Leuze electronic OGS 600 User manual

OGS 600
Optical guidance sensor
EN 01-2017/11 50137686 We reserve the right to make technical changes
Original operating instructions

Leuze electronic OGS 600
TNT 35/7-24V
© 2017
Leuze electronic GmbH + Co. KG
In der Braike 1
D-73277 Owen / Germany
Phone: [phone]
Fax: [phone]
http://www.leuze.com
[email protected]

Leuze electronic OGS 600 1
Table of contents
1 About this document. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1 Explanation of symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1 Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2 Foreseeable misuse. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.3 Competent persons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.4 Exemption of liability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3 Device description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.1 Device overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.2 Performance characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.2.1 Trace detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.2.2 Measurement time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2.3 Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2.4 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2.5 Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2.6 Output value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2.7 Example: Guide trace detection with active "Trace width" filter . . . . . . . . . . . . . . . . . . . 13
3.3 Guide trace requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.3.1 Trace color . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.3.2 Trace width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.3.3 Free space next to the trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.4 Connection technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.5 Operating and display elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1 General mounting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.2 Selecting a mounting location. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.3 Mounting accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5 Electrical connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.1 Safety notices for the electrical connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.2 Voltage supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.2.1 Shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.3 Pin assignment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.3.1 OGS 600-…/D3-M12.8 with RS485 interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

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5.3.2 OGS 600-…/D2-M12.8 with RS422 interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.3.3 OGS 600-…/CN-M12 with CANopen and RS232 interface . . . . . . . . . . . . . . . . . . . . . . . 22
5.4 Switching inputs/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.4.1 Function of the SW_IO and IO switching outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.4.2 Switching output SW_IO (pin 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.4.3 IO switching output/switching input (pin 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.4.4 Function of the IO switching input (pin 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5.5 Connection to the PC via RS232/RS422/RS485 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6 Configuration/diagnostic software . . . . . . . . . . . . . . . . . . . . . . . . 29
6.1 Installing the required software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.1.1 System requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.1.2 Installation of the software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.2 Starting the configuration/diagnostic software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.3 Short description of the configuration/diagnostic software . . . . . . . . . . . . . . . . . . . . . 30
7 Configuring the sensor – Overview of functions . . . . . . . . . . . . . . 31
7.1 Compensating the installation position of the sensor – Angle compensation teach . . 31
7.2 Configuring the guide trace – light, dark, retro-reflective . . . . . . . . . . . . . . . . . . . . . . . 32
7.3 Offset to the edge positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.4 Switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.4.1 "Switch" function – Settings for type 2 switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.4.2 Index accesses for activation of the "Switch" function . . . . . . . . . . . . . . . . . . . . . . . . . . 38
7.5 "Trace width" filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
7.5.1 Teaching the trace width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
7.5.2 Manual configuration of the trace width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
7.5.3 Process data information for the "Trace width" filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
7.5.4 Index overview for the "Trace width" filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.6 "Minimum contrast" filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.6.1 Teaching the minimum contrast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
7.6.2 Manual configuration of the minimum contrast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.6.3 Warning for minimum contrast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7.6.4 Process data information for the "Minimum contrast" filter . . . . . . . . . . . . . . . . . . . . . . . 43
7.6.5 Index overview for the "Minimum contrast" filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
7.7 "Trace amplitude" filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.7.1 Teaching the trace amplitude . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.7.2 Manual configuration of the trace amplitude . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.7.3 Warning for trace amplitude . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.7.4 Process data information for the "Trace amplitude" filter . . . . . . . . . . . . . . . . . . . . . . . . 47

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7.7.5 Index overview for the "Trace amplitude" filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.8 Index overview – More data on correct and incorrect traces . . . . . . . . . . . . . . . . . . . . 48
8 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
8.1 Communication protocol for serial interfaces (UART) . . . . . . . . . . . . . . . . . . . . . . . . . . 50
8.1.1 RS485/RS422 node address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
8.1.2 Error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
8.1.3 Index access. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
8.1.4 Process data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
8.1.4.1 Status byte in the process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
8.1.4.2 Contrast byte in the process data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
8.1.4.3 Type 1 process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
8.1.4.4 Type 4 process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
8.1.5 Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
8.2 Object directory for serial interfaces (UART) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
8.2.1 System commands for serial interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
8.3 CANopen communication protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
8.3.1 General information on CANopen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
8.3.1.1 Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
8.3.1.2 Bus line (trunk line) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
8.3.1.3 Address assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
8.3.1.4 Baud rate setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
8.3.1.5 Communication mechanisms of the OGS 600 in the CANopen network. . . . . . . . . . . . . . . . . . 68
8.3.1.6 Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
8.3.1.7 EDS file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
8.3.1.8 SDOs and PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
8.3.1.9 Default 11 bit identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
8.3.1.10 Object structure of the OGS 600 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
8.3.1.11 Process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
8.3.1.12 Overview of the mapped data in the TxPDOs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
8.3.1.13 Overview of the mapped data in the RxPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
8.3.1.14 Overview TPDOs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
8.3.1.15 Overview RPDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
8.4 CANopen object directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
8.4.1 CANopen system commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
8.5 Performing a reset on the OGS 600 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
9 Tips for initial commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
9.1 Configuration of the sensor according to the trace . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
9.1.1 Variant: All filters ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
9.1.2 Changeover between different traces. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
9.1.3 Trace markings for application-specific actions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
9.2 Basic settings for the filters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

