Pepperl+Fuchs PGV...-F200...-R4-V19 Series Manual
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Pepperl+Fuchs PGV...-F200...-R4-V19 Series Manual

Pepperl+Fuchs PGV...-F200...-R4-V19 Series Manual

Incident light positioning system
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MANUAL
PGV...-F200/-F200A...-R4-V19
Incident Light Positioning System

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Summary of Contents for Pepperl+Fuchs PGV...-F200...-R4-V19 Series

  • Page 1 MANUAL PGV...-F200/-F200A...-R4-V19 Incident Light Positioning System...
  • Page 2 PGV...-F200/-F200A...-R4-V19 With regard to the supply of products, the current issue of the following document is ap- plicable: The General Terms 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"...

  • Page 3: Table Of Contents

    PGV...-F200/-F200A...-R4-V19 Safety ................... 5 Introduction ..................5 1.1.1 Content of this Document ..............5 1.1.2 Manufacturer..................5 1.1.3 Target Group, Personnel ..............5 1.1.4 Symbols Used..................6 Product Description ..............7 Use and Application................7 The RS-485 Interface ................9 LED Indicators and Controls...............
  • Page 4 PGV...-F200/-F200A...-R4-V19 Appendix ................... 48 Code Cards for External Parameterization ........48 6.1.1 Code Cards with Special Functions..........48 6.1.2 Code Cards for Setting the Read Head Address ......51 6.1.3 Code Cards for Adjusting the Resolution.......... 52 6.1.4 Code cards for setting the transfer rate..........53 6.1.5 Code cards for adjusting the terminator..........

  • Page 5: Safety

     Instruction manual  Other documents  1.1.2 Manufacturer Pepperl+Fuchs GmbH Lilienthalstraße 200, 68307 Mannheim, Germany Internet: www.pepperl-fuchs.com 1.1.3 Target Group, Personnel Responsibility for planning, assembly, commissioning, operation, maintenance, and dismounting lies with the plant operator. Only appropriately trained and qualified personnel may carry out mounting, installation, commissioning, operation, maintenance, and dismounting of the product.

  • Page 6: Symbols Used

    PGV...-F200/-F200A...-R4-V19 Safety 1.1.4 Symbols Used This document contains symbols for the identification of warning messages and of informative messages. Warning Messages You will find warning messages, whenever dangers may arise from your actions. It is mandatory that you observe these warning messages for your personal safety and in order to avoid property damage.

  • Page 7: Product Description

    (AGV) are to be positioned precisely at marked positions along a given lane. The read head forms part of the positioning system in the Pepperl+Fuchs incident light process. The read head's features include a camera module and an integrated illumination unit.
  • Page 8 PGV...-F200/-F200A...-R4-V19 Product Description Tag Mode In addition to the tracking, you can use the read head in tag mode. The read head detects Data Matrix tags, which are typically glued onto the floor in a grid. The individual Data Matrix tags are numbered consecutively and include position information.

  • Page 9: The Rs-485 Interface

    PGV...-F200/-F200A...-R4-V19 Product Description The RS-485 Interface The read head is equipped with an RS-485 interface for communication purposes, i.e., parameterizing the read head functions or reading out current process data during operation. This interface is operated in 8-E-1 mode and fitted with a terminator that can be activated or deactivated by parameterizing the sensor head accordingly.
  • Page 10 = 2 Hz for 1 sec flash Time lock for buttons disabled Lights Internal error Return to Pepperl+Fuchs Table 2.1 LED Status 1.LED status has no meaning 2.No lane selected, for example. .see table "Error Codes" on page 40 3.See chapter 4...

  • Page 11: Accessories

    If products are used in harsh ambient conditions, appropriate Pepperl+Fuchs accessories can be used to extend the service life of these products.

  • Page 12: Installation

    PGV...-F200/-F200A...-R4-V19 Installation Installation Mounting the Read Head Mount the PGV... read head on the automated guided vehicle using the four screws on the mounting adapter on the read head. Mount the read head in such a way that the lens with the ring light and camera module are directed toward the colored tape.
  • Page 13 PGV...-F200/-F200A...-R4-V19 Installation Read Head Dimensions M6 x 9 (4x) 13.8 12.5 Figure 3.1 Housing *-F200-* 94.5 M6 x 9 (4x) Figure 3.2 Housing *-F200A-*...

