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Manual R600V.DAH5 Multi-object (EN) 

 

 

Page 24 of 36 

R600V.DAH5_multiobject_manual_1.1 (EN).docm 

 

 

Last Update: 01 Jan 2021 

3.3.7. 

Vehicle Speed Message 

PGN: 

0xC100 

PDU Type: 

PDU1 

Direction: 

Receive 

Reception address:  

Broadcast or device address 

Reception rate:  

< 1000ms 

 

This message may be used to inform the sensor of the current vehicle speed. This message 

is optional; the device is able to perform its functionality without  this information, as long as 

the speed differential is low. 

All values are in 

“little endian” format. Bit1 of byte 1 = LSB of first byte 

Tab 13 

Effective Vehicle Speed Message 

Start bit 

Bits 

Offset 

Scaling 

Description 

1 

16 

0 

1mm/sec. 

Effective vehicle speed 

17 

1 

0 

1 

Sign (0/1 = forward/reverse) 

18 

48 

0 

1 

Don’t care 

 

The effective vehicle speed depends on the mounting angle towards  the object. Depending 

on this angle the speed transmitted needs to be corrected. No speed signal is required if the 

measurement perpendicular to the vehicle movement. 

 

Fig 13 

Effective Vehicle Speed v

eff

 

 

 

𝑣

𝑣𝑒ℎ

 

𝑣

𝑒𝑓𝑓

= sinሺ0ሻ 𝑣

𝑣𝑒ℎ

= 0

 

𝑣

𝑒𝑓𝑓

= sinሺ𝛼ሻ 𝑣

𝑣𝑒ℎ

 

Содержание 11188367

Страница 1: ...Baumer Electric AG Hummelstrasse 17 8501 Frauenfeld Switzer land 1 36 R600V DAH5 Multi Object Operating Manual EN Off Highway Multi object Radar Sensor Last Update 01 Jan 2021 ...

Страница 2: ...on 8 Integration Guidance 9 Mechanical Integration 9 2 1 1 Objects Blind range 9 2 1 2 Reference Target 9 2 1 3 Mounting 9 Rules for Installation 12 2 2 1 Free Space and Directional Sensitivity 12 2 2 2 Typical Detection Cone 13 2 2 3 Target area guidelines 14 2 2 4 Multi path beam propagation 15 Electrical Integration 16 Visual Diagnostic 17 CAN Interface Physical Layer 18 CAN Protocol 19 ISO Nam...

Страница 3: ...ssages Main Messages 21 3 3 7 Vehicle Speed Message 24 Exemplary Decoding of a CAN message frame 25 Sensor Configuration 26 3 5 1 Tool ISO name acceptance criteria 26 3 5 2 Adjustable Parameters 27 Trouble Shooting 29 Accessories 30 Appendix 31 Table Overview 31 Figures Overview 32 Definitions and Abbreviations 33 Terms and conditions of use 34 7 1 1 Copyright 34 7 1 2 No Warranty 34 7 1 3 No Offe...

Страница 4: ... time highly fluctuating environments and for applications that do not fit special purpose applications as outlined below This sensor allows for advanced customer side filtering of raw data and customer value creation For highly structured surfaces rough terrain stubble etc and situations in which the distance to ground and crop need to be measured Baumer recommends the usage of Off Highway Ground...

Страница 5: ...ially explosive atmospheres The OEM or system integrator must ensure the safety of the equipment on which this product is used The manual is written based on current information Baumer reserves the right to update prod ucts documentation and its manuals if better information becomes available 1 3 3 Application Policy Baumer products are applicable to a wide range of applications and or end use cas...

Страница 6: ...ntrol and modification of the state of function of the vehicle Baumer ensures the compliance of its products to the specifications and declaration of con formity made available through its website www baumer com All conditions of use provided in the data sheet top level drawing must be observed The machines or equipment manufactured by the customer utilizing Baumer product must only be put on the ...

Страница 7: ...ested and found to comply with the limits for a Class A digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a com mercial environment This equipment generates uses and can radiate radio frequency en ergy and if not installed and used in accordance with the instruction manual ma...

