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PGV...-F200/-F200A...-B17-V1D

Operation and communication

 2

0

1

7

-1

1

37

Module 4

Module 5

Status

Response

Bit no.

Content

0 ... 15

Status

1

1.see "Status"

16 ... 47

Position Data Y

2

2.see "Position Data Y"

48 ... 63

Angle Data

3

3.see "Angle Data"

64 ... 95

Position Data X

4

4.see "Position Data X"

96 ... 127

Data Matrix Tag Number

Bit no.

Content

0 ... 15

Status

1

1.see "Status"

16 ... 31

Bitmask Warning

2

2.see "Warning"

32 ... 47

Error No.

3

3.see "Error Codes"

Size

Type

Content

1 word

Input data

16-bit status

Bit no.

Content

Function

Byte 1
Status

0

ERR

Error message, see 

Error Codes

1

NP

No absolute X-Position

2

WRN

Warnings present, see 

Warning Module

3

CC

Control Code detected

4

-

Reserved

5

FR

Follow right-hand lane

6

FL

Follow left-hand lane

7

NL

No lane detected

8

RP

Relative Position

9

LC

Bit field LSB, Number of detected lanes

10

LC

Bit field MSB, Number of detected lanes

11

TA

Data Matrix Tag present

12 ... 15

-

Reserved

Содержание PGV Series

Страница 1: ...R PGV F200 F200A B17 V1D Incident Light Positioning System FACTORY AUTOMATION MANUAL...

Страница 2: ...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 mos...

Страница 3: ...e Tape 13 3 3 Electrical Connection 28 3 4 PROFINET Connection 30 4 Commissioning 31 4 1 Direction Decision 31 4 2 Project Planning Using Device Description 33 5 Operation and communication 34 5 1 Com...

Страница 4: ...ration of conformity Attestation of conformity Certificates Control drawings Instruction manual Other documents 1 1 2 Manufacturer 1 1 3 Target Group Personnel Responsibility for planning assembly com...

Страница 5: ...ayed in descending order as follows 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 ind...

Страница 6: ...k 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 D...

Страница 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 Ma...

Страница 8: ...ader is equipped with seven indicator LEDs for carrying out visual function checks and rapid diagnostics The reader is equipped with two buttons at the back for activating parameterization mode Button...

Страница 9: ...tape outside read range x x x x Off Off x No directionselection activated x x x x Lights up Off x Follow left hand lane activated x x x x Off Lights up x Follow right hand lane activated x x x x Ligh...

Страница 10: ...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 se...

Страница 11: ...cted a colored tape this colored tape can move in the Y direction from the zero point within the viewing window The maximum Y value at which the read head can still capture this distance is designated...

Страница 12: ...GV F200 F200A B17 V1D Installation Read Head Dimensions Figure 3 1 Housing F200 Figure 3 2 Housing F200A 12 5 54 20 20 M12 M12 M6 x 9 4x 25 21 75 25 12 70 13 8 70 80 10 70 12 94 5 70 50 22 25 M6 x 9 4...

Страница 13: ...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 co...

Страница 14: ...a floor as a lane The width of the colored tape must be between 10 mm and 40 mm the default width is 18 mm The zero point is located in the center of the colored tape You can use 3 defined colors See...

Страница 15: ...ut value is different for colored tapes and Data Matrix code tapes Colored tape The read head detects the angle in relation to the tracked lane with a resolution of 360 corresponds to 1 The angle is s...

Страница 16: ...nge from 0 to 360 The resolution can be set to the following values 0 1 0 2 0 5 1 Figure 3 6 Absolute angle Distance Output The read head detects the distance from the zero point in the Y direction of...

Страница 17: ...2017 11 17 Figure 3 7 Distance A for colored tape 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 8 Distance A f...

Страница 18: ...ranches Follow left hand lane Straight ahead Follow right hand lane The direction decision is signaled to the read head via the controller If there is no direction decision the read head displays an e...

Страница 19: ...tallation 2017 11 19 Branches or intersections with position information can be displayed as follows Figure 3 10 Separate lane branches off converges Colored tape Data Matrix position code Data Matrix...

Страница 20: ...e field of view colored 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 aft...

Страница 21: ...the 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...

Страница 22: ...s at branches or intersections Figure 3 13 Mixture of lanes with colored tape and Data Matrix codes Control codes can be mounted in the immediate vicinity of a branch with Data Matrix codes for positi...

Страница 23: ...when creating the lanes Offset V between position codes of a lane must not be greater than 5 mm Figure 3 15 Offset 0 mm V 5 mm The distance D between the colored tapes at a branch or intersection as...

