Cedes ObjectC 100 I/O, ObjectC 100 RS485, ObjectC 100 CAN Programmer's Manual

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Page 1

Programmer’s Guide

ObjectC 100 I/O

ObjectC 100 CAN

ObjectC 100 RS485

Multiple Proximity Switch systems

for object recognition

English

Deutsch

IMPORTANT NOTICE

FOLLOW THE INSTRUCTIONS GIVEN IN THIS MANUAL CAREFULLY. FAILURE TO DO SO MAY CAUSE CUSTOMER COMPLAINTS AND SERIOUS CALL BACKS. KEEP INSTRUCTION MANUAL ON SITE.

OBJECTC-100 / OBJECT100 SYSTEMS ARE NOT SAFETY SYSTEMS! THIS MEANS THAT ANY USE FOR THE PROTECTION OF PEOPLE IS FORBIDDEN.

Multiple Proximity Switch systems

for object recognition: Measurement light curtain

system to measure the dimensions of objects

quickly and reliably

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ObjectC 100 Programmer's Guide

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Content

Introduction..................................................3

2. ObjectC 100 CAN.......................................... 3

2.1. Communication Protocol (CAN) .....................3

2.2. CAN Standard mode.....................................3

2.2.1. Telegram (CAN) ...........................................3

2.2.2. Spontaneous telegram (CAN)........................ 4

2.2.3. Baud rate.....................................................4

2.2.4. CAN address................................................4

2.2.5. Commands and responses (CAN / RS485) ....5

2.2.5.1. Light curtain status (spontaneous response) (01

[01 Hex]) 6

2.2.5.2. Pseudo-command (02 [02 Hex]) ....................... 6

2.2.5.3. Get status controller (04 [04 Hex])..................... 7

2.2.5.4. Test function light curtain (06 [06 Hex]) ............. 7

2.2.5.5. Get light curtain status (08 [08 Hex]) ................. 7

2.2.5.6. Get number of beams (18 [12 Hex]) ................. 8

2.2.5.7. Trigger (1 standard scan) (20 [14 Hex]) ............. 8

2.2.5.8. Start permanent standard scan (22 [16 Hex])..... 8

2.2.5.9. Stop permanent standard scan (24 [18 Hex])..... 9

2.2.5.10. Get scan counter (26 [1A Hex]) ......................... 9

2.2.5.11. Set parameter (28 [1C Hex]) ............................. 9

2.2.5.12. Set default configuration (30 [1E Hex]) ............ 11

2.2.5.13. Start permanent scan with overhang monitoring

(32 [20 Hex]).................................................................. 11

2.2.5.14. Stop permanent scan with overhang monitoring

(34 [22 Hex]).................................................................. 12

2.2.5.15. Get overhang scan counter (36 [24 Hex]) ........ 12

2.2.5.16. Get beam status (38 [26 Hex]) ........................ 13

2.2.5.17. Get zone status (40 [28 Hex]) ......................... 13

2.2.5.18. Get parameter value (42 [2A Hex]) ................. 13

2.2.5.19. Restart (44 [2C Hex]) ...................................... 14

2.2.5.20. Get beam status with light curtain status (100 [64

Hex]) 14

2.3. Extended CAN mode...................................14

2.3.1. Boot-up message........................................15

2.3.2. Watchdog message ....................................15

2.3.3. Initialization of the extended CAN mode......15

2.3.4. CAN addresses in the extended CAN mode.16

2.3.5. Extended commands and responses (CAN)..16

2.3.5.1. State sector X-axis (64 [40 Hex])...................... 16

2.3.5.2. State sector Y-axis (66 [42 Hex])...................... 17

2.3.6. Event Mode ................................................17

2.3.7. Limitation of data frequency using the event

mode .....................................................17

2.3.8. Periodic mode ............................................18

2.3.9. Period duration ..........................................19

2.3.10. Single/Periodic evaluation ...........................19

2.3.11. X-Y Measurement with zones.......................19

2.3.11.1. Example ........................................................ 20

3. ObjectC 100 RS485 ..................................... 21

3.1. RS485 communication.................................21

3.1.1. RS485 protocol structure .............................21

3.1.2. RS485 commands and responses................21

3.1.3. RS485 communication example 1 ...............21

3.1.4. Timing (RS485)...........................................22

3.2. Master programming (RS485)......................23

3.3. Technical data RS485..................................23

4. Advanced Features ....................................23

4.1. Light curtain design .....................................23

4.2. Beam counting direction..............................24

4.3. Measurement reference point.......................25

4.4. Pitch and height measurement.....................25

4.5. Measurement accuracy................................26

4.6. Measurement velocity..................................26

4.7. Blanked beams ...........................................27

4.8. Zone monitoring .........................................27

4.9. Overheight monitoring ................................29

4.10. Overhang monitoring..................................29

4.10.1. Overhang monitoring with time delay.......... 30

4.10.2. Overhang monitoring with external sensors . 31

4.11. Trigger and hold.........................................32

5. ObjectC 100 default settings...................... 32

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Programmer's Guide ObjectC 100

1. Introduction

The CEDES Safety & Automation measuring light curtain system Object100 / ObjectC-100 is intended to detect an object and measure its dimensions reliably and quickly. A typical application is presented in Figure 1. The system consists of the Object100 emitter and receiver light curtains and the electronic control unit ObjectC

-100. The control unit

has many application features and is available with various interfaces for communication with a higher level PLC.

Figure 1: Typical application

The control unit ObjectC 100 is available with the following interfaces:

Table 1: Object C 100 controller versions

Part no. Part name Description

104 920 ObjectC-100 I/O 2 digital inputs, 6 digital

outputs

104 901 ObjectC-100 CAN 2 digital inputs, 2 digital

outputs, and CAN interface

104 913 ObjectC-100 RS485 2 digital inputs, 2 digital

outputs, and RS485 interface

All controller types are equipped with two digital outputs, indicating light curtain interrupted or overheight (i.e. object is too tall) and overhang. The ObjectC 100 I/O controller offers four aditional outputs to monitor single beams or groups of beams (zones). The CAN and RS485 controllers communicate the state of each beam to a PLC.

This operational guide describes advanced features and the communication protocols of the controller. The principial description, settings and commissioning can be found in the ObjectC 100 manual (Part No. 104 906).

Warning

ObjectC-100 / Object100 systems are not safety systems! This means that any use for the protection of people is forbidden.

ObjectC-100 / Object100 systems can only achieve their function, if the instructions given in this manual, and the referenced documents are exactly followed, as well as consulting the valid laws and regulations at the time of installation. Should these instructions not be followed or only partially, this may lead to a premature malfunction of the system. The installer or system integrator will be fully responsible for the results in such a situation.

2. ObjectC 100 CAN

2.1. Communication Protocol (CAN)

CAN communication is used for obtaining light curtain status information. The information about interrupted beams determines, for example, the size of an object. ObjectC°100°CAN offers two CAN modes. The CAN Standard Mode (chapter°2.2) offers, beside commands for beam states, the functionality of overhang and overheight detection. This mode operates up to the exception of response telegram 01 [01 Hex] as master slave communication. The master sends a command to the ObjectC 100 CAN (slave) and gets a response. This mode is also valid for the ObjectC°100°RS485 controller type. It is selected with DIP switch S1 (7) = "OFF". The Extended CAN mode (chapter 0) distinguishes with XY-axis and sector monitoring advanced timing modes. In this mode there can be set configuration parameters, where the ObjectC°100°CAN autonomously sends status telegram on a change of light curtain state. The Extended CAN mode is available for the ObjectC°100°CAN controller type only and is activated with DIP switch S1 (7) = "ON". The CAN interface can be used with restrictions in a CANopen network. Please contact your nearest CEDES dealer for more information.

2.2. CAN Standard mode

2.2.1. Telegram (CAN)

A CAN telegram consists of a string of bytes. The telegram starts with an address, followed by 1 byte, which contains the number of data-bytes that will follow (DLC). The telegram then finishes with these data-bytes (in this instance 8 bytes). ObjectC

-100

typically uses 8 data-bytes. Not used data-bytes have to be filled up with 00Hex.

