Pepperl+Fuchs PHA-F200-B6-V15B Series User manual

R
PHA...-F200-B6-V15B
Vision sensor for
rack fine positioning
FACTORY AUTOMATION
MANUAL

With regard to the supply ofproducts, the current issue of the following document is applicable: The
General Terms of Delivery for Products and Services of the Electrical Industry, published by the
Central Association of the Electrical Industry (Zentralverband Elektrotechnik und Elektroindustrie
(ZVEI) e.V.) in its most recent version as well as the supplementary clause: "Expanded reservation
of proprietorship"
PHA...-F200-B6-V15B

PHA...-F200-B6-V15B
Contents
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1 Introduction......................................................................... 5
2 Declaration of conformity .................................................. 6
3 Safety................................................................................... 7
3.1 Symbols relevant to safety ............................................................................7
3.2 Intended Use ................................................................................................7
3.3 General safety instructions ............................................................................7
4 Product Description ........................................................... 8
4.1 Use and Applications ....................................................................................8
4.2 Displays and Controls ...................................................................................9
4.3 Interfaces and Connections ........................................................................11
4.4 Scope of Delivery........................................................................................11
4.5 Accessories ................................................................................................ 11
4.5.1 Power supply ..........................................................................................12
4.5.2 Network cable ........................................................................................12
4.5.3 Accessories ............................................................................................12
5 Installation......................................................................... 13
5.1 Storage and transport .................................................................................13
5.2 Preparation .................................................................................................13
5.3 Mounting the Sensor...................................................................................13
5.4 Electrical Connection.................................................................................. 14
5.5 PROFIBUS Connection ..............................................................................16
6 Commissioning................................................................. 17
6.1 Sensor Functionality ...................................................................................17
6.2 Operating Modes ........................................................................................19
6.3 External Parameterization of the Fieldbus using Code Cards......................19
6.3.1 Product documentation on the internet ...................................................19
7 Operation........................................................................... 20
7.1 Communication via PROFIBUS ..................................................................20
7.1.1 General information on PROFIBUS DP ...................................................20
7.1.2 PROFIBUS DP Communication Parameters .......................................... 20
7.1.3 PROFIBUS DP features..........................................................................20
7.1.4 PROFIBUS DP functions ........................................................................ 20
7.1.5 PROFIBUS Modules ..............................................................................21
7.1.6 Global Primary Data ...............................................................................26

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Contents
8 Maintenance and repair................................................... 27
8.1 Maintenance .............................................................................................. 27
8.2 Repair ........................................................................................................ 27
9 Troubleshooting ............................................................... 28
9.1 What to Do in the Event of an Error ............................................................ 28

PHA...-F200-B6-V15B
Introduction
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1Introduction
Congratulations
You have chosen a device manufactured by Pepperl+Fuchs. Pepperl+Fuchs
develops, produces and distributes electronic sensors and interface modules for
the market of automation technology on a worldwide scale.
Symbols used
The following symbols are used in this manual:
Handling instructions
You will find handling instructions beside this symbol
Contact
If you have any questions about the device, its functions, or accessories, please
contact us at:
Pepperl+Fuchs GmbH
Lilienthalstraße 200
68307 Mannheim
Telephone: [phone]
Fax: [phone]
E-Mail: [e-mail]
Note!
This symbol draws your attention to important information.

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PHA...-F200-B6-V15B
Declaration of conformity
2 Declaration of conformity
This product was developed and manufactured under observance of the
applicable European standards and guidelines.
The product manufacturer, Pepperl+Fuchs GmbH, D-68307 Mannheim, has a
certified quality assurance system that conforms to ISO 9001.
Note!
A Declaration of Conformity can be requested from the manufacturer.
ISO9001

