Pepperl+Fuchs MWC25M-L2M-B16 Series Manual
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Pepperl+Fuchs MWC25M-L2M-B16 Series Manual

Parameterization of radar sensors with canopen interface
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MWC25M-L2M-B16 Series
Parameterization
of Radar Sensors
with CANopen Interface
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Summary of Contents for Pepperl+Fuchs MWC25M-L2M-B16 Series

  • Page 1 MWC25M-L2M-B16 Series Parameterization of Radar Sensors with CANopen Interface 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

    MWC25M-L2M-B16 Series Contents Introduction........................ 6 Content of this Document ................6 Target Group, Personnel ................6 Symbols Used ....................6 Intended Use ....................7 General Safety Information................8 Declaration of Conformity................9 Declaration of Conformity FCC, Canada ............. 9 Product Description ....................11 Use and Application ..................
  • Page 4 MWC25M-L2M-B16 Series Contents Parameterization and Analysis Using PACTware and DTM via CANopen ..31 Overview .......................31 Menu Item Information ................32 Menu Item Configuration................33 Menu Item Analysis ..................35 Submenu Observation ...................... 35 7.4.1 7.4.2 Submenu Analysis ......................38 Menu Item Service ..................40 Parameterization Using the CANopen Engineering Tool with CANopen Objects ....................42...
  • Page 5 MWC25M-L2M-B16 Series Contents 8.24 Object 0x1A01 TPDO2 Mapping Parameter ..........51 8.25 Object 0x1A02 TPDO3 Mapping Parameter ..........51 8.26 Object 0x1A03 TPDO4 Mapping Parameter ..........51 8.27 Object 0x2000 Process Data ..............52 8.28 Object 0x2001 Operating Hours..............53 8.29...

  • Page 6: Introduction

    MWC25M-L2M-B16 Series 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 7: Symbols Used

    Intended Use Radar sensors in the MWC25M-L2M-B16 series emit electromagnetic waves (radar waves) that are reflected by an object and received again by the radar sensor to detect objects and measure their distance from the sensor and their relative velocities.
  • Page 8 Introduction Note Radar sensors in the MWC25M-L2M-B16 series are only approved in the countries listed in the relevant declaration of conformity for the radar sensor. These can be found online at www.pepperl-fuchs.com on the respective product page for the sensor version of the MWC25M-L2M-B16 series.

  • Page 9: General Safety Information

    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.

  • Page 10: Declaration Of Conformity Fcc, Canada

    MWC25M-L2M-B16 Series Introduction Declaration of Conformity FCC, Canada The product manufacturer, Pepperl+Fuchs Group, 68307 Mannheim, Germany, has a certified quality assurance system that conforms to ISO 9001. This device contains licence-exempt transmitter(s)/receiver(s) that comply with Innovation, Sci- ence and Economic Development Canada’s licence-exempt RSS(s) and complies with part 15 of the FCC Rules.

  • Page 11: Product Description

    Product Description Use and Application The MWC25M-L2M-B16 series radar sensor with CANopen interface for medium distances up to 25 m range is optimized for use in industrial applications. Its compact cubic L2 series hous- ing is proven in many industrial areas due to its high robustness.
  • Page 12 An EDS configuration file (EDS Electronic Datasheet) is available for easy integration and parameterization of the radar sensor. This contains the CANopen objects with all the parameter options and explanations to be configured. This can be found online at www.pepperl- fuchs.com, on the product page for the MWC25M-L2M-B16 series.

  • Page 13: Measurement Characteristics

    Safety Applications Radar sensors in the MWC25M-L2M-B16 series can be used in safety applications under cer- tain circumstances, taking into account certain aspects up to PL c in combination with a diag- nostics-enabled controller (e.g., PLC).

  • Page 14: Indicators

    MWC25M-L2M-B16 Series Product Description Indicators The radar sensor has multi-color LEDs, each with three colors, for displaying operating and sta- tus information. The LED display is in accordance with the CiA 303 specification part 3, V1.4.0. Two LEDs with the same meaning are arranged diagonally on the device to ensure better visi- bility in an application environment.
  • Page 15 MWC25M-L2M-B16 Series Product Description STATUS LED (red) LED status Description The device is in the state "CAN Bus Off" The device is operating without errors Flickering The "LSS-Node-ID" is not configured. CANopen is not initialized (flash- ing frequency 10 Hz)

  • Page 16: Supported Canopen Functions

    Vendor-specific properties and functions • Operating hours counter • Application-specific tag, function tag, location tag The MWC25M-L2M-B16 series radar sensor supports the following operating modes: • Cyclic operation: The distance and velocity values are sent cyclically (regularly, adjustable interval) via the bus. •...