The ObjectC 100 data-bytes are composed of two command bytes and six parameter bytes. ObjectC

100-CAN supports the CAN standard 2.0A (standard frame).

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Table 2: CAN protocol architecture

Address DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Address [08 Hex]

Command

High byte

Command

Low byte

Data Data Data Data Data Data

Table 3: CAN command example (Hex) (standard mode)

Address DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

0220 08 00 14 00 00 00 00 00 00

Trigger (1 Standard Scan)

Table 4: CAN response example (Hex)

Address DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

01A0 08 00 15 05 13 0F 32 00 00

Answer 15 (Hex): Interrupted beams: 05-13 (Hex), total interrupted beams: 0F (Hex)

Principally a master sends a command to the ObjectC°100°CAN controller and afterwards receives a response telegram. The commands consist of even numbers (Table 6) and the responses odd numbers (Table 7) with an offset of +1. An except are the response telegrams 1 [01 Hex], 65 [41 Hex] and 67 [43 Hex], which will be transmitted spontaneously.

2.2.2. Spontaneous telegram (CAN)

The state telegram 1 [01 Hex] (Table 8) will be transmitted, as soon as the state of the light curtain changes. The status telegram has its own address (Table 5). This status command can be activated or deactivated with command 28 [1C Hex], Parameter 62 [3E Hex] (Table 19). The parameter determines if a status telegram 1 [01 Hex] is sent if:

1. The light curtain status changes (interrupted/not interrupted) A telegram is sent if all beams are uninterrupted or a light beam is interrupted.

2. Change of light beam status A telegram is sent if the state of at least one light beam changes.

Warning:

This mode can cause a high communication

frequence!

Notice:

This mode can lead to a high communication rate. ObjectC 100 RS485 is a slave controller only. Therefore there are no spontaneous telegrams for this type.

The extended CAN mode offers the feature of spontaneous telegrams 65 [41 Hex] (State zone Xaxis) and 67 [43 Hex] (State zone Y-axis). Chapter

2.3 describes this feature.

2.2.3. Baud rate

The baud rate can be selected with the DIP switch (chapter 6.4 in the Operation Manual). The default baud rate is set to 125k.

2.2.4. CAN address

The CAN address is defined as follows. The CAN sub-address can be selected using the DIP switch S1 (chapter 6.4 in the operation manual). Therefore up to 15 ObjectC°100°CAN control units can be used in a CAN network.

Table 5: CAN addresses

Address for receiving telegram for ObjectC 100

[0220 Hex] + sub-address (= 0220, 0221, ..., 022F Hex)

Address for sending telegram for ObjectC 100 in response to receiving telegram

[01A0 Hex] + sub-address (= 01A0, 01A1, ..., 01AF Hex)

Address for spontaneous sending telegram for ObjectC 100

[02A0 Hex] + sub-address (= 02A0, 02A1, ..., 02AF Hex)

Receiving and sending of telegrams are related to the control unit ObjectC 100.

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Programmer's Guide ObjectC 100

2.2.5. Commands and responses (CAN / RS485)

Table 6: ObjectC 100 CAN commands

Command 2 02 Hex Pseudo command

4 04 Hex Get controller status 6 06 Hex Test function light curtain 8 08 Hex Get light curtain status * 18 12 Hex Get number of beams 20 14 Hex Trigger (1 Standard-scan) 22 16 Hex Start permanent scan standard 24 18 Hex Stop permanent scan standard 26 1A Hex Get scan counter 28 1C Hex Set parameters * 30 1E Hex Set default parameters * 32 20 Hex Start permanent scan with overhang monitoring 34 22 Hex Stop permanent scan with overhang monitoring 36 24 Hex Get overhang scan counter 38 26 Hex Get beam status * 40 28 Hex Get zone status * 42 2A Hex Get parameters * 44 2C Hex Reset 64 1) 40 Hex State sector X-axis * 66 2) 42 Hex State sector Y-axis *

Command Byte 1+ 2

100 64 Hex Get beam status with light curtain status *

Data Byte 3 - 8 Data, which must be transmitted with a command.

* This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)

Table 7: ObjectC 100 CAN response telegrams

Response

Response "n+1" to command "n":

1 01 Hex Light curtain status (spontaneous response) 3 03 Hex Pseudo response 5 05 Hex Get status controller 7 07 Hex Values for test function 9 09 Hex Get light curtain status 19 13 Hex Get number of beams 21 15 Hex Height measurement values 23 17 Hex Empty 25 19 Hex Height measurement value 27 1B Hex Number of measurements 29 1D Hex Parameters 31 1F Hex Empty 33 21 Hex Considered first beam and last beam 35 23 Hex Measurement values and overhang status 37 25 Hex Number of overhang measurements 39 27 Hex Beam status 41 29 Hex Get zone status 43 2B Hex Get parameters 45 2D Hex Reset 65 1) 41 Hex State sector X-axis 67 2) 43 Hex State sector Y-axis

(Command nr. + 1)

101 65 Hex Beam status with light curtain status*

Data Byte 3-8 Response data

1) Available only in the extended CAN mode

2) Available in the extended CAN mode and RS485

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2.2.5.1. Light curtain status (spontaneous response) (01 [01 Hex])

The light curtain status is sent whenever a status change is detected in the light curtain. The telegram is sent spontaneously. The trigger condition can be changed with parameter 62 (telegram 28 set parameter).

Table 8: Spontaneous Response 01 Hex

Response 1 [01 Hex]

Bit Value

Byte 3 0 0 Light curtain free

1 Light curtain interrupted 1 0 Light curtain state not changed 1 Light curtain state changed to the last measurement 2 0 No light curtain error 1 Emitter and receiver have different beam numbers or no light curtain connected 3 0 No overheight 1 Overheight detected 4-5 00 No overhang 01 Front overhang 10 Back overhang 11 Front and back overhang 6 0 Permanent scan standard not active 1 Permanent scan standard active 7 0 Permanent scan w. overhang not active 1 Permanent scan w. overhang active

Byte 4 1-2 00 No overhang

01 Front overhang 10 Back overhang 11 Front and back overhang

Byte 5 1 0 No overheight

1 Overheight detected

Byte 6 0 0 Not used Byte 7 0 0 Not used Byte 8 0 0 Not used

2.2.5.2. Pseudo-command (02 [02 Hex])

The pseudo-command serves merely to allow the controller to respond to the PLC.

Table 9: Command 02 Hex

Command 2 [02 Hex] Response 3 [03 Hex] Bit Value Bit Value Byte 3 - 8 0-7 0 (not used) Byte 3 - 8 0 - 7 0 (Not used)

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Programmer's Guide ObjectC 100

2.2.5.3. Get status controller (04 [04 Hex])

With this command, the status of a controller will be sampled. The parameters can be set with command 28 (chapter 2.2.5.11).

Table 10: Command 04 Hex

Command 4 [04 Hex] Response 5 [05 Hex]

Bit Value Bit Value

Byte 3 0-7 0-254 Physical length (number elements)

255 Error

Byte 4 0-7 0-254 Effective length (according to setting

of "fb_offset" to "lb_offset" and pitch factor)

Byte 5 0-7 0-254 Pitch factor (only for special applications) Byte 6 1 0 Beam no. 1 on cable end side

1 Beam no. 1 on opposite end to cable (inverted)

Byte 7

CAN RS485 0-1 0 125 kBit / s 19'200 Bit / s 1 250 kBit / s 2'400 Bit / s 2 500 kBit / s 9'600 Bit / s 3 1 Mbit / s 57'600 Bit / s

Byte 3 - 8 0-7 0 (not used)

Byte 8 0-7 0-255 Software version

2.2.5.4. Test function light curtain (06 [06 Hex])

With this command every beam of the attached light curtain will be tested.

Table 11: Command 06 Hex

Command 6 [06 Hex] Response 7 [07 Hex]

Bit Value Bit Value

Byte 3 0-7 0 Light curtain okay

1 Light curtain defective

Byte 3 - 8 0 - 7 0 (not used)

Byte 4 – 8 0-7 0 (Not used)

2.2.5.5. Get light curtain status (08 [08 Hex])

This command responds with the status information from the last scan. The scan runs permanently, it does not have to be specifically started.

