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Wenglor PNBC105 Operating Instructions Manual

Laser distance sensor triangulation
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Operating Instructions
PNBC105
Laser Distance Sensor Triangulation
EN
Translation of the original operating instructions
Subject to change without notice
Available as PDF file only
Version 1.0
www.wenglor.com

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Summary of Contents for Wenglor PNBC105

  • Page 1 Operating Instructions PNBC105 Laser Distance Sensor Triangulation Translation of the original operating instructions Subject to change without notice Available as PDF file only Version 1.0 www.wenglor.com...

  • Page 2: Table Of Contents

    Output Functions..............................24 6.4.3 Input Functions ................................ 25 6.5 Switching Point Functions ..............................25 6.6 Encoder Input ..................................26 6.7 Analog Output ..................................28 6.8 Condition Monitoring Functions ............................29 Table of Contents | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 3 9.4.18 Encoder Reset ................................. 46 9.4.19 Encoder Counter Right Shift ..........................46 9.4.20 Reset to Default Values ............................46 9.5 I/O Settings.................................... 46 9.5.1 Analog Mode ................................46 9.5.2 Querying Input Status............................. 46 Table of Contents | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 4 Peak Data ................................. 53 9.6.4 Description of the Measurement Data ........................ 54 10 Interface Protocol EtherCAT ............................56 11 Maintenance Instructions ............................. 71 12 Proper Disposal ................................72 13 Declarations of Conformity............................73 Table of Contents | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 5: General

    The safety precautions and warnings are laid out in accordance with the following principle: SIGNAL WORD Type and source of danger! Possible consequences in the event that the hazard is disregarded. à Measures for averting the hazard. 1 ‒ General | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 6: Limitation Of Liability

    • wenglor assumes no liability for printing errors or other inaccuracies contained in these operating in- structions unless wenglor was verifiably aware of such errors at the point in time at which the operat- ing instructions were prepared.

  • Page 7: Copyrights

    • All rights are reserved by wenglor. • Commercial reproduction or any other commercial use of the provided content and information, in particular graphics and images, is not permitted without previous written consent from wenglor. 1 ‒ General | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 8: For Your Safety

    • The product is not suitable for use in potentially explosive atmospheres. • The product may be used only with accessories supplied or approved by wenglor, or in combination with approved products. A list of approved accessories and combination products can be found at www.wenglor.com on the product detail page.

  • Page 9: Personnel Qualifications

    Notice No. 56, dated May 8, 2019 du laser n° 56 en date du 8 mai 2019 CLASS 2 LASER PRODUCT CLASS 2 LASER PRODUCT Laser Class 2 (EN 60825-1) 2 ‒ For Your Safety | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 10: Approvals And Protection Class

    Use of control and/or adjusting devices other than those specified here, as well as the execution of other procedures, may result in hazardous exposure to laser radiation. Approvals and Protection Class IND. CONT. EQ 72HL / E189727 For use in class 2 circuits 2 ‒ For Your Safety | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 11: Technical Data

    Mechanical Characteristics Setting Method Teach-In Housing Material Aluminum, anodised Degree of Protection IP67 Connection M12 × 1; 8-pin Type of Connection Ethernet M12 × 1; 4-pin Optic Cover Glass 3 ‒ Technical Data | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 12: Default Settings

    The following table shows the measuring rate for diffusely reflective objects of differ- ent reflectivities. Object color Reflectivity Measuring rate White 30 kHz Gray 30 kHz Black 30 kHz Values measured with Zenith Polymer diffuser with transmitting beam perpendicular to surface. 3 ‒ Technical Data | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 13: Housing Dimensions

    Dimensions specified in mm (1 mm = 0.03937") Layout 1 Voltage supply connector plug 2 Ethernet connection socket 3 LED Display 4 Laser Outlet 5 Receivers 6 Thread for mounting the protective screen re- tainer 3 ‒ Technical Data | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 14: Control Panel

    Green EtherCAT active Complementary Products wenglor offers you the right connection and mounting technology as well as other accessories for your product. You can find this at www.wenglor.com on the product details page at the bottom. Scope of Delivery • Sensor •...