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Safety
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3Safety
3.1 Symbols relevant to safety
3.2 Intended Use
The PHA*...F200* is a Vision Sensor for rack fine positioning to a hole reference
mark. The sensor is used in high-rack warehouses. Use the sensor only for its
intended purpose.
3.3 General safety instructions
Always operate the device as described in these instructions to ensure that the
device and connected systems function correctly. The protection of operating
personnel and plant is only guaranteed if the device is operated in accordance
with its intended use.
The operating company bears responsibility for observing locally applicable
safety regulations.
Installation and commissioning of all devices must be performed by a trained
professional only.
User modification and or repair are dangerous and will void the warranty and
exclude the manufacturer from any liability. 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.
Danger!
This symbol indicates an imminent danger.
Non-observance will res ult in pe rso nal 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 devices and any connected facilities or systems,
or result in their comple te failure.
Danger!
Moving parts
In applications involving stock feeders and moving carriages, care must be taken
to ensure that the applicable safety regulations are observed at all times. Failure
to do so may result in serious or fatal injury.

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PHA...-F200-B6-V15B
Product Description
4 Product Description
4.1 Vision Sensor for Rack Fine Positioning —Use and Applications
The PHA*...-F200* Vision Sensor for rack fine positioning from Pepperl+Fuchs
facilitates fast and simple positioning of stock feeders. The Vision Sensor detects
circular holes in the rack structure and determines their position deviation in the X
and Y directions relative to the target position.
The Vision Sensor comprises:
■Camera
■Lighting unit
■Evaluation computer with digital input and output signals
■PROFIBUS interface
Figure 4.1

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Product Description
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4.2 Displays and Controls
The Vision Sensor unit has 7 LED indicators on the top that provide information on
the various statuses of the device.
Figure 4.2 Indication operating side
BUS STATE
Yellow LED. Indicates that the sensor communicates with PROFIBUS.
BUS ERR
Red LED. Indicates an error in the communication.
PWR / ERR
Red / green dual LED. Green indicates that the sensor is ready for operation. Red indi-
cates a fault in the sensor.
ZERO POS
Yellow LED. Indicates whether the hole is in the zero position.
RANGE
Yellow LED. Indicates whether the hole is located in the capture range.
RP / CS
Currently not used.
DIAG
Yellow LED. Internal diagnostics, without function.
1 2 3 4 5 6 7
1
2
1
2
3
4
5
6
7

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PHA...-F200-B6-V15B
Product Description
X = LED status has no meaning
LEDs are mounted around the camera element on the front of the Vision Sensor.
The LEDs are used for light, to align the X and Y position, and for the status
display.
Figure 4.3 Indication camera side
LED
[#1] BUS STATE [#2] BUS ERR [#3] PWR / ERR [#4] ZERO POS [#5] RANGE [#6] RP / CS [#7] DIAG
DescriptionColor ye llow yellow
green/
red yellow yellow yellow yellow
Status
on X X X X X X Data transfer
PROFIBUS
Xflashes X X X X X PROFIBUS
communication error
fflash = 1 Hz
X X lights up
red
X X X X System error
X X lights up
green
X X X X Normal operation
Camera
LED infrared illumination
-X position
LED red. Indicates whether the sensor is within the tolerance range.
-Y p o s i t i o n
LED red. Indicates whether the sensor is within the tolerance range.
+X position
LED red. Indicates whether the sensor is within the tolerance range.
Automatic
LED red. Flashes when the sensor is in automatic mode.
+Y position
LED red. Indicates whether the sensor is within the tolerance range.
1
2
3
4
5
6
7
1
2
3
4
5
6
7

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Product Description
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Two operating buttons are mounted on the back of the Vision Sensor. With the
operating button 2 "CONFIG" you can configure the fieldbus address using code
cards. See chapter 6.3
Figure 4.4 Controls
4.3 Interfaces and Connections
The device includes the following connections:
Figure 4.5 Electrical connection
4.4 Scope of Delivery
■PHA*
Appropriate mounting hardware, cables, and other information can be found in the
Accessories section and at http://www.pepperl-fuchs.com.
4.5 Accessories
Various accessories are available.
Operating button 2 "CONFIG"
1
2
1
1
Profibus In (5-pin M12 connector, B-coded)
P rofi bus Out (5 -p in M 12 co nn ec to r, B -cod e d)
24 V DC+IO (Power supply, inputs and outputs, 8-pin M12 connector)
1
2
3
1
2
3