Table 12: Command 04 Hex

Command 8 [08 Hex] Response 9 [09 Hex]

Bit Value Bit Value

Byte 3 0 0 Light curtain free

Byte 3 - 8 0 - 7 0 (not used)

Byte 4-8 Not used

* This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)

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2.2.5.6. Get number of beams (18 [12 Hex])

Indicates the number of beams in the attached light curtain.

Table 13: Command 12 Hex

Command 18 [12 Hex] Response 19 [13 Hex]

Bit Value Bit Value

Byte 3 0-7 0-254 Number of used beams Byte 4 0-7 0-254 Number of physical beams

Byte 3 - 8 0 - 7 0 (not used)

Byte 5-8 Not used

Note: The used beams count from "fb_offset" to "lb_offset", considering the pitch factor

2.2.5.7. Trigger (1 standard scan) (20 [14 Hex])

When a standard scan is triggered, the object height will be ascertained by monitoring the condition of the entire light curtain. Only one scan will be carried out and then the beam information will automatically be sent enclosed in response 21.

Table 14: Command 20 Hex

Command 20 [14 Hex] Response 21 [15 Hex] Bit Value Bit Value

Byte 3 0-7 0 No beam interrupted

1-254 First interrupted beam 1)

Byte 4 0-7 0 No beam interrupted

1-254 Last interrupted beam 1)

Byte 5 0-7 0 No beam interrupted

1-254 Maximum number of interrupted beams

Byte 6 0-7 1-254 Number of used beams 1) Byte 7 0-1 0 No overheight

1 Overheight

Byte 3 - 8

0-7 0 Not used

Byte 8 0-1 00 No overhang

01 Front overhang 10 Back overhang 11 Front and back overhang

Note 1) The used beams count from "fb_offset" to "lb_offset", considering the pitch factor.

2.2.5.8. Start permanent standard scan (22 [16 Hex])

In the event of a standard height measurement (standard scan) the object height will be ascertained by monitoring the condition of the entire light curtain. Continuous scans will be executed and the lowest and highest interrupted beams will be ascertained until the ‘stop’ command is received. This command lends itself well for measuring various object types, even those that do not start at beam one or those with open spaces. Sending command 22 anew, before sending command 24, will reset the scan counter and reset the status values noted in command 24 (see 2.2.5.9)

Table 15: Command 16 Hex

Command 22 [16 Hex] Response 23 [17 Hex] Bit Value Bit Value Byte 3 - 8 0-7 0 Not used Byte 3-8 0-7 0 Not used

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Programmer's Guide ObjectC 100

2.2.5.9. Stop permanent standard scan (24 [18 Hex])

Stops the standard height measurement and sends the beam information.

Table 16: Command 24 Hex

Command 24 [18 Hex] Response 25 [19 Hex] Bit Value Bit Value

Byte 3 0-7 0 Stop measurement after

sending result

1 Continue automatically a new measurement af ter sending result

Byte 3 0-7 0 No beam interrupted

1-254 First interrupted beam 1)

Byte 4 0-7 0 No beam interrupted

1-254 Last interrupted beam 1)

Byte 5 0-7 0 No beam interrupted

1-254 Maximum number of effective beams ever interrupted

Byte 6 0-7 0 No beam interrupted

1-254 First beam interrupted at last scan

Byte 7 0-7 0 No beam interrupted

1-254 Last beam interrupted at last scan

Byte 4 - 8 0-7 0 Not used

Byte 8 0-1 0 No overheight

1 Overheight

Note: 1) The beams count from "fb_offset" to "lb_offset", considering the pitch factor.

2.2.5.10. Get scan counter (26 [1A Hex])

The responses to this command contain the number of light curtain scans, which have been made since the last command "start / stop permanent scan" (command 22). The scan counter is stopped with the command "stop permanent scan". The value counts up to 2.2E12 (4 byte) and then starts at 0 again (overflow).

Table 17: Commend 1A Hex

Command 26 [1A Hex] Response 27 [1B Hex] Bit Value Bit Value

Byte 3 0-7 0-255 Number of scans (LSB) Byte 4 0-7 0-255 Number of scans Byte 5 0-7 0-255 Number of scans Byte 6 0-7 0-255 Number of scans (MSB)

Byte 3 - 8 0-7 0 Not used

Byte 7-8 0-7 0 Not used

2.2.5.11. Set parameter (28 [1C Hex])

This command is used to set the various parameters shown in Table 19. Using parameter 30 (1E Hex) = 1, all parameters may be reset to the default values.

Table 18: Command 1C Hex

Command 28 [1C Hex] Response 29 [1D Hex] Bit Value Bit Value

Byte 3 0-7 23-65 Parameter Byte 3 0-7 0-255 Value Byte 4 0-7 0-255 Value Byte 5 - 8 0-7 Not used

Byte 4 -8 0-7 Not used

* This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)

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Table 19: Parameter list

Parameter Dec Hex

Description Effect

Parameter ID

Def. Value

Value

(dec)

Remarks

23 17 Top element of carrier

zone (inclusive)

All "zc" 1 0 .. 254 Chapter 4.10.1

Figure 10

24 18 Output logic Out 1 All 0 0 Active "Low" (= 0 V)

1 Active "High" (= 24 V)

25 19 Overheight monitoring

(inclusive)

All "oh" 1 0 .. 254 Chapter 4.9

Figure 10

26 1A Output logic Out 2 All 0 0 Active "Low" (= 0V)

1 Active "High" (= 24V)

43 2B First beam offset

(blanked exclusive)

All "fb_offset" 0 0 .. 254 1st active beam number from

light curtain cable end (beam 1)

Chapter 4.5

44 2C Last beam offset

(blanked exclusive)

All "lb_offset" 0 0 .. 254 1st active beam number from

opposite end to cable (beam n)

Chapter 4.5

45 2D Pitch factor All 0 0 .. 15 (only for special applications) Increase resolution 46 2E Beam counting mode All 0 0 1st beam at cable end

1 1

beam at edge end

Chapter 4.1 Mode effects the whole light curtain definition!

52 34 Function of Out1 All 2 0 Not used

1 Light curtain state output 2 Overhang output 3 Overheight output

53 35 Function of Out2 All

1 0 Not used

1 Overheight output 2 Light curtain state output 3 Overhang output

60 3C Configuration

functionality

All All All I/O All

I/O

123 Bit 0=1 Handle Overheight

Bit 1=1 Handle Overhang Bit 2=0 Auto Overhang with time delay Bit 2=1 Sensor Overhang Bit 3=1 Handle zones Bit 4=1 Handle Potentiometers Bit 5 Not used Bit 6=1 Handle Teaching button Bit 7 Not used

See Chapter 4.9 See Chapter 4.10 See Chapter 4.10.1 See Chapter 4.10.2 See Chapter 4.8

61 3D Allocation of system and

axes

CAN, RS485

0 0 1 Controller with one axe (y-axe)

2 Controller with y- and x-axes

Single light curtain Cascaded light curtain According Par 81

62 3E Status message CAN,

RS485

0 No message telegram 1 Message at change of light curtain state 2 Message at change of light beam state

63 3F Inputs depend

potentiometer settings or parameters

All 0 Bit 0=0 Output duration from Pot 2

Bit 0=1 Output duration from Par 65 Bit 1=0 Overhang t. time from Pot 1 Bit 1=1 Overheight t. time from Par 64

64 40 Overhang tolerance

time (Pot 1)

All 0 0 .. 255 t = n x 13.1 ms According to Par 63

65 41 Output duration

(Pot 2)

All 0 0 .. 255 t = n x 13.1 ms According to Par 63

67 68

43 44

Rx address (L-Byte) Rx address (H-Byte)

CAN 20

0 .. FF

Address for receiving commands

69 70

45 46

Tx addr. (L-Byte) Tx addr. (H-Byte)

CAN A0

0 .. FF

Address to sending answers

71 72

47 48

Stat-Tx addr. (L-Byte) Stat-Tx addr. (H-Byte)

CAN A0

0 .. FF Address for sending

status message

73 49 Baud rate Settings CAN,

RS485

CAN RS485 0 125k 19200 Baud 1 125k 19200 Baud 2 250k 2400 Baud 3 500k 9600 Baud 4 1M 57600 Baud

