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Pepperl+Fuchs PGV -F213-B16-1.5M Series Manual Download Page 44

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PGV*-F213-B16-1.5M-*

Operation and communication

Mapping 5. TxPDO

Index

Sub-
index Description Data type

Attribute

PDO 
mapping 
possible

Default 
value

Meaning

1

1. Application objects: 2-byte index, 1-byte subindex, 1-byte number of bits

0x1A04 0x00

Number of 
Subsequent 
Parameters

unsigned8

rw

no

0x08

Number of mapped objects

0x01

Mapping of 
Z08 - Z15

unsigned32 rw

no

0x20002108

Z distance data Z08-Z15

MSB
Data = 0x2000, Byte 0x21

0x02

Mapping of 
Z00 - Z07

unsigned32 rw

no

0x20002208

Z distance data Z00-Z07

LSB
Data = 0x2000, Byte 0x22

0x03

Reserved

unsigned32 rw

no

0x20002308 Reserved

0x04

Reserved

unsigned32 rw

no

0x20002408 Reserved

0x05

Reserved

unsigned32 rw

no

0x20002508 Reserved

0x06

Reserved

unsigned32 rw

no

0x20002608 Reserved

0x07

Reserved

unsigned32 rw

no

0x20002708 Reserved

0x08

Reserved

unsigned32 rw

no

0x20002808 Reserved

Summary of Contents for PGV -F213-B16-1.5M Series

Page 1: ...PGV F213 B16 1 5M Incident Light Positioning System Manual...

Page 2: ...sion as well as the supplementary clause Expanded reservation of proprietorship Worldwide Pepperl Fuchs Group Lilienthalstr 200 68307 Mannheim Germany Phone 49 621 776 0 E mail info de pepperl fuchs c...

Page 3: ...tocol 24 4 3 Parameterization Using Code Cards 25 4 3 1 The code cards CANCEL USE and DEFAULT 26 5 Operation and communication 27 5 1 Data Exchange in the CANopen Bus 27 5 1 1 General Information abou...

Page 4: ...PGV F213 B16 1 5M Contents 2021 05 4 6 4 Code Cards for Termination Resistor 62 6 5 Code cards to configure the fieldbus address 63...

Page 5: ...ble EU type examination certificate EU declaration of conformity Attestation of conformity Certificates Control drawings Instruction manual Other documents 1 2 Target Group Personnel Responsibility fo...

Page 6: ...yed in descending order as fol lows Informative Symbols Action This symbol indicates a paragraph with instructions You are prompted to perform an action or a sequence of actions Danger This symbol ind...

Page 7: ...read head forms part of the positioning system in the Pepperl Fuchs incident light pro cess The read head s features include a camera module and an integrated illumination unit which the read head us...

Page 8: ...uto Guided Transport System with Data Matrix tags The read head switches automatically between tag mode and lane tracking This allows a transport system to be guided from one Data Matrix tag grid via...

Page 9: ...nication error 2 green red POWER ON NO CODE ERROR Code detected not detected error Table 2 1 LEDs LED Status off LED ist constantly off on LED ist constantly on blinking LED turns on and off with a fr...

Page 10: ...e device is in the OPERATIONAL state in operation LED 1 2 Description Color green yellow green red State blinking off x x General configuration error on off x x CANopen bus off LED 1 2 Description Col...

Page 11: ...ng for the first time and when replacing and maintaining our products If products are used in harsh ambient conditions appropriate Pepperl Fuchs accessories can be used to extend the service life of t...

Page 12: ...etween the read head and the floor should be the same as the read distance of the read head Optimum Read Distance Read Head Dimensions Figure 3 1 Housing dimensions Model number Read distance mm Depth...

Page 13: ...e distance To do so proceed as follows Position the code tape so that the www pepperl fuchs com label and the position markings are to the right of the Data Matrix code in the X direction The position...

Page 14: ...he surface in an incorrect position When affixing the code tape ensure that it does not become creased or trap air bubbles The adhesive on the code tape hardens after 72 hours Model number Description...

