Pepperl+Fuchs PCV F200-B16-V15 Series User manual

PCV...-F200-B16-V15
Data Matrix Positioning System
FACTO Y AUTOMATION
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"
PCV...-F200-B16-V15

PCV...-F200-B16-V15
3
1 Introduction................................................................................. 5
2 Declaration of conformity .......................................................... 6
2.1 CE 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 Application............................................................................. 8
4.2 LED Indicators and Controls............................................................... 8
4.3 Accessories ........................................................................................ 11
5 Installation................................................................................. 12
5.1 Installing the Code eel .................................................................... 12
5.2 Mounting the ead Head................................................................... 15
5.3 Electrical Connection ........................................................................ 17
5.4 CANopen Connection ........................................................................ 19
6 Commissioning......................................................................... 20
6.1 Aligning the ead Head..................................................................... 20
6.2 Parameterization of Fieldbus Address and Baud ate................... 20
6.2.1 Product documentation on the internet ............................................ 22
6.3 EDS Configuration File ...................................................................... 22
7 Operation and communication................................................ 23
7.1 Data Exchange in the CANopen Bus................................................ 23
7.1.1 General Information about CANopen................................................ 23
7.1.2 Basic Technical Information about CANopen................................... 24
7.1.3 CANopen Object Directory .............................................................. 27
7.1.4 Device Parameters........................................................................... 36

4
PCV...-F200-B16-V15
7.2 Operating with event markers ...........................................................38
7.3 Operation with epair Tape ...............................................................39
8 Appendix ................................................................................... 40
8.1 ASCII table...........................................................................................40
8.2 Code cards with special functions ...................................................41
8.3 Code Cards for Setting the Baud ate .............................................43

PCV...-F200-B16-V15
Introduction
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1 Introduction
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]
-Mail: [e-mail]
Note!
This symbol draws your attention to important information.

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PCV...-F200-B16-V15
Declaration of conformity
2 Declaration of conformity
2.1 C conformity
This product was developed and manufactured under observance of the applicable uropean
standards and guidelines.
Note!
A declaration of conformity can be requested from the manufacturer.

PCV...-F200-B16-V15
Safety
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3 Safety
3.1 Symbols relevant to safety
3.2 Intended use
Combined with a code strip with printed Data Matrix codes, this device represents a high-
resolution positioning system that can be used in all applications where precision positioning is
required along extremely long travel paths, irrespective of whether the travel path is straight,
curved or with inclines or declines.
Read through these instructions thoroughly. Familiarize yourself with the device before
installing, mounting, or operating.
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.
3.3 General safety instructions
Responsibility for planning, assembly, commissioning, operation, maintenance, and
dismounting lies with the plant operator.
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 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!
Disposal
lectronic waste is hazardous waste. When disposing of the equipment, observe the current
statutory requirements in the respective country of use, as well as local regulations.

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PCV...-F200-B16-V15
Product Description
4 Product Description
4.1 Use and Application
The PCV read head is part of the positioning system in the Pepperl+Fuchs incident light
process. Its features include a camera module and an integrated illumination unit, enabling it to
detect position markers printed onto an adhesive code reel in the form of Data Matrix codes.
The code reel is usually mounted to a fixed part of the equipment in a stationary manner (e.g.,
elevator shaft, overhead conveyor mounting rails) and the read head is then mounted in parallel
to a moving "vehicle" (e.g., elevator car, overhead conveyor chassis).
Maximum Length of the Code Tape
This positioning system can be used with an appropriate resolution in equipment with
extremely large layouts without restrictions.
The extensive yet user-friendly parameterization options as well as the freely configurable
inputs and outputs mean that the read head can easily be adapted to suit each application.
4.2 L D Indicators and Controls
The PCV... read head is equipped with seven indicator L Ds for carrying out visual function
checks and rapid diagnostics. The read head is equipped with two buttons on the back of the
device for activating the alignment aid (see chapter 6.1) and the parameterization mode (see
chapter 6.2). Button 1 is labeled ADJUST. Button 2 is labeled CONFIG.
Figure 4.1
Resolution of the read head [mm] Maximum length of the code tape [km]
10 10
1 10
0.1 10
ADJUST
CONFIG
1
2
LED 1 2 3 4 5 6 7