4),5)

4C Periodic mode CAN 0 0 Periodic mode inactive

1 .. 254 Periodic mode active with time constant t = n x 13.1 ms

Measuring mode Single or Periodic (see Par 83)

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Programmer's Guide ObjectC 100

Parameter Dec Hex

Description Effect

Parameter ID

Def. Value

Value

(dec)

Remarks

4),5)

4E Event mode CAN 152 0 Event mode inactive

1 .. 254 Event mode active

See chapter 2.3.6

79 4)

4F Elements per sector

in sector X

CAN, RS485

0 Not defined 1 .. 254 Number elements per X-sector

See chapter 2.3.11

80 4)

50 Elements per sector

in sector Y

CAN, RS485

0 Not defined 1 .. 254 Number elements per Y-sector

See chapter 2.3.11

)

51 Separation of Y-axis CAN,

RS485

1 .. 254 Number elements of Y-axis See chapter 2.3.11

82 4)

52 Limitation of data

transfer

CAN 5 0 Telegram on every event

1 .. 255 Delay factor (times 13.1 ms)

See chapter. 2.3.7

83 4)

53 Evaluation mode

Single/Periodic

CAN 1 0 Min/Max value of actual measure

1 Min/Max values over period

For periodic measurement (Par 76)

See Chapter. 2.3.9

84 4)

54 Watchdog

time constant

CAN 141

sec)

0 No watchdog telegrams 1 .. 255 Watchdog period = n x 13.1ms

See Chapter. 2.3.2

95 5F Controller start up delay CAN 77 0 No start up delay

1 .. 255 time constant t = n x 13.1 ms

This mode may cause a high telegram frequency and may cause problems with the Bus communication.

Select if potentiometer is active or values set by parameter 63-65

Delay time 1 = n x 13.1 ms (± 10 ms), n = 1...255

Available only in the extended CAN mode (see Chapter 2.3)

Periodic and Event mode permitted!

2.2.5.12. Set default configuration (30 [1E Hex])

All parameters revert to default condition. It is the same effect as DIP Switch S1 (8). Command [2C Hex] Reset

should be sent afterwards.

Table 20: Command 1E Hex

Command 30 [1E Hex] Response 31 [1F Hex] Bit Value Bit Value Byte 3-8 0-7 0 Not used Byte 3 - 8 0-7 0 Not used

* This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)

2.2.5.13. Start permanent scan with overhang monitoring (32 [20 Hex])

The measurements will be repeated in approx. 10 ms cycles for a 30 beam light curtain. Overhang monitoring is performed at the same time. After the measurement is completed, the result may be repeatedly read out by reentering the command 32 [20 Hex]. Sending command 32 anew, before sending command 34, will reset the scan counter and reset the status values noted in command 35 (see 2.2.5.14).

Table 21: Command 20 Hex

Command 32 [20 Hex] Response 33 [21 Hex] Bit Value Bit Value Byte 3 - 8 0-7 0 Not used Byte 3 - 8 0-7 0 Not used

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2.2.5.14. Stop permanent scan with overhang monitoring (34 [22 Hex])

Table 22: Command 22 Hex

Command 34 [22 Hex] Response 35 [23 Hex] Bit Value Bit Value

Byte 3 0-7 0 No beam interrupted

1-254 First interrupted beam 1)

Byte 4 0-7 0 No beam interrupted

1-254 Last interrupted beam 1)

Byte 5 0-7 0 No beam interrupted

1-254 Maximum number of effective beams ever interrupted

Byte 6 0-7 0 No beam interrupted

1-254 First beam interrupted at last scan

Byte 7 0-7 0 No beam interrupted

1-254 Last beam interrupted at last scan

Byte 3 - 8 0-7 0 not used

Byte 8

0-7 0 No overhang detected 1 Overhang front detected 2) 2 Overhang back detected 3) 3 Overhang front and back detected

Note 1) The beams count from "fb_offset" to "lb_offset", considering the pitch factor

2) Overhang front means that an overhang is detected as the tray is pulled into the light curtain area.

3) Overhang back means that an overhang is detected as the tray is pulled out of the light curtain area.

4) The command ‘stop permanent scan with overhang monitoring’ may be repeatedly used. The information remains available and will be reset at the next start command.

2.2.5.15. Get overhang scan counter (36 [24 Hex])

The response to this command contains the number of light curtain scans, which have been made since the last command permanent scan with overhang monitoring (command 32). The scan counter is stopped with the command stop permanent scan with overhang monitoring. The value counts up to 2.2E12 (4 byte) and starts at 0 again (overflow).

Table 23: Commend 1A Hex

Command 36 [24 Hex] Response 37 [25 Hex] Bit Value Bit Value

Byte 3 0-7 0-255 Number of scans (LSB) Byte 4 0-7 0-255 Number of scans Byte 5 0-7 0-255 Number of scans Byte 6 0-7 0-255 Number of scans (MSB)

Byte 3 - 8 0-7 0 Not used

Byte 7 - 8 0-7 0 Not used

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Programmer's Guide ObjectC 100

2.2.5.16. Get beam status (38 [26 Hex])

Return the bit-information of 48 beams, considering see also zone status!

Table 24: Command 26 Hex

Command 38 [26 Hex]) Response 39 [27 Hex]) Bit Value Bit

Byte 3 0-7 1-254 First beam to be

considered (x)

Byte 3 0 Beam x+0 0: Beam not interrupted

1 Beam x+1 1: Beam interrupted

: :

7 Beam x+7

Byte 4 - 8 0-7 0 Not used Byte 4 0 Beam x+8 0: Beam not interrupted

: : 1: Beam interrupted 7 Beam x+15

Byte 5 0 Beam x+16 0: Beam not interrupted

: : 1: Beam interrupted 7 Beam x+23

Byte 6 0 Beam x+24 0: Beam not interrupted

: : 1: Beam interrupted 7 Beam x+31

Byte 7 0 Beam x+32 0: Beam not interrupted

: : 1: Beam interrupted 7 Beam x+39

Byte 8 0 Beam x+40 0: Beam not interrupted

: : 1: Beam interrupted 7 Beam x+47

• This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)

• Note: This command can not distinguish between all beams interrupted and a light curtain failure. Use command 0x08 to

verify the response! Use command (100 [64 Hex]) instead.

2.2.5.17. Get zone status (40 [28 Hex])

This command is a simple way to get the status of a certain zone. The zone can be defined by setting a first beam and last beam (inclusive).

Table 25: Command 28 Hex

Command 40 [28 Hex] Response 41 [29 Hex] Bit Value Bit

Byte 3 0-7 1-254 First beam of

zone to be considered

Byte 3 0-7 0 Zone not interrupted

1 Zone interrupted

Byte 4 0-7 1-254 Last beam of

zone to be considered

Byte 5 - 8 0-7 0 Not used

Byte 4 - 8 0-7 Not used

* This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2) Note: Beam numbers for a zone are inclusive

Example: Byte 3 = 10, Byte 4 = 15 -> Beam 10-15 (inclusive) considered

2.2.5.18. Get parameter value (42 [2A Hex])

The command is used to read out a parameter (Table 19) from the ObjectC 100. The parameter can be set with command 28 (2.2.5.11).

Table 26: Command 2A Hex

Command 42 [2A Hex] Response 43 [2B Hex] Bit Value Bit Value

Byte 3 0-7 23-65 Parameter Byte 3 0-7 0-255 Value (see Table 19) Byte 4 - 8 0-7 0 Not used Byte 4 - 8 0-7 Not used

* This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2) Note: Beam numbers for a zone are inclusive

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2.2.5.19. Restart (44 [2C Hex])

This command restarts the controller. It has the same effect as a power up of the ObjectC 100.

Table 27: Command 2C Hex

Command 44 [2C Hex] Response 45 [2D Hex] Bit Value Bit Value Byte 3 - 8 0-7 0 Not used Byte 3 - 8 0-7 0 Not used

2.2.5.20. Get beam status with light curtain status (100 [64 Hex])

Return the bit-information of 40 beams, with status of light curtain !

