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PGV100-F200A-B25-V1D

Installation

Distance Output

The read head detects the distance from the zero point in the Y direction of a colored 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 dis-
tance.

Figure 3.6

Distance A for colored tape

X

Y

A

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Summary of Contents for PGV100-F200A-B25-V1D

Page 1: ...PGV100 F200A B25 V1D Incident Light Positioning System Manual ...

Page 2: ...sion as well as the supplementary clause Expanded reservation of proprietor ship Worldwide Pepperl Fuchs Group Lilienthalstr 200 68307 Mannheim Germany Phone 49 621 776 0 E mail info de pepperl fuchs com North American Headquarters Pepperl Fuchs Inc 1600 Enterprise Parkway Twinsburg Ohio 44087 USA Phone 1 330 425 3555 E mail sales us pepperl fuchs com Asia Headquarters Pepperl Fuchs Pte Ltd P F Bu...

Page 3: ...ead 10 3 2 Mounting the Colored Tape and Code Tape 12 3 3 Electrical connection 30 3 4 EtherNet IP Connection 32 4 Commissioning 33 4 1 Direction Decision 33 5 Communication via EtherNet IP 36 5 1 General Information on Communication via EtherNet IP 36 5 2 Setting the IP Address 37 5 3 EtherNet IP Objects 40 5 4 EtherNet IP Connections 43 5 5 Overview of the Attributes of EtherNet IP Objects 45 5 ...

Page 4: ...cable EU type examination certificate EU declaration of conformity Attestation of conformity Certificates Control drawings Instruction manual Other documents 1 2 Target Group Personnel Responsibility for planning assembly commissioning operation maintenance and dismount ing lies with the plant operator Only appropriately trained and qualified personnel may carry out mounting installation com missi...

Page 5: ...played 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 indicates an imminent danger Non observance will result in personal injury or death Warning This symbol indicates a possible fault or danger Non observance may cause personal injury or serious propert...

Page 6: ...ck to the floor or a painted color lane to track the lane The read head detects Data Matrix tags to navigate within a grid The read head also detects control codes and position markers in 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...

Page 7: ...ag to the controller The tag mode allows the AGV to move freely in as large a grid as desired without having to mark the crossing paths with lane tapes Figure 2 2 Automated guided vehicle with Data Matrix tags The read head switches automatically between tag mode and lane tracking This allows an automated guided vehicle to be guided from one Data Matrix tag grid via a colored or Data Matrix lane t...

Page 8: ...D 1 2 3 4 5 6 7 BUS ACTIVITY LED 1 BUS LINK 2 BUS ACTIVITY 3 No function 4 PWR SYSERR NO CODE 5 LANE AVAILABLE 6 FOLLOW L R 7 INTERNAL DIAGNOSTIC Description Color Green Yellow Green red Yellow Yellow Red green yellow State Lights up x x x x x Connection active x1 1 x LED status has no meaning Flashing x x x x Data transfer x x x x x x Communication errors x x x x x x No communication error x x Li...

Page 9: ...chs accessories can be used to extend the service life of these products Model number Description V19 G ABG PG9 FE Grounding terminal and plug set PCV SC12 Grounding clip V1SD G M PUR ABG V1SD G Bus cable M12 to M12 available in several different lengths PCV AG100 Alignment guide for reader V19 G M Configurable connection cable1 1 Ask your contact person at Pepperl Fuchs PCV CM20 0 Event marker PC...

Page 10: ...ed a colored tape this colored tape can move in theY direction from the zero point within the viewing window The maximumY 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 col ored tape from the zero point only if the tape is less than a certain ...

Page 11: ...aution 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 Caution The maximum torque of the mounting screws must not exceed 9 Nm Tightening the screws to a higher torque may damage the read head ...

Page 12: ...Color Selection Select the color of the colored tape so that the contrast between the floor color and the color of the colored tape is as great as possible Ideally use the complementary color Due to the integrated 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...

Page 13: ...8 mm The zero point is located in the cen ter of the colored tape You can use 3 defined colors See the section entitled Colored tape The sensor always moves in the X direction In the sensor s field of view X indicates an upward movement Figure 3 2 Field of view and coordinates of the sensor Figure 3 3 Curve radius R 50 cm Select a curve radius that can handle the turning circle of your automated g...

