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PGV100R-F200-B16*

Operation and communication

5.1.2

Basic Technical Information about CANopen

Connecting the Bus System

Within the CANopen network, all devices communicate via a 2-pin network cable. All devices
are connected with the cable in parallel. To prevent interfering reflections within a network, you
must connect a suitable terminator to each end.

Device Profile

CANopen defines various device profiles for numerous device types. At present, the
PGV100R-F200-B16* read head does not correspond to any special device profile. The
"Generic Device" profile is therefore assigned to the read head.

Bus Length

The maximum line length within a CANopen network is dictated by the signal propagation
delay. 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 applications concerned.

Shielding

Ensure continuous shielding when cabling the read head.

Startup Behavior

After switch-on, the read head in a CANopen network passes through several operating states.

1.

Initialization

Startup process of the read head.

2.

Preoperational

Read head state on completion of the startup process. The read head reports this state to
the NMT master.

3.

Operational

Operative state of the read head. The NMT master sets this state via an NMT start node
telegram once it has received the preoperational message from the read head.

Baud rate [kBit/s]

Max. bus length [m]

1000

30

500

100

250

250

125

500

50

1000

Table 5.1

Bus Length

«
...
26
27
28
29
30
...
»

Содержание PGV100R-F200-B16 Series

Страница 1: ...PGV100R F200 B16 Incident Light Positioning System Manual...

Страница 2: ...ion 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 c...

Страница 3: ...tion Using Code Cards 24 4 2 1 The code cards CANCEL USE and DEFAULT 25 5 Operation and communication 26 5 1 Data Exchange in the CANopen Bus 26 5 1 1 General Information about CANopen 26 5 1 2 Basic...

Страница 4: ...PGV100R F200 B16 Contents 4 2020 11 6 4 Code Cards for Termination Resistor 59 6 5 Code cards to configure the fieldbus address 60...

Страница 5: ...le 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...

Страница 6: ...yed 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 ind...

Страница 7: ...read head forms part of the positioning system in the Pepperl Fuchs incident light pro cess The read head s features include a camera module and an integrated illumination unit which the read head us...

Страница 8: ...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 from one Data Matrix tag grid v...

Страница 9: ...ng LED Color Label Meaning 1 Green yellow COM STATE COM ERROR Communication active Communication error 2 Green red POWER ON NO CODE ERROR Code detected not detected error Table 2 1 LEDs LED 1 2 Descri...

Страница 10: ...cts LED 1 2 Description Color Green Yellow Green Red State Off Flickers x x Auto baud rate detection in progress Off Flashing x x Preoperational mode Off Lights up once x x Stopped Off Lights up x x O...

Страница 11: ...en 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...

Страница 12: ...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...

Страница 13: ...e 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 c...

Страница 14: ...pecified 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 fo...

Страница 15: ...e 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 r...

Страница 16: ...he 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 follo...

Страница 17: ...nimum 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 The distance between the Data...

Страница 18: ...2020 11 18 PGV100R F200 B16 Installation 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...

Страница 19: ...t The 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 11 2x2 Data Matrix tag with the numbe...

Страница 20: ...g 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 Fi...

Страница 21: ...sing The power is supplied via this connection The configurable inputs and outputs on the read head are located at this connection Figure 3 15 Electrical Connection Color assignment Strand color Color...

Страница 22: ...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 be noted Use met...

Страница 23: ...irection 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...

Страница 24: ...een 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...

Страница 25: ...ad 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 Af...

Страница 26: ...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 subse quent...

Страница 27: ...rmit access to the object directory each SDO assembles a point to point service com munication channel Typically messages with high priority Messages with lower priority Synchronous and asynchronous d...

Страница 28: ...tion 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 b...

Страница 29: ...ng the startup process via an SDO See chapter 5 1 1 The read head supports the following communication types TransmissionType parameter Transmission Description 0 Event driven Synchronous TxPDO Data i...

Страница 30: ...ing is deactivated when you set the Guard Time in object 0x100C or the Life Time Factor in object 0x100D to 0 Heartbeat The read head can be configured both as emitter and receiver of a heartbeat tele...

