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

R
PGV...-F200/-F200A...-B6-V15B
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...-B6-V15B

PGV...-F200/-F200A...-B6-V15B
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............................................................... 9
4.3 Accessories ........................................................................................ 13
5 Installation................................................................................. 14
5.1 Mounting the Read Head................................................................... 14
5.2 Mounting the Colored ape and Code ape .................................... 16
5.3 Electrical Connection ........................................................................ 33
5.4 PROFIBUS Connection ...................................................................... 35
6 Commissioning......................................................................... 36
6.1 Specifying the First Direction Decision ........................................... 36
6.2 External Parameterization of the Fieldbus Address Using Code
Cards ................................................................................................... 36
6.2.1 Product Documentation on the Internet............................................ 36

4
PGV...-F200/-F200A...-B6-V15B
7 Operation and Communication ............................................... 37
7.1 Communication via PROFIBUS .........................................................37
7.1.1 General Information on PROFIBUS DP............................................. 37
7.1.2 PROFIBUS DP Communication Parameters ....................................37
7.1.3 PROFIBUS DP Features ..................................................................37
7.1.4 PROFIBUS DP Functions................................................................. 37
7.1.5 PROFIBUS Modules ........................................................................37
7.1.6 Global Primary Data ......................................................................... 42
7.2 Operation Using Control Codes........................................................43
7.3 Operation Using Repair ape ............................................................44
8 Appendix ................................................................................... 45
8.1 ASCII able ..........................................................................................45

PGV...-F200/-F200A...-B6-V15B
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, Germany
Telephone: [phone]
Fax: [phone]
mail: [e-mail]
Note!
This symbol draws your attention to important information.

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PGV...-F200/-F200A...-B6-V15B
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.

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Safety
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3 Safety
3.1 Symbols Relevant to Safety
3.2 Intended Use
This device, when used together with a colored tape affixed to the floor and code tapes printed
with Data Matrix codes, constitutes 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 spur.
Prior to mounting, installation, and commissioning of the device you should make yourself
familiar with the device and carefully read the instruction manual.
The device is only approved for appropriate and intended use. Ignoring these instructions will
void any warranty and absolve the manufacturer from any liability.
Protection of the personnel and the plant is not ensured if the device is not used according to 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 may only be performed by trained and qualified
personnel.
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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PGV...-F200/-F200A...-B6-V15B
Product Description
4 Product Description
4.1 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 4.1 Automated guided vehicle with green colored tape
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.
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.

PGV...-F200/-F200A...-B6-V15B
Product Description
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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 4.2 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.
4.2 L D Indicators and Controls
The PGV... reader is equipped with seven indicator L Ds for carrying out visual function checks
and rapid diagnosis. The reader is equipped with two buttons at the back for activating
parameterization mode. Button 1 is labeled ADJUST. Button 2 is labeled CONFIG.
Figure 4.3
ADJUST
CONFIG
1
2
LED 1 2 3 4 5 6 7

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PGV...-F200/-F200A...-B6-V15B
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
f
flash
= 2 Hz
x x Lights
up red
x x x x System error
1
x x Lights
up
green
x x x x Code tape detected, absolute
position available
x x x Lights
up
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
up
Off x "Follow left-hand spur" activated
x x x x Off Lights
up
x "Follow right-hand spur" activated
x x x x Lights
up
Lights
up
x "Straight ahead" activated
Lights
up
x x x x x x PROFIBUS data transfer
x Flashes x x x x x PROFIBUS error
f
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
f
flash
= 2 Hz
x x Lights
up red
Flashes Off Off Off Code card faulty
f
flash
= 2 Hz for 3 sec
x x Green,
1 sec
Flashes Off Off Off Code card detected
f
flash
= 2 Hz for 3 sec
x x Off x x x Off Time lock for buttons disabled
1.No spur selected, for example

