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Pepperl+Fuchs PGV100R-F200-R4-1.5M Manual Download Page 7

PGV100R-F200-R4-1.5M

Product Description

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Product Description

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Use and Application

Intended Use

This device, when used together with a Data Matrix code tape affixed to the floor, constitutes a 
high-resolution lane tracking and positioning system. It can be used in all applications where 
auto-guided transport systems are to be positioned precisely at marked positions along a given 
lane.

The read head forms part of the positioning system in the Fuchs incident light pro-
cess. The read head includes a camera module and an internal illumination unit, which the read 
head uses to detect a strip of Data Matrix code tape stuck to the floor for lane tracking and nav-
igation. The read head also detects Data Matrix tags to navigate within a grid.

The read head is located on an auto-guided transport system and guides this system along the 
Data Matrix code tape.

Figure 2.1

Auto-guided transport system with Data Matrix code tape

Summary of Contents for PGV100R-F200-R4-1.5M

Page 1: ...PGV100R F200 R4 1 5M 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: ...e 13 3 3 Electrical Connection 22 4 Commissioning 24 4 1 Direction Decision 24 4 2 Parameterization Using Code Cards 25 4 2 1 The code cards CANCEL USE and DEFAULT 26 5 Operation and communication 27 5 1 Communication via the RS 485 Interface 27 5 1 1 Request Telegram 27 5 1 2 Position Response Telegram 28 5 1 2 1 Number of Lanes LC Lane Count 31 5 1 2 2 Orientation O 32 5 1 2 3 Side S 33 5 1 2 4 ...

Page 4: ...al Parameterization 36 6 1 1 Code Cards with Special Functions 36 6 1 2 Code Cards for Setting the Read Head Address 39 6 1 3 Code cards for setting the transfer rate 41 6 1 4 Code Cards for Adjusting the Resolution 43 6 1 5 Code cards for adjusting the terminator 44 ...

Page 5: ...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 6: ...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 7: ... positions along a given lane The read head forms part of the positioning system in the Pepperl Fuchs incident light pro cess The read head includes a camera module and an internal illumination unit which the read head uses to detect a strip of Data Matrix code tape stuck to the floor for lane tracking and nav igation The read head also detects Data Matrix tags to navigate within a grid The read h...

Page 8: ...on to the zero point of the Data Matrix tag to the control panel Tag mode allows the auto guided transport system to move freely in as large a grid as desired without having to mark the traverse distances with code tapes Figure 2 2 Auto 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 f...

Page 9: ...ng transfer rates 9600 bit s 19200 bit s 38400 bit s 57600 bit s 76800 bit s 115200 bit s default value Data structure of the RS 485 interface 2 3 LED Indicators and Operating Elements The read head is equipped with two indicator LEDs for carrying out visual function checks and quick diagnostics Figure 2 3 Display elements LEDs Bit 0 LSB MSB Start Stop Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Par...

Page 10: ... configuration error Off Off x x No communication Off Lights up Off Lights up Bootloader starts Off Flashing Off Flashing Bootloader communication active Lights up Off Off Off Bootloader ready for communication Off Off Lights up Off Bootloader flash memory ready Off Off Off Lights up Bootloader flash memory error Table 2 1 fflash 2 5 Hz one request line for flashing with three on statuses x LED st...

Page 11: ...ssioning but also 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 these products Model number Description PGV CA25 Data Matrix code tape PGV CC25 0 Data Matrix control codes PGV M CA25 Data Matrix positioning tape PGV85 CT4 Data Matrix tag PGV25M CD100 CLEAR Protective film ...

Page 12: ...ween 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 of focus mm Field of vision w x h mm PGV100R 100 30 115 x 73 70 80 38 5 70 1 2 22 51 ø 25 9 4 x M6 Caution When selecting the length of the mounting screws ensure that the maximum insertion depth of th...

Page 13: ...rse 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 values then increase along the X direction Data Matrix Code Tapes with a Starting Position of 0 m Dimensions of the Code Tape Caution Alignment The Data Matrix code is not on the center line of the...

Page 14: ...sive on the code tape hardens after 72 hours Model number Description PGV CC25 001 Code tape Control Code 001 length 1 m PGV CC25 999 Code tape Control Code 999 length 1 m Table 3 2 Data Matrix control codes Note Thermal Expansion of the Code Tape The affixed code tape corresponds to the heat expansion coefficient of the surface with regard to its thermal expansion Keep this in mind when installin...

Page 15: ...specified as an absolute value relative to 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 Absolute angle Note To avoid polishing the surface do not apply strong pressure when cleaning If the code tape has a shiny surface this impairs detection by th...

Page 16: ... than 50 cm away from the branch It is not possible to change the direction decision within a branch Note Branches Intersections 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 lane must run continuously for 2 m The position codes of the branching int...