Страница 24: ...parate lane must be between 0 mm and 5 mm Figure 3 17 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 18 0 mm D 5 mm The...

Страница 25: ...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 20 0 mm D 10 mm The Y value does not change if the colored tape and the Dat...

Страница 26: ...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...

Страница 27: ...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 edge...

Страница 28: ...e arrow indicates the negative axis Figure 3 22 Data Matrix tag with the number 99999999 and position information 3 3 Electrical Connection The PGV reader is connected electrically via an 8 pin M12 x...

Страница 29: ...eld is integrated at both ends i e in the switch cabinet or on the controller and on the read head The grounding terminal available as an accessory allows easy integration in the equipotential bonding...

Страница 30: ...l number Description PCV SC12 Clip for mounting an additional ground connection PCV SC12A Caution Damage to the device Connecting an alternating current or excessive supply voltage can damage the devi...

Страница 31: ...re 4 1 Direction decision via protocol Direction control via the protocol See chapter Modules with Input Data on page 43 If direction decisions are made via the protocol subindex 12 Input Source Selec...

Страница 32: ...lane Worse color lane Following 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 informa...

Страница 33: ...ls of the field devices The peripheral input addresses incorporate the received data The user program evaluates and processes this data The user program generates the peripheral output values and send...

Страница 34: ...t is assigned to an IO controller IO supervisor Programming unit PC with commissioning and diagnostic functions 5 1 2 PROFINET IO Interface The PGV F200 B17 V1D readers are PROFINET I O devices that c...

Страница 35: ...erates the peripheral output values and sends them to the control interface Once project planning is complete the IO controller receives the planning and configuration data The IO controller parameter...

Страница 36: ...tus 16 47 Position Data Y2 2 see Position Data Y 48 63 Angle Data3 3 see Angle Data Bit no Content 0 15 Status1 1 see Status 16 47 Position Data Y2 2 see Position Data Y 48 63 Angle Data3 3 see Angle...

Страница 37: ...31 Bitmask Warning2 2 see Warning 32 47 Error No 3 3 see Error Codes Size Type Content 1 word Input data 16 bit status Bit no Content Function Byte 1 Status 0 ERR Error message see Error Codes 1 NP N...

Страница 38: ...3 O1 O1 O0 Description 0 0 The control code is orientated the same as the ascending code tape 0 1 The control code is rotated clockwise by 90 in relation to the orientation of the ascending code tape...

Страница 39: ...9 NCC10 10 NCC11 11 NCC12 12 NCC13 13 NCC14 14 NCC15 15 NCC16 Size Type Content 2 words consistent Input data 32 bit X data MSB first Resolution 0 1 mm 1 mm 10 mm binary coded in two s complement Bit...

Страница 40: ...ary coded in two s complement Bit no Content Word 1 Y data Word 2 Y data 0 YP16 YP00 1 YP17 YP01 2 YP18 YP02 3 YP19 YP03 4 YP20 YP04 5 YP21 YP05 6 YP22 YP06 7 YP23 YP07 8 YP24 YP08 9 YP25 YP09 10 YP26...

Страница 41: ...2 ZP03 3 ZP04 4 ZP05 5 ZP06 6 ZP07 7 ZP08 8 ZP09 9 ZP10 10 ZP11 11 ZP12 12 ZP13 13 ZP14 14 ZP15 15 ZP16 Size Type Content 1 word consistent Input data 16 bit angle data MSB first Resolution 1 Bit no...

Страница 42: ...RN09 9 WRN10 10 WRN11 11 WRN12 12 WRN13 13 WRN14 14 WRN15 15 WRN16 Bit no Content Description Word 1 0 WRN01 A code with non PGV content was found 1 WRN02 Reader too close to code tape 2 WRN03 Reader...

Страница 43: ...d 11 WRN12 Reserved 12 WRN13 Reserved 13 WRN14 Reserved 14 WRN15 Reserved 15 WRN16 Reserved Table 5 1 If no warnings are present all bits in the warning data set are set to 0 Bit no Content 0 15 Contr...

Страница 44: ...Angle signed32 16 383 0 16 383 7 No position value X X value if no code tape is visible X data at No Position Array of unsigned8 Octet 0 3 Last Valid Position 0x00 Specified Value 0x01 No Position Sp...

Страница 45: ...ade to the layout of a system the relevant control code is simply moved to the new position without requiring program modifications to be made Control codes are short code tapes one meter in length Th...

Страница 46: ...de tape as accurately as possible Note The repair tape works incrementally In so doing it adds one value to the previous read position on the code tape If the read head starts on a repair tape the rea...

Страница 47: ...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...

Страница 48: ...chs 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 P...

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