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Summary of Contents for Wenglor PNBC Series
- Page 1 PNBCxxx Laser Distance Sensors High-Precision Operating Instructions Available as PDF file only Status: 23.08.2022 Version: 1.5.2 www.wenglor.com...
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Page 2: Table Of Contents
Table of Contents Change Index, Operating Instructions .....................6 General ................................7 Information Concerning these Instructions ..................7 Explanations of Symbols ........................7 Limitation of Liability ..........................8 Copyrights ............................8 For Your Safety ............................9 Use for Intended Purpose ........................9 Use for Other than the Intended Purpose ....................9 Personnel Qualifications ........................9 Modification of Products ........................9 General Safety Precautions .......................10... - Page 3 8.1.2 Edge Evaluation ........................23 Measuring Accuracy and Error Influence ...................24 8.2.1 Calibration Report ........................24 8.2.2 Surface Material ........................25 8.2.3 Surface Damage on the Object to be Measured ..............25 8.2.4 Extraneous Light ........................25 8.2.5 Changes in Remission ......................25 8.2.6 Dependence of Measurement on Angle .................25 Settings ..............................26 Page Layout (website) ........................28 Device Settings (website) ........................30...
- Page 4 10.3 I/O Settings ............................40 10.3.1 Selecting the Analog Mode ....................40 10.3.2 Setting the Pin Function ......................40 10.3.3 Selecting the Output Mode .....................40 10.3.4 Setting the Output Function ....................41 10.3.5 Teaching the Switching Distance (Teach-in) ................41 10.3.6 Selecting the Teach-In Mode ....................41 10.3.7 Setting the Switching Point .....................42 10.3.8...
- Page 5 10.4.23 Quering the Teach-in Mode ....................49 10.4.24 Quering Hysteresis .........................50 10.4.25 Quering Switching Reserve ....................50 10.4.26 Quering Window Width ......................50 10.4.27 Quering Input Load .........................50 10.4.28 Quering the Input Function .....................51 10.4.29 Quering the Input Status ......................51 10.4.30 Quering the Input/Output Status of All Inputs/Outputs ............51 10.4.31 Quering Packet Length ......................51 10.5 Header and Data Format ........................52 10.5.1...
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Page 6: Change Index, Operating Instructions
Change Index, Operating Instructions Associated product, hardware Version Date Description/Change and firmware versions 1.0.0 26.03.2017 Initial version of the operating instructions PNBC product version: 1.0.0 PNBC hardware version: 3.3.0 PNBC firmware version: 3.30.6 1.1.0 05.07.2017 • Expansion: measuring rate table PNBC product version: B / 1.30 PNBC hardware version: 3.4.0 •... -
Page 7: General
• The product is subject to further technical development, and thus the information contained in these operating instructions may also be subject to change. The current version can be found at www.wenglor.com in the product’s separate download area. NOTE! The operating instructions must be read carefully before using the product and must be kept on hand for later reference. -
Page 8: Limitation Of Liability
• wenglor assumes no liability with regard to printing errors or other inaccuracies contained in this operating manual, unless it can be proven that wenglor was aware of the errors at the time the operating manual was created. -
Page 9: For Your Safety
For Your Safety 3.1 Use for Intended Purpose This wenglor product is intended for use in accordance with the following functional principle: Laser Distance Sensor High-Precision This product group includes Laser Distance Sensors High-Precision for measuring distance, which function in accordance with various principles in scanning mode operation. -
Page 10: General Safety Precautions
• In the event of possible changes, the respectively current version of the operating instructions can be accessed at www.wenglor.com in the product’s separate download area. • Read the operating instructions carefully before using the product. -
Page 11: Warnings According To Standard En 60825-1:2014
3.6.2 Warnings According to Standard EN 60825-1:2014 CAUTION CAUTION LASER LASER RADIATION LASER RADIATION - DO NOT STARE INTO BEAM DO NOT STARE INTO BEAM EN60825-1: 2014 Complies with 21 CFR Conforme aux règlements λ= 620-690 nm 21CFR 1040.10 et 1040.11 1040.10 and 1040.11 except sauf pour les dérogations selon for deviations pursuant to Laser... -
Page 12: Technical Data
Technical Data PNBC001 PNBC002 PNBC003 PNBC004 Optical Characteristics Working range [mm] 20…24 25…35 40 to 60 58 to 108 Measuring range 4 mm 10 mm 20 mm 50 mm Resolution 0.06 µm 0.15 µm 0.3 µm 0.8 µm Linearity deviation 2 µm 5 µm 10 µm... - Page 13 PNBC001 PNBC002 PNBC003 PNBC004 Mechanical Characteristics Setting method Teach-in Teach-in Teach-in Teach-in Housing material Aluminum Aluminum Aluminum Aluminum Degree of protection IP 67 IP 67 IP 67 IP 67 Connection M12×1, 8-pin M12×1, 8-pin M12×1, 8-pin M12×1, 8-pin Type of connection Ethernet M12×...
