Ultrasonic sensors
Instruction manual Trans-O-Prox III
MV-DO-063542-135763
*B3850*
The content of this document is subject to technical changes. Specifications in this document are presented in a descriptive way
only. They do not warrant any product features.
Contents
1. Summary 25
2. Operating modes 25
2.1 Transponder mode 26
2.2 Echo mode 26
2.3 Programming mode 27
2.3.1 Manual programming 27
2.3.2 RS232 programming 27
2.3.2.1 ?? - Command set 28
2.3.2.2 SP - Choice of used language 29
2.3.2.3 SA - permanent inner switching distance for echo mode (near trip point) 29
2.3.2.4 SB - permanent outer switching distance for echo mode 29
2.3.2.5 TA - temporary inner switching distance for echo mode 30
2.3.2.6 TB - temporary outer switching distance for echo mode 30
2.3.2.7 HA - hysteresis of switching output A1 for echo mode 30
2.3.2.8 HB - hysteresis of switching output A2 for echo mode 31
2.3.2.9 XA - permanent inner switching distance for transponder mode 31
2.3.2.10 XB - permanent outer switching distance for transponder mode 31
2.3.2.11 YA - temporary inner switching distance for transponder mode 31
2.3.2.12 YB - temporary outer switching distance for transponder mode 32
2.3.2.13 ZA - hysteresis of switching output A1 for transponder mode 32
2.3.2.14 ZB - hysteresis of switching output A2 for transponder mode 32
2.3.2.15 OF - minimum difference between both switching distances 32
2.3.2.16 SI - transmitted pulse length 33
2.3.2.17 MD - Selection of pure echo mode 33
2.3.2.18 GV - preferred evaluation of channel 2&3 (pure echo mode only) 33
2.3.2.19 HR - High resolution 33
2.3.2.20 PH - peakhold of switching outputs 34
2.3.2.21 OD - switching delay of outputs 34
2.3.2.22 OM - function of switching outputs n.o./n.c. 34
2.3.2.23 FR - freeze switching state 34
2.3.2.24 VS - software version no. 34
2.3.2.25 DT - software validation date 35
2.3.2.26 NR - serial number of the Trans-O-Prox III 35
2.3.2.27 RS - system reset (cold boot) 35
2.3.2.28 QU - return from programming to normal operation 35
2.3.2.29 IS - disabling / enabling of signal inputs 35
2.3.2.30 IT - logical signal state, when signal input disabled 36
2.3.2.31 TR - velocity dependant adaptation of switching distance 36
2.3.2.32 TI - invert tachogenerator signal 36
2.3.2.33 KY - disabling / enabling of pushbuttons 36
2.3.2.34 TY - Typ of sensor 36
2.3.2.35 PC - choice of data protocol 37
2.3.2.36 BD - select baud rate for RS232 transmission 37
2.3.2.37 EC - end characters for text transmission 38
2.3.3 General information on the programming mode via RS232 38
3. Further informations 39
4. Summary of help texts 39
5. Front panel and sensor connector 42
Author: Instruction manual
Länna, S-142 50 SKOGÅS Ordertel 08-771 00 04 Växel 08-771 02 20 Email info@hemomatik.se
Stockholm, Sweden Orderfax 08-771 62 00 Teknisk 08-771 35 80 Internet www.hemomatik.se
R.Preuss
A. Jantz
Trans-O-Prox III
Anti Collision Device For
Remote Controlled Vehicles
Date:
July 02, 2006
BA_ENG_TOP.rtd
1. Summary
The Trans-O-Prox III represents an anti-collision device for remote controlled vehicles based
on ultrasonics; it serves for obstacle recognition and for keeping a constant distance between the vehicles.
The central device comes in a plastic housing, which is suited for rail mounting according
DIN EN 50022-35. All connections are made via screw terminal blocks plus a D-Sub9 plug
connector (female) on the front panel.
