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Manual R600V.DAH5 (EN) 

 

 

Page 16 of 32 

R600V.DAH5_manual_1.5 (EN).docm 

 

 

Last Update: 03 Jul 20 

  CAN Interface (Physical Layer) 

The CAN physical layer is according to SAE J1939-15 (reduced physical layer). Some base 

parameters are shown in the table below. 

Tab 6 

CAN 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 10 

CAN connection setup diagram 

 

For further information please refer to the CAN Protocol chapter. 

 

 

120 

 

120 

 

CAN HI 

CAN LO 

R600V 

Radar Sensor 

R600V 

Radar Sensor 

Содержание 11205779

Страница 1: ...Baumer Electric AG Hummelstrasse 17 8501 Frauenfeld Switzerland 1 32 R600V DAH5 Operating Manual EN Off Highway Distance Radar Sensor Last Update 03 Jul 2020 ...

Страница 2: ...l Integration 8 2 1 1 Targets Blind range 8 2 1 2 Reference Target 9 2 1 3 Mounting 9 Rules for Installation 10 2 2 1 Free Space and Directional Sensitivity 10 2 2 2 Target area guidelines 12 2 2 3 Multi path beam propagation 12 Electrical Integration 14 Visual Diagnostic 15 CAN Interface Physical Layer 16 CAN Protocol 17 ISO Name 17 Device address 17 3 2 1 Commanded address PGN 0xFED8 17 3 2 2 Ad...

Страница 3: ...ry Decoding of a CAN message frame 21 Sensor Configuration 22 3 5 1 Tool ISO name acceptance criteria 22 3 5 2 Adjustable Parameters 22 Trouble Shooting 25 Accessories 26 Appendix 27 Table Overview 27 Figures Overview 28 Definitions and Abbreviations 29 Terms and conditions of use 30 7 1 1 Copyright 30 7 1 2 No Warranty 30 7 1 3 No Offer 30 7 1 4 Limitation of Liability 30 7 1 5 Governing Law and ...

Страница 4: ... target such as a corner cube a metal plate or flat and unstructured surfaces in general e g asphalt concrete shall be determined For highly structured sur faces rough terrain stubble etc Baumer recommends the usage of Off Highway Ground Crop Radar Sensor family R600V DAE0 11209335 R600V DAE0 11188367 The 122GHz band can be used in many different applications The original equipment manufac turer o...

Страница 5: ...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 cases Baumer cannot know all possible conditions under which products are installed used and operated Every application and or use case is unique The suitability and functionality of a Baumer product and its performance under different applications ...

Страница 6: ... 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 market as covered by the declaration of conformity provided Some applicable documents are listed below but are not limited to Tab 2 Applicable Documents Art no Document Type Document 11205779 Data sheet DAB DAB Rada...

Страница 7: ...age to an exterior part it should be replaced to avoid undetected malfunction The product must be replaced by skilled and authorized personnel 1 3 6 Disposal environmental protection Do not dispose of electrical and electronic equipment in household waste The product con tains valuable raw materials for recycling which is why an old product must be returned to an authorised collection point for co...

Страница 8: ...acy need not be optimized To ensure proper detection over the full sensing range it is recommend aligning the longitudinal axes of sensor and reflector as shown below Aligning the axes is especially important to improve the signal at short distances below 0 5m when using a corner cube For a selection of available corner cubes please refer to Tab 15 The target material thickness both flat metal pla...

Страница 9: ...ommends soft steel as material to match specified mounting torque For direct mounting thread in plate Baumer recommends a thickness of the steel plate of at least 6mm For mounting on a thinner soft steel plates 3mm flange nuts must be used instead Fig 2 Mounting on a thick soft steel plate 6mm Fig 3 Mounting on a thin soft steel plate 3mm It is recommended to use M6 screws per MBM 10105 The mounti...

Страница 10: ...d and be suitable for the application Fig 4 Mounting pattern tool space Rules for Installation 2 2 1 Free Space and Directional Sensitivity The Baumer off highway radar distance sensor is a very sensitive device to deliver superior measurement accuracy and speed The opening angle of the main beam is 6 for 3dB sig nal reduction or approx 9 for 20dB signal reduction A typical directional sensitivity...

Страница 11: ...e lens for very weakly reflecting targets Integration testing must be done to ensure that the integration with available free space does not have impact on the measurement Fig 6 Recommended Free Space for weak targets For strongly reflecting targets such as corner cubes and metal plates the keep out aper ture angle is at least 3 Y X X Axis H Plane per pendicular to centerline connector Y Axis E Pl...

Страница 12: ...to chapter 3 5 2 Fig 7 Usage of shields to cover strongly reflecting objects If strongly reflecting objects in the background of the target cannot be covered by shields the target should be kept at a minimum distance of at least the specified blind range Fig 8 Separate strongly reflecting objects from target 2 2 3 Multi path beam propagation Multi path beam propagation may impact the accuracy of t...