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Page 14: Measuring Rate
PNBC005 PNBC006 PNBC007 PNBC008 Analog output 0...10 V/4...20 mA 0...10 V/4...20 mA 0...10 V/4...20 mA 0...10 V/4...20 mA Short-circuit protection Reverse polarity protection Overload protection Teach-in-Modus VT/FT VT/FT VT/FT VT/FT Interface Ethernet TCP/IP Ethernet TCP/IP Ethernet TCP/IP Ethernet TCP/IP Baud rate 100 Mbit/s 100 Mbit/s 100 Mbit/s... -
Page 15: Wiring Diagram
4.2 Wiring Diagram Legend Supply Voltage + Not connected Encoder B/ (TTL) RS422 – Supply Voltage 0 V Test Input Encoder A Supply Voltage (AC Voltage) Test Input inverted Encoder B Switching Output (NO) Trigger Input Digital output MIN Ā Switching Output (NC) W–... -
Page 16: Housing Dimensions
4.3 Housing Dimensions PNBC001 1 = Emitter Diode 2 = Receiving Diode 3 = Bearing Surface with M4 on Both Sides PNBC002 1 = Emitter Diode 2 = Receiving Diode 3 = Bearing Surface with M4 on Both Sides PNBC003 1 = Emitter Diode 2 = Receiving Diode 3 = Bearing Surface with M4... - Page 17 PNBC004 1 = Emitter Diode 2 = Receiving Diode 3 = Bearing Surface with M4 on Both Sides PNBC005 1 = Emitter Diode 2 = Receiving Diode 3 = Bearing Surface with M4 on Both Sides PNBC006/007/008 1 = Emitter Diode 2 = Receiving Diode 3 = M4 on both sides High-Performance Distance Sensors...
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Page 18: Control Panel
No signal, sensor contaminated and/or overranging Links available Yellow Link/Act Communication Blinking yellow 4.5 Complementary Products wenglor offers Connection Technology for field wiring. Suitable mounting technology no. Suitable connection technology no. Switch ZAC51xN01 Cooling unit Screening Grid Retainer Screening Grids... -
Page 19: System Overview
System overview System Overview PNBC004 Connector Cables Connection Cable M12, 8-pin to open end M12, 4-pin to RJ45 ZAS89R201 ZAV51R202 ZAS89R501 ZAV51R602 10 m ZAS89R601 10 m ZAS89R701 20 m M12, 4-polig ZAV51R201 ZAS89R202 (angled) ZAV51R601 10 m ZAS89R502 (angled) ZAS89R602 (angled) 10 m Connection Cable... -
Page 20: Installation Instructions
Installation Instructions During use of the sensor, applicable electrical and mechanical regulations, standards and safety precautions must be adhered to. The sensor must be protected against mechanical influences. When installing the sensor it must be ensured that direct eye contact with the laser beam is avoided. The laser warning must be plainly visible. -
Page 21: Default Settings
6.1 Default Settings Description Default value IP address 192.168.0.225 Subnet mask 255.255.0.0 Evaluation method Average filter 0 (corresponds to the off state) Sampling rate Auto Output rate 10 kHz Laser Auto Offset 0.0 mm Analog mode 4 to 20 mA Ext. -
Page 22: Function Descriptions
Function Descriptions PNCB Laser Distance Sensors High-Precision work with a high resolution CMOS line array and determine distance by means of an angular measurement at a sampling rate of up to 30 kHz. The sensor is equipped with integrated electronics and no additional controller is required as a result. Ascertained distance values are read out as process data via the interface and at the analogue output with16- bit resolution. -
Page 23: Evaluation Method
8.1 Evaluation method 8.1.1 Center of Gravity (Cog) The Cog evaluation method calculates the peak’s center of gravity, whose×-coordinate is the sought crude result. The peak has to be separated from the “sink” for the purpose of center of gravity analysis, which neces- sitates calculation of the threshold. -
Page 24: Measuring Accuracy And Error Influence
8.2 Measuring Accuracy and Error Influence 8.2.1 Calibration Report A calibration report is included with the sensor, which graphically represents linearity error as a percentage for the measured value on a matte white surface. The following is an example of a calibration report: Calibration Protocol Order Number: PNBC001... -
Page 25: Surface Material
8.2.2 Surface Material Possible objects to be measured include all sorts of materials such as metal, plastic, ceramic, rubber and paper. Suitability for use only needs to be tested individually for highly reflective surfaces and liquids. 8.2.3 Surface Damage on the Object to be Measured A scratch on the surface of the object to be measured which runs perpendicular to the axis of the lens may cause stronger light emissions, whose maxima are located next to the center of the spot. -
Page 26: Settings
6.1). • With the help of w-Teach configuration and display software which is available for download from www.wenglor.com • Using the function block for simplified incorporation of PNBC Sensors into an S7 controller – also available... - Page 27 High-Performance Distance Sensors...