Page 15: ...the code tape several times at the transition point to the horizontal as shown When you apply the code tape to the floor in curved areas cut the code tape several times at the transition to the curve...

Page 16: ...the tracked lane as a Data Matrix code tape contains direction information The output angle covers the range from 0 to 360 The resolution can be set to the following values 0 1 0 2 0 5 1 Figure 3 4 A...

Page 17: ...ns with Data Matrix Position Code Observe the following guidelines with regard to the area 1 m before and after branches or intersections of a lane with a position code The position codes of the main...

Page 18: ...llow 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 made Control c...

Page 19: ...inimum and maximum distances must be observed when creating the lanes Offset V between position codes of a lane must not be greater than 5 mm Figure 3 8 Offset 0 mm V 5 mm The distance between the Dat...

Page 20: ...2021 05 20 PGV F213 B16 1 5M Installation The distance between a Data Matrix position code and a Data Matrix control code must be between 0 mm and 5 mm Figure 3 10 0 mm D 5 mm 25 mm D D 25 mm 25 mm...

Page 21: ...tes the positive axis and the white arrow indicates the negative axis Figure 3 11 2x2 Data Matrix tag with the number 123456789 and position information Figure 3 12 4x4 Data Matrix tag with the number...

Page 22: ...nd the white arrow indicates the negative axis Figure 3 13 2x2 Data Matrix tag with number 12345678901234 and position information Figure 3 14 4x4 DataMatrix tag with the number 00000000000001 and pos...

Page 23: ...ol cabinet side The following points relating to shielding must be noted Use metal cable clips that cover large areas of the shielding Place the cable shield onto the equipotential bonding rail immedi...

Page 24: ...e 47 t 1 0 1 0 INPUT_SELECTION_DIR_RIGHT INPUT_SELECTION_DIR_LEFT Direction decision 20 ms Error 5 Left Error 5 Left Right Note If direction decisions are made via the protocol then subindex 12 Input...

Page 25: ...eterization code is invalid LED2 lights up red for 1 second Finish parameterization and save parameters Now hold the STORE code in front of the read head s camera system to save the configura tion Whe...

Page 26: ...ad operates with the last valid parameters that were saved USE For test purposes the reading head operates with the parameters that have just been modified The parameterization is not saved however Af...

Page 27: ...s that messages are received only by the intended devices Data is transferred via message telegrams Message telegrams consist of a COB ID Communication Object Identifier and a maximum of 8 subse quent...

Page 28: ...rmit access to the object directory each SDO assembles a point to point service com munication channel Typically messages with high priority Messages with lower priority Synchronous and asynchronous d...

Page 29: ...he actual values may differ depending on the applications concerned Shielding Ensure continuous shielding when cabling the read head Startup Behavior After switch on the read head in a CANopen network...

Page 30: ...C Synchronization object Data is transmitted only in the event of a change RxPDO Data is sent in an event controlled manner and adopted in a SYNC 1 Cyclic Synchronous Data is adopted and transmitted c...

Page 31: ...ding is deactivated when you set the Guard Time in object 0x100C or the Life Time Factor in object 0x100D to 0 Heartbeat The read head can be configured both as emitter and receiver of a heartbeat tel...

Page 32: ...0x1009 Manufacturer Hardware Version 0x100A Manufacturer Software Version 0x100C Guard Time 0x100D Life Time Factor 0x1012 COB ID Time Stamp 0x1014 COB ID Emergency 0x1015 Inhibit Time Emergency 0x10...

Page 33: ...ata of the error register describes errors as follows SYNC Identifier The 32 bit data of the identifier in the SYNC message describes the synchronization as follows Index Subindex Description Data typ...

Page 34: ...type Attribute PDO map ping possible Default value 0x100A 0x00 Manufacturer Software Ver sion visible string ro no Index Subindex Description Data type Attribute PDO map ping possible Default value 0...

Page 35: ...ned8 ro no 0x40 0x01 0x40 Consumer Heartbeat Time1 1 Expected heartbeat cycle time ms and node ID of the monitored bus node unsigned32 rw no 0x0 Bit 31 24 23 16 15 0 Reserved1 1 Always 0 NOTEID Heartb...