Страница 8: ...nt est conforme aux limites d exposition aux rayonnements IC établies pour un environnement non contrôlé Cet équipement doit être installé et utilisé avec un minimum de 20 cm de distance entre la source de rayonnement et votre corps Ce transmetteur ne doit pas etre place au meme endroit ou utilise simultanement avec un autre transmetteur ou antenne 1 3 5 Maintenance This product does not require a...

Страница 9: ...operties The reflectance depends on the dielectric constant and con ductance of the material at the radar wavelength Sufficient signal must be validated through integration testing Fig 1 Mechanical Setup for visualization only 2 1 2 Reference Target All data sheet specifications are based on a flat high reflectance target a metal plate with dimensions of 100mm by 100mm The zero point for the measu...

Страница 10: ...10105 The mounting torque for 10 9 property class screws must be within 12Nm 15Nm and for 8 8 property class screws it must be within 10Nm 12Nm For the mounting pattern and available tool space for tightening the mounting screws please refer to the Figure below Enough space must be allowed for the wiring harness to avoid excessive bending of the wires or wire assembly The wires must also be approp...

Страница 11: ...0V DAH5 Multi object EN R600V DAH5_multiobject_manual_1 1 EN docm Page 11 of 36 Last Update 01 Jan 2021 Fig 4 Mounting pattern tool space ATTENTION Observe mounting torque and tool space to avoid damage to sensor ...

Страница 12: ...eduction or approx 9 for 20dB signal reduction A typical directional sensitivity is shown below Fig 5 Typical Directional Sensitivity of Sensor Baumer recommends limiting intrusion of unwanted objects into a rotational cone of approx 60 70 from the lens for very weakly reflecting targets Integration testing must be done to ensure that the integration with available free space does not have impact ...

Страница 13: ...target types A steel round bar with a 25mm diameter and a 100x100mm flat metal target The measurement is done by moving the object sideways into the beam at several distances The edge position of the object at which a measurement is possible is used Fig 7 Typical Detection Cone for 25mm round bar object not to scale Fig 8 Typical Detection Cone for 100 x 100mm flat metal plate round bar object not...

Страница 14: ...s a rule of thumb a shield angle larger than approx the total opening angle e g 10 is recommended Multi path re flections may need to be considered Fig 9 Usage of shields to cover unwanted objects Wanted objects should always be kept at a minimum distance of at least the specified blind range For best accuracy 400mm should be considered Fig 10 Separation of objects Directionality opening angle Obj...

Страница 15: ...t the accuracy of the measurement and should be avoided Multi path propagation may occur due a combination of target alignment existence of a reflective object and side lobes of the sensor Integration testing is important to under stand the impact of the build space on the result Fig 11 Multi path beam propagation Directionality opening angle Reflective objects e g walls wanted object ...

Страница 16: ...evice shall be protected by an external R C or listed fuse rated max 100W Vp or max 5A below 20VDC and a UL class 2 power supply be used Tab 3 Connector Pin Out Connection type Ampseal 16 4P 776536 1 Mating connector Ampseal 16 4P 776524 1 Pin Code Description 1 Vs Positive Supply voltage 12VDC 24VDC nominal 2 CAN HI CAN High 3 GND Ground supply voltage 4 CAN LO CAN Low This product may be used on...

Страница 17: ...agnostic Status Code Sensor fully operational ob ject detected 100ms Green LED ON 400ms LED OFF Sensor fully operational no object detected As above 100ms Yellow LED ON in LED OFF interval Hardware fault 50ms Red LED ON 50ms LED OFF CAN bus Off malfunction 50ms Magenta LED ON 150ms LED OFF Address claim failed 50ms Magenta LED ON 50ms LED OFF Waiting for Master ECU ad dress claim 500ms Magenta LED...

Страница 18: ...N Interface Parameter Value Bus Speed 250 kbit sec 1 Bus Termination External termination Bus Voltage 5V Wiring Unshielded twisted pair UTP Cable impedance 120 Ohm 10 1 may be parameterized to 500 kbit sec see below The bus termination resistor is not included in the device The bus setup is shown in the figure below Fig 12 CAN connection setup diagram For further information please refer to the CA...