Page 14: ...he angle in relation to the tracked lane with a resolution of 360 corre sponds to 1 The angle is specified relative to the tracked lane because a colored tape does not include any direction information The output angle covers the range from 45 to 45 The resolution is 1 Figure 3 4 Relative angle Note Angles are specified as absolute values The respective value is calculated from the resolution sele...

Page 15: ...the tracked lane with a maximum reso lution 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 from 0 to 360 The resolution can be set to the following values 0 1 0 2 0 5 1 Figure 3 5 Absolute angle X Y α X Y α ...

Page 16: ...e 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 dis tance Figure 3 6 Distance A for colored tape X Y A ...

Page 17: ... B25 V1D Installation 2020 12 17 Data Matrix code tape The read head indicates the vertical distance of the zero point in relation to the Data Matrix code tape Figure 3 7 Distance A for Data Matrix code tape X Y A ...

Page 18: ...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 3 8 Separate lane branches off converges The read head can make the following direction decisions based on the lane and possible branches Follow left hand lane Straight ahead Follow right hand lane The direction decision is signaled to the r...

Page 19: ...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 used instead of the colored tape Data Matrix control codes are used in tandem with the colored tape or Data Matrix position code 1 Colored tape 2 Data Mat...

Page 20: ...20 PGV100 F200A B25 V1D Installation Branches or intersections with position information can be displayed as follows Figure 3 9 Separate lane branches off converges Figure 3 10 Same lane branches off converges ...

Page 21: ...lored tapes 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...

Page 22: ...es 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 made It is not permitted to create a mixture of lanes made from colored tape and Data Matrix codes at b...

Page 23: ... 23 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 3 13 Branch with control code ...

Page 24: ... when creating the lanes Offset V between position codes of a lane must not be greater than 5 mm Figure 3 14 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 Figure 3 15 Distance 7 5 mm D 15 mm V ...

Page 25: ...a Matrix code tapes at a branch or intersection as a separate lane must be between 0 mm and 5 mm Figure 3 16 Distance 0 mm D 5 mm The distance between a colored tape and a Data Matrix control code must be between 0 mm and 5 mm Figure 3 17 0 mm D 5 mm 25 mm D D 25 mm 10 40 mm ...

Page 26: ...e 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 Figure 3 19 0 mm D 10 mm The Y value does not change if the colored tape and the Data Matrix code tape are aligned Ensure that the center line of the colored tape and the center line of the Data Matrix code are on a line 25 mm D ...

Page 27: ... point of the required starting position on the surface and press to attach 4 Then affix the code tape along the desired travel path Remove the protective film gradually so that the code tape does not accidentally adhere to the surface in the incorrect position When affixing ensure that the code tape does not crease or trap air bubbles The adhesive on the code tape hardens after 72 hours Figure 3 ...

Page 28: ... 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 another code tape at the end of a previous code tape the code pattern of 20 mm must be retained Note Bends If mounting the code tape in corners cut the code tape several times as illus...

Page 29: ...o a specific number A cross in the center of the Data Matrix tag marks the zero point The X and theY axes are marked starting from the zero point The black arrow indicates the positive axis and the white arrow indicates the negative axis Figure 3 21 Data Matrix tag with the number 99999999 and position information 5 87 87 ...

Page 30: ... 23 Plug assignment of the read head Color assignment Pepperl Fuchs single ended female cordsets are manufactured in accordance with EN60947 5 2 When using a type V19 single ended female cordset with an open cable end see chap ter 2 3 on the Main connection the following color assignment applies Plug Assignment Connection pin Core color Color abbreviation 1 White WH 2 Brown BN 3 Green GN 4 Yellow ...

Page 31: ...nnot be laid A film shield is used 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 immediately on entering the switch cabinet Direct the protective grounding connections to a common point in a star configuration The cross section of the cables used for grounding should ...