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Page 28: Page Layout (Website)
In order to be able to access the product’s website (in this example the PNBC002), the IP address must be entered to the browser’s address line as described. Default IP address: 192.168.0.225 The initial page appears with general information concerning the connected sensor. 9.1 Page Layout (website) ... - Page 29 The website is subdivided into the following areas: Language selection The website can be changed from English (default language) to other languages with the language selection function. Status display Measured value Displays the current distance between the edge of the sensor’s housing and the object..
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Page 30: Device Settings (Website)
9.2 Device Settings (website) Network settings: The IP address and the addresses for the subnet mask and the gateway can be changed in the respective fields. Changes are activated by entering the “admin” password and by restarting the device. Please make sure that the selected subnet mask is actually available within the network. -
Page 31: I/O Settings (Website)
General settings: Encoder reset Resets the encoder input to zero Default values Resets all values to their default settings (exception: network settings) 9.3 I/O Settings (website) Analog output: Selection of 0...10 V or 4...20 mA. Is the analog output used as a voltage source, the connected load should be 1 kΩ. - Page 32 Pin function Switching output The selected output operates as a swiching output External teach-in The switching input can be taught in again by applying an electrical signal Encoder E1+E2 A 2-channel rotary encoder with HTL square-wave signal must be used. Channel A is displaced 90 °...
- Page 33 Teach-in mode Teach-in A function by means of which the sensor is caused to automatically calculate and save future settings based upon currently recorded values by pressing a button or applying a control signal. FT teach-in mode There are two switching points in the case of window teach-in. The distance between (window teach-in) the two switching points is called the window.
- Page 34 Change switching point: Shifts the switching point to the entered distance. In the case of foreground teach-in this is the teach-in dis- tance described above, and in the case of window teach-in it’s the distance to the middle of the window. Switching Hysteresis: Describes the distance between the switch-on and switch-off points.
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Page 35: Interface Protocol
10. Interface Protocol This section describes the structure and the function of the TCP commands for controlling and configuring the Laser Distance Sensor High-Precision PNBCxxx. The commands are send via the port 3000. After opening the port, the sensor transmits data packets without any further prompting. -
Page 36: Sensor Settings
10.2 Sensor Settings 10.2.1 Setting the IP Address Command set_ip_addr=192.168.0.225<CR> Response In reply echo mode: OK:ip_addr=192.168.0.225<CR> Description The new address becomes active after restarting the sensor. 10.2.2 Setting the Subnet Mask Address Command set_netmask_addr=255.255.0.0<CR> Response In reply echo mode: OK:net_mask=255.255.0.0<CR> Description The new subnet mask becomes active after restarting the sensor. -
Page 37: Adjusting The Average Filter
10.2.6 Adjusting the Average Filter Command set_avg_filter_cnt=x<CR> Response In reply echo mode: OK:avg_filter_cnt=x<CR> Description The rolling average can be generated based on a value between 2 and 1 000. The smaller the selected value, the faster the measured value reacts to jumps. The larger the selected value, the more smoothed the measured value becomes. -
Page 38: Setting Regulation Of Laser Power And The Sampling Rate
10.2.9 Setting Regulation of Laser Power and the Sampling Rate Command set_regulator=x<CR> Response In reply echo mode: OK:regulator=x<CR> Description Regulation of the measuring rate and laser power is set here. Possible values for “x” include: 0: Automatic sampling rate regulation AND laser power regulation (default setting) 1: Automatic sampling rate, laser power manually adjustable 2: Automatic laser power, sampling rate manually adjustable 3: Laser power and sampling rate manually adjustable... -
Page 39: Encoder Reset