Страница 31: ...ble functions are defined in the following SDO directory The reader supports the identifier format 2 0A 11 bit identifier according to the CAN specification The extended 29 bit identifier is not suppo...

Страница 32: ...1 Data type without prefix 32 bit ro read only no 0x00000000 Table 5 3 The device type of the reader is 0x00000000 since no specific device profile is implemented Index Subindex Description Data type...

Страница 33: ...e string ro no Index Subindex Description Data type Attribute PDO map ping possible Default value 0x100C 0 Guard Time ms unsigned16 rw no 0 Index Subindex Description Data type Attribute PDO map ping...

Страница 34: ...sequent Parameters unsigned8 ro no 4 1 Manufacturer Identifier unsigned32 ro no 0x000000AD 2 Device Identi fier unsigned32 ro no 0 3 Version Num ber unsigned32 ro no 0 4 Serial Number unsigned32 ro no...

Страница 35: ...present RTR access 0 permitted 1 not permitted CAN identifier1 1 Cannot be changed when PDO is currently present Index Subindex Description Data type Attribute PDO map ping possible Default value 0x1...

Страница 36: ...11 10 0 PDO present 0 currently present 1 not present RTR access 0 permitted 1 not permitted CAN identifier1 1 Cannot be changed when PDO is currently present Index Subindex Description Data type Att...

Страница 37: ...0 29 11 10 0 PDO present 0 currently present 1 not present RTR access 0 permitted 1 not permitted CAN identifier1 1 Cannot be changed when PDO is currently present Index Subindex Description Data type...

Страница 38: ...o 8 Number of mapped objects 1 1 Mapped Object unsigned32 rw no 0x22000108 Input Data MSB Data 0x2200 byte 1 2 2 Mapped Object unsigned32 rw no 0x22000208 Reserved 3 3 Mapped Object unsigned32 rw no 0...

Страница 39: ...ed32 rw no 0x20000208 Y position data YP16 YP23 MSB Data 0x2000 byte 2 1 Bit sign bit 3 3 Mapped Object unsigned32 rw no 0x20000308 Y position data YP08 YP15 MSB Data 0x2000 byte 3 1 Bit sign bit 4 4...

Страница 40: ...MSB Data 0x2000 byte 9 2 2 Mapped Object unsigned32 rw no 0x20000A08 X position data XP16 XP23 MSB Data 0x2000 byte 10 3 3 Mapped Object unsigned32 rw no 0x20000B08 X position data XP08 XP15 MSB Data...

Страница 41: ...o 0x20001208 Data Matrix Tag TAG48 TAG53 MSB Data 0x2000 byte 18 3 3 Mapped Object unsigned32 rw no 0x20001308 Data Matrix Tag TAG40 TAG47 MSB Data 0x2000 byte 19 4 4 Mapped Object unsigned32 rw no 0x...

Страница 42: ...a 0x2000 byte 25 2 2 Mapped Object unsigned32 rw no 0x20001A08 Control code CC1_08 CC1_15 MSB Data 0x2000 byte 26 3 3 Mapped Object unsigned32 rw no 0x20001B08 Control code CC1_00 CC1_07 LSB Data 0x20...

Страница 43: ...ber of mapped objects 1 1 Mapped Object unsigned32 rw no 0x20002108 Z distance data Z08 Z15 MSB 2 2 Mapped Object unsigned32 rw no 0x20002208 Z distance data Z00 Z07 LSB 3 3 Mapped Object unsigned32 r...

Страница 44: ...0 0 0 FlashOff TAG1 1 Bei Bit 1 Lesekopf erkennt DataMatrix Tag 0 0 RP 18 NL LL RL 0 CC1 WRN NP ERR 19 WRN15 WRN14 WRN13 WRN12 WRN11 WRN10 WRN09 WRN08 20 WRN07 WRN06 WRN05 WRN04 WRN03 WRN02 WRN01 WRN...

Страница 45: ...elected direction decision NL Reserved NP No absolute X position O1_ O2_ Orientation control code for lane Refer to section Orientation O RP Reserved S1_ S2_ Relative position control code for lane Re...