Page 32: ...nnector sockets M12 x 1 port 1 and port 2 on the side of the housing Figure 3 24 EtherNet IP electrical connection Figure 3 25 Plug assignment for EtherNet IP Suitable Ethernet cables can be found in the Accessories section of the read head datasheet at www pepperl fuchs com Plug Assignment 1 2 3 4 TX RX TX RX Bus EtherNet IP 1 2 1 3 4 2 ...

Page 33: ...Figure 4 1 Direction Decision via Protocol Direction control via the protocol If direction decisions are made via the protocol subindex 12 Input source selection must be switched to Software in the global primary data Input 2 INPUT_SELEC TION_DIR_LEFT Input 1 INPUT_SELEC TION_DIR_RIGHT Direction Decision 0 0 No lane is selected Error code 5 0 1 Follow right hand lane 1 0 Follow left hand lane 1 1 ...

Page 34: ...200A B25 V1D Commissioning Following the Lane with Better Quality You can parameterize the read head so that it follows the color lane with better quality Figure 4 2 1 Better color lane 2 Worse color lane Example 1 1 2 2 ...

Page 35: ...ion You can parameterize the read head so that it follows the Data Matrix code tape that has more detailed current position information Figure 4 3 1 More detailed position information 2 New position information Example 100 102 104 106 108 110 112 114 116 398 400 118 402 404 406 4 0 8 120 122 1 2 4 1 2 ...

Page 36: ...cording to the CIP protocol Common Industrial Protocol and is used to control configure monitor and collect data Time sensitive data exchange implicit messaging takes place using the UDP IP protocol and non time sensitive data exchange explicit messaging using the TCP IP protocol The read head supports the following features Listen only Input only and Exclusive Owner connection types Message trans...

Page 37: ...following section describes the address assignment via the software BOOT DHCP server from Rockwell Automation as an example 1 Connect the read head with the DHCP server 2 Start the BOOT DHCP server software 3 Enter the following data in the Network Settings menu Subnet Mask 255 255 255 0 Gateway 192 168 1 1 the remaining fields are not filled in 4 Switch on the supply voltage to the read head ...

Page 38: ... the list 5 Enter the desired IP address in the New Entry menu The software automatically adopts the MAC address of the read head The hostname function is not supported You may enter text under Description 6 Confirm the entries of the address data using OK The IP address is assigned to the read head on the next DHCP request The new address data will be displayed in the Relation List field ...

Page 39: ...PGV100 F200A B25 V1D Communication via EtherNet IP 2020 12 39 7 Press the Disable BOOTP DHCP key in the Relation List field In this way the assigned IP address is saved permanently in the read head ...

Page 40: ...following listed standard specific classes Standard Classes The parameters are not directly addressable from the network with the Set or Get attribute services Access is via assembly objects class code 0x04 Class ID Class description 0x01 Identity object 0x02 Message router object 0x04 Assembly object 0x06 Connection manager object 0xF5 TCP IP interface object 0xF6 Ethernet link object 0x47 DLR ob...

Page 41: ... Status 100 UINT Y position 101 DINT Angle 104 UINT Warning 102 UINT Error 103 UINT 102 Status Y position angle X position Z distance 14 Status 100 UINT Y position 101 DINT Angle 104 UINT X position 105 UDINT Z distance 106 UINT 103 Status Y position angle X position Z distance CCL status CCL value warning error 21 Status 100 UINT Y position 101 DINT Angle 104 UINT X position 105 UDINT Z distance ...

Page 42: ...g 102 UINT Error 103 UINT Instance no Description Size byte Attribute Attribute ID Data type 110 Configuration 58 X resolution 110 UDINT Y resolution 111 UDINT Angle resolution 112 DINT Horizontal offset 113 DINT Vertical offset 114 INT Angle offset 115 DINT No position X 116 UDINT No position X value 117 UDINT No positionY 118 UDINT No positionY value 119 DINT No position angle 120 UDINT No posit...

Page 43: ...alue warning error 115 103 110 11 Input only Status Y position angle X posi tion CCL status CCL value warning error 115 103 110 12 Listen only Status Y position angle X posi tion CCL status CCL value warning error 115 103 110 13 Exclusive owner Status Y position angle X posi tion tag value 115 104 110 14 Input only Status Y position angle X posi tion tag value 115 104 110 15 Listen only Status Y p...