  • Page 14: Mounting The Colored Tape And Code Tape

    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 consult your contact at Pepperl+Fuchs. Mounting the Colored Tape 1.
  • Page 15 PGV...-F200/-F200A...-R4-V19 Installation Cleaning Colored Tape/Code Tape Significant contamination on the colored or code tapes can impair the detection by the read head. Clean the colored and code tapes with isopropanol if necessary. If the contamination is severe, you can use a non-corrosive plastic cleaner, e.g., Caramba®. Note! To avoid polishing the surface, do not apply strong pressure when cleaning.
  • Page 16 PGV...-F200/-F200A...-R4-V19 Installation Angle Output Note! Angles are specified as absolute values. The respective value is calculated from the resolution selected under "Angle Resolution". With a resolution of 0.1°, an angle of 60° is output as 60°/0.1° = 600. The read head detects a change of the angle of the colored tape and the Data Matrix code tape and outputs this value to the controller.
  • Page 17 PGV...-F200/-F200A...-R4-V19 Installation α α Figure 3.6 Absolute angle Distance Output The read head detects the distance from the zero point in the Y direction of a colored tape or a Data Matrix code tape and outputs this value to the controller. The output value is different for colored tapes and Data Matrix code tapes due to the lack of an X position for colored tapes.
  • Page 18 PGV...-F200/-F200A...-R4-V19 Installation 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 for Data Matrix code tape...
  • Page 19 PGV...-F200/-F200A...-R4-V19 Installation Branches The read head detects one lane at the lower edge of the field of vision and two lanes at the upper edge of the field of vision; the read head indicates this as a branch. The read head detects two lanes at the lower edge of the field of vision and one lane at the upper edge of the field of vision;...
  • Page 20 PGV...-F200/-F200A...-R4-V19 Installation Colored tape Data Matrix position code Data Matrix control code Branches or intersections with position information can be displayed as follows: Figure 3.10 Separate lane branches off/converges...
  • Page 21 PGV...-F200/-F200A...-R4-V19 Installation Figure 3.11 Same lane branches off/converges Note! Direction Decision The direction decision at a branch of a Data Matrix code tape remains in effect until the read head has moved more than 50 cm from the branch. It is not possible to change the direction decision within a branch! Note! Priority Data Matrix code tapes and Data Matrix tags have priority over colored tapes or colored lanes.
  • Page 22 PGV...-F200/-F200A...-R4-V19 Installation Figure 3.12 Distances Behavior of the Read Head at Branches and Corners The read head behaves differently depending on the type of branch and the specified lane. The read head must know the upcoming direction decision. A second lane branches off to the left from the straight lane: The read head follows the straight lane if the direction decision "follow right-hand lane"...
  • Page 23 PGV...-F200/-F200A...-R4-V19 Installation It is not permitted to create a mixture of lanes made from colored tape and Data Matrix codes 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 positioning, but not near an intersection.
  • Page 24 PGV...-F200/-F200A...-R4-V19 Installation Distances To ensure that the read head can clearly detect and assign colored tapes and Data Matrix codes, minimum 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 3.15 Offset: 0 mm ...
  • Page 25 PGV...-F200/-F200A...-R4-V19 Installation Figure 3.16 Distance: 7.5 mm  D  15 mm The distance between the Data Matrix code tapes at a branch or intersection as a separate lane must be between 0 mm and 5 mm. Figure 3.17 Distance: 0 mm  D  5 mm...
  • Page 26 PGV...-F200/-F200A...-R4-V19 Installation The distance between a colored tape and a Data Matrix control code must be between 0 mm and 5 mm. 25 mm 10...40 mm 25 mm Figure 3.18 0 mm  D  5 mm The distance between a Data Matrix position code and a Data Matrix control code must be between 0 mm and 5 mm.
  • Page 27 PGV...-F200/-F200A...-R4-V19 Installation Figure 3.20 0 mm  D  10 mm The Y value does not change if the colored tape and the Data Matrix code tape are aligned. Ensure that the center line of the colored tape and the center line of the Data Matrix code are on a line.
  • Page 28 PGV...-F200/-F200A...-R4-V19 Installation Code Tape Dimensions Figure 3.21 The center line indicates the center of the code tape and not the center of the code 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 values then increase along the X direction.
  • Page 29 PGV...-F200/-F200A...-R4-V19 Installation Bend to the left Bend to the right Data Matrix Tag A Data Matrix tag contains position information in addition to a specific number. A cross in the center of the Data Matrix tag marks the zero point. The X and the Y axes are marked starting from the zero point.

  • Page 30: Electrical Connection

    Connector Assignment Main Figure 3.24 Color assignment Pepperl+Fuchs female cordsets are manufactured in accordance with EN60947-5-2. When using a type V19-... () female cordset with an open cable end on the Main connection, the colors are assigned as follows: Connection pin...
  • Page 31 PGV...-F200/-F200A...-R4-V19 Installation Shielding Cables The shielding of connection lines is required to suppress electromagnetic interference. Establishing a low resistance or low impedance connection with the protective conductor or equipotential bonding circuit is a particularly important factor in ensuring that these interference currents do not become a source of interference themselves.