Table 28: Command 64 Hex

Command 100 [64 Hex]) Response 101 [65 Hex]) Bit Value Bit

Byte 3 0-8 1-254 First beam to be

considered (x)

Byte 3 0 Beam x+0 0: Beam not interrupted

1 Beam x+1 1: Beam interrupted : : 7 Beam x+7

Byte 4 - 8 0-7 0 Not used Byte 4 0 Beam x+8 0: Beam not interrupted

: : 1: Beam interrupted 7 Beam x+15

Byte 5 0 Beam x+16 0: Beam not interrupted

: : 1: Beam interrupted 7 Beam x+23

Byte 6 0 Beam x+24 0: Beam not interrupted

: : 1: Beam interrupted 7 Beam x+31

Byte 7 0 Beam x+32 0: Beam not interrupted

: : 1: Beam interrupted 7 Beam x+39

Byte 8 0 0 Light curtain free

• This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)

2.3. Extended CAN mode

The extended CAN mode is activated with DIP switch S1 (7) = "ON". After set to "ON" a power up is requested.

Table 29: DIP switch for extended mode

DIP switch S1 Remarks

S1 (7) = "ON" Chapter 6.4 Operation Manual

In addition to master-slave communication, the extended CAN mode autonomously sends a telegram for a change of a light curtain status or single light beam status.

The extended CAN mode offers the additional command "State sector X-axis (64 [40 Hex])" and "State Sector Yaxis (66 [42 Hex])" as well as parameters for different properties of these commands.

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Programmer's Guide ObjectC 100

2.3.1. Boot-up message

After power up of the ObjectC

°100°CAN and assuming that the extended CAN mode is activated with DIP switch

S1 (7) = "ON", the controller responds with the boot-up message. Afterwards, the device is ready to receive initialization data (2.3.3). The boot-up message has the following format:

Table 30: CAN protocol architecture

Id (STD) DLC Byte 1

[0783 Hex] [01 Hex] [01 Hex]

Remark: Id(Std) = [0783 Hex] + Address Offset (= 0783, 0784, etc. up to 0792 Hex), see chapter 6.4 Operation Manual

2.3.2. Watchdog message

After the boot-up message, ObjectC

°100°CAN periodically sends a watchdog message. If the master controller

does not receive a watchdog message for longer than the time specified, the master controller recognizes this as an error. The periodic time can be set with parameter 84 [54 Hex] (see Table 19). By default this time is set to 2 seconds.

Table 31: Watchdog message

Id (STD) DLC Byte 1

[764 Hex] [01 Hex] Status

Remark: Id(Std) = [0764 Hex] + Address Offset (= 0764, 0765, etc. up to 0773 Hex), see chapter 6.4 Operation Manual

Table 32: Watchdog state

State

0 Boot-up

4 Stopped

5 Operational

127 Pre-operational

2.3.3. Initialization of the extended CAN mode

The following sequence initializes the extended CAN mode. Thereon the watchdog state changes from state preoperational (127) to operational (5).

Table 33: Initialization 1

Id (STD) DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

[00000664 Hex] [08 Hex] 40 00 10 00 00 00 00 00

Remark: Id(Std) = [0664 Hex] + Address Offset (= 0664, 0665, etc. up to 0673 Hex), see chapter 6.4 Operation Manual

Table 34: Response 1

Id (STD) DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

[000005E4 Hex] [08 Hex] 43 00 10 00 00 00 00 00

Remark: Id(Std) = [05E4 Hex] + Address Offset (= 05E4, 05E5, etc. up to 05F3 Hex), see chapter 6.4 Operation Manual

Table 35: Initialization 2

Id (STD) DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

[00000664 Hex] [08 Hex] 2B 17 10 00 00 00 00 00

Remark: Id(Std): see Table 33

Table 36: Response 2

Id (STD) DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

[000005E4 Hex] [08 Hex] 60 17 10 00 00 00 00 00

Remark: Id(Std): see Table 34

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The extended CAN mode is now ready. For applications using event triggered telegrams or periodic triggered telegrams, the parameter 75, 77 79, 80, 81, 82, 83 and 84 have to be set (see chapters 2.3.6 to 2.3.10)

2.3.4. CAN addresses in the extended CAN mode

The communication in the extended CAN mode works on the listed addresses. Like the Standard CAN mode the address offset is set with DIP switch S1 (see 6.4 in Operation Manual) Table 37: CAN-Addresses in the extended CAN mode

Receiving and sending of telegrams are related to the ObjectC 100 control unit

2.3.5. Extended commands and responses (CAN)

2.3.5.1. State sector X-axis (64 [40 Hex])

Using parameters the light curtain can be defined in Y- and X- axis as well as sectors (see chapter 1.1.1). The response to this command sends for each sector of the X-axis one bit, indicating "0" for not interrupted and "1" for interrupted.

Table 38: Command 40 Hex

Command 64 [40 Hex] Response 65 [41 Hex] Bit Value Bit Value

Byte 3 0-7 0 No interrupted beam

1-254 Lowest interrupted beam

Byte 4 0-7 0 No interrupted beam

0-254 Hi

hest interrupted beam

Byte 5 0 Zone X1 0: Sector not interrupted

: : 1: Sector interrupted 7 Zone X8

Byte 6 0 Zone X9 0: Sector not interrupted

: : 1: Sector interrupted 7 Zone X16

Byte 7 0 Zone X17 0: Sector not interrupted

: : 1: Sector interrupted 7 Zone X24

Byte 3-8 0-7 0

Byte 8 0 Zone X25 0: Sector not interrupted

: : 1: Sector interrupted 7 Zone X32

• This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)

Address for receiving telegram for ObjectC 100

[0264 Hex] + Address Offset (= 0264, 0265, etc. up to 0273 Hex)

Address for sending telegram for ObjectC 100 in response to receiving telegram

[01E4 Hex] + Address Offset (= 01E4, 01E5 etc. up to 01F3 Hex)

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Programmer's Guide ObjectC 100

2.3.5.2. State sector Y-axis (66 [42 Hex])

Using parameters the light curtain can be defined in Y- and X- axis as well as sectors (see chapter 1.1.1). The response to this command sends for each sector of the Y-axis one bit, indicating "0" for not interrupted and "1" for interrupted.

Table 39: Command 42 Hex

Command 66 [42 Hex] Response 67 [43 Hex] Bit Value Bit Value

Byte 3 0-7 0 No interrupted beam

1-254 Lowest interrupted beam

Byte 4 0-7 0 No interrupted beam

0-254 Hi

hest interrupted beam

Byte 5 0 Zone Y1 0: Sector not interrupted

: : 1: Sector interrupted 7 Zone Y8

Byte 6 0 Zone Y9 0: Sector not interrupted

: : 1: Sector interrupted 7 Zone Y16

Byte 7 0 Zone Y17 0: Sector not interrupted

: : 1: Sector interrupted 7 Zone Y24

Byte 3-8 0-7 0

Byte 8 0 Zone Y25 0: Sector not interrupted

: : 1: Sector interrupted 7 Zone Y32

* This command delays the response times according Operation manual (Part No. 104 906 Chapter 11.2)

2.3.6. Event Mode

The point in time when the light curtain carries out a measurement effects the result. The following chapters describe these effects. The event mode is activated using the following parameters.

Table 40: Settings for event mode

Parameter Value Description 75 [4B Hex]

Periodic measuring

0 Periodic mode inactive

77 [4D Hex] Event measuring

1 Event mode active

The event mode lends itself for recognizing objects. In an ‘event’, the controller sends a telegram "State sector Xaxis (65 [41 Hex])" and/or "State sector Y-axis (67 [43 Hex])". The points in time are not periodic.

In Figure 2, diverse objects pass through the Object100 light curtain on a conveyor belt with a constant speed. An interruption in the light curtain or a change of a beam state (point in time E) triggers a transmission of a status telegram.

2.3.7. Limitation of data frequency using the event mode

Using the event mode (chapter 2.3.6) each change of beam status causes a telegram transmission. In an application with a short light curtain, a telegram can be transmitted more than every 5 seconds. This can overload the CAN network communication. Parameter 82 [52 Hex] (Table 19) offers the limitation of data transfer.