  • Page 15: Transport And Storage

    • Protect the product against exposure to direct sunlight. NOTICE Risk of property damage in case of improper storage! The product may be damaged. à Storage instructions must be complied with. 4 ‒ Transport and Storage | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 16: Installation And Electrical Connection

    à Comply with installation instructions. CAUTION Risk of personal injury or property damage during installation! Personal injury and damage to the product may occur. à Ensure a safe installation environment. 5 ‒ Installation and Electrical Connection | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 17: Electrical Connection

    Emitted Light disengageable Grey Safety Output Signal Output Magnet activation White Pink Ethernet Gigabit bidirect. data line (A-D) Input confirmation Green/Yellow Encoder 0-pulse 0-0 (TTL) Contactor Monitoring 5 ‒ Installation and Electrical Connection | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 18: Troubleshooting

    Risk of personal injury or property damage in case of non-compliance! The system’s safety function is disabled. Personal injury and damage to equipment may occur. à Required action as specified in case of fault. 5 ‒ Installation and Electrical Connection | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 19: Function Description

    To switch back from EtherCAT mode to Ethernet TCP/IP mode, an EtherCAT master is required, as the EthernetEnable register must be written for this. See Interface Protocol EtherCAT [} 56] 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 20: Exposure Control

    1: Maximum measuring rate, good black sensitivity: Measuring rate 30 kHz, automatic exposure time control, maximum expo- sure time 29 µs, automatic laser power control 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 21 If constant laser power is desired, exposure time control is more suitable. Note: The automatic exposure time control has a faster control speed compared to the laser power control. 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 22: Evaluation Method

    In most cases, the FCOG evaluation method offers the best compromise between resolution and robustness Protective screen Compensates for the distance error when using the accessory compensation protective screens 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 23: Center Of Gravity (Fcog)

    With edge evaluation, the measured values achieve a 11-bit reso- lution. Edge 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 24: Input/Output Functions (E/A)

    (reference) and the output. When the sen- sor is switched, the output is connected to the plus pole via an electronic switch. The switching signal is main- tained when a pull-down resistor is connected. 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 25: Input Functions

    The switching distance is then automatically set to a (Foreground teach-in) distance which is slightly greater than the clearance be- tween the sensor and the object. The sensor is thus 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 26: Encoder Input

    GND. The counting direction can be changed by swapping inputs I1 and I2. In addition, an encoder reset signal that resets the encoder counter can be connected to one of the remaining input pins. 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 27 The maximum input frequency at the encoder inputs is 500 kHz (90° phase shift between channel A and B, assuming pulse duty factor ½). This means that it is possible to work with a maximum encoder pulse rate of 2 MHz. 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 28: Analog Output

    Current output Current 4…20 mA The connected load should be >= 1 kΩ. Voltage output 0…10 V The connected load should be <= 400 Ω. Voltage Measuring range Distance Current Measuring range Distance 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 29: Condition Monitoring Functions

    A bigger filter improves the sensor's reproducibility and smooths the signal waveform. The higher the filter number, the longer the sensor’s response time when the measured values change. 0.1 = off 2…1,000 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 30: Distance Measurement With Encoder Output Filter

    The measured values to be output according to the above conditions are collected and sent in packages over TCP/IP. INFORMATION The package size of the TCP/IP output can be adjusted, see Header and Data Format [} 51]. 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 31: Distance Measurement With Single-Channel Trigger

    A calibration report is included with the sensor, which graphically represents linearity error as a percent- age for the measured value on a matte white surface. The following is an example of a calibration report: Example: 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 32: Surface Structure And Condition Of The Object To Be Measured

    (see section Evaluation Method [} 22]) remains constant when the textured surface is scanned. Choosing a suitable average filter minimizes unwanted de- flections. 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 33: Ambient Light

    INFORMATION In order to achieve the highest possible resistance to ambient light, the shortest possible maximum expo- sure time should be set. 6 ‒ Function Description | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 34: Settings Via Website

    In the right-hand column there is a status field that displays automatically updated live data of important sensor parameters. For a description of the individual parameters, see section Function Description [} 19]. 7 ‒ Settings via Website | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 35: Network Settings

    TCP/IP interface. To deactivate EtherCAT mode, use TwinCAT (Link Beckoff) or an EtherCAT capable controller. Basic Adjustment Parameters Basic adjustment parameters that influence the measurement performance and behavior of the sensor can be set on the “Basic Settings” subpage. 7 ‒ Settings via Website | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 36: Input/Output Functions

    Input/Output Functions The “I/O Settings” subpage can be used to parameterize the input/output functions of the sensor at the physical pins and the behavior of the analog output. 7 ‒ Settings via Website | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 37 7 ‒ Settings via Website | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 38: Wteach2 Configuration Software

