Pepperl+Fuchs PGV F200 User manual

PGV...-F200/-F200A...-B16-V15
Incident Light Positioning System
FAC ORY AU OMA ION
MANUAL

With regard to the supply of products, the current issue of the following document is ap-
plicable: The General Terms of Delivery for Products and Services of the lectrical Indus-
try, published by the Central Association of the lectrical Industry (Zentralverband
lektrotechnik und lektroindustrie (ZV I) e.V.) in its most recent version as well as the
supplementary clause: " xpanded reservation of proprietorship"
PGV...-F200/-F200A...-B16-V15

PGV...-F200/-F200A...-B16-V15
3
1 Safety ........................................................................................... 5
1.1 Introduction .......................................................................................... 5
1.1.1 Contents ............................................................................................ 5
1.1.2 Target Group, Personnel .................................................................... 5
1.1.3 Symbols Used.................................................................................... 5
2 Product Description ................................................................... 7
2.1 Use and Application............................................................................. 7
2.2 LED Indicators and Controls............................................................... 8
2.3 Accessories ........................................................................................ 12
3 Installation................................................................................. 13
3.1 Mounting the Read Head................................................................... 13
3.2 Mounting the Colored ape and Code ape .................................... 15
3.3 Electrical Connection ........................................................................ 32
3.4 CANopen Connection ........................................................................ 34
4 Commissioning......................................................................... 35
4.1 Specifying the First Direction Decision ........................................... 35
4.2 Direction Decision.............................................................................. 35
4.3 Parameterization of Fieldbus Address and Baud Rate................... 37
4.3.1 Product documentation on the internet ............................................ 39
4.4 EDS Configuration File ...................................................................... 39
5 Operation and communication................................................ 40
5.1 Data Exchange in the CANopen Bus................................................ 40
5.1.1 General Information about CANopen................................................ 40
5.1.2 Basic Technical Information about CANopen................................... 41
5.1.3 CANopen Object Directory .............................................................. 44
5.1.4 Object 3001 ..................................................................................... 62
5.2 Operation Using Control Codes ....................................................... 64
5.3 Operation Using Repair ape ............................................................ 65

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PGV...-F200/-F200A...-B16-V15
6 Appendix ................................................................................... 67
6.1 ASCII table...........................................................................................67
6.2 Code cards with special functions ...................................................67
6.3 Code Cards for Setting the Baud Rate .............................................69

PGV...-F200/-F200A...-B16-V15
Safety
2016-09
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1 Safety
1.1 Introduction
1.1.1 Contents
This document contains information that you need in order to use your product throughout the
applicable stages of the product life cycle. These can include the following:
■ Product identification
■ Delivery, transport, and storage
■ Mounting and installation
■ Commissioning and operation
■ Maintenance and repair
■ Troubleshooting
■ Dismounting
■ Disposal
The documentation consists of the following parts:
■ Present document
■ Instruction manual
■ Datasheet
Additionally, the following parts may belong to the documentation, if applicable:
■ U-type examination certificate
■ U declaration of conformity
■ Attestation of conformity
■ Certificates
■ Control drawings
■ Additional documents
1.1.2 Target Group, Personnel
Responsibility for planning, assembly, commissioning, operation, maintenance, and
dismounting lies with the plant operator.
Only appropriately trained and qualified personnel may carry out mounting, installation,
commissioning, operation, maintenance, and dismounting of the product. The personnel must
have read and understood the instruction manual and the further documentation.
Prior to using the product make yourself familiar with it. Read the document carefully.
1.1.3 Symbols Used
This document contains symbols for the identification of warning messages and of informative
messages.
Note!
This document does not substitute the instruction manual.
Note!
For full information on the product, refer to the instruction manual and further documentation on
the Internet at www.pepperl-fuchs.com.