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10 Service and support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
10.1 Decommissioning, maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
10.2 Contact. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
11 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
11.1 General technical data OGS 600 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
11.2 Dimensioned drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
11.2.1 Dimensioned drawing OGS 600-280/CN-M12 – long version . . . . . . . . . . . . . . . . . . . . . 89
11.2.2 Dimensioned drawing OGS 600-280/D…-M12.8 – long version . . . . . . . . . . . . . . . . . . . 90
11.2.3 Dimensioned drawing OGS 600-140/CN-M12 – short version . . . . . . . . . . . . . . . . . . . . 91
11.2.4 Dimensioned drawing OGS 600-140/D…-M12.8 – short version. . . . . . . . . . . . . . . . . . . 92
11.3 Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
11.3.1 Sensor characteristic curve with one guide trace. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
11.3.2 Linearity error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
12 Order guide and accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
12.1 Sensor part number code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
12.2 Order guide for sensor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
12.3 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
12.3.1 Connection cables for CANopen/RS232 devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
12.3.2 Connection cables for RS485/RS422 devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
12.3.3 RS485-USB adapter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
12.3.4 Guide trace tapes, self-adhesive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
13 Appendix – Sensor measurement values for RAL colors . . . . . . . . 98

About this document
Leuze electronic OGS 600 5
TNT 35/7-24V
1 About this document
This technical description contains information regarding the proper use of the OGS 600
optical guidance sensors.
1.1 Explanation of symbols
The symbols used in this technical description are explained below.
1.2 Terms and abbreviations
Table 1.1: Terms and abbreviations
CAUTION
This symbol precedes text messages which must strictly be observed.
Failure to observe the provided instructions could lead to personal injury or damage to
equipment.
NOTE
This symbol indicates text passages containing important information.
AGV Automated Guided Vehicle
DTM Device Type Manager
EMC Electromagnetic compatibility
EN European standard
FDT Field Device Tool
FE Functional earth
GUI Graphical User Interface
IO or I/O Input/Output
OGS Optical Guidance Sensor
PD Process data
RO Read Only
RW Read/Write
PLC Programmable Logic Control
UART Universal Asynchronous Receiver Transmitter, here: RS232 / RS422 / RS485
WO Write Only

Safety
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2 Safety
This sensor was developed, manufactured and tested in line with the applicable safety stan-
dards. It corresponds to the state of the art.
2.1 Intended use
The OGS 600 optical guidance sensor measures the contrast of a guide trace that is affixed
to the ground. The sensor supplies the vehicle's position data on the guide trace, which
determines the course of travel.
Areas of application
The OGS 600 optical guidance sensor is designed for the following area of application:
• Intralogistics – in-house material flow with automated guided vehicles (AGV).
2.2 Foreseeable misuse
Any use other than that defined under "Intended use" or which goes beyond that use is
considered improper use.
CAUTION
Observe intended use!
The protection of personnel and the device cannot be guaranteed if the device is oper-
ated in a manner not complying with its intended use.
Only operate the device in accordance with its intended use.
Leuze electronic GmbH + Co. KG is not liable for damages caused by improper use.
Read the supplement and these operating instructions for the device before commis-
sioning the device. Knowledge of these documents is required in order to use the
equipment for its intended purpose.
NOTE
The optical guidance sensors of the OGS 600 series correspond to the following classifi-
cation with respect to the integrated lighting:
Illumination red:
risk group 0 (exempt group) in acc. with EN 62471
NOTE
Comply with conditions and regulations!
Observe the locally applicable legal regulations and the rules of the employer's liability
insurance association.