  • Page 17: Accessories

    2.6.1 Connection Accessories Various connection cables and cordsets are available for connecting the sensors of the MWC25M-L2M-B16 series. You will find details online at www.pepperl-fuchs.com on the product page for the relevant sensor or on the relevant datasheet. Note For mounting, connection and commissioning, the following product information is available online at www.pepperl-fuchs.com on the product page for the relevant sensor: datasheet,...

  • Page 18: Parameterization Aids

    Visit www.pepperl-fuchs.com and access the product page for the relevant sensor in the MWC25M-L2M-B16 series DTM for MWC25M-L2M-B16 series DTM (Device Type Manager)—device description and graphic user interface for radar sensor parameteriza- tion, integration into the system environment Visit www.pepperl-fuchs.com and access the product...

  • Page 19: Reflectivity Of Materials

    MWC25M-L2M-B16 Series Reflectivity of Materials Reflectivity of Materials Reflectivity and Typical Radar Cross-Sections Microwaves behave similarly to light due to their short wavelength, e.g., 12 mm at 24 GHz or 2.45 mm at 122 GHz. There are therefore the same effects such as diffraction, total reflection, deflection, interference, and some others.

  • Page 20: Dependency Of Materials

    MWC25M-L2M-B16 Series Reflectivity of Materials Dependency of Materials Radar waves propagate freely in space in a vacuum. When the waves hit an object, the signal changes due to the influence of the object's properties. Depending on the materials, the radar waves are completely or partially absorbed or reflected.

  • Page 21: Installation

    Check the package contents against your order and the shipping documents to ensure that all items are present and correct. Should you have any questions, direct them to Pepperl+Fuchs. Retain the original packaging in case the device is to be stored or shipped again at a later date.

  • Page 22: Connection

    MWC25M-L2M-B16 Series Installation Connection Note Use a shielded 5-wire sensor connection cable to connect the sensor to a CANopen bus. Pay attention to the pinoutas the standard pinout (A-coded M12 plug) differs from the pinout in the CANopen specification. Wiring Diagram...

  • Page 23: Mounting And Alignment

    MWC25M-L2M-B16 Series Installation Mounting and Alignment Mounting When mounting, observe the following points: • Mount the sensor so that no foreign objects are in the sensing range. • Note the dead band in which objects cannot be detected. If there are objects in the dead band, false reflections may occur.
  • Page 24 MWC25M-L2M-B16 Series Installation Curved reflecting object Figure 4.3 When using a curved surface (e.g., cylindrical objects) as the reflecting object, align the radar sensor with the center of the reflecting object. After hitting the reflecting object, in this scenario the main part of the radar signal is scattered in different directions.

  • Page 25: Cybersecurity Information

    MWC25M-L2M-B16 Series Cybersecurity Information Cybersecurity Information The CAN sensor is secure for the area of application defined here in accordance with IEC 62443-4-1. The plant operator must implement the countermeasures defined in this section to ensure the cybersecure operation and protection of the device.

  • Page 26: Commissioning

    CANopen radar sensorsee chapter 2.6.2. The various software components can be downloaded from www.pepperl-fuchs.com, on the respective MWC25M-L2M-B16 series product page. The software can be downloaded in compressed form as a ZIP file. After unzipping, we recommend installation using the appropriate MSI file.
  • Page 27 MWC25M-L2M-B16 Series Commissioning Note Before establishing a connection between PACTwareDC and the sensor, check whether the CAN communication between the sensor and the work computer via CAN/USB converter- SUBD9 is working. You can check this by seeing if the "USB" LED is lit green on the CAN/USB converter-SUBD9.
  • Page 28 MWC25M-L2M-B16 Series Commissioning Figure 6.3 PACTwareDC finds connected devices. Now select the desired device by double-clicking. PACTwareDC establishes a connection to the sensor, allowing you to then access the sen- sor. Figure 6.4...