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PHA...-F200-B6-V15B
Product Description
4.5.1 Power supply
Use the following connection cable to connect the power supply, inputs and
outputs to th e sensor.
M12 connection cables
Field-attachable M12 connectors
Other lengths on request.
4.5.2 Accessories
Compatible accessories offer enormous potential for cost savings. Not only do
you save a g reat deal of time a nd effort when commissioning for the first time, bu t
also when replacing and servicing our products.
If products are used in harsh ambient conditions, appropriate Pepperl+Fuchs
accessories can be used to extend the service lives of these products.
1): Ask your contact partner at Pepperl+Fuchs
Note
If you use your Vision Sensor in a refrigeration application at below -20 °C, please
ask us for special cables.
Material Length
Cable end, field attachable
8-pin M12 socket, straight PUR 2m V19-G-2M-PUR-ABG
5m V19-G-5M-PUR-ABG
10 m V19-G-10M-PUR-ABG
Model number Description mm2Cable dia.
V19-G-ABG-PG9 8-pin M12 socket, straight max. 0.75 5to8mm
Model Number Description
V19-G-ABG-PG9-FE Grounding terminal and plug (set)
V15B-G-*M-PUR ABG-V15B-G PROFIBUS bus cable, M12 to M12, available in
several different lengths
VA Z -V1 S - B Blind plug for M12 sockets
ICZ-TR-V15B Terminator for PROFIBUS
V19-G-*M-* Configurable connection cable1)

PHA...-F200-B6-V15B
Installation
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5Installation
5.1 Storage and transport
For storage and transport purposes, package the unit using shockproof
packaging material and protect it against moisture. The best method of protection
is to package the unit using the original packaging. Furthermore, ensure that the
ambient conditions are within allowable range.
5.2 Preparation
Unpacking the unit
1. Check that all package contents are present and undamaged.
If anything is damaged, inform the shipper and contact the supplier.
2. Check that all items are present and correct based on your order and the
shipping documents.
If you have any questions, please contact Pepperl+Fuchs.
3. Keep the original packing material in case you need to store or ship the unit at
a later time.
5.3 Mounting the Sensor
The device has four symmetrically positioned M6 threads on the base of the
housing to allow easy installation of the sensor in your plant.
The operating distance differs according to the sensor. The correct operating
distance can be found in the technical data for the sensor to be installed.
The following illustration shows all the relevant housing dimensions in mm:
Note!
Mounting an optical device
■Do not aim the sensor at the sun.
■Protect the sensor from direct long-term exposure to sun.
■Prevent condensation from forming by not exposing the sensor to any
major fluctuations in temperature.
■Do not expose the sensor to the effects of any aggressive chemicals.
■Keep the lenses and reflector of the device clean. Clean with a soft cloth,
using standard commercial glass cleaner if necessary.
We recommend to clean the optical surface and to check screw fittings and
electrical connections at regular intervals.

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PHA...-F200-B6-V15B
Installation
The surface must be level in order to prevent the housing from becoming distorted
when the fittings are tightened. We advise securing the screws with spring disks in
order to prevent the sensor becoming misaligned. Following installation of the
sensor, ensure that there is still sufficient space to connect the connecting cable
to the sensor.
5.4 Electrical Connection
The PHA... read head is electrically connected via an 8-pin M12 x 1 connector on
the side of the housing. The power supply and communication with peripheral
devices are established via this connection.
Figure 5.1 1) = not relevant for the electrical connection
10 70 12
93.8
70
50
25
21.75
25
M6 x 9 (4x)
12.5
1
2
3
4
5
6
7
8
n.c.
+ UB
(USB_DM)1)
(USB_DP)1)
n.c.
n.c.
GND
(OUT 3)1)
Main