Page 36: ...status 0x02 Reader changes to Stopped Index Subindex Description Data type Attribute PDO map ping possible Default value 0x1200 0x00 Number of Subsequent Parameters unsigned8 ro no 0x02 0x01 COB ID Cl...

Page 37: ...0 PDO present 0 currently present 1 not present RTR access 0 permitted 1 not permitted CAN identifier1 1 Cannot be changed when PDO is currently present Index Subindex Description Data type Attribute...

Page 38: ...29 11 10 0 PDO present 0 currently present 1 not present RTR access 0 permitted 1 not permitted CAN identifier1 1 Cannot be changed when PDO is currently present Index Subindex Description Data type...

Page 39: ...entifier1 1 Cannot be changed when PDO is currently present Index Subindex Description Data type Attribute PDO map ping possi ble Default value Meaning1 1 Application objects 2 byte index 1 byte subin...

Page 40: ...position data YP16 YP23 MSB Data 0x2000 byte 0x02 1 Bit sign bit 0x03 Mapping of YP08 YP15 unsigned32 rw no 0x20000308 Y position data YP08 YP15 MSB Data 0x2000 byte 0x03 1 Bit sign bit 0x04 Mapping o...

Page 41: ...byte 0x09 0x02 Mapping of XP16 XP23 unsigned32 rw no 0x20000A08 X position data XP16 XP23 MSB Data 0x2000 byte 0x0A 0x03 Mapping of XP08 XP15 unsigned32 rw no 0x20000B08 X position data XP08 XP15 MSB...

Page 42: ...x Tag TAG48 TAG55 MSB Data 0x2000 byte 0x1E 0x03 Mapping of TAG40 TAG47 unsigned32 rw no 0x20001F08 Data Matrix Tag TAG40 TAG47 MSB Data 0x2000 byte 0x1F 0x04 Mapping of TAG32 TAG39 unsigned32 rw no 0...

Page 43: ...2 Mapping of CC08 CC15 unsigned32 rw no 0x20001A08 Control code CC1_08 CC1_15 MSB Data 0x2000 byte 0x1A 0x03 Mapping of CC00 CC07 unsigned32 rw no 0x20001B08 Control code CC1_00 CC1_07 LSB Data 0x2000...

Page 44: ...objects 0x01 Mapping of Z08 Z15 unsigned32 rw no 0x20002108 Z distance data Z08 Z15 MSB Data 0x2000 Byte 0x21 0x02 Mapping of Z00 Z07 unsigned32 rw no 0x20002208 Z distance data Z00 Z07 LSB Data 0x20...

Page 45: ...s data Index Subindex Description Data type Attribute PDO map ping possi ble Default value Meaning 0x2000 0x00 Number of Subsequent Parameters unsigned8 rw no 0x28 Number of mapped objects 0x00 0x28 P...

Page 46: ...0 0 0 FlashOff TAG1 1 Bei Bit 1 Lesekopf erkennt DataMatrix Tag 0 0 0 0x12 1 LT RT 0 CC1 WRN NP ERR 0x13 WRN15 WRN14 WRN13 WRN12 WRN11 WRN10 WRN09 WRN08 0x14 WRN07 WRN06 WRN05 WRN04 WRN03 WRN02 WRN01...

Page 47: ...ent Parameters unsigned8 ro no 0x08 Number of mapped objects 0x01 0x08 Position data and status data unsigned8 wo yes 0x0 Position data and status data Index Sub index 7 6 5 4 3 2 1 0 0x2200 0x00 Numb...

Page 48: ...tion control code for lane Refer to section Side S TAG Data Matrix tag detected TAG Data Matrix tag with number detected WRN Warning message Warnings are stored in WRN00 WRN13 Additional information o...

Page 49: ...N06 7 Reserved 9 WRN07 8 Reserved 1 WRN08 9 Reserved 2 WRN09 10 Position code near branch crossover detected 10 WRN10 11 More than the specified number of code lanes present 11 WRN11 12 Selected lane...