  • Page 29: Change Transmission Rate And Node Id (Dtm)

    MWC25M-L2M-B16 Series Commissioning 6.1.1 Change Transmission Rate and Node ID (DTM) You can change the node ID and transmission rate (hereinafter referred to as "baud rate") in the CANopen communication DTM. The "Connection Parameter" menu tree contains four menu items for configuring various CANopen-specific settings.
  • Page 30 MWC25M-L2M-B16 Series Commissioning If no devices are listed, click "Scan list" in the left-hand menu tree and click "Yes" to confirm the following prompt. Figure 6.6 Click "Devicelist" againand select the relevant device . Double-click the relevant device in the "Devicelist" to set the node ID and baud rate in another window.
  • Page 31 MWC25M-L2M-B16 Series Commissioning Select the relevant device in the "DTM list" menu and set the correct node ID again. Figure 6.8 You can now parameterize the device with the set node ID and baud rate in the device DTM.

  • Page 32: Commissioning Via Canopen Engineering Tool

    Connect the sensor to the CAN bus and ensure a 24 V DC electric power supply. An extended operating voltage range is possible. Information on this can be found in the data sheet for your MWC25M-L2M-B16 series radar sensor. If necessary, change the communication parameters of the sensor using a suitable CANopen Engineering Tool.

  • Page 33: Enable Processing Of The Process Data

    MWC25M-L2M-B16 Series Commissioning 6.2.2 Enable Processing of the Process Data To enable the sensor to send/receive process data, you must use an NMT Main device in accordance with CiA 301 to set the sensor to the Operational state. The mapping of the process data is specified in the respective TPDO Mapping Parameter.

  • Page 34: Restoring The Factory Defaults

    MWC25M-L2M-B16 Series Commissioning 6.2.3 Restoring the Factory Defaults You can restore the sensor's factory defaults using index 0x1011 "Restore default parameters": 1. Write the signature 0x64616F6C ("daol" corresponds to "load" backward) to object 0x1011:1 of the sensor. Switch the voltage supply to the sensor off and then on again (power cycle).

  • Page 35: Parameterization And Analysis Using Pactware And Dtm Via Canopen

    MWC25M-L2M-B16 Series Parameterization and Analysis Using PACTware and DTM via CANopen Parameterization and Analysis Using PACTware and DTM via CANopen Overview The parameters of the sensors are device-specific. In the DTM (Device Type Manager), these parameters are described in a well-structured way and partly supported with graphics. The DTM can be imported into various engineering tools from different system providers, DTM sup- port provided.
  • Page 36 MWC25M-L2M-B16 Series Parameterization and Analysis Using PACTware and DTM via CANopen Basic DTM Operating Functions Below are a few basic operating functions for the DTM in the PACTware environment. Figure 7.2 Basic menu structure of the DTM. When a menu is selected, clickable tile icons for sub- menus are displayed on the right, or information or control buttons are displayed directly.

  • Page 37: Menu Item Information

    MWC25M-L2M-B16 Series Parameterization and Analysis Using PACTware and DTM via CANopen Menu Item Information Figure 7.3 In the Information menu item, information about the sensor, product -specific CANopen infor- mation, and DTM details can be accessed via the respective submenus.

  • Page 38: Menu Item Configuration

    MWC25M-L2M-B16 Series Parameterization and Analysis Using PACTware and DTM via CANopen Menu Item Configuration The Configuration menu item can be used to parameterize the sensor via the respective sub- menus. Submenu CANopen Figure 7.4 In the CANopen submenu, you can set the producer heartbeat time and the PDO mapping for...
  • Page 39 MWC25M-L2M-B16 Series Parameterization and Analysis Using PACTware and DTM via CANopen Submenu Sensor Figure 7.5 In the Sensor submenu, you can parameterize the behavior during radar measurement and its evaluation. Submenu LED Configuration Figure 7.6 In the LED configuration submenu, you can enable or disable the sensor's sensor LED and...

