Related Manuals for Pepperl+Fuchs PGV -F200 -B6-V15B Series
Summary of Contents for Pepperl+Fuchs PGV -F200 -B6-V15B Series
- Page 1 FACTORY AUTOMATION MANUAL PGV...-F200/-F200A...-B6-V15B Incident Light Positioning System...
- Page 2 PGV...-F200/-F200A...-B6-V15B 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"...
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Page 3: Table Of Contents
PGV...-F200/-F200A...-B6-V15B Introduction................. 5 Declaration of Conformity............6 CE Conformity ..................6 Safety ................... 7 Symbols Relevant to Safety ..............7 Intended Use ..................7 General Safety Instructions ..............7 Product Description ..............8 Use and Application................8 LED Indicators and Controls............... 9 Accessories .................. - Page 4 PGV...-F200/-F200A...-B6-V15B Operation and Communication ..........37 Communication via PROFIBUS ............37 7.1.1 General Information on PROFIBUS DP..........37 7.1.2 PROFIBUS DP Communication Parameters ........37 7.1.3 PROFIBUS DP Features ..............37 7.1.4 PROFIBUS DP Functions..............37 7.1.5 PROFIBUS Modules ................ 37 7.1.6 Global Primary Data .................
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Page 5: Introduction
PGV...-F200/-F200A...-B6-V15B Introduction Introduction Congratulations You have chosen a device manufactured by Pepperl+Fuchs. Pepperl+Fuchs develops, produces and distributes electronic sensors and interface modules for the market of automation technology on a worldwide scale. Symbols used The following symbols are used in this manual: Note! This symbol draws your attention to important information. -
Page 6: Declaration Of Conformity
PGV...-F200/-F200A...-B6-V15B Declaration of Conformity Declaration of Conformity 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. -
Page 7: Safety
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 repairs, return the device to your local Pepperl+Fuchs representative or sales office. Note! Disposal Electronic waste is hazardous waste. -
Page 8: 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 9: Led Indicators And Controls
PGV...-F200/-F200A...-B6-V15B Product Description 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 4.2 Automated guided vehicle with Data Matrix tags The read head switches automatically between tag mode and lane tracking. This allows an automated guided vehicle to be guided from one Data Matrix tag grid via a colored or Data Matrix lane to another Data Matrix tag grid. - Page 10 PGV...-F200/-F200A...-B6-V15B Product Description Red/ Green/ green/ Color Yellow Red Yellow Yellow Yellow yellow Description Flashes Code tape outside read range = 2 Hz flash Lights System error up red Lights Code tape detected, absolute position available green Lights Colored tape detected Colored tape outside read range No direction selection activated Lights...
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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...-B6-V15B 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...-B6-V15B Installation Read Head Dimensions M6 x 9 (4x) 13.8 12.5 Figure 5.1 Housing *-F200-* 94.5 M6 x 9 (4x) Figure 5.2 Housing *-F200A-* Caution! When selecting the length of the mounting screws, ensure that the maximum insertion depth of the screws in the threaded inserts on the read head is 8 mm.
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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...-B6-V15B Installation Note! To avoid polishing the surface, do not apply strong pressure when cleaning. A shiny surface of the colored or code tapes leads to impairment in detection by the read head. Basics The read head detects a colored tape on a floor as a lane. The width of the colored tape must be between 10 mm and 40 mm;...
- Page 16 PGV...-F200/-F200A...-B6-V15B 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...-B6-V15B Installation α α Figure 5.6 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...-B6-V15B 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 5.8 Distance A for Data Matrix code tape 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;...
- Page 19 PGV...-F200/-F200A...-B6-V15B Installation The read head can make the following direction decisions based on the lane and possible branches: 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 error message.
- Page 20 PGV...-F200/-F200A...-B6-V15B Installation Branches or intersections with position information can be displayed as follows: Figure 5.10 Separate lane branches off/converges Figure 5.11 Same lane branches off/converges...
- Page 21 PGV...-F200/-F200A...-B6-V15B Installation 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...-B6-V15B Installation Figure 5.12 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...-B6-V15B Installation It is not permitted to create a mixture of lanes made from colored tape and Data Matrix codes at branches or intersections. Figure 5.13 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...-B6-V15B 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 5.15 Offset: 0 mm ≤...
- Page 25 PGV...-F200/-F200A...-B6-V15B Installation Figure 5.16 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 5.17 Distance: 0 mm ≤ D ≤ 5 mm...
