Pepperl+Fuchs GV100R-F213-R4-1.5M Manual
  1. Manuals
  2. Brands
  3. Pepperl+Fuchs Manuals
  4. Light Fixture
  5. GV100R-F213-R4-1.5M
  6. Manual
Pepperl+Fuchs GV100R-F213-R4-1.5M Manual

Pepperl+Fuchs GV100R-F213-R4-1.5M Manual

Incident light positioning system
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
PGV100R-F213-R4-1.5M
Incident Light Positioning
System
Manual

Advertisement

Table of Contents
loading

Summary of Contents for Pepperl+Fuchs GV100R-F213-R4-1.5M

  • Page 1 PGV100R-F213-R4-1.5M Incident Light Positioning System Manual...
  • Page 2 Phone: +49 621 776 - 0 E-mail: info@de.pepperl-fuchs.com North American Headquarters Pepperl+Fuchs Inc. 1600 Enterprise Parkway Twinsburg, Ohio 44087 Phone: +1 330 425-3555 E-mail: sales@us.pepperl-fuchs.com Asia Headquarters Pepperl+Fuchs Pte. Ltd. P+F Building 18 Ayer Rajah Crescent Singapore 139942 Phone: +65 6779-9091 E-mail: sales@sg.pepperl-fuchs.com https://www.pepperl-fuchs.com...

  • Page 3: Table Of Contents

    PGV100R-F213-R4-1.5M Contents Introduction........................ 4 Content of this Document ................4 Target Group, Personnel ................4 Symbols Used ....................5 Product Description ....................6 Use and Application ..................6 RS-485 Interface .................... 7 LED Indicators ....................8 Accessories....................9 Installation........................ 10 Mounting the Read Head................

  • Page 4: Introduction

    PGV100R-F213-R4-1.5M Introduction Introduction Content of this Document This document contains information required to use the product in the relevant phases of the product life cycle. This may include information on the following: • Product identification • Delivery, transport, and storage •...

  • Page 5: Symbols Used

    PGV100R-F213-R4-1.5M Introduction 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 prop- erty damage.

  • Page 6: Product Description

    The read head forms part of the positioning system in the Pepperl+Fuchs incident light pro- cess. The read head includes a camera module and an internal illumination unit, which the read head uses to detect a strip of Data Matrix code tape stuck to the floor for lane tracking and nav- igation.

  • Page 7: Rs-485 Interface

    PGV100R-F213-R4-1.5M Product Description Tag Mode In addition to lane tracking, the read head can also be used 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 8: Led Indicators

    PGV100R-F213-R4-1.5M Product Description LED Indicators The read head is equipped with two indicator LEDs for carrying out visual function checks and quick diagnostics. LEDs Color Label Meaning Green/yellow COM STATE RS-485 communication active Green/red POWER ON Code detected/not detected, error NO CODE/ ERROR Table 2.1 LEDs...

  • Page 9: 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 10: Installation

    PGV100R-F213-R4-1.5M Installation Installation Mounting the Read Head Mount the read head on the auto-guided transport system using the four screws on the mount- ing adapter on the read head. Mount the read head so that the lens with ring light and camera module are aligned toward the floor.

  • Page 11: Affixing The Code Tape

    PGV100R-F213-R4-1.5M Installation Affixing the Code Tape Dimensions of the Code Tape Figure 3.2 Dimensions of the Data Matrix code tape Caution! Alignment The Data Matrix code is not on the center line of the code tape. Caution! Stop edges If you attach another code tape at the end of a previous code tape, the code pattern of 20 mm must be retained.
  • Page 12 PGV100R-F213-R4-1.5M Installation Data Matrix Control Codes 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 codes Affixing the Code Tape Clean the surface of any greasy or oily deposits and dust. Ensure that the surface is dry, clean, and stable.
  • Page 13 PGV100R-F213-R4-1.5M Installation Note Mounting the code tape in curved areas If you affix the code tape on inclines or declines, cut the code tape several times at the transition point to the horizontal as shown. When you apply the code tape to the floor in curved areas, cut the code tape several times at the transition to the curve as shown.
  • Page 14 PGV100R-F213-R4-1.5M 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 the absolute angle in relation to the tracked lane with a maximum reso- lution of 0.1°.
  • Page 15 PGV100R-F213-R4-1.5M Installation Distance Output The read head detects the distance from the zero point in the Y direction a Data Matrix code tape and transmits this value to the control panel. The reader indicates the vertical distance of the zero point in relation to the Data Matrix code tape.
  • Page 16 PGV100R-F213-R4-1.5M Installation Behavior of the Read Head at Branches and Curves 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: »...
  • Page 17 PGV100R-F213-R4-1.5M Installation Distances To ensure that the read head can clearly detect and assign 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 3.8 Offset: 0 mm ...
  • Page 18 PGV100R-F213-R4-1.5M Installation 25 mm 25 mm 25 mm Figure 3.10 0 mm  D  5 mm...
  • Page 19 PGV100R-F213-R4-1.5M Installation Data Matrix Tag (8 digit number) A Data Matrix tag contains position information and a specific 8 digit 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 20 PGV100R-F213-R4-1.5M Installation Data Matrix Tag — Extended (14 digit number) A Data Matrix tag contains position information and a specific 14 digit 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 21: Electrical Connection

    PGV100R-F213-R4-1.5M Installation Electrical Connection The read head is connected electrically via a fixed cable with open cores on the side of the housing. The power is supplied via this connection. The configurable inputs and outputs on the read head are also located at this connection. - UB + UB DATA+...

  • Page 22: Commissioning

    PGV100R-F213-R4-1.5M Commissioning Commissioning Direction Decision The read head requires a specification of the lane to be selected for the output of position infor- mation. In general, lane selection is possible via the IOs of the read head and via the request telegram.