Страница 19: ...ransportation Layer SAE J1939 21 Data Link Layer Network Layer SAE J1939 31 Data Link Layer SAE J1939 21 Physical Layer SAE J1939 14 SAE J1939 15 Not all functions listed in the referenced standards have been implemented The following chapters explain the extent and implemented functions DBC files can be downloaded from the respective product page on www baumer com ISO Name Manufacturer code 343 B...

Страница 20: ...he table 1 5 Start transmitting the cyclic target distance message Most parameters times address start of transmission of this sequence are adjustable For details please refer to chapter 0 The CAN SAE J1939 standard generally defines the address claim procedure Each device on the bus can request an new address claiming from a single device or all nodes The re questing device has to send a request ...

Страница 21: ... access command message PGN 0xD900 Direction Receive Transmission rate Random 3 3 4 DM15 Memory access reply message PGN 0xD800 Direction Transmit Transmission rate Reply to DM14 command message 3 3 5 DM16 Memory access binary data PGN 0xD700 Direction Transmit receive Transmission rate When needed 3 3 6 Object Messages Main Messages PGN 0xC000 Direction Transmit Transmission rate 50ms Source addr...

Страница 22: ...00 higher confidence detection of target better 49 8 128 0 03125m s Object speed 1 Value 4 3 96875 m s 57 8 128 0 03125m s Object speed 2 Value 4 3 96875 m s Tab 10 Object 3 4 Message Main Message Start bit Bits Offset Scaling Description 1 2 0 1 Multiplexor 1 3 2 0 1 Sensor Status 0 No error 1 Reversible error e g temperature too high 2 Irreversible error Sensor measurement not available 5 1 0 1 ...

Страница 23: ...8 0 03125m s Object speed 6 Value 4 3 96875 m s Tab 12 Object 7 8 Message Main Message Start bit Bits Offset Scaling Description 1 2 0 1 Multiplexor 3 3 2 0 1 Sensor Status 0 No error 1 Reversible error e g temperature too high 2 Irreversible error Sensor measurement not available 5 1 0 1 Object status 7 1 peak is the strongest peak of all 6 1 0 1 Object status 8 1 peak is the strongest peak of al...

Страница 24: ...this information as long as the speed differential is low All values are in little endian format Bit1 of byte 1 LSB of first byte Tab 13 Effective Vehicle Speed Message Start bit Bits Offset Scaling Description 1 16 0 1mm sec Effective vehicle speed 17 1 0 1 Sign 0 1 forward reverse 18 48 0 1 Don t care The effective vehicle speed depends on the mounting angle towards the object Depending on this ...

Страница 25: ...page DP 8 bit PDU format 240 8 bit PDU specific group extension 8 bit source address 0x06 110 2 0x00 0 2 0x00 0 2 0xC0 1100 0000 2 FF 0x 1111 1111 2 0x80 1000 0000 2 PDU1 format Global destination address PGN parameter group number Tab 16 Example for decoding the 8 byte data field 0x A0 20 02 AC 78 C3 7D 7F 1010 0000 0010 0000 0000 0010 1010 1100 0111 1000 1100 0011 0111 1101 0111 1111 2 Multi ple...

Страница 26: ...ed generated by the device All addresses are direct spatial is pointer The access is similar to the SPN space Each parameter has an individual size The tool shall issue a read or write command with a memory length of 1 one In its proceed reply the device returns the actual number of bytes to be used for the trans fer 3 5 1 Tool ISO name acceptance criteria The sensor accepts MA sessions from any t...

Страница 27: ...threshold of strongest peak amplitude Peaks with amplitudes under this threshold will be suppressed 0 100 0 1 5 CAN Settings 0x07E38A Data PGN transmit period 10 5000 0 1ms 50 0x07E38B PGN for distance message trans mission 0 131071 0 1 49152 0x07E397 PDU transmission start mode Default enabled main message 0 start immediately 1 start after master address claim received msg transmission starts onl...