Страница 13: ...Manual R600V DAH5 EN R600V DAH5_manual_1 5 EN docm Page 13 of 32 Last Update 03 Jul 20 Fig 9 Multi path beam propagation Directionality opening angle Reflective objects e g walls target ...

Страница 14: ...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 vehicle power ...

Страница 15: ...us Code Sensor fully operational object 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 address claim 500ms Magenta LED ON 500ms LED O...

Страница 16: ...rameter 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 10 CAN connection setup diagram For further information please refer to the CAN Protocol cha...

Страница 17: ...tation 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 Baumer G...

Страница 18: ...art transmitting the cyclic target distance message Most parameters times address start of transmission of this sequence are adjustable For details please refer to chapter 3 5 2 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 PGN 0xEA00 ...

Страница 19: ... 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 Target Distance Message adjustable PGN 0xC000 Direction Transmit Transmission rate 50ms Source address Sensor address Des...

Страница 20: ...perature too high 2 Irreversible error Sensor measurement not available 9 8 0 1 Target confidence Value 0 100 higher confidence detection of target better 17 24 0 0 1mm Target distance 49 16 32768 1mm sec Target speed positive increasing distance Target confidence is a function of signal strength Above certain signal amplitude confi dence will always be 100 Target confidence and target distance wi...

Страница 21: ... for decoding the CAN ID 29bit PDU1 format 3 bit priority PRIO 1 bit reserved R 1 bit data 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 12 Example for decoding the 8 byte data field 0x 00 64 89 71 00 00 EE 7F ...

Страница 22: ...stable Parameters The following parameters are available for adjustment Tab 13 Adjustable Parameters Address Parameter range offset scaling Default value LED settings 0x07DFAA Green LED duty cycle 5 0 100 0 1 0 0x07DFAB Green LED period 5 0 255 0 100ms 0 0x07DFAC Red LED duty cycle 5 0 100 0 1 0 0x07DFAD Red LED period 5 0 255 0 100ms 0 0x07DFAE Blue LED duty cycle 5 0 100 0 1 0 0x07DFAF Blue LED ...

Страница 23: ...t immediately 1 start after master address claim received msg transmission starts only when enable flags are set 0x07E38C 2 3 reserved do not use 0 3 0 1 0 0x07E38C Msg transmission enable flags 5 0 Main message off 1 Main message on This SPN can be used to switch message on and off dynamically 0 1 0 1 1 0x07E38D Default msg transmission enable flags 0 Main message off 1 Main message on Use to pre...

Страница 24: ... 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 speed 0 250k 1 500k 2 reserved do not use 0 1 0 1 0 0x07EF40 Reset device to default values Write data in this sequence to reset all non volatile SPNs to default values 0x00 0xAA 0x55 0x12 0x34 N A...

Страница 25: ...bes 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 issue peplace par...

Страница 26: ...CABL 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 Steel Reliable ob...

Страница 27: ...5 Tab 6 CAN Interface 16 Tab 7 SAE J1939 in the OSI reference model 17 Tab 8 Address management messages 18 Tab 9 Target Distance Message main message 20 Tab 10 Decoding a CAN SAE J1939 message frame 21 Tab 11 Example for decoding the CAN ID 29bit PDU1 format 21 Tab 12 Example for decoding the 8 byte data field 21 Tab 13 Adjustable Parameters 22 Tab 14 Trouble Shooting Overview 25 Tab 15 Accessori...

Страница 28: ...late 6mm 9 Fig 3 Mounting on a thin soft steel plate 3mm 9 Fig 4 Mounting pattern tool space 10 Fig 5 Typical Directional Sensitivity of Sensor 11 Fig 6 Recommended Free Space for weak targets 11 Fig 7 Usage of shields to cover strongly reflecting objects 12 Fig 8 Separate strongly reflecting objects from target 12 Fig 9 Multi path beam propagation 13 Fig 10 CAN connection setup diagram 16 ...

Страница 29: ...AN 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 Automotive Enginee...

Страница 30: ...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 submit an offer nor...

Страница 31: ... rma erv N A 1 0 15 Nov 2019 Initial Release wemi lph sfri N A 1 1 20 Nov 2019 Fix addresses and details in Adjustable parameters wemi linz N A 1 2 07 Jan 2020 Tab 9 Target confidence sensor sensitivity default values changed rma wemi N A 1 3 17 Jan 2020 Tab 9 correct output distance selection wemi N A N A 1 4 05 Mar 2020 Add a decoded CAN mes sage as example wemi linz N A 1 5 03 Jul 2020 Add addr...

Страница 32: ...e 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 Ibérica S L E...

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