  • Page 40: Menu Item Analysis

    MWC25M-L2M-B16 Series Parameterization and Analysis Using PACTware and DTM via CANopen Menu Item Analysis Figure 7.7 In the Analysis menu item, you can select between the Observation and Analysis submenus. • Submenu Observation For tracking and recording measured values and corresponding behavior.
  • Page 41 MWC25M-L2M-B16 Series Parameterization and Analysis Using PACTware and DTM via CANopen 7.4.1 Submenu Observation Figure 7.8 You can use the Observation submenu item to track and record data from the radar sensor over time, and the corresponding behavior of the measured object's signal quality. You can choose from the "Visual observation"...
  • Page 42 MWC25M-L2M-B16 Series Parameterization and Analysis Using PACTware and DTM via CANopen Menu Description Figure 7.9 No. Name Description Follow mode on/off If follow mode is "On," data is displayed in accordance with the current rescale setting of the x-axis. The measured value is visible in the display.
  • Page 43 MWC25M-L2M-B16 Series Parameterization and Analysis Using PACTware and DTM via CANopen No. Name Description Interval You can use the "Interval" selection function to specify the time interval at which data is recorded in the graphic. There are several fixed intervals available between 100 ms and 1 hour.
  • Page 44 MWC25M-L2M-B16 Series Parameterization and Analysis Using PACTware and DTM via CANopen Data Logging Setting Pressing the "Settings for data logging" button opens the menu displayed below. Figure 7.10 You can use the "Name of log file" field to set the file path and file name for the logging data.

  • Page 45: Submenu Analysis

    MWC25M-L2M-B16 Series Parameterization and Analysis Using PACTware and DTM via CANopen 7.4.2 Submenu Analysis To better detect the reflections located in the sensor's detection field, all the reflections of one or more measurements received by the radar sensor can be visualized and analyzed in the Analysis submenu item.
  • Page 46 MWC25M-L2M-B16 Series Parameterization and Analysis Using PACTware and DTM via CANopen No. Name Description Reflection (echo) In the "Reflection sampling" area, you can choose whether to sampling record a single sample, 50 cycles, or continuous samples. Using the continuous display also provides you with an alignment aid.

  • Page 47: Menu Item Service

    (power cycle) , the sensor rinitializes on the bus with its factory defaults. Note The node ID, baud rate, and operating hours are not restored to the factory settings. Use the "Product website" button to go to the product area information page (landing page) for the MWC25M-L2M-B16 series.

  • Page 48: Parameterization Using The Canopen Engineering Tool With Canopen Objects

    MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects Parameterization Using the CANopen Engineering Tool with CANopen Objects CANopen Overview What Is CANopen? CANopen is a multimaster-compliant fieldbus system based on the CAN (Controller Area Net- work). Subscribers on the CANopen fieldbus communicate not with addresses, but with message identification numbers (message identifiers or CAN IDs for short).
  • Page 49 This contains the CANopen objects with all the parameter options and explanations to be configured. This can be found online at www.pepperl- fuchs.com, on the product page for the MWC25M-L2M-B16 series. More Information CAN in Automation (CiA) International Users and Manufacturers Group e.V.

  • Page 50: Canopen Object Directory

    MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects CANopen Object Directory Note CANopen Parameter Communication This section contains the information required for the data exchange via CANopen. Data is exchanged with the sensor via objects. These objects and their respective permissible functions are defined in the following SDO directory.
  • Page 51 MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects Supported Objects Object Description 0x1000 Device type 0x1001 Error register 0x1002 Manufacturer status register 0x1003 Predefined error field, maximum of 32 entries 0x1005 COB ID SYNC 0x1008 Manufacturer device name...

  • Page 52: Object 0X1000 Device Type

    MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects Object 0x1000 Device Type Index Subindex Designation Data Type Attribute Default Value 0x1000 0x00 Device Type ro (= read only) unsigned32 Table 8.2 1. Data type without prefix, 32 bit...

  • Page 53: Object 0X1003 Predefined Error Field

    MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects Object 0x1003 Predefined Error Field Index Subindex Designation Data Type Attribute Default Value 0x1003 0x00 Predefined Error unsigned 32 Field (Indicates the number of errors that occurred) 0x01 Most Recent...

  • Page 54: Object 0X100A Manufacturer Software Version

    MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects 8.10 Object 0x100A Manufacturer Software Version Index Subindex Designation Data Type Attribute Default Value 0x100A 0x00 Manufacturer visible string FW01.00 Software Version Value may vary Table 8.12 8.11 Object 0x1010 Store Parameters Note This object is only required for continuous object storage.