Figure 2: The goods G1, G2, G3, G4 on the conveyor belt cause an event triggered message (E)

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Table 41: Limitation of data transfer

Parameter Value n Description

82 [52 Hex] Limitation of data transfer

0 1-255

Telegram at every event delay of n times 13.1 ms

= n x 13.1 ms

Delay time [ms]

n Value of parameter 82 [52 Hex]

An Event (E) triggers a measurement, but it is performed in a delay of the time t

. Therefore only an object of a

certain size and speed is recognized (Figure 3 G1, G2 and G4).

Figure 3: The goods trigger events (E) but the measurements are performed with a delay (M)

2.3.8. Periodic mode

Periodic mode is activated with these parameters.

Table 42: Parameters for periodic mode

Parameter Value n Description 75 [4B Hex]

Periodic measuring

3-255

Periodic mode active with time constant tp

77 [4D Hex] Event measuring

0 Event mode inactive

After the periodic time of t = n x 13.1 ms, the response telegrams "State sector X-axis (64 [40 Hex])" and/or

"This command delays the

response times according Operation manual (Part No. 104 906 Chapter 11.2)

State sector Y-axis (66 [42 Hex])" are transmitted. The periodic mode lends itself to collect the length and/or

profile of an object.

Figure 4: The periodic mode triggers measurements in time intervals of Tn = n x 13.1 ms, T1, T2, T3, T4, T5 etc. ). It lends itself for applications to determine the length or the profile of goods (G1).

For object G1, according to Figure 4, passing the light curtain with a constant speed, the length is calculated as:

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Programmer's Guide ObjectC 100

min

= (T5-T2) x v

max

= (T6-T1) x v

min

Minimum length

max

Maximum length T1 Last measurement before detecting object G1 T2 First measurement after detecting G1 T5 Last measurement while detecting G1 T6 First measurement G1 is no longer detected v Speed (constant)

2.3.9. Period duration

The duration of the period for periodic mode (2.3.8) determines parameter 75 [4B Hex]. It is calculated accordingly:

tp = n x 13.1 [ms] + tm

Period duration [ms] n Multiplier according to parameter 75 (3.. 255) tm Measurement time 0 ... 25 ms (see chapter 4.6)

The measurement time tm has to be added as tolerance. Its calculation is documented in chapter

4.6. It is dependant on the light curtain length and,

with a light curtain of 250 elements, amounts to 25 ms.

2.3.10. Single/Periodic evaluation

The periodic mode (chapter 2.3.8) can be specified as a single or a periodic evaluation.

Table 43: Parameter for single/periodic evaluation

Parameter Value Event measuring

0 Single Min/Max 1) of the actual (last) measurement

83 [53 Hex] Single/Periodic evaluation

1 Periodic Min/Max 1) of the last period

1) Min/Max refers to telegram 65 [41 Hex] and 67 [43 Hex]

When single evaluation is selected, the controller sends the minimum and maximum values of the actual measurement every periodic time point (e.g. T1 in Figure 5) with telegram 65 [41 Hex] and 67 [43 Hex]. Minimum refers to the lowest interrupted beam number and maximum refers to the highest interrupted beam. In this case, objects that are too small or that arrive in the detection area too quickly, i.e. during an interval, are not detected (see Figure 5, goods G1 and G3 not detected).

With the periodic evaluation, the minimum and maximum values refer to the entire passing period, i.e. T1 to T2, T2 to T3 etc. This means, the lowest and highest interrupted beams during this period. In this mode the goods G1 and G3 of Figure 5 are recognized.

Figure 5: Goods which fall in a time interval due to smaller size or travelling too quickly will only be recognized in the periodic evaluation of periodic mode.

2.3.11. X-Y Measurement with zones

With a cascading Object100 light curtain system, a X-Y measurement can be performed. Using commands 64 [40 Hex] and 66 [42 Hex] the lowest and highest interrupted beams can be requested. According to configuration, the response telegrams 65 [41 Hex] and 67 [43 Hex] can also be sent spontaneously (see chapter 2.3.6 - 2.3.10).

The parameters 79 [4F Hex] and 80 [50 Hex] allow the definition of up to 32 zones per axis. The condition of each zone can be seen in the response telegrams 65 [41 Hex] and 67 [43 Hex]. It is important to note that the Yaxis is always the light curtain closest to the controller, irrespective of whether it is vertical or horizontal. It is strongly recommended that the y-axis section of the light curtain is set up vertically to avoid confusion with results.

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Programmer's Guide ObjectC 100

Figure 6: The cascading light curtain nearest to the controller is determined as the Y-axis. Its length has to be configured with parameter 81 [51 Hex].

2.3.11.1. Example

A storage rack with screws is monitored using a cascading Object100 light curtain. A master controller controls whether the correct parts are picked. A box has a width of 20 cm (X-axis) and a height of 15 cm (Y-axis). The rack measures 2.2m in width and 1.5 m in height. Therefore it can store 11 trays per level over 10 levels.

Figure 7: The monitoring of part picking is solved using separate zones.

The configuration of the ObjectC

°100°CAN controller is carried out thus:

Table 44: CAN commands for the configuration of the example above

Byte

Command Par Value

Address

DLC

1 2 3 4 5 6 7 8

Deactivation of periodic mode 28 [1C Hex] 75 [4B Hex] 0 [01 Hex] 0220 08 00 1C 4B 00 00 00 00 00

Activation of event mode 28 [1C Hex] 77 [4D Hex] 1 [01 Hex] 0220 08 00 1C 4D 01 00 00 00 00

Elements per zone in X-axis (20 cm = 8 beams, pitch 25 mm)

28 [1C Hex] 79 [4F Hex] 08 [08 Hex] 0220 08 00 1C 4F 08 00 00 00 00

Elements per zone in Y-axis (15 cm = 6 beams, pitch 25 mm)

28 [1C Hex] 80 [50 Hex] 06 [06 Hex] 0220 08 00 1C 50 06 00 00 00 00

Separation of Y-axis (1.5 m = 60 beams, pitch 25 mm)

28 [1C Hex] 81 [51 Hex] 60 [3C Hex] 0220 08 00 1C 51 3C 00 00 00 00

With this configuration, the ObjectC°100 sends a command at every interruption of the light curtain.

Example: The operator picks from the 5

tray (X-axis) of the 3rd row (Y-axis).

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Programmer's Guide ObjectC 100

Table 45: CAN telegrams at interruption of the 5th tray in row 3

Byte

Response

Address

DLC

1 2 3 4 5 6 7 8

X-axis, zone 5 interrupted (Byte 5: 0001'0000B = 10H)

65 [41 Hex] 02A0 08 00 41 22 24 10 00 00 00

Y-axis, zone 3 interrupted (Byte 5: 0000'0100B = 04H)

67 [43 Hex] 02A0 08 00 43 31 33 04 00 00 00

3. ObjectC 100 RS485

3.1. RS485 communication

This system works according to the Master-Slave principle, where each ObjectC°100 (Slave) is addressed and receives a command from a Master (PC or PLC). The addressed ObjectC 100 processes the command and responds with the required data. Only one ObjectC 100 may be communicated with at any given time.

3.1.1. RS485 protocol structure

Table 46: RS485 protocol architecture (Hex)

Direction Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8

Master (PLC) to ObjectC-100

STX (02)

Address (DIP switch)

Command High byte

Command Low byte

Data Data Data Data Data Data

ETX (03)

ObjectC-100 to Master (PLC)

ACK (06)

Inverted (Address)

Command High byte

Command Low byte

Data Data Data Data Data Data

ETX (03)

Table 47: RS485 command example (Hex)

Direction Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8

Master (PLC) to ObjectC-100

02 00 00 14 00 00 00 00 00 00 03

ObjectC-100 to Master (PLC)

06 FF 00 15 05 13 0F 0F 00 00 03

Trigger (1 Standard Scan), interrupted beams: 05-19, total interrupted beams: 15 (Dec), pitch factor = 1 All datas must be interpreted as Hex values!

