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PCV...-F200-B16-V15

Operation and communication

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7.1.3

CANopen Object Directory

Supported Objects

The device-specific object directory OV contains all parameters and process data for the read 
head. The parameters and process data are listed in tables. The object directory has two 
defined areas. In the first area, the read head is described in general terms. It contains the 
device ID, the name of the manufacturer, the communication parameters, etc. In the second 
area, the specific functionality of the read head is described.

Note!

CANopen Parameter Communication

This section contains the information required for the data exchange via CANopen. Data is 
exchanged with the read head via objects. These objects and their respective permissible 
functions are defined in the following SDO directory.

The read head supports the identifier format 2.0A (11 bit identifier) according to the CAN 
specification. The extended 29 bit identifier is not supported.

Object

Description

0x1000

Device type

0x1001

Error register

0x1008

Manufacturer device name

0x1009

Manufacturer hardware version

0x100A

Manufacturer software version

0x100C

Guard time

0x100D

Lifetime factor

0x1014

Emergency ID

0x1015

Emergency inhibit time

0x1016

Consumer heartbeat time

0x1017

Producer heartbeat time

0x1018

Identity object

0x1029

Error behavior

0x1200

1. Server SDO parameter (default SDO)

0x1400

Receive PDO 1 parameter

0x1403

Receive PDO 4 parameter

0x1600

Receive PDO 1 mapping

0x1603

Receive PDO 4 mapping

0x1800

Send PDO 1 parameter

0x1801

Send PDO 2 parameter

0x1A00

Send PDO 1 mapping

0x1A01

Send PDO 2 mapping

0x2000

Position data and status data

0x3000

Serial number

0x3001

Parameterization object

Содержание PCV F200-B16-V15 Series

Страница 1: ...PCV F200 B16 V15 Data Matrix Positioning System FACTORY AUTOMATION MANUAL ...

Страница 2: ...rms of Delivery for Products and Services of the Electrical Indus try published by the Central Association of the Electrical Industry Zentralverband Elektrotechnik und Elektroindustrie ZVEI e V in its most recent version as well as the supplementary clause Expanded reservation of proprietorship PCV F200 B16 V15 ...

Страница 3: ...ing the Code Reel 12 5 2 Mounting the Read Head 15 5 3 Electrical Connection 17 5 4 CANopen Connection 19 6 Commissioning 20 6 1 Aligning the Read Head 20 6 2 Parameterization of Fieldbus Address and Baud Rate 20 6 2 1 Product documentation on the internet 22 6 3 EDS Configuration File 22 7 Operation and communication 23 7 1 Data Exchange in the CANopen Bus 23 7 1 1 General Information about CANop...

Страница 4: ...PCV F200 B16 V15 7 2 Operating with event markers 38 7 3 Operation with Repair Tape 39 8 Appendix 40 8 1 ASCII table 40 8 2 Code cards with special functions 41 8 3 Code Cards for Setting the Baud Rate 43 ...

Страница 5: ...on a worldwide scale Symbols used The following symbols are used in this manual Handling instructions You will find handling instructions beside this symbol Contact If you have any questions about the device its functions or accessories please contact us at Pepperl Fuchs GmbH Lilienthalstraße 200 68307 Mannheim Telephone 49 621 776 4411 Fax 49 621 776 274411 E Mail fa info pepperl fuchs com Note T...

Страница 6: ... conformity 2 Declaration of conformity 2 1 CE conformity This product was developed and manufactured under observance of the applicable European standards and guidelines Note A declaration of conformity can be requested from the manufacturer ...

Страница 7: ...sioning operation maintenance and dismounting lies with the plant operator Installation and commissioning of all devices must be performed by a trained professional only User modification and or repair are dangerous and will void the warranty and exclude the manufacturer from any liability If serious faults occur stop using the device Secure the device against inadvertent operation In the event of...

Страница 8: ...gth of the Code Tape This positioning system can be used with an appropriate resolution in equipment with extremely large layouts without restrictions The extensive yet user friendly parameterization options as well as the freely configurable inputs and outputs mean that the read head can easily be adapted to suit each application 4 2 LED Indicators and Controls The PCV read head is equipped with ...

Страница 9: ... Alignment Z setpoint value fflash 2 Hz Off Off Flashes green Off Off Flashes Off Off Alignment Z setpoint value fflash 2 Hz Off Off Flashes red Off Off Off Off Off Alignment Code tape outside read range No code tape detected fflash 2 Hz Off Off Lights up red Off Off Off Off Off System error x x Lights up green x x x Off Off Normal operation code tape detected x x Flashes red FlashesFlashesFlashes...

