 20 M12 M12 M6 x 9 4x 25 21 75 25 12 70 13 8 70 80 10 70 12 94 5 70 50 22 ø 25 M6 x 9 4x 12 5 20 20 Caution When selecting the length of the mounting screws ensure that the maximum insertion depth of the screws in the threaded inserts on the read head is 8 mm Using longer screws may damage the read head ...

Page 14: ...grated lighting of the read head some floor colors appear to be different in the camera If you have problems with the color selection of the colored tapes please consult your contact at Pepperl Fuchs Mounting the Colored Tape 1 Clean the surface of any greasy or oily deposits and dust 2 Ensure that the surface is dry clean and stable 3 Please observe the following section Basics when mounting the ...

Page 15: ...nsor always moves in the X direction In the sensor s field of view X indicates an upward movement Figure 5 3 Field of view and coordinates of the sensor Figure 5 4 Curve radius R 50 cm Select a curve radius that can handle the turning circle of your automated guided vehicle The colored tape must always be located in the reading window of the read head Note To avoid polishing the surface do not app...

Page 16: ...irection information The output angle covers the range from 45 to 45 The resolution is 1 Figure 5 5 Relative angle Data Matrix code tape The read head detects the absolute angle in relation to the tracked lane with a maximum resolution of 0 1 The angle is specified absolutely relative to the tracked lane since a Data Matrix code contains tape direction information The output angle covers the range...

Page 17: ...lored tape or a Data Matrix code tape and outputs this value to the controller The output value is different for colored tapes and Data Matrix code tapes due to the lack of an X position for colored tapes Colored tape The read head outputs the Y value at which the colored tape intersects the Y axis as the distance Figure 5 7 Distance A for colored tape X Y α X Y α X Y A ...

Page 18: ...head detects one lane at the lower edge of the field of vision and two lanes at the upper edge of the field of vision the read head indicates this as a branch The read head detects two lanes at the lower edge of the field of vision and one lane at the upper edge of the field of vision the read head indicates this as an intersection Branches or intersections can be displayed as follows Figure 5 9 S...

Page 19: ...to tracking the lane the read head can also detect Data Matrix codes This process involves evaluating both control and position information Data Matrix control codes are used as event markers Control codes provide information on branches Data Matrix code tapes for positioning indicate the absolute position of the read head Note the following conditions Data Matrix code tapes for positioning are us...

Page 20: ...2 PGV F200 F200A B6 V15B Installation Branches or intersections with position information can be displayed as follows Figure 5 10 Separate lane branches off converges Figure 5 11 Same lane branches off converges ...

Page 21: ...or colored lanes in the field of view are ignored Note Branches Intersections with Data Matrix Position Code Observe the following guidelines less than 1 m before and after branching or intersection of a lane with a position code The position codes of the main lane must run continuously for 2 m The position codes of the branching intersecting lane must run continuously for 1 m The read head output...

Page 22: ... the straight lane if the direction decision follow right hand lane has been made A second lane branches off to the right from the straight lane The read head follows the straight lane if the direction decision follow left hand lane has been made A single lane with a position code turns to the left or right The read head follows the position code if the direction decision straight ahead has been m...

Page 23: ...es at branches or intersections Figure 5 13 Mixture of lanes with colored tape and Data Matrix codes Control codes can be mounted in the immediate vicinity of a branch with Data Matrix codes for positioning but not near an intersection The control code must be mounted directly next to the guiding lane Figure 5 14 Branch with control code ...

Page 24: ...es must be observed when creating the lanes Offset V between position codes of a lane must not be greater than 5 mm Figure 5 15 Offset 0 mm V 5 mm The distance D between the colored tapes at a branch or intersection as a separate lane must not exceed 15 mm The distance decreases if the guiding colored tape cannot be detected by the read head in the center of the reading window V ...

Page 25: ...15B Installation 2017 08 27 Figure 5 16 Distance 7 5 mm D 15 mm The distance between the Data Matrix code tapes at a branch or intersection as a separate lane must be between 0 mm and 5 mm Figure 5 17 Distance 0 mm D 5 mm ...