PCV...-F200-B16-V15
Product Description
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PCV Function Indicator
x = L D status has no meaning
L D
[#1] BUS STAT [#2] BUS RR [#3] PWR/ADJ RR/NO COD [#4] OUT 1 [#5] OUT 2/ADJ Y [#6] OUT 3/ADJ Z [#7] INT RNAL DIAGNOSTIC
DescriptionColor Yellow Red
Green/
red Yellow Yellow Yellow Yellow Yellow
Status
Off Off Flashes
green Off Off Off Off Off
Alignment
Y > setpoint value
f
flash
= 2 Hz
Off Off Flashes
green Off On Off Off Off
Alignment
Y < setpoint value
f
flash
= 2 Hz
Off Off Flashes
green Off Flashes Off Off Off
Alignment
Y = setpoint value
f
flash
= 2 Hz
Off Off Flashes
green Off Off Off Off Off
Alignment
Z > setpoint value
f
flash
= 2 Hz
Off Off Flashes
green Off Off On Off Off
Alignment
Z < setpoint value
f
flash
= 2 Hz
Off Off Flashes
green Off Off Flashes Off Off
Alignment
Z = setpoint value
f
flash
= 2 Hz
Off Off Flashes
red Off Off Off Off Off
Alignment
Code tape outside read range. No
code tape detected.
f
flash
= 2 Hz
Off Off Lights
up red Off Off Off Off Off System error
x x
Lights
up
green
x x x Off Off
Normal operation, code tape detected
x x Flashes
red FlashesFlashesFlashes Off Off
Normal operation. Indication for 2 s if a
button is pressed when the time lock is
enabled.
x x Off Flashes Off Off Off Off
Preconfiguration/configuration mode
active
f
flash
= 2 Hz
x x Lights
up red Flashes Off Off Off Off Code card faulty
f
flash
= 2 Hz for 3 sec
x x Green,
1 s Flashes Off Off Off Off Code card detected
f
flash
= 2 Hz for 3 sec
x x Off x x x Off Off Time lock for buttons disabled
x x x x x x On On Internal error
Return to Pepperl+Fuchs

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PCV...-F200-B16-V15
Product Description
CANopen Function Indicator
x = L D status has no meaning
CANopen Error Indication
x = L D status has no meaning
L D
[#1] BUS STAT [#2] BUS RR [#3] PWR/ADJ RR/NO COD [#4] OUT 1 [#5] OUT 2/ADJ Y [#6] OUT 3/ADJ Z [#7] INT RNAL DIAGNOSTIC
DescriptionColor Yellow Red
Green/
red Yellow Yellow Yellow Yellow Yellow
Status
Flickers Flickers x x x x x x Detection of auto baud rate
f
flicker
= 10 Hz
Flashes x x x x x x x "Preoperational" mode
f
flash
= 2.5 Hz
Flashes
once xxxxxxxStopped 1 x on briefly, 1 s off
Lights
up xxxxxxx"Operational" mode
L D
[#1] BUS STAT [#2] BUS RR [#3] PWR/ADJ RR/NO COD [#4] OUT 1 [#5] OUT 2/ADJ Y [#6] OUT 3/ADJ Z [#7] INT RNAL DIAGNOSTIC
DescriptionColor Yellow Red
Green/r
ed Yellow Yellow Yellow Yellow Yellow
Status
Flickers Flickers x x x x x x Detection of auto baud rate
f
flicker
= 10 Hz
x Flashes x x x x x x General configuration error
f
flash
= 2.5 Hz
xFlashes
once xxxxxxWarning limit reached 1 x on briefly, 1 s off
xFlashes
twice xxxxxx"Control vent" error 2 x on briefly, 1 s off
xFlashes
3 times xxxxxxSynchronization error 3 x on briefly, 1 s off
xFlashes
4 times xxxxxx" vent Timer" error 4 x on briefly, 1 s off
xLights
up xxxxxxCANopen error

PCV...-F200-B16-V15
Product Description
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4.3 Accessories
Compatible accessories offer enormous potential for cost savings. Not only do you save a great
deal of time and effort when commissioning for the first time, but 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 life of these products.
1)
: Ask your contact person at Pepperl+Fuchs
Model number Description
V19-G-ABG-PG9-F Grounding terminal and plug (set)
PCV-SC12
PCV-SC12A
Grounding clip
V15-G-*M-PUR-CAN-V15-G CANopen bus cable, M12 to M12, available in several
different lengths
VAZ-V1S-B Stopping plug for M12 connector
ICZ-TR-CAN/DN-V15 Terminator for CANopen
PCV-CM20-0* vent marker
PCV-CR20 Repair strip