Страница 10: ... on briefly 1 s off Lights up x x x x x x x Operational mode LED 1 BUS STATE 2 BUS ERR 3 PWR ADJ ERR NO CODE 4 OUT 1 5 OUT 2 ADJ Y 6 OUT 3 ADJ Z 7 INTERNAL DIAGNOSTIC Description Color Yellow Red Green r ed Yellow Yellow Yellow Yellow Yellow Status Flickers Flickers x x x x x x Detection of auto baud rate fflicker 10 Hz x Flashes x x x x x x General configuration error fflash 2 5 Hz x Flashes once...

Страница 11: ... in harsh ambient conditions appropriate Pepperl Fuchs accessories can be used to extend the service life of these products 1 Ask your contact person at Pepperl Fuchs Model number Description V19 G ABG PG9 FE Grounding terminal and plug set PCV SC12 PCV SC12A Grounding clip V15 G M PUR CAN V15 G CANopen bus cable M12 to M12 available in several different lengths VAZ V1S B Stopping plug for M12 con...

Страница 12: ...y or oily deposits and dust 2 Ensure that the surface is dry clean and stable 3 Pull the protective foil at the beginning of the code reel a few centimeters forward Place the code reel at the precise point of the required starting position on the underside and press to attach 4 Then affix the code reel along the desired travel range Remove the protective film gradually so that the code reel does n...

Страница 13: ...ead Head Model Number Description PCV6M CA20 0 Code reel 2 track length 6 m PCV100M CA20 0 Code reel 2 track length 100 m Model Number Description PCV100M CA20 0 Code reel 2 track length 100 m starting position 0 m PCV100M CA20 10000 Code reel 2 track length 100 m starting position 100 m PCV100M CA20 990000 Code reel 2 track length 100 m starting position 9 900 m Y Z X Caution Stop Edges If you at...

Страница 14: ...ferent Row Numbers The PCV CA20 code reel has two rows of code to compensate for slight deviations in the travel range in the Y direction The code reel is also available with other row numbers The order code for the code reel is PCV CAx0 whereby x represents the number of rows of code which can be either 1 or 2 More rows are available on request contact us for more information Model Number Descrip...

Страница 15: ...moving part of your equipment using the four screws on the mounting adapter of the read head Mount the read head in such a way that the lens with ring light and camera module are aligned toward the code tape The stability of the mounting and the guidance of the moving system component must be such that the field of the depth of focus of the read head is not exited during operation Hysteresis Y Axi...

Страница 16: ... same as the read distance of the read head Figure 5 4 Vertical alignment tolerance Figure 5 5 Horizontal alignment tolerance Optimum Read Distance Z Axis Model Number Read Distance mm Depth of Focus mm PCV50 50 25 PCV80 80 15 PCV100 100 20 PCV100 6011 100 40 Read distance Code reel 10 10 Read distance 10 10 ...

Страница 17: ...d at this connection Figure 5 7 Read Head Dimensions 70 80 38 5 70 14 5 1 2 22 51 ø 25 12 M12 x 1 9 4 x M6 20 20 Caution When selecting the length of the mounting screws to be used make sure that the insertion depth of the screws into the threaded inserts on the read head does not exceed 8 mm Using longer screws can damage the read head Caution The maximum torque of the mounting screws must not ex...

Страница 18: ...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 cannot be laid A film shield is used The following points relating to shielding must also be noted Use metal cable clips that cover larg...

Страница 19: ...nating current or excessive supply voltage can damage 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 Con...

Страница 20: ...el so that the yellow LED5 and the green LED2 flash synchronously Y coordinate If the optical axis of the read head is too low relative to the middle of the code reel the yellow LED4 lights up If the optical axis is too high the yellow LED4 goes out Within the target range the yellow LED4 flashes at the same time as the green LED2 Set the optimal height of the read head relative to the code reel s...

Страница 21: ...ds Yellow LED3 now flashes 2 Hold the ENABLE code in front of the camera system on the read head for final activation If the ENABLE activation code is detected the green LED2 lights up for 1 s If the activation code is not detected the LED2 lights up red for 2 seconds Baud Rate 10 kBaud 20 kBaud 50 kBaud 125 kBaud 250 kBaud default 500 kBaud Auto baud rate Note For external parameterization with c...

Страница 22: ...nformation on your product at http www pepperl fuchs com Simply enter the product name or model number in the Product Key word search box and click Search Select your product from the list of search results Click on the information you require in the product information list e g Technical documents A list of all available documents is displayed 6 3 EDS Configuration File To assist with the configu...

Страница 23: ... 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 subsequent bytes The COB ID dictates the priority of the messages The COB ID is made up of the function code and the node number The function code describes the message type Message with service data SDO For para...