Page 26: ...nce between a Data Matrix position code and a Data Matrix control code must be between 0 mm and 5 mm Figure 5 19 0 mm D 5 mm A lane can switch from a colored tape to a Data Matrix code tape and back again as often as required The distance between the colored tape and the edge of the Data Matrix code must be between 0 mm and 10 mm 25 mm D D 25 mm 10 40 mm 25 mm D D 25 mm 25 mm ...

Page 27: ...eed as follows Installing the Code Tape 1 Clean the surface of any greasy or oily deposits and dust 2 Ensure that the surface is dry clean and stable 3 Pull away a few centimeters of the protective film at the beginning of the code tape Place the code tape at the precise point of the required starting position on the surface and press to attach 4 Then affix the code tape along the desired travel p...

Page 28: ...g Position of 0 m Data Matrix control codes Code Tape Dimensions Order designation Description PGV10M CA25 0 Code tape length 10 m PGV100M CA25 0 Code tape length 100 m Table 5 1 See also data sheet PGV CA25 at www pepperl fuchs com Order designation Description PGV CC25 001 Code tape Control Code 001 length 1 m PGV CC25 999 Code tape Control Code 999 length 1 m Caution Stop edges If you attach an...

Page 29: ... A cross in the center of the Data Matrix tag marks the zero point The X and the Y axes are marked starting from the zero point The black arrow indicates the positive axis and the white arrow indicates the negative axis Figure 5 22 Data Matrix tag with the number 99999999 and position information Bend to the left Bend to the right 1 2 5 85 85 ...

Page 30: ...he conductor or equipotential bonding circuit is a particularly important factor in ensuring that these interference currents do not become a source of interference themselves Always use connection lines with braided shield never use connection lines with a film shield The shield is integrated at both ends i e in the switch cabinet or on the controller and on the read head The grounding terminal a...

Page 31: ...evice socket located on the side of the housing Figure 5 25 Figure 5 26 For details of suitable PROFIBUS cables see chapter 4 3 Model number Description PCV SC12 Clip for mounting an additional ground connection PCV SC12A Caution Damage to the device Connecting an alternating current or excessive supply voltage can damage the device or cause the device to malfunction Electrical connections with re...

Page 32: ...y and configures the relevant fieldbus address Simply hold the corresponding code cards at the correct distance in front of the lens on the reader You can find the manual for the code cards for configuring the fieldbus address at www pepperl fuchs com See chapter 6 2 1 6 2 1 Product documentation on the Internet You can view all the relevant documentation and additional information on your product...

Page 33: ...6 kbit s 19 2 kbit s 93 75 kbit s 187 5 kbit s 500 kbit s 1 5 Mbit s 3 Mbit s 6 Mbit s and 12 Mbit s auto synchronizing Adjustable device address 00h 7Eh 7 1 4 PROFIBUS DP functions 7 1 5 PROFIBUS Modules The PROFIBUS address for the reader can be modified in a non volatile manner via the Change station address Set_Slave_Add PROFIBUS function when switching on in a point to point connection The de...

Page 34: ...B most significant byte Resolution 0 1 mm 1 mm 10 mm binary coded At a resolution of 1 mm and 10 mm Lmax 10 00 km 10 000 000 mm Bit no Content Word 1 X data Word 2 X data 1 XP16 XP00 2 XP17 XP01 3 XP18 XP02 4 XP19 XP03 5 XP20 XP04 6 XP21 XP05 7 XP22 XP06 8 XP23 XP07 9 XP24 XP08 10 XP25 XP09 11 XP26 XP10 12 XP27 XP11 13 XP28 XP12 14 XP29 XP13 15 XP30 XP14 16 XP31 XP15 ...

Page 35: ... 32 bit Y data MSB first Resolution 0 1 mm 1 mm 10 mm binary coded in two s complement 1 Bit sign bit Bit no Content Word 1 Y data Word 2 Y data 1 YP16 YP00 2 YP17 YP01 3 YP18 YP02 4 YP19 YP03 5 YP20 YP04 6 YP21 YP05 7 YP22 YP06 8 YP23 YP07 9 YP24 YP08 10 YP25 YP09 11 YP26 YP10 12 YP27 YP11 13 YP28 YP12 14 YP29 YP13 15 YP30 YP14 16 YP31 YP15 ...