Страница 46: ...eader too far from code tape 5 WRN03 4 Reserved 6 WRN04 5 Reserved 7 WRN05 6 The reader is rotated or tilted in relation to the code tape 8 WRN06 7 Reserved 9 WRN07 8 Repair tape detected 1 WRN08 9 Re...

Страница 47: ...he orientation of the control codes in the reading window Meaning of Bits Figure 5 2 LC1 LC0 Meaning 0 0 No lane found 0 1 1 lane found 1 0 2 lanes found 1 1 3 or more lanes found O1 O0 Meaning 0 0 Co...

Страница 48: ...tion and angle YPS ANG Meaning of Bits 5 1 4 LSS Service The read head supports changing the baud rate as well as the Node ID via CANopen using Layer Setting Service LSS S1 S0 Meaning 0 0 No control c...

Страница 49: ...on of the X coordinate Length signed32 0 mm 10 000 000 mm 5 Vertical Offset Offset in the direction of the Y coordinate Length signed32 0 mm 10 000 000 mm 6 Angle Offset Line of vision offset Angle si...

Страница 50: ...one meter in length The control code has an encrypted number Control codes 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...

Страница 51: ...ues 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 se...

Страница 52: ...B 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...

Страница 53: ...have special functions ACTIVATE USER STORE CANCEL USE DEFAULT Figure 6 1 The ACTIVATE code card is used to activate external parameterization operating mode Figure 6 2 The USER code card is used to a...

Страница 54: ...ding head switches to normal mode and adopts the last valid configuration that was saved Figure 6 5 The code card USE adopts the modified configuration in the volatile working memory of the reading he...

Страница 55: ...PGV100R F200 B16 Appendix 2020 11 55 Figure 6 6 The code card DEFAULT restores the settings of the reading head to default and terminates external parameterization operating mode Default...

Страница 56: ...n various transfer rates to the reader for communication via CANopen Figure 6 7 The code card assigns the 10 kBaud baud rate to the read head Figure 6 8 The code card assigns the 20 kBaud baud rate to...

Страница 57: ...10 The code card assigns the 125 kBaud baud rate to the read head Figure 6 11 The code card assigns the 250 kBaud baud rate to the read head Figure 6 12 The code card assigns the 500 kBaud baud rate t...

Страница 58: ...020 11 58 PGV100R F200 B16 Appendix Figure 6 13 The code card assigns the 1 MBaud baud rate to the read head Figure 6 14 The code card assigns the auto baud rate to the read head 1 MBaud Auto Baudrate...

Страница 59: ...eterization mode Figure 6 16 The Termination ON code card activates the termination resistor on the bus Figure 6 17 The Termination OFF code card deactivates the termination resistor on the bus Note T...

Страница 60: ...following code cards you can assign the fieldbus adresses 001 125 Figure 6 18 The code card Fieldbus address 001 assigns the fieldbus address 001 to the device Figure 6 19 The code card Fieldbus addre...

Страница 61: ...the fieldbus address 003 to the device Figure 6 21 The code card Fieldbus address 004 assigns the fieldbus address 004 to the device Figure 6 22 The code card Fieldbus address 005 assigns the fieldbu...

Страница 62: ...the fieldbus address 006 to the device Figure 6 24 The code card Fieldbus address 007 assigns the fieldbus address 007 to the device Figure 6 25 The code card Fieldbus address 008 assigns the fieldbu...

Страница 63: ...the fieldbus address 009 to the device Figure 6 27 The code card Fieldbus address 010 assigns the fieldbus address 010 to the device Figure 6 28 The code card Fieldbus address 011 assigns the fieldbu...

Страница 64: ...the fieldbus address 012 to the device Figure 6 30 The code card Fieldbus address 013 assigns the fieldbus address 013 to the device Figure 6 31 The code card Fieldbus address 014 assigns the fieldbu...

Страница 65: ...the fieldbus address 015 to the device Figure 6 33 The code card Fieldbus address 016 assigns the fieldbus address 016 to the device Figure 6 34 The code card Fieldbus address 017 assigns the fieldbu...

