Pepperl+Fuchs PGV F200 Manual de usuario

PGV...-F200/-F200A...-B16-V15

Incident Light Positioning System

FAC ORY AU OMA ION

MANUAL

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 lectrical Indus-

try, published by the Central Association of the lectrical Industry (Zentralverband

lektrotechnik und lektroindustrie (ZV I) e.V.) in its most recent version as well as the

supplementary clause: " xpanded reservation of proprietorship"

PGV...-F200/-F200A...-B16-V15

1 Safety ........................................................................................... 5

1.1 Introduction .......................................................................................... 5

1.1.1 Contents ............................................................................................ 5

1.1.2 Target Group, Personnel .................................................................... 5

1.1.3 Symbols Used.................................................................................... 5

2 Product Description ................................................................... 7

2.1 Use and Application............................................................................. 7

2.2 LED Indicators and Controls............................................................... 8

2.3 Accessories ........................................................................................ 12

3 Installation................................................................................. 13

3.1 Mounting the Read Head................................................................... 13

3.2 Mounting the Colored ape and Code ape .................................... 15

3.3 Electrical Connection ........................................................................ 32

3.4 CANopen Connection ........................................................................ 34

4 Commissioning......................................................................... 35

4.1 Specifying the First Direction Decision ........................................... 35

4.2 Direction Decision.............................................................................. 35

4.3 Parameterization of Fieldbus Address and Baud Rate................... 37

4.3.1 Product documentation on the internet ............................................ 39

4.4 EDS Configuration File ...................................................................... 39

5 Operation and communication................................................ 40

5.1 Data Exchange in the CANopen Bus................................................ 40

5.1.1 General Information about CANopen................................................ 40

5.1.2 Basic Technical Information about CANopen................................... 41

5.1.3 CANopen Object Directory .............................................................. 44

5.1.4 Object 3001 ..................................................................................... 62

5.2 Operation Using Control Codes ....................................................... 64

5.3 Operation Using Repair ape ............................................................ 65

PGV...-F200/-F200A...-B16-V15

6 Appendix ................................................................................... 67

6.1 ASCII table...........................................................................................67

6.2 Code cards with special functions ...................................................67

6.3 Code Cards for Setting the Baud Rate .............................................69

PGV...-F200/-F200A...-B16-V15

Safety

2016-09

1 Safety

1.1 Introduction

1.1.1 Contents

This document contains information that you need in order to use your product throughout the

applicable stages of the product life cycle. These can include the following:

■

Product identification

■

Delivery, transport, and storage

■

Mounting and installation

■

Commissioning and operation

■

Maintenance and repair

■

Troubleshooting

■

Dismounting

■

Disposal

The documentation consists of the following parts:

■

Present document

■

Instruction manual

■

Datasheet

Additionally, the following parts may belong to the documentation, if applicable:

■

U-type examination certificate

■

U declaration of conformity

■

Attestation of conformity

■

Certificates

■

Control drawings

■

Additional documents

1.1.2 Target Group, Personnel

Responsibility for planning, assembly, commissioning, operation, maintenance, and

dismounting lies with the plant operator.

Only appropriately trained and qualified personnel may carry out mounting, installation,

commissioning, operation, maintenance, and dismounting of the product. The personnel must

have read and understood the instruction manual and the further documentation.

Prior to using the product make yourself familiar with it. Read the document carefully.

1.1.3 Symbols Used

This document contains symbols for the identification of warning messages and of informative

messages.

Note!

This document does not substitute the instruction manual.

Note!

For full information on the product, refer to the instruction manual and further documentation on

the Internet at www.pepperl-fuchs.com.

2016-09

PGV...-F200/-F200A...-B16-V15

Safety

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

property damage.

Depending on the risk level, the warning messages are displayed in descending order as

follows:

Informative Symbols

Action

This symbol indicates a paragraph with instructions. You are prompted to perform an action or

a sequence of actions.

Danger!

This symbol indicates an imminent danger.

Non-observance will result in personal injury or death.