Страница 24: ...tated by the signal runtime Communication within the network requires that signals are present on all bus nodes at the same time The network can be adapted to the existing line lengths through various baud rates The values in the table below serve as a reference point The actual values may differ depending on the application concerned For information on setting the baud rate for the read head see ...

Страница 25: ...t 4 PDOs per transmit or receive data packet transmit the default CAN identifier All other PDOs of a data packet can be configured by the user Communication Types In the CANopen network various communication types are specified for process data objects The communication type of each PDO is controlled via the Transmission Type parameter The Transmission Type parameter is defined in subindex 2 of th...

Страница 26: ...artbeat telegram If the read head is configured for sending a heartbeat telegram this telegram will be monitored by the NMT master or a different bus node If the read head is configured for receiving a heartbeat telegram the read head monitors a different bus node or the NMT master Configure heartbeat telegram transmission in object 0x1017 Specify the gap between the heartbeat telegrams via the He...

Страница 27: ...issible functions are defined in the following SDO directory The read head supports the identifier format 2 0A 11 bit identifier according to the CAN specification The extended 29 bit identifier is not supported Object Description 0x1000 Device type 0x1001 Error register 0x1008 Manufacturer device name 0x1009 Manufacturer hardware version 0x100A Manufacturer software version 0x100C Guard time 0x10...

Страница 28: ...00000 Table 7 1 The device type of the read head is 0x00000000 since no specific device profile is implemented 1 data type without prefix 32 bit Index Subindex Designation Data type Attribute PDO mapping possible Default value 0x1001 0 Error Register unsigned8 ro no 0x00 Bit 7 6 5 4 3 2 1 0 0 Reserved Reserved Communicat ion error Reserved Reserved Reserved Generic error not specified in more deta...

Страница 29: ...rer Software Version visible string ro no Index Subindex Designation Data type Attribute PDO mapping possible Default value 0x100C 0 Guard Time ms unsigned16 rw no 0 Index Subindex Designation Data type Attribute PDO mapping possible Default value 0x100D 0 Lifetime Factor unsigned8 rw no 0 Table 7 5 Lifetime factor x guard time lifetime watchdog for life guarding master monitoring Index Subindex D...

Страница 30: ...ers unsigned8 ro no 4 1 Manufacturer identifier unsigned32 ro no 0x000000AD 2 Device identifier unsigned32 ro no 0 3 Version number unsigned32 ro no 0 4 Production date8 unsigned32 ro no 0 Table 7 9 8 low word high byte calendar week dec low word low byte calendar year dec Index Subindex Designation Data type Attribute PDO mapping possible Default value 0x1029 0 Number of subsequent parameters uns...

Страница 31: ... present 0 currently present 1 not present RTR access 0 permitted 1 not permitted CAN identifier10 Table 7 11 10 Cannot be changed when PDO is currently present Index Subindex Designation Data type Attribute PDO mapping possible Default value 0x1801 0 Number of subsequent parameters unsigned8 ro no 5 1 COB ID unsigned32 rw no 0x00000280 Node ID 2 Transmission Type unsigned8 rw no 254 3 Repeat dela...

Страница 32: ...23 Data 0x2000 byte 2 3 3 mapped object unsigned32 rw no 0x00000308 Position data XP08 XP15 Data 0x2000 byte 3 4 4 mapped object unsigned32 rw no 0x00000408 Position data XP00 XP07 Data 0x2000 byte 4 5 5 mapped object unsigned32 rw no 0x00000508 Speed SP08 SP15 Data 0x2000 byte 5 6 6 mapped object unsigned32 rw no 0x00000608 Speed SP00 SP07 Data 0x2000 byte 6 7 7 mapped object unsigned32 rw no 0x0...

Страница 33: ...2000 byte 10 3 3 mapped object unsigned32 rw no 0x00000B0 8 Position data YP08 YP15 Data 0x2000 byte 11 4 4 mapped object unsigned32 rw no 0x00000C0 8 Position data YP00 YP07 Data 0x2000 byte 12 5 5 mapped object unsigned32 rw no 0x00000D0 8 Event EV08 EV15 Data 0x2000 byte 13 6 6 mapped object unsigned32 rw no 0x00000E0 8 Event EV00 SP07 Data 0x2000 byte 14 7 7 mapped object unsigned32 rw no 0x00...

Страница 34: ... no 0x00 8 Status unsigned8 ro no 0x00 9 Position data YP31 YP24 unsigned8 ro no 0x00 10 Position data YP23 YP16 unsigned8 ro no 0x00 11 Position data YP15 YP08 unsigned8 ro no 0x00 12 Position data YP07 YP00 unsigned8 ro no 0x00 13 Event marker EV10 EV08 unsigned8 ro no 0x00 14 Event marker EV07 EV00 unsigned8 ro no 0x00 15 Warnings WRN15 WR N08 unsigned8 ro no 0x00 16 Warnings WRN07 WR N00 unsig...