  • Page 32: Commissioning

    PGV...-F200/-F200A...-R4-V19 Commissioning Commissioning Specifying the First Direction Decision To ensure that the read head does not report any error messages after being switched on, a direction decision must be specified. You can control the direction decision via the INPUT_SELECTION_DIR_RIGHT and INPUT_SELECTION_DIR_LEFT inputs. See chapter 3.3.
  • Page 33 PGV...-F200/-F200A...-R4-V19 Commissioning Following Lane with Better Quality You can parameterize the read head so that it follows the better quality color lane. Example Figure 4.2 - Better color 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 information.

  • Page 34: Parameter Assignment

    PGV...-F200/-F200A...-R4-V19 Commissioning Parameter assignment The reading head can be adapted to specific requirements through parameterization. The reading head can be parameterized via the interface itself (internal parameterization) or via an optical parameterization code (external parameterization). 4.3.1 Internal Parameterization Using Parameterization Software Internal parameterization of the reader via the USB interface must be started within 10 minutes of the reader being switched on.

  • Page 35: External Parameterization Using Code Cards

    PGV...-F200/-F200A...-R4-V19 Commissioning 4.3.2 External Parameterization Using Code Cards During external parameterization, the reader scans special code cards optically and configures the relevant parameters. Simply hold the corresponding code cards at the correct distance in front of the lens on the reader. The standard code cards are in the appendix. The following parameters can be configured using code cards: Reader resolution [0.1 mm, 1 mm, 10 mm] ...
  • Page 36 PGV...-F200/-F200A...-R4-V19 Commissioning Note! Press button 2 briefly to exit parameterization mode. Any parameter changes that are made but have not yet been saved are discarded. The reader then operates with the last valid parameters that were saved. The code cards "CANCEL", "USE", and "DEFAULT" Holding one of these cards in front of the reading head exits parameterization mode with the following consequences: CANCEL:...

  • Page 37: Operation And Communication

    PGV...-F200/-F200A...-R4-V19 Operation and communication Operation and communication Communication via the RS-485 Interface The controller and read head communicate via the RS-485 interface during operation. Make sure that the basic communication settings have been made on the read head, such as setting the read head address and baud rate.

  • Page 38: Position Response Telegram

    PGV...-F200/-F200A...-R4-V19 Operation and communication 5.1.2 Position Response Telegram A response telegram is 21 bytes long. Bytes 1 and 2 contain the read head address and status information. Response telegram from the read head – lane tracking Bit 8 Bit 7 Bit 6 Bit 5 Bit 4...
  • Page 39 PGV...-F200/-F200A...-R4-V19 Operation and communication Response telegram from the read head - Data Matrix tag Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 1 Parity Byte 2 Parity TAG [1] Byte 3 Parity Reserved Reserved Reserved Reserved XPS23...
  • Page 40 Warning Messages table. Absolute position in the X direction, unsigned Absolute position in the X direction, signed Absolute position in the Y direction, signed Table 5.3 1.Should you have any questions, please contact Pepperl+Fuchs Error Codes Error code Description Priority No clear position can be determined, e.g., difference between...
  • Page 41 1. Unsigned: Fill in the missing upper bits with "0". 2. Signed: Fill in the missing upper bits with the highest bit of the response telegram. Should you have any questions about this, please contact Pepperl+Fuchs. Number of Lanes LC (Lane Count) The lane count, LC, indicates the number of found fab or Data Matrix tracks in the reading window.
  • Page 42 PGV...-F200/-F200A...-R4-V19 Operation and communication Meaning of Bits Meaning No lane found 1 lane found 2 lanes found 3 or more lanes found Orientation O The orientation O indicates the orientation of the control codes in the reading window. Meaning of Bits Meaning Control code has the same orientation as ascending Data Matrix lane...
  • Page 43 PGV...-F200/-F200A...-R4-V19 Operation and communication Side S Side S specifies the side of the Data Matrix lane on which the control codes are present. Meaning of Bits Meaning No control code is present or found Reserved Control code to the right of the Data Matrix or color lane Control code to the left of the Data Matrix or color lane...

  • Page 44: Direction Decision Request Telegram

    PGV...-F200/-F200A...-R4-V19 Operation and communication 5.1.3 Direction Decision Request Telegram Byte/bit Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Function Byte 1 Parity Request Byte 2 Parity ~RL ~A1 ~A0 Checksum Response Telegram for Direction Decision Bit 8 Bit 7...
  • Page 45 PGV...-F200/-F200A...-R4-V19 Operation and communication Byte/bit Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Function Byte 1 Parity R=1 G=0 B=0 A1 Request Byte 2 Parity ~A1 ~A0 Checksum Note! You can only ever request one color. Response telegram for color choice Byte/bit Bit 8 Bit 7...