3.1.2. RS485 commands and responses

The command list of the RS485 commands is the same as for the CAN commands (see chapter 2.2.5)

3.1.3. RS485 communication example 1

Get the number of active beams for the light curtain with Address 1. PLC sends command 18 (=12 Hex):

Table 48: Command examples

Byte Description Value Byte structure

STX 02 Hex 0000 0010 Address

(DIP switch)

01 0000 0001

Byte 1 Command 00 0000 0000 Byte 2 Command 12 Hex 0001 0010 Byte 3 Data 00 0000 0000 Byte 4 Data 00 0000 0000 Byte 5 Data 00 0000 0000 Byte 6 Data 00 0000 0000 Byte 7 Data 00 0000 0000 Byte 8 Data 00 0000 0000 ETX 03 Hex 0000 0011

The responses to be expected from an ObjectC 100 RS485 system with a light curtain counting 30 beams (=1E

Hex), and no offset beams, are as follows:

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ObjectC 100 Programmer's Guide

Table 49: Response examples

Byte Description Value Byte structure

ACK 06 Hex 0000 0110

Inv. Address

(DIP switch)

= 255-1 = 254 (FE Hex)

1111 1110

Byte 1 Command 00 0000 0000

Byte 2 Command 13 Hex 0001 0010

Byte 3 Data 1E Hex 0001 1110

Byte 4 Data 1E Hex 0001 1110

Byte 5 Data 00 0000 0000

Byte 6 Data 00 0000 0000

Byte 7 Data 00 0000 0000

Byte 8 Data 00 0000 0000

ETX 03 Hex 0000 0011

3.1.4. Timing (RS485)

Example for a Baud rate of 19'200 Baud and 1 Stop bit:

question

answer

Question ( Master Light curtain )

Answer ( Light curtain Master )

Figure 8: Timing of RS485 communication

Baud rate 19200 1 Bit = 52.08 µs. 1 start bit + 8 data bits + 1 parity bit + 1 stop bits = 11 bits = 572.92 µs

question

11 bytes = 4.583 ms

tpd This time window is dependent on the command number. As a minimum it lasts approx. tpd = 5 ms.

When using a light curtain with 254 beams and the command ‘trigger standard scan’, the time will increase to approx. t

= 55 ms.

response

11 bytes = 4.583 ms

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Programmer's Guide ObjectC 100

3.2. Master programming (RS485)

When using an ObjectC-100 RS485 controller, the following process should be followed in order to avoid data

collision:

Create comm and

Set-up command sequence according to command list

Send comman d

Send command over interface

Answerarrived?

Yes

Evaluate an s wer

Number ms +1

Number ms < X

Yes

Timeout

Figure 9: Recommended RS485 communication procedure

3.3. Technical data RS485

Table 50: RS485 Technical data

Maximum cable length (twisted pair / shielded)

100 meter

Short circuit protected Yes Number of addresses 0 - 15 Parity None

Protocol None Stop bits 1 Baud rates 2'400 Baud

9'600 Baud 19'200 Baud 57'600 Baud

4. Advanced Features

4.1. Light curtain design

Applications like height measurement require information regarding individual beam status as well as the exact beam positions. This is only possible if the light curtain itself is clearly defined. This chapter defines the light curtain and reference beams and also describes specific measurement modes.

The controller ObjectC 100 offers many functions to obtain information from the Object100 light curtain. The

following light curtain functions are described in the given chapters:

• Standard and reverse beam counting mode: Chapter 4.2, Figure 10

• Blanked beams: Chapter 4.7

• Zone monitoring: Chapter 4.8

• Overheight monitoring: Chapter 4.9

• Overhang monitoring: Chapter 4.10

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ObjectC 100 Programmer's Guide

4.2. Beam counting direction

For all of the functions described above, the individual beams must have a numbering system. This system depends on the orientation of the light curtain and is explained in Figure 10.

There are two ways to number the beams in the Object100 light curtain:

• Standard beam counting direction: Beam 1 (first beam) is located at the connector end of the light curtain.

• Reverse beam counting direction: Beam 1 (first beam) is located at the physical end of the light curtain

(inverted).

Figure 10: Object100 beam definitions and beam counting direction

Table 51: Reference to Figure 10

Parameter Description Reference beam Explanation

"fb_offset" Number of blanked beams from the beginning of

the monitoring field

Blanked

These beams will be totally ignored, and not used in any evaluation process

"lb_offset" Number of blanked beams from the end of the

monitoring field

Overheight Beams which when interrupted,

cause the Overheight output to be activated

"oh" Lowest beam of the Overheight zone (incl.)

Standard beam counting direction

Reverse beam counting direction

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Programmer's Guide ObjectC 100

Z1L Zone 1 low beam (incl.)

Zone 1-4

Beams which when interrupted, cause the corresponding zone output to be activated

Z1H Zone 1 high beam (incl.)

Carrier height Beams representing the carrier

zone. This information is important for Overhang monitoring (see chapter 4.10)

"zc" Top beam carrier zone (incl.)

4.3. Measurement reference point

All measurements are made from the reference point to the respective beam numbers. For the standard beam counting direction this reference point is at the cable end of the light curtain. For the reverse beam counting direction this point is the opposite end of the light curtain housing. The reference point is defined as the end of the red light curtain housing (see Figure 11).

Standard beam counting direction

Reverse beam counting direction

Figure 11: Example of a 25 mm pitch Object100 light curtain. (p = pitch, h

off

= Beam offset)

Note: In an Object100 light curtain with a 25 mm pitch, only every 2

physical lens is "active"!

4.4. Pitch and height measurement

The light curtain is designed with an active beam pitch of 10 mm or 25 mm. In either case the lens closest to the connector end of the light curtain will always contain an active beam. The beam positions are a function of the beam number and can be calculated as follows:

h = h

off

+ (n-1) x p

h active beam position [mm] with respect to the reference point at the end of the light curtain housing

off

Beam offset n Beam number p Pitch

Examples:

Object100 with pitch = 10 mm (Standard beam counting direction)

off

= 5 mm n 1 2 3 4 5 6 7 ...

p = 10 mm h 5 15 25 35 45 55 65 ... [mm]

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ObjectC 100 Programmer's Guide

Object100 with pitch = 10 mm (Reverse beam counting direction)

Object100 with pitch = 25 mm (Standard beam counting direction)

Object100 with pitch = 25 mm (Reverse beam counting direction)

4.5. Measurement accuracy

An object can be detected in a light beam even if only a small part of the aperture area is covered. However, for the object to be definitely detected, the aperture area should be completely covered. The aperture measures 8 mm in the longitudinal axis and 3 mm in the diagonal axis of the light curtain. If the light beam state signals that it is interrupted, the following tolerance for a measurement is considered:

min

= h – b/2

max

= h + p + b/2

h Position of the actual beam in mm to the reference point.

(see chapter 4.4)

min

Minimal position of the object

max

Max. position of the object (before the next beam state is

active) b Height of the aperture = 8 mm p Pitch (10 or 25 mm)

Figure 12: a) Object is not recognized from element at position h b) Object is recognized definitely at position h c) Object is recognized definitely at position h+1

4.6. Measurement velocity

The allowed maximum speed an object can pass through the monitoring field of the light curtain depends on the size of the object, the optical aperture geometry and the light curtain length. An aperture of an Object100 light curtain is rectangular measuring 8 by 3 mm.

So that an object is detected definitely, the aperture has to be covered fully for the minimum measurement time t

. The minimum measurement time depends on the light curtain length, i.e. the number of optical elements.

off

= 5 mm n 1 2 3 4 5 6 7 ...

p = 10 mm h 5 15 25 35 45 55 65 ... [mm]

off

= 6 mm n 1 2 3 4 5 6 7 ...

p = 25 mm

h 6 31 56 81 106 131 156 ... [mm]

off

= 19 mm n 1 2 3 4 5 6 7 ...

p = 25 mm

h 19 44 69 94 119 144 169 ... [mm]

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Programmer's Guide ObjectC 100

tm = tA + n x ts

Minimum measurement time

Evaluation time = 2.3 ms

Number of light curtain elements

Scan time per beam ≈ 0.13 ms

see Operation Manual (Part No. 104 906, Chapter 11.2)

The minimum size of the object to be detected depends on the velocity as follows:

max

= (l – b) / t

l = (v

max

* tm) + b

max

Maximum velocity of the object l Length of the object b With of the aperture = 3 mm t

Minimum measurement time

Figure 13: An object with length l is detected by optical

beams from the 3 x 8 mm apertures.