    INFORMATION If the IP address is unknown, the sensor can be found using wTeach2 and the network configuration can be changed without knowing the IP address. 8 ‒ wTeach2 Configuration Software | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 39: Interface Protocol Ethernet Tcp/Ip

    9.1.4 Selecting the Data Format for Peak Data Command set_peak<CR> Response Data stream Description A peak is transmitted. 9.1.5 Package Length Command (set) set_packet_size=x<CR> Command (query) get_packet_size=x<CR> 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 40: Fast Retransmissions

    Beispiel: OK:pversion=1.0.0<CR> Description The product version is read out. 9.2.3 Querying the Manufacturer Command get_manufacturer<CR> Response OK:manufacturer=wenglor_sensoric_GmbH<CR> Description The manufacturer is read out. Blanks are replaced with underlines! 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 41: Querying The Description

    The new gateway address does not become active until after restarting. 9.3.3 Reset Network Settings to Default Values Command set_activate_network_default<CR> Response OK:activate_network_default<CR> Description IP address, gateway and subnet mask are reset. 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 42: Measured Value Settings

    The output rate is set and output in Hertz (default setting: 10,000 Hz). Possible values for “x” include: 1…30,000 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 43: Output Filter

    Control of Laser Power and Exposure Time Command (set) set_regulator=x<CR> Command (query) get_regulator<CR> Response OK:regulator=x<CR> Description Exposure time / laser power regulation is set here. Possible values for “x” include: 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 44: Switch Laser On/Off

    9.4.12 Current Laser Power Command (query) get_current_laser_power <CR> Response OK:current_laser_power=x<CR> Description Readout of the currently applied laser power with automatic and manual laser power control in mW. 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 45: Fixed Exposure Time

    Offset [mm] = x / 65536 × measuring range [mm] 9.4.17 Protective Screen Compensation Command (set) set_compensation_activate<CR> set_compensation_deactivate<CR> Response No response Description Activates or deactivates the protective screen compensation. 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 46: Encoder Reset

    Reads out the input status at the pin – possible values: 0 and 1 9.5.3 Querying the Input/Output Status of All Inputs/Outputs Command (set) get_usr_allinputs<CR> Response OK:usr_io_allinputs=0111<CR> 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 47: Pin Function

    (z. B. I/O1): OK:usr_io1_output_mode=x<CR> Description Determination of the output mode. Possible values for “x” include: 1: PNP 2: NPN 3: Push-pull 9.5.6 Output Function Command (set) set_usrio1_output_function=x<CR> 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 48: Teach-In Mode

    The pin function of the respective output must be configured as a switching output. 9.5.9 Window Size Command (set) set_usrio1_window_size_mm=x<CR> set_usrio2_window_size_mm=x<CR> set_usrio3_window_size_mm=x<CR> set_usrio4_window_size_mm=x<CR> Command (query) get_usrio1_window_size_mm<CR> get_usrio2_window_size_mm<CR> 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 49: Changing The Switching Point

    In the case of non-integer numbers, a dot must be inserted instead of the comma. 9.5.12 Switching Reserve Command (set) 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> Command (query) get_usrio1_switch_res_mm<CR> get_usrio2_switch_res_mm<CR> get_usrio3_switch_res_mm<CR> 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 50: Input Load

    2: Operating voltage inactive (pending tasks are executed when operating voltage = 0 V) 9.5.15 Minimum Intensity Command (set) set_usrio1_min_err_intens=x<CR> set_usrio2_min_err_intens=x<CR> set_usrio3_min_err_intens=x<CR> set_usrio4_min_err_intens=x<CR> Command (query) get_usrio1_min_err_intens<CR> get_usrio2_min_err_intens<CR> get_usrio3_min_err_intens<CR> 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 51: Header And Data Format

    Software version (zero-terminated) 52 string V2.11* Operating time counter in ms unsigned int 1467* Measuring range lower limit in unsigned short Measuring range in mm unsigned short 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 52: Extended Continuous Measurement (Distance, Intensity, Encoder)

    Operating time counter in ms unsigned int 1,467* Measuring range lower limit in unsigned short Measuring range in mm unsigned short Laser power in 0.1 mW unsigned short 1…10 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 53: Peak Data

    Temperature in the sensor in °C unsigned char Evaluation method unsigned char 2, 5 Laser power / measuring rate unsigned char 0…3 control EncRightShift unsigned char 0…8 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 54: Description Of The Measurement Data