Safety
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In particular, use of the device is not permitted in the following cases:
• in rooms with explosive atmospheres
• as stand-alone safety component in accordance with the machinery directive 1)
• for medical purposes
2.3 Competent persons
Connection, mounting, commissioning and adjustment of the device must only be carried
out by competent persons.
Prerequisites for competent persons:
• They have a suitable technical education.
• They are familiar with the rules and regulations for occupational safety and safety at
work.
• They are familiar with the original operating instructions of the device.
• They have been instructed by the responsible person on the mounting and operation
of the device.
Certified electricians
Electrical work must be carried out by a certified electrician.
Due to their technical training, knowledge and experience as well as their familiarity with
relevant standards and regulations, certified electricians are able to perform work on elec-
trical systems and independently detect possible dangers.
In Germany, certified electricians must fulfill the requirements of accident-prevention regu-
lations BGV A3 (e.g. electrician foreman). In other countries, there are respective regula-
tions that must be observed.
2.4 Exemption of liability
Leuze electronic GmbH + Co. KG is not liable in the following cases:
• The device is not being used properly.
• Reasonably foreseeable misuse is not taken into account.
• Mounting and electrical connection are not properly performed.
• Changes (e.g., constructional) are made to the device.
1) Use as a safety-related component within a safety function is not permissible.
NOTE
Do not modify or otherwise interfere with the device!
Do not carry out modifications or otherwise interfere with the device.
The device must not be tampered with and must not be changed in any way.
The device must not be opened. There are no user-serviceable parts inside.
Repairs must only be performed by Leuze electronic GmbH + Co. KG.

Device description
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3 Device description
3.1 Device overview
Figure 3.1: Device overview
AIntegrated illumination – transmitter (small lenses)
BReceiver modules – receiver (large lenses)
CGroove with 2 sliding blocks for fastening the mounting bracket
D2 x M12 connector, 5-pin
E1 x M12 connector, 8-pin
A
B
C
D
OGS 600-280/CN-M12
OGS 600-140/D…-M12.8
E

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3.2 Performance characteristics
3.2.1 Trace detection
The sensor is designed to detect an optical guide trace on the floor and to output the position
of the guide trace relative to the sensor.
The sensor can detect a light trace on a dark background or, inversely, a dark trace on a
light background.
The sensor can detect up to 6 guide traces. Each guide trace consists of a left edge (shown
in red below) and a right edge (show in green below). This edge information is output for
each detected guide trace.
When a guide trace is detected, the sensor therefore outputs two pieces of information in
the process data for each trace:
• position of the left edge of the guide trace and
• position of the right edge of the guide trace
The difference between these two edge positions is the track width.
Figure 3.2: Schematic illustration of the guide trace under the optical guidance sensor
A
B
C
D
E
AGuide trace; here dark trace on light background
BLeft edge of guide trace
CRight edge of guide trace
DWidth of the sensor's measurement field
EAGV direction of travel

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3.2.2 Measurement time
The sensor delivers an updated measurement every 10ms.
3.2.3 Filter
The detection of incorrect floor markings can be minimized considerably by means of the
following filters, which can be activated separately: trace width, minimum contrast and trace
amplitude.
Filtered-out traces can be read out in separate parameters (see the chapter "Index overview
– More data on correct and incorrect traces").
Chapter 9 "Tips for initial commissioning" contains information on using the filters.
3.2.4 Switches
At each switch, the sensor outputs two or more traces. The users themselves decide which
trace they want to follow. The switch function is provided to ensure that the wide midpoint of
the type 2 switch (see chapter 7.4 "Switch") is detected properly when the trace width filter
is active.
Example:
When the vehicle moves over a seamlessly bonded switch (type 2) and a turn request is
given, the vehicle control unit can very early on follow the edge position in the direction in
which the vehicle is to turn.
If the vehicle is to turn left, the vehicle is guided by the left edge. The turn operation then
begins before the sensor has passed the midpoint of the switch and outputs two traces.
3.2.5 Faults
If floor markings occur which, despite activated filters, are detected as valid, then these
markings are output. The vehicle's control unit must ensure that position jumps in the output
traces are detected and that they are not followed.

Device description
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3.2.6 Output value
The sensor outputs the position of the left edge and the right edge of the optical guide trace
in mm * 10. The output value range is therefore:
• Short version OGS 600-140…: 0 … 1500.
•LongversionOGS 600-280…: 0 … 3000.
A trace is detected if it enters the sensor's measurement field by at least 17mm at the
left or right edge. This corresponds to an output value of:
• Short version OGS 600-140…: 170 … 1330.
•LongversionOGS 600-280…: 170 … 2830.
Figure 3.3: Measurement field of the guidance sensor
The trace width is the absolute value of the difference between the right and left edge of the
trace.
150 mm
17 mm 17 mm
AB
AStart of measurement field, output value 0
BEnd of measurement field, output value 1500 or 3000
300 mm
17 mm 17 mm
AB

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Figure 3.4: Sensor characteristic curve with one trace (long version)
y
x
0
500
1000
1500
2000
3000
2500
3500
0 10050 150 200 250 300 350
D
C
A
B
AMeasurement value for left edge of guide trace
BMeasurement value for right edge of guide trace
COutput value: Position of left edge
DOutput value: Position of right edge
xPosition of left edge of guide trace under sensor
yOutput value: Edge positions