Страница 35: ... 0 0 0 EV10 EV09 EV08 EV07 EV06 EV05 EV04 EV03 EV02 EV01 EV00 WRN15 WRN14 WRN13 WRN12 WRN11 WRN10 WRN09 WRN08 WRN07 WRN06 WRN05 WRN04 WRN03 WRN02 WRN01 WRN00 Table 7 15 14 When the ERR bit is set the XP YP and SP bits contain the specific error code or the last valid value depending on the corresponding parameter settings Binary input Bit 7 6 5 4 3 2 1 0 Warning code Description Priority 0 No othe...

Страница 36: ...parameters Number of subindices unsigned8 ro 16 1 Orientation Orientation of read head in relation to code tape unsigned32 rw 0x00 0 0x01 180 0x02 0 180 0x03 0 90 180 2 70 2 Code Tape Type Configuration of code tape width unsigned32 rw 0x00 surface 0x01 1 row 0x02 2 row 0x03 3 row 0x04 4 row 0x05 5 row 0x06 6 row 0x07 7 row 0x08 8 row 3 X Resolution Resolution Multiplier for the length in the dire...

Страница 37: ...4 Dirty 0x05 Event 0x06 No Position 0x07 Repair Strip 11 Output2 Overspeed Value Speed at which output 1 is activated unsigned32 rw 0 65 534 cm s 125 cm s 12 Output3 Function Meaning of the output signal at output 3 unsigned8 rw 0x00 No Function 0x01 Overspeed 0x02 Warning 0x03 Error 0x04 Dirty 0x05 Event 0x06 No Position 0x07 Repair Strip 13 Output3 Overspeed Value Speed at which output 3 is acti...

Страница 38: ... data the reading head calculates the last absolute position of the code strip before it entered the event range and adds the incremental offset from the codes of the event markers When the reading head enters the range of an event marker it sets an event flag in the output data You also have the option of triggering a defined action when an event occurs by parameterizing one of the outputs accord...

Страница 39: ... this type can be initiated when a certain event all events or events from an event list occur Refer to the Accessories chapter for order information relating to repair tape Note When placing an event marker on the code strip make sure that the event marker represents an accurate continuation of the grid on the code strip where possible Note When placing a repair tape on the code reel make sure th...

Страница 40: ...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 2...

Страница 41: ...nctions ENABLE STORE CANCEL USE DEFAULT Figure 8 1 The code card ENABLE is used to activate external parameterization operating mode Figure 8 2 The code card STORE stores the modified parameterization in the non volatile memory of the reading head and terminates external parameterization operating mode Enable Store ...

Страница 42: ... saved Figure 8 4 The code card USE adopts the modified configuration in the volatile working memory of the reading head and terminates external parameterization operating mode The reading head then operates with this configuration However if the reading head is switched off and on again the configuration is lost and the reading head operates with the last valid configuration that was saved This f...

Страница 43: ...zation operating mode 8 3 Code Cards for Setting the Baud Rate Parameterization allows you to assign various transfer rates to the reader for communication via CANopen Figure 8 6 The code card assigns the 10 kBaud baud rate to the read head Figure 8 7 The code card assigns the 20 kBaud baud rate to the read head Default Baud Rate 10 kBaud Baud Rate 20 kBaud ...

Страница 44: ...head Figure 8 9 The code card assigns the 125 kBaud baud rate to the read head Figure 8 10 The code card assigns the 250 kBaud baud rate to the read head Figure 8 11 The code card assigns the 500 kBaud baud rate to the read head Baud Rate 50 kBaud Baud Rate 125 kBaud Baud Rate 250 kBaud Baud Rate 500 kBaud ...

Страница 45: ...200 B16 V15 Appendix 2015 09 45 Figure 8 12 The code card assigns the 1 MBaud baud rate to the read head Figure 8 13 The code card assigns the auto baud rate to the read head Baud Rate 1 MBaud Auto Baud Rate ...

Страница 46: ...uchs GmbH 68307 Mannheim Germany Tel 49 621 776 0 E mail info de pepperl fuchs com USA Headquarters Pepperl Fuchs Inc Twinsburg Ohio 44087 USA Tel 1 330 4253555 E mail sales us pepperl fuchs com Asia Pacific Headquarters Pepperl Fuchs Pte Ltd Company Registration No 199003130E Singapore 139942 Tel 65 67799091 E mail sales sg pepperl fuchs com DOCT3442B 09 2015 ...

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