Page 50: ...position code 0 1 Orientation of Data Matrix control code rotated 90 clockwise in relation to ascending Data Matrix position code 1 0 Orientation of Data Matrix control code rotated 180 clockwise in r...

Page 51: ...nd Side 1 Data Matrix position code 2 Data Matrix control code 1 Data Matrix position code 2 Data Matrix control code Orientation Side Bit1 Bit0 1 1 0 0 Orientation Side Bit1 Bit0 0 0 0 1 X Y 1 2 2 Or...

Page 52: ...ad head regarding Data Matrix TAG No X Position NP absolute X position XP and the Y position and angle YPS ANG Meaning of Bits 5 1 4 LSS Service The read head supports changing the baud rate as well a...

Page 53: ...mm 5 Vertical Offset Offset in the direction of the Y coordinate Length signed32 0 mm 10 000 000 mm 6 Angle Offset Line of vision offset Angle signed32 16383 0 mm 16383 7 No Position Value X X value...

Page 54: ...eter in length The control code has an encrypted number Control codes have 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 ou...

Page 55: ...ability of the paper strip is extremely limited depending on the application 5 4 Electrical switching output The read head has two configurable switching outputs The default setting is stored in the d...

Page 56: ...B 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...

Page 57: ...el Fieldbus Use Fieldbus Default Figure 6 1 The ACTIVATE code card is used to activate external parameterization operating mode To enter the parameterization operating mode the codecart user has to be...

Page 58: ...de and adopts the last valid configuration that was saved Figure 6 5 The code card Fieldbus Use adopts the modified configuration in the volatile working memory of the reading head and terminates exte...

Page 59: ...6 1 5M Appendix 2021 05 59 Figure 6 6 The code card Fieldbus Default restores the settings of the reading head to default and terminates external parameterization operating mode Fieldbus Default Field...

Page 60: ...various transfer rates to the reader for communication via CANopen Figure 6 7 The code card assigns the 50 kBaud baud rate to the read head Figure 6 8 The code card assigns the 125 kBaud baud rate to...

Page 61: ...V F213 B16 1 5M Appendix 2021 05 61 Figure 6 10 The code card assigns the 500 kBaud baud rate to the read head Figure 6 11 The code card assigns the 1 MBaud baud rate to the read head 500 kBaud 1 MBau...

Page 62: ...tion mode Figure 6 13 The Termination ON code card activates the termination resistor on the bus Figure 6 14 The Termination OFF code card deactivates the termination resistor on the bus Note To save...

Page 63: ...following code cards you can assign the fieldbus adresses 001 125 Figure 6 15 The code card Fieldbus address 001 assigns the fieldbus address 001 to the device Figure 6 16 The code card Fieldbus addre...

Page 64: ...s the fieldbus address 003 to the device Figure 6 18 The code card Fieldbus address 004 assigns the fieldbus address 004 to the device Figure 6 19 The code card Fieldbus address 005 assigns the fieldb...

Page 65: ...s the fieldbus address 006 to the device Figure 6 21 The code card Fieldbus address 007 assigns the fieldbus address 007 to the device Figure 6 22 The code card Fieldbus address 008 assigns the fieldb...

Page 66: ...s the fieldbus address 009 to the device Figure 6 24 The code card Fieldbus address 010 assigns the fieldbus address 010 to the device Figure 6 25 The code card Fieldbus address 011 assigns the fieldb...

Page 67: ...s the fieldbus address 012 to the device Figure 6 27 The code card Fieldbus address 013 assigns the fieldbus address 013 to the device Figure 6 28 The code card Fieldbus address 014 assigns the fieldb...

Page 68: ...s the fieldbus address 015 to the device Figure 6 30 The code card Fieldbus address 016 assigns the fieldbus address 016 to the device Figure 6 31 The code card Fieldbus address 017 assigns the fieldb...

Page 69: ...s the fieldbus address 018 to the device Figure 6 33 The code card Fieldbus address 019 assigns the fieldbus address 019 to the device Figure 6 34 The code card Fieldbus address 020 assigns the fieldb...