- Page 26 PGV...-F200/-F200A...-B6-V15B 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 5.18 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...-B6-V15B Installation Figure 5.20 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...-B6-V15B Installation Code Tape Dimensions Figure 5.21 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...-B6-V15B 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.
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Page 30: Electrical Connection
Main Figure 5.24 Color Assignment Pepperl+Fuchs single-ended cordsets (female) are manufactured in accordance with EN60947-5-2. When using a type V19-... (see chapter 4.3) female cordset with an open cable end on the Main connection, the colors are assigned as follows:... -
Page 31: Profibus Connection
PGV...-F200/-F200A...-B6-V15B Installation A film shield is used. The following points relating to shielding must also be noted: Use metal cable clips that cover large areas of the shield. After installing the cable shield in the control cabinet, place it directly on the equipotential bonding rail. -
Page 32: Commissioning
PGV...-F200/-F200A...-B6-V15B Commissioning Commissioning Warning! Do not operate the power switch in a hazardous location. 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. - Page 33 PGV...-F200/-F200A...-B6-V15B Operation and Communication Operation and Communication Communication via PROFIBUS 7.1.1 General Information on PROFIBUS DP The PROFIBUS DP is a standardized, open fieldbus, which enables data exchange between PLCs, PCs, operating and observation devices, and also sensors and actuators. For more detailed information on the PROFIBUS DP, refer to the PROFIBUS standard EN 50170 and to the current literature on the subject (e.g.
- Page 34 PGV...-F200/-F200A...-B6-V15B Operation and Communication Position Data X Module Size Type Content 2 words, Input data 32-bit X data consistent MSB first MSB = most significant byte Resolution: 0.1 mm, 1 mm, 10 mm, binary coded At a resolution of 1 mm and 10 mm: L 10.00 km = max = 10,000,000 mm...
- Page 35 PGV...-F200/-F200A...-B6-V15B Operation and Communication Position Data Y Module Size Type Content 2 words, Input data 32-bit Y data consistent MSB first Resolution: 0.1 mm, 1 mm, 10 mm, binary coded in two's complement. 1. Bit = sign bit Response Content Word 1 Word 2 Bit no.
- Page 36 PGV...-F200/-F200A...-B6-V15B Operation and Communication Angle Data Module Size Type Content 1 word, Input data 16-bit angle data consistent MSB first Resolution: 1° (default) Value range -16,384 to 16,384 Positive value: clockwise angle Negative value: anticlockwise angle Example: Resolution = 1° at an angle resolution of 360 Resolution = 0.1°...
- Page 37 PGV...-F200/-F200A...-B6-V15B Operation and Communication Status module Size Type Content 1 word Input data 16-bit status Response Content Byte 1 Bit no. Status Function Error message (error code in XP00–XP15); remaining bits = 0, see Error Codes No position information/OUT (XP = 0, YP = 0, SP = 0) Warnings present, see Warning Module Control code present...
- Page 38 PGV...-F200/-F200A...-B6-V15B Operation and Communication Control Code No. Module Size Type Content 1 words, Input data Last control code consistent Last control code no. Response Content Word 1 Bit no. Last control code data CC00 CC01 CC02 CC03 CC04 CC05 CC06 CC07 CC08 CC09...
- Page 39 PGV...-F200/-F200A...-B6-V15B Operation and Communication Warning Module Size Type Content 1 word, Input data Last warnings consistent Last warning no. Response Content Word 1 Bit no. Last warning data Warning data set description WRN00 A code with non-PGV content was found WRN01 Reader too close to code tape WRN02...
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Page 40: Operation And Communication
PGV...-F200/-F200A...-B6-V15B Operation and Communication 7.1.6 Global Primary Data Global primary data allows you to parameterize the reader using PROFIBUS. Global primary data is always transferred to the reader in full. Designation Function Parameter data Primary data X resolution Multiplier for the length in the Resolution 0.1 mm direction of the X coordinate... -
Page 41: Operation Using Control Codes
PGV...-F200/-F200A...-B6-V15B 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 42: Operation Using Repair Tape
PGV...-F200/-F200A...-B6-V15B 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 43: Appendix
PGV...-F200/-F200A...-B6-V15B Appendix Appendix ASCII table ASCII ASCII ASCII hex ASCII Space " & < >... - Page 44 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-3523C Copyright PEPPERL+FUCHS • Printed in Germany 08/2017...