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Installation
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Figure 5.2
Color Assignment
Pepperl+Fuchs female cordsets are manufactured in accordance with EN 60947-
5-2. When using a type V19-... (see chapter 4.5.2) female cordset with an open
cable end on the Main connection, the following color assignment applies:
Shielding cables
The shielding of cables is required to suppress electromagnetic interference.
Establishing a low resistance or low impedance connection with the conductor or
equipotential bonding circuit is a particularly important factor in ensuring that
these interference currents do not become a source of interference themselves.
Always use cables with braided shield, never use cables with a foil shield. The
shield is integrated at both ends, i.e. in the control cabinet and on the controller
and the reading head. The grounding terminal available as an accessory allows
easy integration in the equipotential bonding circuit.
In exceptional cases, the shielding of a connection at one end may be more
favorable if
■an equipotential bonding cable is not laid or cannot be laid.
■a film shield is used.
The following points relating to shielding must also be noted:
■Use metal cable clips that cover large areas of the shield.
■After installing the cable shield in the control cabinet, place it directly on the
equipotential bonding rail.
Connector Assignment
Connection pin St r a nd c o l o r Color Abbreviation
1white WH
2brown BN
3green GN
4yellow YE
5gray GY
6pink PK
7blue BU
8red RD
1
4
6
7
8
53
2
Main

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PHA...-F200-B6-V15B
Installation
■Direct the protective grounding connections to a collective point in a star
configuration.
■The cross-section of the cables used for grounding should be as large as
possible.
5.5 PROFIBUS Connection
The PHA... read head is connected to PROFIBUS via a 5-pin M12 x 1 connector
Bus in and a 5-pin M12 x 1 socket Bus out, located on the side of the housing.
Figure 5.3
Figure 5.4
For details of suitable PROFIBUS cables, see chapter 4.5.2.
Caution!
Damage to the device
Connecting an alternating current or excessive supply voltage can damage the
device or cause the device to malfunction.
Electrical connections with reversed polarity can damage the device or cause the
device to malfunction.
Connect the device to direct current (DC). Ensure that the supply voltage rating is
within the specified device range. Ensure that the connecting wires on the female
cordset are connected correctly.
Connector Assignment
1
2
3
4
5
1
2
3
4
5
5 V ISO
BUS-A
BUS-GND ISO
BUS-B
SHIELD
Bus out
n.c.
BUS-A
n.c.
BUS-B
SHIELD
Bus in
1
5
3
2
4
Bus out
15
3
4
2
Bus in

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Commissioning
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6 Commissioning
6.1 Sensor Functionality
The PHA...-F200* Vision Sensor detects circular holes in the rack structure and
determines their position deviation from the target position. The Vision Sensor
operates in two dimensions —X and Y, X being the horizontal direction and Y the
vertical direction. see Figure 6.1 on page 17. The operating distance
(distance between the rack profiles and the front panel of the sensor) must be
within the working range of the sensor.
Figure 6.1
f the hole is located in the target position, a deviation zero is output.
The Vision Sensor detects dark holes on a light background. Observe the
following points:
■Only one circular hole may be present in the capture range.
■All holes to be detected must have the same diameter.
■The surface surrounding the hole should only reflect diffusely.
■The area behind the hole should be unobstructed to a range of 500 mm.
■There should be no light source behind the hole.
■The Vision Sensor must be aligned parallel to the capture range.
■The actual operating distance must correspond to the operating distance of
the Vision Sensor.
Orientation coordinate system
dX
dY
Capture range X (width)
operating distance
capture range Y (height)
actual position
nominal position