Page 36: ...alue range 16 384 to 16 384 Positive value clockwise angle Negative value anticlockwise angle Example Resolution 1 at an angle resolution of 360 Resolution 0 1 at an angle resolution of 3600 0 in the event of an unknown angle Bit no Content Word 1 Angle 1 AGL00 2 AGL01 3 AGL02 4 AGL03 5 AGL04 6 AGL05 7 AGL06 8 AGL07 9 AGL08 10 AGL09 11 AGL10 12 AGL11 13 AGL12 14 AGL13 15 AGL14 16 AGL15 ...

Page 37: ...UT XP 0 YP 0 SP 0 3 WRN Warnings present see Warning Module 4 CC Control code present 5 0 1 Reserved 6 R Follow right hand spur 7 L Follow left hand spur 8 NL No color lane present in the viewing window 9 RP Repair tape detected 10 0 1 Reserved Reserved 16 0 1 Reserved Error code Description Priority 1 Reader rotated 180 3 2 No clear position can be determined difference between codes is too great...

Page 38: ...ode No Module Response Size Type Content 1 words consistent Input data Last control code Last control code no Bit no Content Word 1 Last control code data 1 CC00 2 CC01 3 CC02 4 CC03 5 CC04 6 CC05 7 CC06 8 CC07 9 CC08 10 CC09 11 CC10 12 CC11 13 CC12 14 CC13 15 CC14 16 CC15 ...

Page 39: ...N02 Reader too far from code tape 4 WRN03 Y position too large The sensor is just before OUT 5 WRN04 Y position too small The sensor is just before OUT 6 WRN05 The reader is rotated or tilted in relation to the code tape 7 WRN06 Low level of code contrast 8 WRN07 Repair tape detected 9 WRN08 Temperature too high 10 WRN09 Reserved 11 WRN10 Reserved 12 WRN11 Reserved 13 WRN12 Reserved 14 WRN13 Reser...

Page 40: ... in the direction of the X coordinate Length 0 mm 10 000 000 mm Vertical offset Offset in the direction of the Y coordinate Length 0 mm 10 000 000 mm Angle offset Line of vision offset Angle 16 383 0 16 383 No position value X X value if no code tape is visible X data at No Position Last valid position specified value 0 0xFFFF FFFFhex No position value Y Y value if no code tape is visible Y data a...

Page 41: ...made to the layout of a system the relevant control code is simply moved to the new position without requiring program modifications to be made Control codes are short code tapes one meter in length The control code has an encrypted number Control codes exist with numbers ranging from 001 to 999 When the read head enters the range of a control code it sets the control code flag in its output data ...

Page 42: ...ode tape as accurately as possible Note The repair tape works incrementally In so doing it adds one value to the previous read position on the code tape If the read head starts on a repair tape the read head reports an error Move the read head to a position on the code tape away from the repair tape to read the absolute value Tip If repairs are required the Code Tape Generator at www pepperl fuchs...

Page 43: ...VT 2B 43 4B 75 K 6B 107 k 0C 12 FF 2C 44 4C 76 L 6C 108 l 0D 13 CR 2D 45 4D 77 M 6D 109 m 0E 14 SO 2E 46 4E 78 N 6E 110 n 0F 15 SI 2F 47 4F 79 O 6F 111 o 10 16 DLE 30 48 0 50 80 P 70 112 p 11 17 DC1 31 49 1 51 81 Q 71 113 q 12 18 DC2 32 50 2 52 82 R 72 114 r 13 19 DC3 33 51 3 53 83 S 73 115 s 14 20 DC4 34 52 4 54 84 T 74 116 t 15 21 NAK 35 53 5 55 85 U 75 117 u 16 22 SYN 36 54 6 56 86 V 76 118 v 1...

Page 44: ...chs GmbH 68307 Mannheim Germany Tel 49 621 776 0 E mail info de pepperl fuchs com USA Headquarters Pepperl Fuchs Inc Twinsburg Ohio 44087 USA Tel 1 330 4253555 E mail sales us pepperl fuchs com Asia Pacific Headquarters Pepperl Fuchs Pte Ltd Company Registration No 199003130E Singapore 139942 Tel 65 67799091 E mail sales sg pepperl fuchs com DOCT 3523C 08 2017 ...

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