Warning!

This symbol indicates a possible fault or danger.

Non-observance may cause personal injury or serious property damage.

Caution!

This symbol indicates a possible fault.

Non-observance could interrupt the device and any connected systems and plants, or result in

their complete failure.

Note!

This symbol brings important information to your attention.

PGV...-F200/-F200A...-B16-V15

Product Description

2016-09

2 Product Description

2.1 Use and Application

Intended Use

This device, when used together with a colored tape affixed to the floor and code tapes printed

with Data Matrix codes, constitute a high-resolution lane tracking and positioning system. It can

be used in all applications where automated guided vehicles (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.

The read head uses these features to detect a colored tape stuck to the floor or a painted color

lane to track the lane. The read head detects Data Matrix tags to navigate within a grid. The

read head also detects control codes and position markers in the form of Data Matrix codes

printed on a self-adhesive code tape. Data Matrix code tapes and Data Matrix tags have priority

over colored tapes or colored lanes.

The Data Matrix code tapes are installed in a fixed position instead of or along with the colored

tape. The read head is located on an automated guided vehicle (AGV) and guides this vehicle

along the colored tape.

Figure 2.1 Automated guided vehicle with green colored tape

Note!

Priority

Data Matrix code tapes and Data Matrix tags have priority over colored tapes or colored lanes.

If the read head detects a Data Matrix code tape or Data Matrix tags in the field of view, colored

tapes or colored lanes in the field of view are ignored.

2016-09

PGV...-F200/-F200A...-B16-V15

Product Description

ag Mode

In addition to the tracking, you can use the read head 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. The read head reports the position

of the AGV in relation to the zero point of the Data Matrix tag to the controller.

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 2.2 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.

The extensive yet user-friendly parameterization options as well as the configurable inputs and

outputs mean that the read head can easily be adapted to suit each application.

2.2 L D Indicators and Controls

The PGV... reader is equipped with seven indicator L Ds for carrying out visual function checks

and rapid diagnostics. The reader is equipped with two buttons at the back for activating

parameterization mode. Button 1 is labeled ADJUST. Button 2 is labeled CONFIG.

PGV...-F200/-F200A...-B16-V15

Product Description

2016-09

Figure 2.3

ADJUST

CONFIG

LED 1 2 3 4 5 6 7

2016-09

PGV...-F200/-F200A...-B16-V15

Product Description

x = L D status has no meaning

L D

[#1]

BUS STAT

[#2]

BUS RR

[#3]

PWR

RR/NO COD

[#4]

LAN AVAILABL

[#5]

FOLLOW L FT

[#6]

FOLLOW RIGHT

[#7]

INT RNAL DIAGNOSTIC

DescriptionColor Yellow Red

Green/

red Yellow Yellow Yellow

Red/

green/

yellow

Status

x x Flashes

red

x x x x Code tape outside read range

flash

= 2 Hz

x x Lights up

red

x x x x System error

x x Lights up

green

x x x x Code tape detected, absolute

position available

x x x Lights

x x x Colored tape detected

x x x Off x x x Colored tape outside read

range

x x x x Off Off x No direction selection activated

x x x x Lights

Off x "Follow left-hand lane"

activated

x x x x Off Lights

x "Follow right-hand lane"

activated

x x x x Lights

Lights

x "Straight ahead" activated

Lights

x x x x x x CANopen data transfer

x Flashes x x x x x CANopen error

flash

= 1 Hz

x x Flashes

red

Flashes Flashes Flashes Off Normal operation. Indication for

2 secs if a button is pressed

when the time lock is enabled.

x x Off Flashes Off Off Off Preconfiguration/configuration

mode active

flash

= 2 Hz

x x Lights up

red

Flashes Off Off Off Code card faulty

flash

= 2 Hz for 3 sec

x x Green,

1 sec

Flashes Off Off Off Code card detected

flash

= 2 Hz for 3 sec

x x Off x x x Off Time lock for buttons disabled

1.No lane selected, for example

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