  • Page 55: Object 0X1015 Inhibit Time Emergency

    MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects 8.14 Object 0x1015 Inhibit Time Emergency Index Subindex Designation Data Type Attribute Default Value 0x1015 0x00 Inhibit time emer- unsigned16 gency (As a Multiple of 100 µs) Table 8.16 8.15...

  • Page 56: Object 0X1200 Server Sdo Parameter (Default Sdo)

    MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects 8.18 Object 0x1200 Server SDO Parameter (Default SDO) Index Subindex Designation Data Type Attribute Default Value 0x1200 0x00 Highest subindex unsigned8 0x02 supported 0x01 COB ID Client to unsigned32...

  • Page 57: Object 0X1802 Transmit Pdo Communication Parameter 3

    MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects 8.21 Object 0x1802 Transmit PDO Communication Parameter 3 Index Subindex Designation Data Type Attribute Default Value 0x1802 0x00 Highest subindex unsigned8 0x06 supported 0x01 COB ID unsigned32 NODE ID+0x00000380...

  • Page 58: Object 0X1A01 Tpdo2 Mapping Parameter

    MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects 8.24 Object 0x1A01 TPDO2 Mapping Parameter Index Subindex Designation Data Type Attribute Default Value 0x1A01 0x00 Highest subindex unsigned8 0x04 0x01 Mapping Entry 1 unsigned32 0x0000000 0x02 Mapping Entry 2 unsigned32...

  • Page 59: Object 0X2000 Process Data

    MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects 8.27 Object 0x2000 Process Data Note PDO mapping is possible for these CANopen objects. Data Index Subindex Designation Type Attribute Default Value Meaning 0x2000 0x00 Highest subin- unsigned 0x06...

  • Page 60: Object 0X2001 Operating Hours

    MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects 8.28 Object 0x2001 Operating Hours Index Subindex Designation Data Type Attribute Default Value 0x2001 0x00 Operating hours unsigned 32 0x00000000 Value changes over time Value in full hours, n+1 is incrementally cotttunted upward each time power is resupplied.

  • Page 61: Object 0X4000 Measurement Configuration

    MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects 8.30 Object 0x4000 Measurement Configuration Default Index Subindex Designation Data Type Attribute Value Meaning 0x00 Highest subindex unsigned8 0x09 0x4000 supported 0x01 Measurement unsigned8 0x00 Sets the measurement mode for...

  • Page 62: Object 0X4001 Led Configuration

    MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects Subin- Attri- Index Designation Data Type bute Default Value Meaning 0x4000 0x05 Event configu- unsigned8 0x00 (disabled) Allows you to configure an ration event that triggers an emer- gency message.

  • Page 63: Object 0X4100 Reflection Array List

    MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects 8.32 Object 0x4100 Reflection Array List This object contains up to ten reflections from objects. All reflections are output without the influence of filters or suppressions. Each reflection indicates the following values: •...
  • Page 64 MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects Subin- Attri- Default Index Designation Data Type bute Value Meaning 0x4100 0x0A Reflection 4 real32 Contains the distance value of the Distance fourth reflection in mm 0x0B Reflection 4...
  • Page 65 MWC25M-L2M-B16 Series Parameterization Using the CANopen Engineering Tool with CANopen Objects Subin- Attri- Default Index Designation Data Type bute Value Meaning 0x4100 0x19 Reflection 9 real32 Contains the distance value of the Distance ninth reflection in mm 0x1A Reflection 9...

  • Page 66: Maintenance And Repair

    MWC25M-L2M-B16 Series Maintenance and Repair Maintenance and Repair Maintenance Work The sensor itself is maintenance-free. For this reason, it is not necessary to carry out regular adjustments or maintenance work on the sensor itself. However, check that the sensor and connector are tight within the scope of routine mainte- nance intervals.

  • Page 67: Troubleshooting

    In case of a fault, use the following checklist to determine whether a malfunction with the sen- sor can be remedied. If none of the information provided in the checklist solves the problem, contact Pepperl+Fuchs via your sales office for any queries. If possible, have the model number and firmware version of the sensor to hand.
  • Page 68 Pepperl+Fuchs Quality Download our latest policy here: www.pepperl-fuchs.com/quality www.pepperl-fuchs.com © Pepperl+Fuchs · Subject to modifications / DOCT-8762...

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