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PGV...-F200/-F200A...-B16-V15
Safety
Warning Messages
You will find warning messages, whenever dangers may arise from your actions. It is mandatory
that you observe these warning messages for your personal safety and in order to avoid
property damage.
Depending on the risk level, the warning messages are displayed in descending order as
follows:
Informative Symbols
Action
This symbol indicates a paragraph with instructions. You are prompted to perform an action or
a sequence of actions.
Danger!
This symbol indicates an imminent danger.
Non-observance will result in personal injury or death.
Warning!
This symbol indicates a possible fault or danger.
Non-observance may cause personal injury or serious property damage.
Caution!
This symbol indicates a possible fault.
Non-observance could interrupt the device and any connected systems and plants, or result in
their complete failure.
Note!
This symbol brings important information to your attention.

PGV...-F200/-F200A...-B16-V15
Product Description
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2 Product Description
2.1 Use and Application
Intended Use
This device, when used together with a colored tape affixed to the floor and code tapes printed
with Data Matrix codes, constitute a high-resolution lane tracking and positioning system. It can
be used in all applications where automated guided vehicles (AGV) are to be positioned
precisely at marked positions along a given lane.
The read head forms part of the positioning system in the Pepperl+Fuchs incident light
process. The read head's features include a camera module and an integrated illumination unit.
The read head uses these features to detect a colored tape stuck to the floor or a painted color
lane to track the lane. The read head detects Data Matrix tags to navigate within a grid. The
read head also detects control codes and position markers in the form of Data Matrix codes
printed on a self-adhesive code tape. Data Matrix code tapes and Data Matrix tags have priority
over colored tapes or colored lanes.
The Data Matrix code tapes are installed in a fixed position instead of or along with the colored
tape. The read head is located on an automated guided vehicle (AGV) and guides this vehicle
along the colored tape.
Figure 2.1 Automated guided vehicle with green colored tape
Note!
Priority
Data Matrix code tapes and Data Matrix tags have priority over colored tapes or colored lanes.
If the read head detects a Data Matrix code tape or Data Matrix tags in the field of view, colored
tapes or colored lanes in the field of view are ignored.

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PGV...-F200/-F200A...-B16-V15
Product Description
ag Mode
In addition to the tracking, you can use the read head in tag mode. The read head detects Data
Matrix tags, which are typically glued onto the floor in a grid. The individual Data Matrix tags are
numbered consecutively and include position information. The read head reports the position
of the AGV in relation to the zero point of the Data Matrix tag to the controller.
The tag mode allows the AGV to move freely in as large a grid as desired, without having to
mark the crossing paths with lane tapes.
Figure 2.2 Automated guided vehicle with Data Matrix tags
The read head switches automatically between tag mode and lane tracking. This allows an
automated guided vehicle to be guided from one Data Matrix tag grid via a colored or Data
Matrix lane to another Data Matrix tag grid.
The extensive yet user-friendly parameterization options as well as the configurable inputs and
outputs mean that the read head can easily be adapted to suit each application.
2.2 L D Indicators and Controls
The PGV... reader is equipped with seven indicator L Ds for carrying out visual function checks
and rapid diagnostics. The reader is equipped with two buttons at the back for activating
parameterization mode. Button 1 is labeled ADJUST. Button 2 is labeled CONFIG.

PGV...-F200/-F200A...-B16-V15
Product Description
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Figure 2.3
ADJUST
CONFIG
1
2
LED 1 2 3 4 5 6 7

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PGV...-F200/-F200A...-B16-V15
Product Description
x = L D status has no meaning
L D [#1] BUS STAT [#2] BUS RR [#3] PWR RR/NO COD [#4] LAN AVAILABL [#5] FOLLOW L FT [#6] FOLLOW RIGHT [#7] INT RNAL DIAGNOSTIC
DescriptionColor Yellow Red
Green/
red Yellow Yellow Yellow
Red/
green/
yellow
Status
x x Flashes
red
x x x x Code tape outside read range
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 lane"
activated
x x x x Off Lights
up
x "Follow right-hand lane"
activated
x x x x Lights
up
Lights
up
x "Straight ahead" activated
Lights
up
x x x x x x CANopen data transfer
x Flashes x x x x x CANopen 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 lane selected, for example