Page 70: ...s the fieldbus address 021 to the device Figure 6 36 The code card Fieldbus address 022 assigns the fieldbus address 022 to the device Figure 6 37 The code card Fieldbus address 023 assigns the fieldb...

Page 71: ...s the fieldbus address 024 to the device Figure 6 39 The code card Fieldbus address 025 assigns the fieldbus address 025 to the device Figure 6 40 The code card Fieldbus address 026 assigns the fieldb...

Page 72: ...s the fieldbus address 027 to the device Figure 6 42 The code card Fieldbus address 028 assigns the fieldbus address 028 to the device Figure 6 43 The code card Fieldbus address 029 assigns the fieldb...

Page 73: ...s the fieldbus address 030 to the device Figure 6 45 The code card Fieldbus address 031 assigns the fieldbus address 031 to the device Figure 6 46 The code card Fieldbus address 032 assigns the fieldb...

Page 74: ...s the fieldbus address 033 to the device Figure 6 48 The code card Fieldbus address 034 assigns the fieldbus address 034 to the device Figure 6 49 The code card Fieldbus address 035 assigns the fieldb...

Page 75: ...s the fieldbus address 036 to the device Figure 6 51 The code card Fieldbus address 037 assigns the fieldbus address 037 to the device Figure 6 52 The code card Fieldbus address 038 assigns the fieldb...

Page 76: ...s the fieldbus address 039 to the device Figure 6 54 The code card Fieldbus address 040 assigns the fieldbus address 040 to the device Figure 6 55 The code card Fieldbus address 041 assigns the fieldb...

Page 77: ...s the fieldbus address 042 to the device Figure 6 57 The code card Fieldbus address 043 assigns the fieldbus address 043 to the device Figure 6 58 The code card Fieldbus address 044 assigns the fieldb...

Page 78: ...s the fieldbus address 045 to the device Figure 6 60 The code card Fieldbus address 046 assigns the fieldbus address 046 to the device Figure 6 61 The code card Fieldbus address 047 assigns the fieldb...

Page 79: ...s the fieldbus address 048 to the device Figure 6 63 The code card Fieldbus address 049 assigns the fieldbus address 049 to the device Figure 6 64 The code card Fieldbus address 050 assigns the fieldb...

Page 80: ...s the fieldbus address 051 to the device Figure 6 66 The code card Fieldbus address 052 assigns the fieldbus address 052 to the device Figure 6 67 The code card Fieldbus address 053 assigns the fieldb...

Page 81: ...s the fieldbus address 054 to the device Figure 6 69 The code card Fieldbus address 055 assigns the fieldbus address 055 to the device Figure 6 70 The code card Fieldbus address 056 assigns the fieldb...

Page 82: ...igns the fieldbus address 057 to the device Figure 6 72 The code card Fieldbus address 058 assigns the fieldbus address 058 to the device Figure 6 73 Die Codekarte Feldbusadresse 059 weist dem Ger t d...

Page 83: ...s the fieldbus address 060 to the device Figure 6 75 The code card Fieldbus address 061 assigns the fieldbus address 061 to the device Figure 6 76 The code card Fieldbus address 062 assigns the fieldb...

Page 84: ...s the fieldbus address 063 to the device Figure 6 78 The code card Fieldbus address 064 assigns the fieldbus address 064 to the device Figure 6 79 The code card Fieldbus address 065 assigns the fieldb...

Page 85: ...s the fieldbus address 066 to the device Figure 6 81 The code card Fieldbus address 067 assigns the fieldbus address 067 to the device Figure 6 82 The code card Fieldbus address 068 assigns the fieldb...

Page 86: ...s the fieldbus address 069 to the device Figure 6 84 The code card Fieldbus address 070 assigns the fieldbus address 070 to the device Figure 6 85 The code card Fieldbus address 071 assigns the fieldb...

Page 87: ...s the fieldbus address 072 to the device Figure 6 87 The code card Fieldbus address 073 assigns the fieldbus address 073 to the device Figure 6 88 The code card Fieldbus address 074 assigns the fieldb...

