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

4
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
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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.

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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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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

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Product Description
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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 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
Flickers Flickers x x x x x Detection of auto baud rate
f
flicker
= 10 Hz
Flashes x x x x x x "Preoperational" mode
f
flash
= 2.5 Hz
Flashes
once
x x x x x x Stopped
1 x on briefly, 1 sec off
Lights up x x x x x x "Operational" mode
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/r
ed Yellow Yellow Yellow
Red/
green/
yellow
Status
Flickers Flickers x x x x x Detection of auto baud rate
f
flicker
= 10 Hz
x Flashes x x x x x General configuration error
f
flash
= 2.5 Hz
x Flashes
once
x x x x x Warning limit reached
1 x on briefly, 1 sec off
x Flashes
twice
x x x x x "Control vent" error
2 x on briefly, 1 sec off
x Flashes
3 times
x x x x x Synchronization error
3 x on briefly, 1 sec off
x Flashes
4 times
x x x x x " vent Timer" error
4 x on briefly, 1 sec off
x Lights
up
x x x x x CANopen error

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Product Description
2.3 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
PGV25M-CD100-CL AR Protective film
PGV33M-CB19-BU Colored tape; blue
PGV33M-CB19-GN Colored tape; green
PGV33M-CB19-RD Colored tape; red
PCV-SC12
PCV-SC12A
Grounding clip
V15-G-*M-PUR-CAN-V15-G CANopen bus cable, M12 to M12, available in
several different lengths
PCV-KBL-V19-STR-USB USB cable unit with power supply, for service
interface
V19-G-ABG-PG9-F Grounding terminal and plug (set)
ICZ-TR-CAN/DN-V15 Terminator for CANopen
VAZ-V1S-B Stopping plug for M12 connector
V19-G-*M-* Configurable connection cable
1
1.Ask your contact person at Pepperl+Fuchs

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Installation
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3 Installation
3.1 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 18.
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

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Installation
Read Head Dimensions
Figure 3.1 Housing *-F200-*
Figure 3.2 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
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3.2 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.
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
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®.
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 3.3 Field of view and coordinates of the sensor
Figure 3.4 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.
Angle Output
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
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.

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Installation
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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 3.5 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°
Figure 3.6 Absolute angle
X
Y
X
Y
β
✓
✗
X
Y
X
Y

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Installation
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 3.7 Distance A for colored tape
Data Matrix code tape
The read head indicates the vertical distance of the zero point in relation to the Data Matrix
code tape.
Figure 3.8 Distance A for Data Matrix code tape
X
Y
A
X
Y
A

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Installation
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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 3.9 Separate lane branches off/converges
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.

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Installation
Branches or intersections with position information can be displayed as follows:
Figure 3.10 Separate lane branches off/converges
Colored tape
Data Matrix position code
Data Matrix control code
1
3
2
1
2
3