Страница 66: ...the fieldbus address 018 to the device Figure 6 36 The code card Fieldbus address 019 assigns the fieldbus address 019 to the device Figure 6 37 The code card Fieldbus address 020 assigns the fieldbu...

Страница 67: ...the fieldbus address 021 to the device Figure 6 39 The code card Fieldbus address 022 assigns the fieldbus address 022 to the device Figure 6 40 The code card Fieldbus address 023 assigns the fieldbu...

Страница 68: ...the fieldbus address 024 to the device Figure 6 42 The code card Fieldbus address 025 assigns the fieldbus address 025 to the device Figure 6 43 The code card Fieldbus address 026 assigns the fieldbu...

Страница 69: ...the fieldbus address 027 to the device Figure 6 45 The code card Fieldbus address 028 assigns the fieldbus address 028 to the device Figure 6 46 The code card Fieldbus address 029 assigns the fieldbu...

Страница 70: ...the fieldbus address 030 to the device Figure 6 48 The code card Fieldbus address 031 assigns the fieldbus address 031 to the device Figure 6 49 The code card Fieldbus address 032 assigns the fieldbu...

Страница 71: ...the fieldbus address 033 to the device Figure 6 51 The code card Fieldbus address 034 assigns the fieldbus address 034 to the device Figure 6 52 The code card Fieldbus address 035 assigns the fieldbu...

Страница 72: ...the fieldbus address 036 to the device Figure 6 54 The code card Fieldbus address 037 assigns the fieldbus address 037 to the device Figure 6 55 The code card Fieldbus address 038 assigns the fieldbu...

Страница 73: ...the fieldbus address 039 to the device Figure 6 57 The code card Fieldbus address 040 assigns the fieldbus address 040 to the device Figure 6 58 The code card Fieldbus address 041 assigns the fieldbu...

Страница 74: ...the fieldbus address 042 to the device Figure 6 60 The code card Fieldbus address 043 assigns the fieldbus address 043 to the device Figure 6 61 The code card Fieldbus address 044 assigns the fieldbu...

Страница 75: ...the fieldbus address 045 to the device Figure 6 63 The code card Fieldbus address 046 assigns the fieldbus address 046 to the device Figure 6 64 The code card Fieldbus address 047 assigns the fieldbu...

Страница 76: ...the fieldbus address 048 to the device Figure 6 66 The code card Fieldbus address 049 assigns the fieldbus address 049 to the device Figure 6 67 The code card Fieldbus address 050 assigns the fieldbu...

Страница 77: ...the fieldbus address 051 to the device Figure 6 69 The code card Fieldbus address 052 assigns the fieldbus address 052 to the device Figure 6 70 The code card Fieldbus address 053 assigns the fieldbu...

Страница 78: ...the fieldbus address 054 to the device Figure 6 72 The code card Fieldbus address 055 assigns the fieldbus address 055 to the device Figure 6 73 The code card Fieldbus address 056 assigns the fieldbu...

Страница 79: ...igns the fieldbus address 057 to the device Figure 6 75 The code card Fieldbus address 058 assigns the fieldbus address 058 to the device Figure 6 76 Die Codekarte Feldbusadresse 059 weist dem Ger t d...

Страница 80: ...the fieldbus address 060 to the device Figure 6 78 The code card Fieldbus address 061 assigns the fieldbus address 061 to the device Figure 6 79 The code card Fieldbus address 062 assigns the fieldbu...

Страница 81: ...the fieldbus address 063 to the device Figure 6 81 The code card Fieldbus address 064 assigns the fieldbus address 064 to the device Figure 6 82 The code card Fieldbus address 065 assigns the fieldbu...

Страница 82: ...the fieldbus address 066 to the device Figure 6 84 The code card Fieldbus address 067 assigns the fieldbus address 067 to the device Figure 6 85 The code card Fieldbus address 068 assigns the fieldbu...

Страница 83: ...the fieldbus address 069 to the device Figure 6 87 The code card Fieldbus address 070 assigns the fieldbus address 070 to the device Figure 6 88 The code card Fieldbus address 071 assigns the fieldbu...