Page 88: ...s the fieldbus address 075 to the device Figure 6 90 The code card Fieldbus address 076 assigns the fieldbus address 076 to the device Figure 6 91 The code card Fieldbus address 077 assigns the fieldb...

Page 89: ...s the fieldbus address 078 to the device Figure 6 93 The code card Fieldbus address 079 assigns the fieldbus address 079 to the device Figure 6 94 The code card Fieldbus address 080 assigns the fieldb...

Page 90: ...s the fieldbus address 081 to the device Figure 6 96 The code card Fieldbus address 082 assigns the fieldbus address 082 to the device Figure 6 97 The code card Fieldbus address 083 assigns the fieldb...

Page 91: ...the fieldbus address 084 to the device Figure 6 99 The code card Fieldbus address 085 assigns the fieldbus address 085 to the device Figure 6 100 The code card Fieldbus address 086 assigns the fieldb...

Page 92: ...the fieldbus address 087 to the device Figure 6 102 The code card Fieldbus address 088 assigns the fieldbus address 088 to the device Figure 6 103 The code card Fieldbus address 089 assigns the field...

Page 93: ...the fieldbus address 090 to the device Figure 6 105 The code card Fieldbus address 091 assigns the fieldbus address 091 to the device Figure 6 106 The code card Fieldbus address 092 assigns the field...

Page 94: ...the fieldbus address 093 to the device Figure 6 108 The code card Fieldbus address 094 assigns the fieldbus address 094 to the device Figure 6 109 The code card Fieldbus address 095 assigns the field...

Page 95: ...the fieldbus address 096 to the device Figure 6 111 The code card Fieldbus address 097 assigns the fieldbus address 097 to the device Figure 6 112 The code card Fieldbus address 098 assigns the field...

Page 96: ...the fieldbus address 099 to the device Figure 6 114 The code card Fieldbus address 100 assigns the fieldbus address 100 to the device Figure 6 115 The code card Fieldbus address 101 assigns the field...

Page 97: ...the fieldbus address 102 to the device Figure 6 117 The code card Fieldbus address 103 assigns the fieldbus address 103 to the device Figure 6 118 The code card Fieldbus address 104 assigns the field...

Page 98: ...the fieldbus address 105 to the device Figure 6 120 The code card Fieldbus address 106 assigns the fieldbus address 106 to the device Figure 6 121 The code card Fieldbus address 107 assigns the field...

Page 99: ...the fieldbus address 108 to the device Figure 6 123 The code card Fieldbus address 109 assigns the fieldbus address 109 to the device Figure 6 124 The code card Fieldbus address 110 assigns the field...

Page 100: ...s the fieldbus address 111 to the device Figure 6 126 The code card Fieldbus address 112 assigns the fieldbus address 112 to the device Figure 6 127 The code card Fieldbus address 113 assigns the fiel...

Page 101: ...s the fieldbus address 114 to the device Figure 6 129 The code card Fieldbus address 115 assigns the fieldbus address 115 to the device Figure 6 130 The code card Fieldbus address 116 assigns the fiel...

Page 102: ...s the fieldbus address 117 to the device Figure 6 132 The code card Fieldbus address 118 assigns the fieldbus address 118 to the device Figure 6 133 The code card Fieldbus address 119 assigns the fiel...

Page 103: ...s the fieldbus address 120 to the device Figure 6 135 The code card Fieldbus address 121 assigns the fieldbus address 121 to the device Figure 6 136 The code card Fieldbus address 122 assigns the fiel...

Page 104: ...s the fieldbus address 123 to the device Figure 6 138 The code card Fieldbus address 124 assigns the fieldbus address 124 to the device Figure 6 139 The code card Fieldbus address 125 assigns the fiel...

Page 105: ...Pepperl Fuchs Quality Download our latest policy here www pepperl fuchs com quality www pepperl fuchs com Pepperl Fuchs Subject to modifications Printed in Germany DOCT 6972...

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