  • Page 46: Operation Using Control Codes

    PGV...-F200/-F200A...-R4-V19 Operation and communication Operation Using Control Codes In numerous positioning system applications, defined processes (= event) must be started at specific positions. This means that the exact positions must be defined via code tapes for positioning, instead of simple colored tapes. In the context of lane tracking, it is advisable to mark branches using control codes to facilitate the control of the direction decision.

  • Page 47: Operation Using Repair Tape

    PGV...-F200/-F200A...-R4-V19 Operation and communication Operation Using Repair Tape The repair tape is a short code tape one meter in length. The repair tape is used to bridge defective or damaged areas of an existing code tape. 1. Cut the repair tape to the required length 2.

  • Page 48: Appendix

    PGV...-F200/-F200A...-R4-V19 Appendix Appendix Code Cards for External Parameterization Here, you can find the code cards that enable you to parameterize some basic read head functions step by step. For the exact external parameterization procedure . Note! When performing external parameterization with code cards, we recommend copying and printing out the relevant pages in this manual and cutting out the code cards.
  • Page 49 PGV...-F200/-F200A...-R4-V19 Appendix Store Store Figure 6.2 The "STORE" code card stores the modified parameterization in the nonvolatile memory of the read head and terminates external parameterization operating mode. Cancel Cancel Figure 6.3 The "CANCEL" code card discards the modified parameterization and terminates external parameterization operating mode.
  • Page 50 PGV...-F200/-F200A...-R4-V19 Appendix Figure 6.4 The "USE" code card takes over the set configuration volatile in the read head working memory and terminates the external parameterization operating mode. The read head then operates with this configuration. However, if the read head is switched off and on again, the configuration is lost and the read head operates with the last valid configuration that was saved.

  • Page 51: Code Cards For Setting The Read Head Address

    PGV...-F200/-F200A...-R4-V19 Appendix 6.1.2 Code Cards for Setting the Read Head Address A unique address must be assigned to the read head so that it can be activated via the interface. The address range extends from 0 ... 3. Read Head Address 0 Adresse 0 Figure 6.6 The code card assigns address 0 to the read head.

  • Page 52: Code Cards For Adjusting The Resolution

    PGV...-F200/-F200A...-R4-V19 Appendix Read Head Address 3 Adresse 3 Figure 6.9 The code card assigns address 3 to the read head. 6.1.3 Code Cards for Adjusting the Resolution Parameterization enables you to assign a position data resolution of 0.1 mm / 1 mm / 10 mm to the read head.

  • Page 53: Code Cards For Setting The Transfer Rate

    PGV...-F200/-F200A...-R4-V19 Appendix Resolution: 10 mm Resolution 10 mm Figure 6.12 The code card assigns a position data resolution of 10 mm to the read head. Maximum Length of the Code Tape Resolution of the read head [mm] Maximum length of the code tape [km] 6.1.4 Code cards for setting the transfer rate Parameterization allows you to assign various transfer rates to the reading head for...
  • Page 54 PGV...-F200/-F200A...-R4-V19 Appendix Transfer rate: 57600 bit/s 57600 Bit/s Figure 6.14 The transfer rate of the read head for communication via the interface is preset to 57600 bit/s. Transfer rate: 76800 bit/s 76800 Bit/s Figure 6.15 The transfer rate of the read head for communication via the interface is preset to 76800 bit/s.

  • Page 55: Code Cards For Adjusting The Terminator

    PGV...-F200/-F200A...-R4-V19 Appendix Transfer rate: 230400 bit/s 230400 Bit/s Figure 6.17 The transfer rate of the read head for communication via the interface is preset to 230400 bit/s. 6.1.5 Code cards for adjusting the terminator Parameterization enables you to switch a terminator on and off in the read head: Terminator: OFF Termination Figure 6.18...

  • Page 56: Code Cards For Adjusting Input/Output 3

    PGV...-F200/-F200A...-R4-V19 Appendix 6.1.6 Code Cards for Adjusting Input/Output 3 Parameterization enables you to assign various functions to input/output 3 on the read head. The following input/output functions are available: Input: none  Output: Overspeed  Output: Warning  Output: Fault ...
  • Page 57 PGV...-F200/-F200A...-R4-V19 Appendix Output 3: Warning Output 3 Warning Figure 6.22 Input/output 3 is defined as an output. This output carries the potential +U as long as a warning message is present in the read head. Output 3: Fault Output 3 Error Figure 6.23 Input/output 3 is defined as an output.
  • Page 58 PGV...-F200/-F200A...-R4-V19 Appendix Output 3: No position Output 3 No position Figure 6.25 Input/output 3 is defined as an output. This output carries the potential +U as long as the read head is not reading any position information.
  • Page 59 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 www.pepperl-fuchs.com Subject to modifications / DOCT-3707D Copyright PEPPERL+FUCHS • Printed in Germany 03/2019...

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