Example (with controller ObjectC 100 I/O):

An object with a 50 mm width passes through the monitoring field across the light curtain axis. The light curtain has a length of 500 mm and a pitch of 25 mm. This means, the light curtain consists of 20 beams. The minimum measurement calculates to:

= 5.3 ms + 20 x 0.275 ms = 10.8 ms

max

= (50 mm – 3 mm) / 10.8 ms

= 4.3 m/s

4.7. Blanked beams

The Object100 can be mounted behind a frame, e.g. on a conveyor belt (see Figure 14). Therefore the top and / or bottom beams may be physically blocked. By defining the first beam offset ("fb_offset") and last beam offset

(lb_offset), the beams in the zones from beam number 1 to "fb_offset" and (n -"lb_offset" + 1) to the last beam will be ignored, i.e. "fb_offset" = beam 3, (n - "lb_offset" + 1) = beam 12, so objects will only be measured between

and including beams 4 and 11.

Note: "fb_offset" (first beam offset) is the number of blanked beams from the cable end

of the light curtain.

"lb_offset" (last beam offset) is the number of blanked beams from the non-cable end

of the light curtain In case where the reverse beam counting direction is being used, the first beam offset and last beam offset instead refer to beams counting from the noncable end and cable end of the light curtain, respectively.

4.8. Zone monitoring

Zone monitoring can be used, for example, to sort goods on pallets according to their height. This height sorting function allows for an efficient use of the storage area, as the pallets can be stored in an area optimally suited to their height.

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ObjectC 100 Programmer's Guide

Figure 14: Example of pallets being sorted according to height: Goods G1 to Zone Z1 B Blanked beams

Goods G2 to Zone Z3 CZ Carrier zone Goods G3 to Zone Z4

Table 52: Example for an evaluation for a palet transport storage system

Zone Status Good height

Z4 Z3 Z2 Z1

0 0 0 0

No goods

(or carrier only)

0 0 0 1 Goods with height 1

0 0 1 1 Goods with height 2

0 1 1 1 Goods with height 3

1 1 1 1 Goods with height 4

Zones can be defined as overlapping and zones may contain as few as one beam or as many as all beams (Figure 15). A zone is defined by specifying two beams, a low and a high beam, e.g. zone 3 in the left side of Figure 15 is defined by z3L = 13 and z3H = 19.

The ObjectC

-100-I/O controller has 4 digital outputs, one representing the status for each of the 4 zones.

ObjectC°100°CAN and RS485 do not offer zone monitoring, but beam information can be determined using the communication telegram "Get zone status (40 [28 Hex]".

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Programmer's Guide ObjectC 100

zone Z1 z1L = 1 z1H = 8 zone Z1 z1L = 1 z1L = 25 zone Z2 z2L = 9 z2H = 12 zone Z2 z2L = 3 z2H = 3 zone Z3 z3L = 13 z3H = 19 zone Z3 z3L = 4 z3H = 19 zone Z4 z4L = 20 z4H = 25 zone Z4 z4L = 14 z4H = 25

Figure 15: Two 10 mm pitch light curtains with defined zones.

4.9. Overheight monitoring

It is sometimes very helpful to have an output signal if the transported goods exceed a certain height. This is easily done with the Object 100 light curtain by defining the beam "oh". Beam "oh" defines a beam, which when it or any higher beam is interrupted, causes the overheight output to be activated.

Figure 16: ObjectC 100 detects goods with an overheight. "oh" = overheight beam number (inclusive)

4.10. Overhang monitoring

Goods, which hang over the front or back edge of a pallet, may cause obstructions or damage during the transport or storage process. The ObjectC

-100 detects overhangs with one of the two following modes.

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ObjectC 100 Programmer's Guide

Figure 17: Overhang monitoring

OB Overhang Back CZ Carrier Zone OF Overhang Front GZ Goods Zone AOF Allowed Overhang Front SF Sensor Front (optional) AOB Allowed Overhang Back SB Sensor Back (optional) zc Top beam carrier zone

4.10.1. Overhang monitoring with time delay

This mode does not need any additional front (SF) or back (SB) sensors. By defining a "zc" beam the light curtain is divided (configured) into a carrier zone (CZ) and goods zone (GZ). When a beam in the goods zone is interrupted, at least one beam from the carrier zone must also be interrupted, otherwise the overhang output will be activated. If a certain amount of overhang is allowed then a time difference between a goods zone interruption, and a carrier zone interruption is allowed. The allowed time difference "t_ot", can be adjusted with Pot 1 and depends on the transport speed. The minimum overhang output signal duration "t_out" may also be adjusted, with the aid

of Pot 2.

t_ot Allowed Overhang duration

Figure 18: Example no Overhang

t_ot Allowed Overhang duration

t_out Minimum output duration

Figure 19: Example Overhang front side

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Programmer's Guide ObjectC 100

t_ot Allowed Overhang duration

t_out Minimum output duration

Figure 20: Example Overhang back side

Note: ▪ At least one of the carrier zone beams has to detect the carrier at all time during transit through

the light curtain. Special attention needs to be paid to carriers with openings, e.g. pallets. ▪ ObjectC 100 I/O: DIP switch S1 (7) has to be turned "OFF" (= 0) ▪ Output logic can be inverted (see chapter 2.2.5.11), default = active "Low"

4.10.2. Overhang monitoring with external sensors

A second way to monitor an overhang is by using a front and a back sensor, mounted in the carrier zone "zc" (Figure 17). The amount of overhang allowed is adjusted by simply altering the front and back sensors’ physical distance to the light curtain.

When the carrier interrupts the front sensor, the sensor sends a negative slope signal to the ObjectC 100

controller. If a light beam in the goods zone (GZ) is interrupted before this signal, an overhang error is detected and the corresponding output is triggered. The duration of this output signal state can be adjusted with Pot 2. After the carrier leaves the light curtain it passes through the back sensor. When the carrier no longer interrupts this sensor it must send a positive slope signal to the ObjectC 100 controller. From then on, if any Object100 goods zone (GZ) beam is interrupted the overhang output will be activated.

Figure 21: Example no overhang

t_out Minimum

output duration

Figure 22: Example Overhang front side

t_out Minimum

output duration

Figure 23: Example Overhang back side

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ObjectC 100 Programmer's Guide

t_out Minimum output duration

Figure 24: Example Overhang error due to invalid carrier zone (i.e. external sensors positioned too low)

Note: ▪ The front and back sensors have to detect the carrier all the time during transit through the

individual sensors. Special attention needs to be paid for carriers with openings, e.g. pallets (see Figure 17).

▪ Overhang monitoring with external sensors is only available with ObjectC°100°I/O.

DIP switch S1 (7) must be activated (= 1).

▪ Input logic for the front and back sensors can be inverted (see chapter 4.5 in operation manual),

default = PNP. Figure 21 to Figure 24 show the signals for active low sensor logic.

▪ Output logic can be inverted (see chapter 2.2.5.11), default = Active "Low".

4.11. Trigger and hold

Depending on the hardware and the configuration, the ObjectC 100 provides a function whereby the outputs (Out

1 and Out 2 (J12)), will be held regardless of the status of the light curtain. This function is called trigger and hold, and is active depending on the signal at In2 (J2). When the trigger and hold input (In 2) is low (0 V), the status of the output Out 1 and Out 2 change according to the status of the light curtain. When the trigger and hold input is high (24 V), the output status is frozen. This means that the outputs do not change their status until the trigger and hold signal is set back to low.

Figure 25: Example of trigger and hold function

5. ObjectC 100 default settings

Parameter values can be set with command "Set parameter (28 [1C Hex])". The default parameters are listed in Table 19. The default values can be reset with DIP switch S1 (8). See chapter 8.4.2 in the operation manual.

Table 53: DIP switch S2 default setting

DIP switch S2 Remarks

0 = "OFF" (DIP 1-4) See Chapter 6.4 in Operation Manual

Cedes ObjectC 100 I/O, ObjectC 100 RS485, ObjectC 100 CAN Programmer's Manual

Specifications and Main Features

Frequently Asked Questions

User Manual