Page 17: ...he 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 mad...

Page 18: ...rsection The control code must be mounted directly next to the guiding lane Figure 3 7 Branch with control code Distances To ensure that the read head can clearly detect and assign Data Matrix codes minimum 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 V ...

Page 19: ...rix code tapes at a branch or intersection as a separate lane must be between 0 mm and 5 mm Figure 3 9 Distance 0 mm D 5 mm 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 20: ...oint 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 3 11 2x2 Data Matrix tag with the number 123456789 and position information Figure 3 12 4x4 Data Matrix tag with the number 99999999 and position information Y Y www pepperl fuchs com TAG 12 345 678 42 54 TAG 1234 5678 55 54 44 45 4 5 ...

Page 21: ...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 13 2x2 Data Matrix tag with number 12345678901234 and position information Figure 3 14 4x4 Data Matrix tag with the number 99999999 and position information 42 54 Y Y X X www pepperl fuchs com TAG XX XXX XXX XXX XXX TAG 1234 5678 9012 34 55 54...

Page 22: ...eld because this would increase the line capacities The shielding is integrated at both ends i e in the switch cabinet or on the PLC and on the read head The grounding terminal available as an accessory allows easy integration in the equipotential bonding circuit In exceptional cases the shielding of a connection at one end may be more favorable if An equipotential bonding cable is not laid or can...

Page 23: ...ge the device or cause the device to malfunction Electrical connections with reversed polarity can damage the device or cause the device to malfunction Connect the device to direct current DC Ensure that the supply voltage rating is within the specified device range Ensure that the connecting wires on the female cordset are connected correctly ...

Page 24: ...l Direction control via the protocol Following the Lane with More Detailed Position Information You can parameterize the read head so that it follows the Data Matrix code tape that continues the current location information 1 More detailed position information 2 New position information Note If direction decisions are made via the protocol then subindex 12 Input Source Selection must be switched t...

Page 25: ...of the camera module Once the parameterization code has been detected LED2 lights up green for 1 second If the parameterization code is invalid LED2 lights up red for 1 second Exiting Parameterization Mode Now hold the STORE code in front of the read head s camera system to save the configura tion When the STORE memory code is detected the LED2 lights up green for 1 second The parameterization is ...

Page 26: ... head 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 After being switched off and on again the reading head operates with the last valid parameters that were saved DEFAULT All parameters in the reading head are overwritten with the original default set...

Page 27: ...o the first byte but with the 8 data bits of the first byte inverted Structure of a Request Telegram Meaning of Bits Byte bit Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Function Byte 1 Parity 11 1 R W 0 response 1 request Req bit 4 Req bit 3 Req bit 2 Req bit 1 Req bit 0 A1 A0 Request Byte 2 Parity 0 Req bit 4 Req bit 3 Req bit 2 Req bit 1 Req bit 0 A1 A0 Checksum Table 5 1 Structure of...

Page 28: ...12 YPR_11 YPR_10 YPR_09 YPR_08 YPR_07 Byte 10 Parity 0 YPR_06 YPR_05 YPR_04 YPR_03 YPR_02 YPR_01 YPR_00 Byte 11 Parity 0 ANGL13 ANGL12 ANGL11 ANGL10 ANGL09 ANGL08 ANGL07 Byte 12 Parity 0 ANGL06 ANGL05 ANGL04 ANGL03 ANGL02 ANGL01 ANGL00 Byte 13 Parity 0 ANGLR_13 ANGR_12 ANGR_11 ANGR_10 ANGR_09 ANGR_08 ANGR_07 Byte 14 Parity 0 ANGLR_06 ANGR_05 ANGR_04 ANGR_03 ANGR_02 ANGR_01 ANGR_00 Byte 15 Parity 0...

Page 29: ... TAG_22 TAG_21 Byte 16 Parity 0 TAG_20 TAG_19 TAG_18 TAG_17 TAG_16 TAG_15 TAG_14 Byte 17 Parity 0 TAG_13 TAG_12 TAG_11 TAG_10 TAG_09 TAG_08 TAG_07 Byte 18 Parity 0 TAG_06 TAG_05 TAG_04 TAG_03 TAG_02 TAG_01 TAG_00 Byte 19 Parity 0 WRN13 WRN12 WRN11 WRN10 WRN09 WRN08 WRN07 Byte 20 Parity 0 WRN06 WRN05 WRN04 WRN03 WRN02 WRN01 WRN00 Byte 21 Parity 0 XOR B1 6 B20 6 XOR B1 5 B20 5 XOR B1 4 B20 4 XOR B1 ...

Page 30: ... Priority 2 No clear position can be determined e g difference between codes is too great code distance incorrect 4 5 No direction decision available see chapter 5 1 3 2 6 Internal 3 1000 Internal error 1 Table 5 6 Error Codes Warning mes sage Description WRN00 Code with content not typical of PGV found WRN01 Read head too close to code tape WRN02 Read head too far from code tape WRN03 Reserved WR...