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PCV...-F200-B16-V15
Installation
5 Installation
5.1 Installing the Code Reel
The code reel is made of silicone-free polyester film. A position marker appears every 100 mm
along the lower edge of the code reel (see "Dimensions, Code Reel"). This position marker is
used for various functions including precise positioning of the code reel during assembly.
The reverse side of the code reel carries a permanent modified acrylate-based adhesive. Affix
the self-adhesive code reel along the desired travel range. Proceed as follows:
Installing the Code Reel
1. Clean the surface of any greasy or oily deposits and dust.
2. nsure that the surface is dry, clean, and stable.
3. Pull the protective foil at the beginning of the code reel a few centimeters forward. Place the
code reel at the precise point of the required starting position on the underside, and press to
attach.
4. Then affix the code reel along the desired travel range. Remove the protective film gradually
so that the code reel does not accidentally adhere to the surface in the incorrect position.
When affixing, ensure that the code reel does not crease or trap air bubbles.
The adhesive on the code reel hardens after 72 hours.
Figure 5.1
Note!
Thermal Expansion of the Code Reel
The heat expansion coefficient of the attached code reel corresponds to the heat expansion
coefficient of the underside.
Dimensions, Code eel

PCV...-F200-B16-V15
Installation
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Figure 5.2
Position the code reel so that the www.pepperl-fuchs.com label and the position markings
are below the data matrix code. The position values then increase along the X-direction. The
diagram shows the orientation of a read head in the default position of 0°. The read head can
be configured in the interface for other installation situations.
Code eels with a Starting Position of 0 m
Code eels with Different Starting Positions
Orientation of the Code eel and ead Head
Model Number Description
PCV6M-CA20-0 Code reel, 2-track, length: 6 m
... ...
PCV100M-CA20-0 Code reel, 2-track, length: 100 m
Model Number Description
PCV100M-CA20-0 Code reel, 2-track, length: 100 m, starting
position: 0 m
PCV100M-CA20-10000 Code reel, 2-track, length: 100 m, starting
position: 100 m
... ...
PCV100M-CA20-990000 Code reel, 2-track, length: 100 m, starting
position: 9,900 m
Y
Z
X
Caution!
Stop dges
If you attach another code reel at the end of a previous code reel, the code pattern of 10 mm
must be retained.
Note!
Expansion Joints
If the system covers longer distances, expansion joints are integrated in the system structure.
We recommend creating breaks along the code reel. The resulting gaps should be 20 mm (2
code grids).

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PCV...-F200-B16-V15
Installation
Code eels with Different Numbers of Tracks
Note!
Inclines and Declines
If you mount the code reel on inclines or declines, cut the code reel several times at the
transition point to the horizontal as shown.
1. Incline
2. Decline
Note!
Code Reels with Different Row Numbers
The PCV-CA20 code reel has two rows of code to compensate for slight deviations in the travel
range in the Y-direction. The code reel is also available with other row numbers. The order code
for the code reel is PCV-CAx0, whereby x represents the number of rows of code, which can be
either 1 or 2. More rows are available on request–contact us for more information.
Model Number Description
PCV*M-CA10-* Code reel, 1-track
PCV*M-CA20-* Code reel, 2-track
PCV*M-CA40-* Code reel, 4-track
... ...

PCV...-F200-B16-V15
Installation
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Figure 5.3 Zero line for code reels
If the read head leaves the zero line when traveling the X-axis, different threshold values will
result depending on the number of tracks. If the deviation exceeds this threshold, a warning
code is issued.
Y-Axis Deviation Thresholds
5.2 Mounting the Read Head
Mount the PCV... read head on the moving part of your equipment using the four screws on the
mounting adapter of the read head. Mount the read head in such a way that the lens with ring
light and camera module are aligned toward the code tape.
The stability of the mounting and the guidance of the moving system component must be such
that the field of the depth of focus of the read head is not exited during operation.
Hysteresis Y-Axis
Code reel Threshold
Number of tracks Width xit ntry
1 15 mm ±10 mm ±6 mm
2 25 mm ±15 mm ±11 mm
4 45 mm ±25 mm ±21 mm
6 65 mm ±35 mm ±31 mm
8 85 mm ±45 mm ±41 mm
Y
0
X
Y
0
X

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PCV...-F200-B16-V15
Installation
The distance between the read head and the code tape should be the same as the read
distance of the read head.
Figure 5.4 Vertical alignment tolerance
Figure 5.5 Horizontal alignment tolerance
Optimum ead Distance (Z-Axis)
Model Number Read Distance [mm] Depth of Focus [mm]
PCV50* 50 ±25
PCV80* 80 ±15
PCV100* 100 ±20
PCV100*-...-6011 100 ±40
Read distance
Code reel
10° 10°
Read distance
10°
10°