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Product Description
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4.3 Accessories
Compatible accessories offer enormous potential for cost savings. Such accessories not only
save you 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.
Model number Description
PGV-CC25-0* Code tape, various control codes
PGV*M-CA25-0 Position tape, starting position 0, various lengths
PGV-CR25 Repair tape
PCV-SC12
PCV-SC12A
Grounding clip
PCV-KBL-V19-STR-USB USB cable unit with power supply, for service interface
V19-G-ABG-PG9-F Grounding terminal and plug (set)
V15B-G-*M-PUR ABG-V15B-G PROFIBUS bus cable, M12 to M12, available in several
different lengths
VAZ-V1S-B Stopping plug for M12 connector
ICZ-TR-V15B Terminator for PROFIBUS
V19-G-*M-* Configurable connection cable
1
1.Ask your contact person at Pepperl+Fuchs

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PGV...-F200/-F200A...-B6-V15B
Installation
5 Installation
5.1 Mounting the Read Head
Mount the PGV... read head on the automated guided vehicle using the four screws on the
mounting adapter on the read head. Mount the read head in such a way that the lens with the
ring light and camera module are directed toward the colored tape.
The mounting must be stable enough so that the read head does not leave its depth of focus
range during operation.
The distance between the read head and the floor should be the same as the read distance of
the read head.
Optimum Read Distance
Hysteresis
If the read head has detected a colored tape, this colored tape can move in the Y direction from
the zero point within the viewing window. The maximum Y value at which the read head can still
capture this distance is designated as Y Value Out in the following table.
If the read head swivels onto a colored tape, the read head can capture the distance of the
colored tape from the zero point only if the tape is less than a certain distance away from the
zero point. This distance is designated as Y value In in the following table. The difference
between Y Value Out and Y Value In is the hysteresis. See "Distance Output" on page 19.
Order designation Read distance [mm] Depth of focus [mm]
Field of vision (w x h)
[mm]
PGV100* 100 ±20 117 x 75
PGV150I* 150 ±30 170 x 105
Order designation Max. Y Value Out [mm] Min. Y Value In [mm]
PGV100* 60 45
PGV150I* 60 60

PGV...-F200/-F200A...-B6-V15B
Installation
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Read Head Dimensions
Figure 5.1 Housing *-F200-*
Figure 5.2 Housing *-F200A-*
12.5
54
2020
M12
M12
M6 x 9 (4x)
25
21.75
25
12
70 13.8
70
80
10 70 12
94.5
70
50
22
ø 25
M6 x 9 (4x)
12.5 20 20
Caution!
When selecting the length of the mounting screws, ensure that the maximum insertion depth of
the screws in the threaded inserts on the read head is 8 mm.
Using longer screws may damage the read head.

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Installation
5.2 Mounting the Colored Tape and Code Tape
Colored tape
The colored tape must be flexible, conformable, and resistant to abrasion, with a matte finish.
The colored tape must meet the following specifications:
■ Tape width: 10 mm ... 40 mm
■ Color of the tape
• Blue = RAL 5015
• Green = RAL 6032
• Red = RAL 3001
■ Tape thickness > 0.1 mm
The thickness of the tape is irrelevant to read head operation.
■ Breaking load > 25 N/cm
■ Breaking elongation > 180%
■ Adhesive strength > 2 N/cm
■ Temperature resistance: -20 °C ... 70 °C
Secure the colored tape to the floor such that the following conditions are met:
■ Data Matrix code tapes for positioning are used instead of the colored tape.
■ Data Matrix control codes are positioned parallel to the colored tape.
Color Selection
Select the color of the colored tape so that the contrast between the floor color and the color of
the colored tape is as great as possible. Ideally, use the complementary color.
Due to the integrated lighting of the read head, some floor colors appear to be different in the
camera. If you have problems with the color selection of the colored tapes, please consult your
contact at Pepperl+Fuchs.
Mounting the Colored Tape
1. Clean the surface of any greasy or oily deposits and dust.
2. nsure that the surface is dry, clean, and stable.
3. Please observe the following section "Basics" when mounting the colored tape and, if
necessary, the instructions from the colored tape manufacturer.
Cleaning Colored ape/Code ape
Significant contamination on the colored or code tapes can impair the detection by the read
head. Clean the colored and code tapes with isopropanol if necessary. If the contamination is
severe, you can use a non-corrosive plastic cleaner, e.g., Caramba®.
Caution!
The maximum torque of the mounting screws must not exceed 9 Nm.
Tightening the screws to a higher torque may damage the read head.
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.