10.2.13 Encoder Reset Command set_clear_encoder<CR> Response In reply echo mode: OK:clear_encoder<CR> Description This command resets the internal encoder counter to zero. 10.2.14 Encoder Counter Right Shift Command set_enc_right_shift=x<CR> Response In reply echo mode: OK:enc_rshift=x<CR> Description The scaling factor of the encoder input can be set with this command. Possible values for “x”... -
Page 40: I/O Settings
10.3 I/O Settings 10.3.1 Selecting the Analog Mode Command set_anaout_mode=x<CR> Response In reply echo mode: OK:anaout_mode=x<CR> Description Selects the analog mode. Possible values for “x” include: 1: 0...10 V 8: 4...20 mA (default setting) 10.3.2 Setting the Pin Function Command set_usrio1_pin_function=x<CR>... -
Page 41: Setting The Output Function
10.3.4 Setting the Output Function Command set_usrio1_output_function=x<CR> set_usrio2_output_function=x<CR> set_usrio3_output_function=x<CR> set_usrio4_output_function=x<CR> Response In reply echo mode (e.g. I/O1): OK:usr_io1_output_function=x<CR> Description Configures the output function. Possible values for “x” include: 1: Normally open (NO) 2: Normally closed (NC) 10.3.5 Teaching the Switching Distance (Teach-in) Command set_usrio1_teach_in=x<CR>... -
Page 42: Setting The Switching Point
10.3.7 Setting the Switching Point Command set_usrio1_switch_dist_mm=x<CR> set_usrio2_switch_dist_mm=x<CR> set_usrio3_switch_dist_mm=x<CR> set_usrio4_switch_dist_mm=x<CR> Response In reply echo mode (e.g. I/O1): OK:usr_io1_switch_dist_mm=x<CR> Description The switching point is shifted to the entered distance. In the case of foreground teach-in, this is the teach-in distance (see section 10.3.6), while in the case of window teach-in, it is the distance to the middle of the window. -
Page 43: Setting Switching Reserve
10.3.9 Setting Switching Reserve Command set_usrio1_switch_res_mm=x<CR> set_usrio2_switch_res_mm=x<CR> set_usrio3_switch_res_mm=x<CR> set_usrio4_switch_res_mm=x<CR> Response In reply echo mode (e.g. I/O1): OK:usr_io1_switch_res_mm=x<CR> Description Switching reserve describes the clearance between the teach-in distance and the sensor’s switching point. Switching reserve ensures reliable object detection even in the case of slightly fluctuating distances between the objects and the sensor. -
Page 44: Setting The Input Function
10.3.12 Setting the Input Function Command set_usrio1_input_function=x<CR> set_usrio2_input_function=x<CR> set_usrio3_input_function=x<CR> set_usrio4_input_function=x<CR> Response In reply echo mode (e.g. I/O1): OK:usr_io1_input_function=x<CR> Description Configures the input function. Possible values for “x” include: 1: Operating voltage active (pending tasks are executed when input voltage is on, default setting) 2: Operating voltage inactive (pending tasks are executed when input voltage = 0 V) 10.3.13 Setting Packet Length... -
Page 45: Query Commands
10.4 Query Commands 10.4.1 Querying the IP Address Command get_ip_addr<CR> Response Example: OK:ip_addr=192.168.0.225<CR> Description The IP address is read out. 10.4.2 Querying the Subnet Mask Address Command get_net_mask<CR> Response Example: OK:net_mask=255.255.0.0<CR> Description The subnet mask address is read out. 10.4.3 Querying the Gateway Address Command get_gateway<CR>... -
Page 46: Querying The Manufacturer
10.4.7 Querying the Manufacturer Command get_manufacturer<CR> Response OK:manufacturer=wenglor_sensoric_GmbH<CR> Description The manufacturer is read out. Blanks are replaced by underlines! 10.4.8 Querying the Order Number Command get_name<CR> Response Example: OK:name=PNBC005<CR> Description The order number is read out. 10.4.9 Querying the Serial Number Command get_serial<CR>... -
Page 47: Quering The Output Rate
10.4.13 Quering the Output Rate Command get_freq<CR> Response Example: OK:freq=26667<CR> Description The output rate is read out. Possible values include: 10...30,000 The output rate is read out in Hertz. 10.4.14 Quering the Sampling Rate Command get_meas_freq<CR> Response Example: OK:meas_freq=26667<CR> Description The sampling rate (inverse value of exposure time) is read out. -
Page 48: Quering The Encoder Right Shift Setting
10.4.17 Quering the Encoder Right Shift Setting Command get_enc_rshift<CR> Response Example: OK:enc_rshift=2<CR> Description The scaling factor of the encoder input is read out. Possible values include: 1: Every 2nd encoder pulse is counted 2: Every 4th encoder pulse is counted 8: Every 256th encoder pulse is counted 10.4.18 Quering the Analog Mode Command... -