Page 44: ... angle X posi tion Z value tag value CCL sta tus CCL value warning error 115 108 23 Input only Status Y position angle X posi tion Z value tag value CCL sta tus CCL value warning error 115 108 Name Value Listen only 192 Input only 193 Configuration 110 Output 115 Input_100 100 Input_101 101 Input_102 102 Input_103 103 Input_104 104 Input_105 105 Input_108 108 No Type Parameter Output assembly Inpu...

Page 45: ...4 360 3600 360 113 Configuration Horizontal offset DINT 4 10000000 10000000 0 114 Configuration Vertical offset INT 2 16383 16383 0 115 Configuration Angle offset DINT 4 3600 3600 0 116 Configuration No position X UDINT 4 0 1 1 117 Configuration No position X value UDINT 4 0 10000000 0 0 118 Configuration No position Y UDINT 4 0 1 1 119 Configuration No position Y value DINT 4 16383 16383 0 120 Co...

Page 46: ...sition information OUT XP 0 YP 0 SP 0 3 WRN Warnings present see Warning attribute 4 CC1_ Control code 1 or 2 detected with number Control code 2 is evaluated via the SplitValue function 1 1 If you have any questions please contact Pepperl Fuchs 5 CC2_ 6 RL Read head follows right lane 7 LL Read head follows left lane 8 NL No lane detected 9 reserved 10 LC0 Number of visible lane low bit 11 LC1 Nu...

Page 47: ...s too low Meaning of Bits Position data Y Y position ID 101 The following default settings apply The Y position is output in the two s complement The value is output in the resolution set for the device Tip Increase contrast To ensure maximum contrast between the floor and the ribbon please note the following contrast colors Basic color green contrast color red Basic color blue contrast color red ...

Page 48: ...RN04 Y position too large The sensor is just before OUT 5 WRN05 Y position too small The sensor is just before OUT 6 WRN06 Read head is rotated tilted in relation to the code tape 7 WRN07 Low level of code contrast 8 WRN08 Repair tape detected 9 WRN09 Reserved 10 WRN10 Reserved 11 WRN11 Reserved 12 WRN12 Reserved 13 WRN13 Reserved 14 WRN14 Reserved 15 WRN15 Reserved 16 WRN16 Reserved Note If no wa...

Page 49: ...ansferred to this attribute Position Data Z Z Distance ID 106 The following default settings apply The value is output in the resolution set for the device Size Type Content 2 byte consistent Input data 16 bit angle data LSB first LSB least significant byte Resolution 0 1 1 binary coded Size Type Content 4 byte consistent Input data 32 bit X data LSB first LSB least significant byte Resolution 0 1...

Page 50: ... Bit 3 Bit 2 Bit 2 Bit 0 reserved reserved reserved Illumination control O1 O0 S1 S0 O1 O0 Meaning 0 0 Control code has the same orientation as ascending Data Matrix lane 0 1 Orientation of control code rotated 90 clockwise in relation to ascending Data Matrix lane 1 0 Orientation of control code rotated 180 clockwise in relation to ascending Data Matrix lane 1 1 Orientation of control code rotate...

Page 51: ...a Matrix lane Detection left or right of the color lane not possible Because a direction of drive can not be detected with color lane the position can not be output Example Größe Typ Inhalt 2 Byte konsistent Eingangsdaten 16 Bit Control Code Wert LSB first LSB least significant byte Size Type Content 4 byte consistent Input data 32 bit TAG value LSB first LSB least significant byte PGV CC25 00001 ...

Page 52: ... Reserved Reserved Reserved Lighting control Reserved Reserved Select left lane Select right lane Bit 1 Select left lane Bit 0 Select right lane Direction Decision 0 0 No lane is selected Error code 5 0 1 Follow right hand lane 1 0 Follow left hand lane 1 1 Colored tape follow lane with better quality Data Matrix code tape follow lane with more detailed position information Data Matrix tag no sign...

Page 53: ...T 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 17...

Page 54: ...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 6553 ...

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