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Installation
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Basics
The read head detects a colored tape on a floor as a lane. The width of the colored tape must
be between 10 mm and 40 mm; the default width is 18 mm. The zero point is located in the
center of the colored tape. You can use 3 defined colors. See the section entitled "Colored
tape"
The sensor always moves in the X direction. In the sensor's field of view, X indicates an upward
movement.
Figure 5.3 Field of view and coordinates of the sensor
Figure 5.4 Curve radius: R ≥ 50 cm
Select a curve radius that can handle the turning circle of your automated guided vehicle. The colored tape must always
be located in the reading window of the read head.
Note!
To avoid polishing the surface, do not apply strong pressure when cleaning. A shiny surface of
the colored or code tapes leads to impairment in detection by the read head.
+Y
+X
+Z
R

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PGV...-F200/-F200A...-B6-V15B
Installation
Angle Output
The read head detects a change of the angle of the colored tape and the Data Matrix code tape
and outputs this value to the controller. The output value is different for colored tapes and Data
Matrix code tapes.
Colored tape
The read head detects the angle in relation to the tracked lane with a resolution of 360
(corresponds to 1°). The angle is specified relative to the tracked lane because a colored tape
does not include any direction information. The output angle covers the range from -45° to 45°.
The resolution is 1°.
Figure 5.5 Relative angle
Data Matrix code tape
The read head detects the absolute angle in relation to the tracked lane with a maximum
resolution of 0.1°. The angle is specified absolutely relative to the tracked lane, since a Data
Matrix code contains tape direction information. The output angle covers the range from 0° to
360°. The resolution can be set to the following values:
■ 0.1°
■ 0.2°
■ 0.5°
■ 1°
Note!
Angles are specified as absolute values. The respective value is calculated from the resolution
selected under "Angle Resolution". With a resolution of 0.1°, an angle of 60° is output as
60°/0.1° = 600.
X
Y
X
Y
β
✓
✗

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Installation
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Figure 5.6 Absolute angle
Distance Output
The read head detects the distance from the zero point in the Y direction of a colored tape or a
Data Matrix code tape and outputs this value to the controller. The output value is different for
colored tapes and Data Matrix code tapes due to the lack of an X position for colored tapes.
Colored tape
The read head outputs the Y value at which the colored tape intersects the Y axis as the
distance.
Figure 5.7 Distance A for colored tape
X
Y
X
Y
X
Y
A

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Installation
Data Matrix code tape
The read head indicates the vertical distance of the zero point in relation to the Data Matrix
code tape.
Figure 5.8 Distance A for Data Matrix code tape
Branches
The read head detects one lane at the lower edge of the field of vision and two lanes at the
upper edge of the field of vision; the read head indicates this as a branch.
The read head detects two lanes at the lower edge of the field of vision and one lane at the
upper edge of the field of vision; the read head indicates this as an intersection.
Branches or intersections can be displayed as follows:
Figure 5.9 Separate lane branches off/converges
X
Y
A

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Installation
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The read head can make the following direction decisions based on the lane and possible
branches:
■ Follow left-hand lane
■ Straight ahead
■ Follow right-hand lane
The direction decision is signaled to the read head via the controller. If there is no direction
decision, the read head displays an error message.
Code apes for Control and Positioning
In addition to tracking the lane, the read head can also detect Data Matrix codes. This process
involves evaluating both control and position information. Data Matrix control codes are used
as event markers. Control codes provide information on branches. Data Matrix code tapes for
positioning indicate the absolute position of the read head.
Note the following conditions:
Data Matrix code tapes for positioning are used instead of the colored tape.
Data Matrix control codes are used in tandem with the colored tape or Data Matrix position
code.
Colored tape
Data Matrix position code
Data Matrix control code
1
3
2
1
2
3

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Installation
Branches or intersections with position information can be displayed as follows:
Figure 5.10 Separate lane branches off/converges
Figure 5.11 Same lane branches off/converges