  • Page 23: Parameterization Using Code Cards

    PGV100R-F213-R4-1.5M Commissioning Parameterization Using Code Cards During parameterization, the read head 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 read head. The standard code cards are in the appendix. Note Parameterization mode can be activated in the first five minutes after voltage connection.

  • Page 24: The Code Cards "Cancel", "Use", And "Default

    PGV100R-F213-R4-1.5M Commissioning 4.2.1 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: All parameter changes that are made but have not yet been saved are discarded. The reading head operates with the last valid parameters that were saved.

  • Page 25: Operation And Communication

    PGV100R-F213-R4-1.5M 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 26: Position Response Telegram

    PGV100R-F213-R4-1.5M 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 Bit 3...
  • Page 27 PGV100R-F213-R4-1.5M 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 0 Byte 2 Parity 0 TAG [1] Byte 3 Parity 0...
  • Page 28 X position of right lane Y position of left lane Y position of right lane Table 5.5 Functional description of the bits 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 29 PGV100R-F213-R4-1.5M Operation and communication Warning Messages Warning message Description WRN00 Code with content not typical of PGV found WRN01 Read head too close to code tape WRN02 Read head too far from code tape WRN03 Reserved WRN04 Reserved WRN05 The read head is rotated or tipped in relation to the code tape WRN06 Low level of code contrast WRN07...

  • Page 30: Orientation O

    PGV100R-F213-R4-1.5M Operation and communication 5.1.2.1 Orientation O The orientation O indicates the orientation of the Data Matrix control codes (see chapter 5.2) in the reading window. See "Orientation and Side" on page 31. Meaning of Bits Bit1=O1 Bit0=O0 Meaning Data Matrix Control code has the same orientation as ascending Data Matrix position code.
  • Page 31 PGV100R-F213-R4-1.5M Operation and communication Example Orientation and Side Bit1 Bit0 Bit1 Bit0 Orientation Orientation Side Side 1. Data Matrix position code 2. Data Matrix control code Bit1 Bit0 Bit1 Bit0 Orientation Orientation Side Side 1. Data Matrix position code 2. Data Matrix control code...

  • Page 32: Position/Lane

    PGV100R-F213-R4-1.5M Operation and communication 5.1.2.3 Position/Lane You can use the following table to draw conclusions on the current section in the reading win- dow based on the feedback from the read head regarding Data Matrix tag TAG, No X Position NP, absolute X position XP and the Y position and angle YPS/ANG.

  • Page 33: Operation Using Control Codes

    PGV100R-F213-R4-1.5M Operation and communication Request Response Description Example 0xE8, 0x17 See "Response Tele- Follow left-hand lane --"0x02"-- gram for Direction 0xE4, 0x1B Follow right-hand lane --"0x01"-- Decision" 0xEC, 0x13 Straight ahead --"0x03"-- 0xE0, 0x1F No lane is selected --"0x00"-- Error code 5 Operation Using Control Codes In numerous positioning system applications, defined processes (= event) must be started at specific positions.

  • Page 34: Operation In Case Of Repair

    PGV100R-F213-R4-1.5M Operation and communication Operation in case of repair If repairs are required, the Code Tape Generator at www.pepperl-fuchs.com can be used as a short-term workaround. This generator enables segments of code tape to be produced and printed out online. Enter the start value in meters and the code tape length of the section to be replaced in meters.

  • Page 35: Appendix

    PGV100R-F213-R4-1.5M Appendix Appendix Code Cards for External Parameterization Here you will find the code cards that enable you to parameterize some of the basic functions of the read head in a step-by-step process. For the exact external parameterization procedure see chapter 4.2. Note When performing external parameterization with code cards, we recommend copying and printing out the relevant pages in this manual and cutting out the required code cards.
  • Page 36 PGV100R-F213-R4-1.5M Appendix User User Figure 6.2 The "USER" code card is used to activate the user level in the external parameterization operating mode. Store Store Figure 6.3 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 6.4...
  • Page 37 PGV100R-F213-R4-1.5M Appendix Figure 6.5 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 38: Code Cards For Setting The Read Head Address

    PGV100R-F213-R4-1.5M 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 inter- face. The address range extends from 0 ... 3. Read Head Address 0 Adresse 0 Figure 6.7 The code card assigns address 0 to the read head.
  • Page 39 PGV100R-F213-R4-1.5M Appendix Read Head Address 3 Adresse 3 Figure 6.10 The code card assigns address 3 to the read head.

  • Page 40: Code Cards For Setting The Transfer Rate

    PGV100R-F213-R4-1.5M Appendix 6.1.3 Code cards for setting the transfer rate Parameterization allows you to assign various transfer rates to the reading head for communi- cation via the interface. The following transfer rates are available: • 38400 bit/s • 57600 bit/s •...
  • Page 41 PGV100R-F213-R4-1.5M Appendix Transfer rate: 76800 bit/s 76800 Bit/s Figure 6.13 The transfer rate of the read head for communication via the interface is preset to 76800 bit/s. Transfer rate: 115200 bit/s 115200 Bit/s Figure 6.14 The transfer rate of the read head for communication via the interface is preset to 115200 bit/s.

  • Page 42: Code Cards For Adjusting The Resolution

    PGV100R-F213-R4-1.5M Appendix 6.1.4 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. Resolution: 0.1 mm Resolution 0.1 mm Figure 6.16 The code card assigns a position data resolution of 0.1 mm to the read head. Resolution: 1 mm Resolution 1 mm...

  • Page 43: Code Cards For Adjusting The Terminator

    PGV100R-F213-R4-1.5M Appendix Maximum Length of the Code Tape Resolution of the read head [mm] Maximum length of the code tape [km] 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 6.19...
  • Page 44 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-7177...

Table of Contents