Page 49: Quering The Output Mode
10.4.20 Quering the Output Mode Command get_usrio1_output_mode<CR> get_usrio2_output_mode<CR> get_usrio3_output_mode<CR> get_usrio4_output_mode<CR> Response Example: OK:usr_io1_output_mode=1<CR> Description The output mode is read out. Possible values include: 1: PNP 2: NPN 3: Push-pull 10.4.21 Quering the Output Function Command get_usrio1_output_function<CR> get_usrio2_output_function<CR> get_usrio3_output_function<CR> get_usrio4_output_function<CR> Response Example: OK:usr_io1_output_function=1<CR>... -
Page 50: Quering Hysteresis
10.4.24 Quering Hysteresis Command get_usrio1_hysteresis_mm<CR> get_usrio2_hysteresis_mm<CR> get_usrio3_hysteresis_mm<CR> get_usrio4_hysteresis_mm<CR> Response Example: OK:usr_io1_hysteresis_mm=0.120<CR> Description Hysteresis is read out in mm. 10.4.25 Quering Switching Reserve Command get_usrio1_switch_res_mm<CR> get_usrio2_switch_res_mm<CR> get_usrio3_switch_res_mm<CR> get_usrio4_switch_res_mm<CR> Response Example: OK:usr_io1_switch_res_mm=0.188<CR> Description The clearance between the teach-in distance and the sensor’s switching point is read out in mm. -
Page 51: Quering The Input Function
10.4.28 Quering the Input Function Command get_usrio1_input_function<CR> get_usrio2_input_function<CR> get_usrio3_input_function<CR> get_usrio4_input_function<CR> Response Example: OK:usr_io1_input_function=1<CR> Description The input function is read out. Possible values include: 1: Operating voltage active 2: Operating voltage inactive (= 0 V active) 10.4.29 Quering the Input Status Command : get_usr_io1<CR>... -
Page 52: Header And Data Format
10.5 Header and Data Format After opening port 3000, the sensor transmits data packets in the selected data format (exception: peak data, see section 10.5.3). The following data formats are possible: • Continuous distance measurement (default setting) • Extended continuous measurement •... -
Page 53: Continuous Distance Measurement
10.5.1 Continuous Distance Measurement This data format should be used for processes which do not require an encoder. All measured distance values are transmitted uninterruptedly. Designation Offset Length Type Read-out/Comment [bytes] [bytes] Data format unsigned int 17520 Internal Order number (zero-terminated) string PNBC002* Serial number (zero-terminated) -
Page 54: Extended Continuous Measurement (Distance, Intensity, Encoder)
10.5.2 Extended Continuous Measurement (Distance, Intensity, Encoder) This data format should be selected when an encoder is used in the application. In this case, intensity and the encoder value (encoder counter in the PNBC Sensor) are transmitted for each individual measurement in addition to distance values. This makes it possible to obtain an actual position value synchronous to the distance values. -
Page 55: Peak Data
10.5.3 Peak Data This data format is suitable for diagnosis purposes. All 1024 pixel intensities of the sensor’s CMOS line array are transmitted. This data format is not retained after a restart. The sensor is automatically reset to the previously selected format. -
Page 56: Description Of The Measurement Data
10.5.4 Description of the Measurement Data Status: The status is represented as a 7-bit value: Bit 0: Out of range error: intensity or distance is outside of the valid working range Bit 1: Internal peak memory overflow error Bit 2: Sensor FIFO overflow: CPU processing is unable to keep up with the measurement data Bit 3...7: = 0 I/Ox and Laser Status:... - Page 57 Intensity Value: The intensity value is represented as a 16-bit value: Bit 0 to 11: Intensity value (=peak value; 0...4095) Bit 12: Reserved (=0) Bit 13: Reserved (=0) Bit 14: Error bit: intensity too low or too high Bit 15: Error bit: distance outside of working range The following formula for converting the digital value into a percentage is used to obtain the signal strength displayed on the website:...
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Page 58: Maintenance Instructions
GmbH does not accept the return of unusable or irreparable products. Respectively valid national waste disposal regulations apply to product disposal. 13. EU Declaration of Conformity The EU declaration of conformity can be found on our website at www.wenglor.com in the product’s separate download area. Maintenance Instructions...
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