PCV...-F200-B16-V15
Installation
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Figure 5.6
5.3 lectrical Connection
The PCV... 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. The configurable inputs and outputs of the read head are located at this
connection.
Figure 5.7
ead Head Dimensions
70
80
38.5
70 14.5
1
2
22
51
ø 25
12
M12 x 1
9
4 x M6
20 20
Caution!
When selecting the length of the mounting screws to be used, make sure that the insertion
depth of the screws into the threaded inserts on the read head does not exceed 8 mm.
Using longer screws can damage the read head.
Caution!
The maximum torque of the mounting screws must not exceed 9 Nm.
Tightening the screws to a higher torque can damage the read head.
1
2
3
4
5
6
7
8
OUT 2
+ UB
USB_DM
USB_DP
OUT 1
IN 1
GND
OUT 3
Main

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PCV...-F200-B16-V15
Installation
Figure 5.8
Color Assignment
Pepperl+Fuchs female cordsets are manufactured in accordance with N60947-5-2. When
using a type V19-... () female cordset with an open cable end on the Main connection, the
following color assignment applies:
Shielding Cables
The shielding of connection lines is required to suppress electromagnetic interference.
stablishing 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 connection lines with braided
shield; never use connection lines with a film shield. The shield is integrated at both ends, i.e.,
in the switch cabinet or on the controller and on the read 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.
■ Direct the protective grounding connections to a common point in a star configuration.
■ The cross-section of the cables used for grounding should be as large as possible.
Additional Ground Connection
Connector Assignment
Connection Pin Strand Color Color Abbreviation
1 White WH
2 Brown BN
3 Green GN
4 Yellow Y
5 Gray GY
6 Pink PK
7 Blue BU
8 Red RD
Model Number Description
PCV-SC12 Clip for mounting an additional ground
connection.
PCV-SC12A
1
4
6
7
8
53
2
Main

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Installation
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5.4 CANopen Connection
The PCV... read head is connected to CANopen via a 5 pin M12 x 1 Bus in connector and a 5
pin M12 x 1 Bus out/term socket, located on the side of the housing.
Figure 5.9
Figure 5.10
For details of suitable CANopen cables, see chapter 4.3.
Caution!
Damage to the device
Connecting an alternating current or excessive supply voltage can damage the device or cause
the device to malfunction.
lectrical connections with reversed polarity can damage the device or cause the device to
malfunction.
Connect the device to direct current (DC). nsure that the supply voltage rating is within the
specified device range. nsure that the connecting wires on the female cordset are connected
correctly.
Connector Assignment
1
2
3
4
5
1
2
3
4
5
n.c.
n.c.
n.c.
CAN H
CAN L
BUS Out/Term
n.c.
n.c.
n.c.
CAN H
CAN L
BUS In
1
5
3
2
4
BUS out/Term
1
5
3
4
2
BUS in

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PCV...-F200-B16-V15
Commissioning
6 Commissioning
6.1 Aligning the Read Head
An integrated alignment aid is available to help you align the Y and Z coordinates of the read
head easily and precisely with respect to the code reel.
The switchover from normal operation to parameterization mode is via button 1 on the back of
the read head.
Activating the Alignment Aid
1. Press button 1 for longer than 2 seconds.
L D2 flashes green for a recognized code reel. L D2 flashes red for an unrecognized
code reel. .
2. Align the Z and Y coordinates of the read head. The integral L D indicators provide
assistance here.
Z coordinate: If the distance of the camera to the code reel is too small, the yellow L D5 lights
up. If the distance is too great, the yellow L D5 goes out. The yellow L D5 flashes at the same
time as the green L D2 when within the target range. .
Set the distance between the read head and the code reel so that the yellow L D5 and the
green L D2 flash synchronously.
Y coordinate: If the optical axis of the read head is too low relative to the middle of the code
reel, the yellow L D4 lights up, . If the optical axis is too high, the yellow L D4 goes out. Within
the target range, the yellow L D4 flashes at the same time as the green L D2.
Set the optimal height of the read head relative to the code reel so that the yellow L D4 flashes
in rhythm with the green L D2.
Briefly pressing button 1 ends the alignment aid, and the read head returns to normal
operation.
6.2 Parameterization of Fieldbus Address and Baud Rate
Before the read head can communicate with the CANopen fieldbus, you must set the fieldbus
address and baud rate parameters.
Parameterization using Code Cards
During external parameterization, the read head scans the special code cards optically and
configures the relevant parameters. Simply hold the corresponding code cards at the correct
distance in front of the lens on the read head.
Note!
The activation of the alignment aid is possible only within 10 minutes of switching on the read
head.
Y
Z
X