Страница 28: ...ffff 0 1 0 0x07E395 Delay between detection of master address claim and starting RUN mode 0 5000 0 1ms 250 0x07E396 Delay between detection of master address claim and first PDU1 transmission 0 5000 0 1ms 200 0x07E398 Lowest device address to claim in address resolution sequence 128 209 0 1 128 0x07E399 Highest device address to claim in address resolution sequence 128 209 0 1 209 0x07E39A CAN Bus...

Страница 29: ...gling wires tubes water drops on surfaces Unexplained targets distance measurement in far range Check for double reflections and limit measurement range The LED is blinking red 50ms on 50ms off Hardware fault Replace part by qualified personnel The LED is blinking magenta CAN bus error Check Tab 5 for details The LED is blinking blue for a long period Try a power cycle If this does not fix the iss...

Страница 30: ...nt 11213075 ZCABL ALL AMP0300 Connector AMPSEAL 16 with PUR cable 3m cable with AMPSEAL connector and fly leads 11181700 ZREFL RAD CCUBE30 Metal reflector as corner cube edge length 30 mm Metal reflector in corner cube design Material Steel Reliable object detection 6 m 11197315 ZREFL RAD CCUBE100 Metal reflector as corner cube edge length 100 mm Metal reflector in corner cube design Material Stee...

Страница 31: ...19 Tab 8 Address management messages 20 Tab 9 Object 1 2 Message Main Message 22 Tab 10 Object 3 4 Message Main Message 22 Tab 11 Object 5 6 Message Main Message 23 Tab 12 Object 7 8 Message Main Message 23 Tab 13 Effective Vehicle Speed Message 24 Tab 14 Decoding a CAN SAE J1939 message frame 25 Tab 15 Example for decoding the CAN ID 29bit PDU1 format 25 Tab 16 Example for decoding the 8 byte dat...

Страница 32: ...ing pattern tool space 11 Fig 5 Typical Directional Sensitivity of Sensor 12 Fig 6 Recommended Free Space for weak targets 12 Fig 7 Typical Detection Cone for 25mm round bar object not to scale 13 Fig 8 Typical Detection Cone for 100 x 100mm flat metal plate round bar object not to scale 13 Fig 9 Usage of shields to cover unwanted objects 14 Fig 10 Separation of objects 14 Fig 11 Multi path beam p...

Страница 33: ... Definition CAN Controller Area Network DAB Data Sheet DA Destination address DM Direct Memory ECU Electronic Control Unit ISO International Standardization Organization LED Light Emitting Device MA Memory Access OEM Original Equipment Manufacturer OSI Open Systems Interconnection PDU Protocol Data Unit PF PDU Format PGN Parameter Group Number PS PDU Specific SA Source Address SAE Society of Autom...

Страница 34: ... prior notice The suitability of the Baumer product must be validated by the customer for every application Intellec tual property rights may exist for some applications and or end use cases Baumer does neither implic itly nor explicitly warrant the usage for specific application and or end use case 7 1 3 No Offer The information published in this manual does not constitute a solicitation to submi...

Страница 35: ...ct_manual_1 1 EN docm Page 35 of 36 Last Update 01 Jan 2021 Document Revision History Tab 21 Document revision history Vers Date Note Author Checked Released 1 0 12 Aug 2020 Initial Release wemi N A N A 1 1 07 Jan 2021 Add Compliance Statement wemi N A N A ...

Страница 36: ...riedberg Phone 49 0 6031 60 070 India Baumer India Private Ltd IN 411058 Pune Phone 91 2066292400 Italy Baumer Italia S r l IT 20090 Assago MI Phone 39 0 245 70 60 65 Republic of Korea Baumer Korea Co Ltd KR 411 766 Seoul Phone 82 2 6351 9909 Poland Baumer Sp z o o PL 92 333 Łódź Phone 48 42 676 7330 Singapore Baumer Singapore Pte Ltd SG 339412 Singapore Phone 65 6396 4131 Spain Baumer Automación ...

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