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3.2.7 Example: Guide trace detection with active "Trace width" filter
Figure 3.5: Schematic illustration of the guide trace under the optical guidance sensor
A
B
C
D
AGuide trace; here dark trace on light background
BLeft edge of guide trace
CRight edge of guide trace
D, E Trace too wide according to active "Trace width" filter
FWidth of the sensor's measurement field
GAGV direction of travel
HObjects not detected as trace
G
E
F
F
H
H
If the "Trace width" filter detects an exces-
sively wide trace, you can e.g.:
• activate the "Switch" function
• manually increase the upper tolerance for
the permissible trace width

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3.3 Guide trace requirements
To ensure error-free detection of the optical guide trace on the floor, the guide trace must
meet the requirements described in the following sections.
3.3.1 Trace color
The illumination of the sensors emits red light. As a result, the contrast that the sensor sees
is different to that perceived by the human eye.
The following overview shows how the sensor sees different colors.
Table 3.6: Color comparison between the sensor and the human eye.
Color perceived by
human eye
Floor/background Guide trace
RAL color RAL no. Measurement value of
the sensor:
Amplitude [LSB]
Suitable
trace color
White Traffic white 9016 21200 Leuze black 1)
1) Leuze trace tapes available as accessories:
OTB 40-BK250, black, 40mm wide, self-adhesive, 25m roll (part no. 50137874)
OTB 40-WH250, white, 40mm wide, self-adhesive, 25m roll (part no. 50137875)
Black Jet black 9005 400 Leuze white 1)
Red Tomato red 3013 11800 Black
Orange Deep orange 2011 17400 Black
Yellow Melon yellow 1028 19800 Black
Green Emerald green 6001 1200 White
Blue Ultramarine blue 5002 700 White
NOTE
A detailed table with sensor measurement values can be found in the appendix (see
chapter 13 "Appendix – Sensor measurement values for RAL colors").

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3.3.2 Trace width
The maximum width of the trace is limited only by the sensor's measurement field (see
figure 3.3). The trace must have a minimum width so that a sufficiently good contrast can be
achieved. The "Trace width" filter can be adjusted to the trace by means of a trace width
teach.
The recommended trace width is approx. 30 … 40mm.
Table 3.1: Maximum/minimum trace widths
3.3.3 Free space next to the trace
To ensure error-free detection, there should not be any other marking within a distance of at
least 30mm from the actual trace.
At distances greater than 30mm from the trace, the floor can have any color.
Figure 3.7: Minimum distance between the guide trace and other objects on the floor
The same applies to an inverted layout with a light guide trace on a dark background.
Trace width OGS 600-280… OGS 600-140…
Maximum 266mm 106mm
Minimum 20mm 20mm
> 30mm > 30mm
AB C
AGuide trace; here dark trace on light background
BFree space next to guide trace
CMarkings next to guide trace
B
C

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3.4 Connection technology
All device connections are based on M12 connection technology, see chapter 5 "Electrical
connection".
3.5 Operating and display elements
The optical guidance sensor does not have any operating elements or indicators.
The sensor is operated and its configuration checked only via the serial interface or via the
CAN bus.
NOTE
Shielding!
The shielding is connected via the M12 connector housing.
Use only shielded connection cables!

Mounting
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4 Mounting
4.1 General mounting instructions
The device is mounted using the groove integrated in the profile. Two sliding blocks with M6
thread are included in the delivery and already inserted into the groove.
Figure 4.1: Angled sensor mounting to prevent unwanted reflection
The sensor can be mounted using the mounting brackets included in the delivery (see
chapter 4.3 "Mounting accessories"). They ensure that the sensor is pointing at the floor at
the correct angle.
NOTE
Mount the sensor at an angle!
The sensor must be mounted at an angle of 20° to ensure that reflective surfaces have no
effect on the evaluation.
20°
A
B
C
AOptical guidance sensor
BReflection of reflecting surfaces
CAutomated guided vehicle (AGV)
DDirection of travel
D

Mounting
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4.2 Selecting a mounting location
Reliable detection of the guide trace primarily depends on how good the contrast is between
the trace and the background.
In order to select the right mounting location, several factors must be considered:
• The distance of the sensor to the trace to be detected should be 10 … 70mm.
• The guide trace must have a minimum width of 20mm.
• The linearity error of the output value depends on the distance to the floor.
• Diffuse reflection of the trace. Ideally, a jet black guide trace on a pure white back-
ground should be used.
4.3 Mounting accessories
The following items are included with the sensor:
• 2x M6 sliding blocks (inserted in the groove)
• 2x mounting brackets for mounting the sensor at an angle of 20°.
NOTE
Dimensioned drawings!
The dimensioned drawings with the installation dimensions of the sensor can be found in
Chapter 11.2.