    Measured value in mm = (distance in bits ∗ sensor measuring range in mm / 65536) + lower working range limit in mm Example (PNBC105): Measured value = 35,721 × 100 mm/65,536 + 90 mm = 144.5 mm 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 55 Errorbit: Intensity too low or too high Bit 15: Errorbit: Distance is outside of the working range Encoder Value: The encoder value is represented as a 16-bit value: Bit 0…15: Encoder value (0…65,535) 9 ‒ Interface Protocol Ethernet TCP/IP | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 56: Interface Protocol Ethercat

    Index 0x1a00 - 1. TxPDO Name element Data Bits Access Description Default set- type ting index size Number of ele- USINT ments PDO Object 1 UDINT 0x30000110 PDO Object 2 UDINT 0x30000210 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 57 Hertz. When setting the Frequency pa- rameter, the sampling/downsam- pling parameter that best matches the measuring rate (MeasureFrequency) is selected (see section Digital Read-Out of Measured Values [} 29]). 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 58 Values: ▪ 0: Automatic exposure time and laser power control ▪ 1: Automatic exposure time control, manually adjustable laser power control 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 59 Input of zero-point offset. The off- set is entered as a 16-bit value. Conversion of offset from digital to mm: Offset [digits] = Offset [mm] / MeasurementRange × 65536 Values: 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 60 ▪ 3: Ext. teach-in input for O3 ▪ 4: Ext. teach-in input for O4 ▪ 5: Encoder input (I1+I2) ▪ 6: Encoder reset input ▪ 9: Input laser on/off ▪ 10: Error output 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 61 16-bit value. Conversion in mm takes place via MeasurementRange and MeasurementBegin: Switching Point [digits] = (SwitchingPoint [mm] - Measure- mentBegin[mm])/Measuremen- tRange [mm]× 65536 Values: 0…65,535 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 62 Operating voltage inactive: Pend- ing tasks are executed when op- erating voltage is 0 V. Values: ▪ 0: Operating voltage active ▪ 1: Operating voltage inactive 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 63 The sensor is switched when the ob- ject is within the window. Values: ▪ 0: Foreground Teach-In ▪ 1: Window teach-in 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 64 Window UINT Window is specified as a 16-bit 1,300 value. Conversion to mm is done via MeasurementRange: Window [digits] = Window [mm] / MeasurementRange [mm] × 65536 Values: 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 65 Future setting values are auto- matically calculated and saved from the values currently recorded. The pin function of the respec- tive output must be configured as a switching output. 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 66 Switching re- serve ensures reliable object de- tection even in the case of slightly fluctuating distances be- tween the objects and the sen- sor. 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 67 ▪ 2: Ext. teach-in input for O2 ▪ 3: Ext. teach-in input for O3 ▪ 4: Ext. teach-in input for O4 ▪ 5: Encoder input (I1+I2) ▪ 6: Encoder reset input 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 68 The switching point is specified as a 16-bit value. Conversion in mm takes place via MeasurementRange and MeasurementBegin: Switching Point [digits] = (SwitchingPoint [mm] - Measure- mentBegin[mm])/Measuremen- tRange [mm]× 65536 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 69 Operating voltage active: Pend- ing tasks are executed when op- erating voltage is on. Operating voltage inactive: Pend- ing tasks are executed when op- erating voltage is 0 V. 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...
  • Page 70 Name element Data type Bits Access Description Default set- ting index size Values: ▪ 0: Operating voltage active ▪ 1: Operating voltage inactive 10 ‒ Interface Protocol EtherCAT | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 71: Maintenance Instructions

    Cleaning and inspection of the plug connections at regular intervals are advisable. Do not clean the product with solvents or cleaning agents that could damage the product. The product must be protected against contamination during initial start-up. 11 ‒ Maintenance Instructions | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 72: Proper Disposal

    Proper Disposal wenglor sensoric GmbH does not accept the return of unusable or irreparable products. Respectively valid national waste disposal regulations apply to product disposal. 12 ‒ Proper Disposal | PNBC105 ‒ Laser Distance Sensor Triangulation...

  • Page 73: Declarations Of Conformity

    Declarations of Conformity Declarations of conformity can be found on our website at www.wenglor.com in the product’s separate download area. 13 ‒ Declarations of Conformity | PNBC105 ‒ Laser Distance Sensor Triangulation...

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