Page 31: ... is not located in the reading window Meaning of Bits Note 16 bit 32 bit In order for the response telegrams from the read head to be transferred in 16 bit or 32 bit values fill in the missing bits as follows 1 Unsigned Fill in the missing upper bits with 0 2 Signed Fill in the missing upper bits with the highest bit of the response telegram Should you have any questions about this please contact ...

Page 32: ... 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 rotated 270 clockwise in relation to ascending Data Matrix lane Orientation X Y O1 0 O0 0 O1 1 O0 0 O1 0 O...

Page 33: ...ne 1 0 Control code to the left of the Data Matrix lane 1 1 Not detectable1 1 Control code laid on Data Matrix lane No Data Matrix lane available Table 5 8 Meaning of bits S1 and S0 TAG NL NP XP YPS ANG Meaning 0 0 0 1 1 Valid data present Data Matrix lane available Position and angle refer to the Data Matrix lane 0 1 0 Data Matrix lane available 0 1 1 No evaluable objects exist 1 0 Position on th...

Page 34: ...s 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 output data The 1 meter long control code can be shortened However the minimum length should be 3 codes 60 mm If the speed of the read head increases a longer control code is required If the read head travels at maximum speed a full length control code of 1 meter must b...

Page 35: ...g code tape with the repair tape Note When placing a repair tape on the code tape make sure that the repair tape continues the pattern on the code tape as accurately as possible Tip If repairs are required the Code Tape Generator at www pepperl fuchs com can be used as a short term workaround This generator enables segments of code tape to be produced and printed out online Enter the start value i...

Page 36: ...ecial functions ACTIVATE USER STORE CANCEL USE DEFAULT Figure 6 1 The ACTIVATE code card is used to activate external parameterization operating mode Note When performing external parameterization with code cards we recommend copying and printing out the relevant pages in this manual and cutting out the required code cards This prevents the read head from mistakenly detecting another code card on ...

Page 37: ... stores the modified parameterization in the nonvolatile memory of the read head and terminates external parameterization operating mode Figure 6 4 The CANCEL code card discards the modified parameterization and terminates external parameterization operating mode The read head switches to normal mode and adopts the last valid configuration that was saved User Store Cancel User Cancel ...

Page 38: ...d head then operates with this configuration However if the read head is switched off and on again the configuration is lost and the read head operates with the last valid configuration that was saved This function is used primarily for test purposes Figure 6 6 The DEFAULT code card restores the settings of the read head to default and terminates external parameterization operating mode Use Defaul...

Page 39: ...that it can be activated via the inter face The address range extends from 0 3 Figure 6 7 The code card assigns address 0 to the read head Figure 6 8 The code card assigns address 1 to the read head Figure 6 9 The code card assigns address 2 to the read head Read Head Address 0 Read Head Address 1 Read Head Address 2 Adresse 0 Adresse 1 Adresse 2 ...

Page 40: ...2020 05 40 PGV100R F200 R4 1 5M Appendix Figure 6 10 The code card assigns address 3 to the read head Read Head Address 3 Adresse 3 ...

Page 41: ...rface The following transfer rates are available 38400 bit s 57600 bit s 76800 bit s 115200 bit s 230400 bit s Figure 6 11 The transfer rate of the read head for communication via the interface is preset to 38400 bit s Figure 6 12 The transfer rate of the read head for communication via the interface is preset to 57600 bit s Transfer rate 38400 bit s Transfer rate 57600 bit s 38400 Bit s 57600 Bit...

Page 42: ...0 bit s Figure 6 14 The transfer rate of the read head for communication via the interface is preset to 115200 bit s Figure 6 15 The transfer rate of the read head for communication via the interface is preset to 230400 bit s Transfer rate 76800 bit s Transfer rate 115200 bit s Transfer rate 230400 bit s 76800 Bit s 115200 Bit s 230400 Bit s ...

Page 43: ... the read head Figure 6 16 The code card assigns a position data resolution of 0 1 mm to the read head Figure 6 17 The code card assigns a position data resolution of 1 mm to the read head Figure 6 18 The code card assigns a position data resolution of 10 mm to the read head Resolution 0 1 mm Resolution 1 mm Resolution 10 mm Resolution 0 1 mm Resolution 1 mm Resolution 10 mm ...

Page 44: ...minator Parameterization enables you to switch a terminator on and off in the read head Figure 6 19 The terminator is deactivated Figure 6 20 The terminator is connected Resolution of the read head mm Maximum length of the code tape km 10 10 1 10 0 1 10 Terminator OFF Terminator ON Termination off Termination on ...

Page 45: ...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 6492 ...

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