Страница 84: ...the fieldbus address 072 to the device Figure 6 90 The code card Fieldbus address 073 assigns the fieldbus address 073 to the device Figure 6 91 The code card Fieldbus address 074 assigns the fieldbu...

Страница 85: ...the fieldbus address 075 to the device Figure 6 93 The code card Fieldbus address 076 assigns the fieldbus address 076 to the device Figure 6 94 The code card Fieldbus address 077 assigns the fieldbu...

Страница 86: ...the fieldbus address 078 to the device Figure 6 96 The code card Fieldbus address 079 assigns the fieldbus address 079 to the device Figure 6 97 The code card Fieldbus address 080 assigns the fieldbu...

Страница 87: ...the fieldbus address 081 to the device Figure 6 99 The code card Fieldbus address 082 assigns the fieldbus address 082 to the device Figure 6 100 The code card Fieldbus address 083 assigns the fieldb...

Страница 88: ...the fieldbus address 084 to the device Figure 6 102 The code card Fieldbus address 085 assigns the fieldbus address 085 to the device Figure 6 103 The code card Fieldbus address 086 assigns the field...

Страница 89: ...the fieldbus address 087 to the device Figure 6 105 The code card Fieldbus address 088 assigns the fieldbus address 088 to the device Figure 6 106 The code card Fieldbus address 089 assigns the field...

Страница 90: ...the fieldbus address 090 to the device Figure 6 108 The code card Fieldbus address 091 assigns the fieldbus address 091 to the device Figure 6 109 The code card Fieldbus address 092 assigns the field...

Страница 91: ...the fieldbus address 093 to the device Figure 6 111 The code card Fieldbus address 094 assigns the fieldbus address 094 to the device Figure 6 112 The code card Fieldbus address 095 assigns the field...

Страница 92: ...the fieldbus address 096 to the device Figure 6 114 The code card Fieldbus address 097 assigns the fieldbus address 097 to the device Figure 6 115 The code card Fieldbus address 098 assigns the field...

Страница 93: ...the fieldbus address 099 to the device Figure 6 117 The code card Fieldbus address 100 assigns the fieldbus address 100 to the device Figure 6 118 The code card Fieldbus address 101 assigns the field...

Страница 94: ...the fieldbus address 102 to the device Figure 6 120 The code card Fieldbus address 103 assigns the fieldbus address 103 to the device Figure 6 121 The code card Fieldbus address 104 assigns the field...

Страница 95: ...the fieldbus address 105 to the device Figure 6 123 The code card Fieldbus address 106 assigns the fieldbus address 106 to the device Figure 6 124 The code card Fieldbus address 107 assigns the field...

Страница 96: ...the fieldbus address 108 to the device Figure 6 126 The code card Fieldbus address 109 assigns the fieldbus address 109 to the device Figure 6 127 The code card Fieldbus address 110 assigns the field...

Страница 97: ...the fieldbus address 111 to the device Figure 6 129 The code card Fieldbus address 112 assigns the fieldbus address 112 to the device Figure 6 130 The code card Fieldbus address 113 assigns the field...

Страница 98: ...the fieldbus address 114 to the device Figure 6 132 The code card Fieldbus address 115 assigns the fieldbus address 115 to the device Figure 6 133 The code card Fieldbus address 116 assigns the field...

Страница 99: ...the fieldbus address 117 to the device Figure 6 135 The code card Fieldbus address 118 assigns the fieldbus address 118 to the device Figure 6 136 The code card Fieldbus address 119 assigns the field...

Страница 100: ...the fieldbus address 120 to the device Figure 6 138 The code card Fieldbus address 121 assigns the fieldbus address 121 to the device Figure 6 139 The code card Fieldbus address 122 assigns the field...

Страница 101: ...the fieldbus address 123 to the device Figure 6 141 The code card Fieldbus address 124 assigns the fieldbus address 124 to the device Figure 6 142 The code card Fieldbus address 125 assigns the field...

Страница 102: ...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 6107...

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