Pepperl+Fuchs PGV Series Manuel utilisateur
R
PGV...-F200/-F200A...-
B17-V1D
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...-B17-V1D
PGV...-F200/-F200A...-B17-V1D
3
1 Safety ........................................................................................... 4
1.1 Introduction .......................................................................................... 4
1.1.1 Content of this Document .................................................................. 4
1.1.2 Manufacturer...................................................................................... 4
1.1.3 Target Group, Personnel .................................................................... 4
1.1.4 Symbols Used.................................................................................... 5
2 Product Description ................................................................... 6
2.1 Use and Application............................................................................. 6
2.2 LED Indicators and Controls............................................................... 8
2.3 Accessories ........................................................................................ 10
3 Installation................................................................................. 11
3.1 Mounting the Read Head................................................................... 11
3.2 Mounting the Colored ape and Code ape .................................... 13
3.3 Electrical Connection ........................................................................ 28
3.4 PROFINE Connection ...................................................................... 30
4 Commissioning......................................................................... 31
4.1 Direction Decision.............................................................................. 31
4.2 Project Planning Using Device Description .................................... 33
5 Operation and communication................................................ 34
5.1 Communication via PROFINE ......................................................... 34
5.1.1 General Information on Communication via PROFIN T ................... 34
5.1.2 PROFIN T IO Interface ................................................................... 34
5.1.3 Project Planning Using Device Description ...................................... 33
5.1.4 PROFIN T Address and Identifying a Device.................................. 35
5.1.5 PROFIN T Modules ........................................................................ 36
5.2 Operation Using Control Codes ....................................................... 45
5.3 Operation Using Repair ape ............................................................ 46
6 Appendix ................................................................................... 47
6.1 ASCII table .......................................................................................... 47
2017-11
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PGV...-F200/-F200A...-B17-V1D
Safety
1 Safety
1.1 Introduction
1.1.1 Content of this Document
This document contains information required to use the product in the relevant phases of the
product life cycle. This may include information on the following:
■
Product identification
■
Delivery, transport, and storage
■
Mounting and installation
■
Commissioning and operation
■
Maintenance and repair
■
Troubleshooting
■
Dismounting
■
Disposal
The documentation comprises the following parts:
■
This document
■
Datasheet
In addition, the documentation may comprise the following parts, if applicable:
■
U-type examination certificate
■
U declaration of conformity
■
Attestation of conformity
■
Certificates
■
Control drawings
■
Instruction manual
■
Other documents
1.1.2 Manufacturer
1.1.3 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.
Note!
Visit www.pepperl-fuchs.com to access further documentation for full information about the
product.
Pepperl+Fuchs GmbH
Lilienthalstraße 200, 68307 Mannheim, Germany
Internet: www.pepperl-fuchs.com
PGV...-F200/-F200A...-B17-V1D
Safety
2017-11
5
1.1.4 Symbols Used
This document contains symbols for the identification of warning messages and of informative
messages.
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.
2017-11
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PGV...-F200/-F200A...-B17-V1D
Product Description
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.
PGV...-F200/-F200A...-B17-V1D
Product Description
2017-11
7
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.
2017-11
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PGV...-F200/-F200A...-B17-V1D
Product Description
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.
Figure 2.3
ADJUST
CONFIG
1
2
LED 1 2 3 4 5 6 7
PGV...-F200/-F200A...-B17-V1D
Product Description
2017-11
9
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
1
1.x = L D status has no meaning
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
2
2.No lane selected, for example
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 PROFIN T data
transfer
x Flashes x x x x x PROFIN T 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/conf
iguration 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
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PGV...-F200/-F200A...-B17-V1D
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
V19-G-ABG-PG9-F Grounding terminal and plug (set)
PCV-SC12 Grounding clip
V1SD-G-*M-PUR-ABG-V1SD-G Bus cable, M12 to M12, available in several
different lengths
PCV-AG100 Alignment guide for reader
V19-G-*M-* Configurable connection cable
1
1.Ask your contact person at Pepperl+Fuchs
PCV-CM20-0* vent marker
PCV-MB1 Mounting bracket for reader
V19-G-*M-PUR-ABG Single-ended female cordset, M12, 8-pin,
shielded, PUR cable
PCV-LM25 Marker head for code tape
PGV33M-CB19-* PGV colored tape
PCV-KBL-V19-STR-USB USB cable unit with power supply
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