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PHA...-F200-B6-V15B
Commissioning
Capture range
The capture range is the area in the camera's line of vision, within which the
Vision Sensor can detect a hole.
The hole diameter should be 10–15 % of the capture range width.
Tolerance range
The sensor provides the -X, +X, -Y, +Y deviation as an LED display. The target
position is located within a rectangular tolerance range. The LEDs are operated as
follows, depending on the X and Y deviations.
Figure 6.2 Indication camera side
Tolerance in X-Direction
Toleranc e in Y-Direction
-X position
LED red. Indicates whether the sensor is within the tolerance range.
-Y p o s i t i o n
LED red. Indicates whether the sensor is within the tolerance range.
+X position
LED red. Indicates whether the sensor is within the tolerance range.
+Y position
LED red. Indicates whether the sensor is within the tolerance range.
LED -X Position LED +X Position
red red X-direction within tolerance
off red X too large
red off X too small
LED -Y Position LED +Y Position
red red Y-direction within tolerance
off red Y too large
red off Y too small
1
2
3
4
1
2
3
4

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Commissioning
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6.2 Operating Modes
The sensor has two operating modes:
■Setup
■Automatic
In setup mode, the sensor parameterization can be changed and diagnostic
functions called up. The sensor is always in automatic mode once the operating
voltage has been applied.
6.3 External Parameterization of the Fieldbus using Code Cards
During the external configuration of the fieldbus address, the read head optically
senses special code cards and then sets the respective fieldbus address. To do
this, simply hold the corresponding code cards at the correct distance in front of
the optic of the reading head.
You can find the manual "Code Cards to configure the Fieldbus address" at
www.pepperl-fuchs.com. see chapter 6.3.1.
6.3.1 Product documentation on the internet
You can view all the relevant documentation and additional information on your
product at http://www.pepperl-fuchs.com. Simply enter the produ ct name o r
model nu mber in the Product/Key word search box and click Search.
Select your product from the list of search results. Click on the information you
require in the product information list, e.g., Technical documents.
A list of all available documents is displayed.

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PHA...-F200-B6-V15B
Operation
7Operation
7.1 Communication via PROFIBUS
7.1.1 General information on PROFIBUS DP
The PROFIBUS DP is a standardized, open fieldbus, which enables data
exchange between PLCs, PCs, operating and observation devices, and also
sensors and actuators.
For more detailed information on the PROFIBUS DP, refer to the PROFIBUS
standard EN 50170 and to the current literature on the subject (e.g. M. Popp, “The
New Rapid Way to PROFIBUS DP”available (in German) from the PROFIBUS
user organization).
7.1.2 PROFIBUS DP Communication Parameters
The communication parameters can be taken from the GSD file. The GSD file
name is pf0d7b.gsd.
7.1.3 PROFIBUS DP features
The following is a list of the most important performance features of PROFIBUS
DP:
■DP slave functionality with functions Data_Exchange, RD_Inp, RD_Outp,
Slave_Diag, Set_Prm, Chk_Cfg, Get_Cfg, Global_Control,
Set_Slave_Address.
■Modular DP slave device with one module each for writing and reading
data.
■Transfer rates of 9.6 kbit/s, 19.2 kbit/s, 93.75 kbit/s, 187.5 kbit/s, 500 kbit/s,
1.5 Mbit/s, 3 Mbit/s, 6 Mbit/s and 12 Mbit/s auto-synchronizing.
■Adjustable device address 00h …7Eh.
7.1.4 PROFIBUS DP functions
Note!
The PROFIBUS User Organization e.V. Haid- and Neu-Str. (PNO) publishes
informational brochures and a PROFIBUS product catalog
(www.PROFIBUS.com).
Function Description Master
Set_Prm Transfers parameter data to a DP slave Class 1
Chk_Cfg Transfers the configuration data for testing to a DP slave Class 1
Get_Cfg Reads out the configuration data of a DP slave Class 2
Data_Exchange Sends output data to a DP slave device and requests
input data from a DP slave
Class 1
RD_Inp Reads the input data of a DP slave Class 2
RD_Outp Reads the output data of a DP slave Class 2
Global_Control Sends special commands to one or more DP slaves Class 1
Slave_Diag Reads the diagnostic information of a DP slave Class 1
Set_Slave_Address Modifies the device address Class 2