Up to four ultrasonic sensors of the wms-series can be connected to the Trans-O-Prox III
(three types suited for use with Trans-O-Prox III: wms-251/RT, wms-501/RT and wms-800/RT
, a mixed operation of both sensor types is allowed). Therefore four groups of terminal
blocks for connecting the sensors can be found on Trans-O-Prox III ( sensor power supply +
U0, GND, sender, echo).
Additional terminals blocks are: device supply voltage +UB and -UB (+24 V DC and GND),
two (pnp)- switching stages output A1 and output A2, three inputs ENABLE, MODE and
EXT, one analogue input 0-20 mA with its connectors marked as +Tacho in and --Tacho for
the input of a velocity signal, plus three terminal connectors for a serial RS232 interface
with TxD, RxD and GND RS232. Alternatively the RS232 signals can be accessed by the DSub9 plug connector (female) on the front panel. In this case the screw terminals must
remain unconnected. All terminal blocks are marked by the printing on the front panel
label.
In addition several display and control elements are located on the the front panel:
two yellow LEDs indicating the switching state of the switching outputs, two red LEDs
indicating the currently active operating mode plus three pushbuttons UP, DOWN and
ENTER for the manual adjustment of switching distances and selecting default values for
the RS232.
All explanations refer to devices with a software version V2.0 and above.
2. Operating modes
There are three operating modes on Trans-O-Prox III:
• transponder mode
• echo mode
• programming mode
Transponder and echo mode are the active operating modes, where ultrasonic measurements are made to determine distances towards obstacles or other vehicles in front. A
signal of +24 V DC must be applied to the ENABLE terminal connector to activate Trans-OProx II, which will then start ultrasonic measurements. The selection of either echo or
transponder mode happens by applying a correspondent signal on the MODE terminal
connector. One can switch between echo and transponder mode during normal operation.
Manual Trans-O-Prox III page 26 of 42
The activation of Trans-O-Prox III and the selection of the operating mode can also be
achieved by setting a parameter in programming mode via the RS232 instead of the input
signal.
2.1 Transponder mode
The sensor configuration for the transponder mode consists of a master sensor on sensor
channel no.1 and a slave sensor of the same type on sensor channel no.4. The slave sensor
represents an active reflector, which reacts on calling pulses of a vehicle behind by sending
an answering code. The master sensor sends the calling pulses, which are answered by the
active reflector of a vehicle in front. The distance towards a vehicle in front is calculated
from the time of flight of the ultrasonic signals. The measurement result is then compared
to the switching distances (trip points), which have been set for the transponder mode;
afterwards the switching outputs are set accordingly. The transponder measurement value
may be transmitted via the RS232 with each measurement cycle to a host computer.
The transponder mode is selected, when Trans-O-Prox III has been activated and when
there is a +24 V DC signal on MODE. The transponder mode can also be selected by a command via the serial interface.
When Trans-O-Prox III operates in transponder mode the red LED Transp is illuminated.
Attention: In Echo mode (see 2.3.2.16 MD- Selection of pure Echo mode) the transponder is
deactivated.
Attention: In Transponder mode the sensor wms-800/RT cannot be used.
2.2 Echo mode
In the echo mode up to three ultrasonic sensors can be operated on channel 1 to 3 (channel 4 is reserved for the slave sensor). An echo mode on all four channels can also be selected; the slave function is void in this case (-> see MD command). The emitted ultrasonic
impulses are reflected at targets, which are located within the detection range of the sensors (passive reflection); they return to the sensors and are received again. The distance
towards these objects is calculated from the time of flight of these impulses and is compa-
red with the selected trip points for the echo mode afterwards. If the distance falls below
the trip point of at least one sensor, the switching outputs are switched accordingly. The
echo measurement values can be transmitted via the RS232 with each measurement cycle
to a host computer.
The echo mode is selected, when Trans-O-Prox III has been activated and when there is a
GND signal on MODE or when it is left open (unconnected). The echo mode can also be
selected by a command via the serial interface.
When Trans-O-Prox III operates in echo mode the red LED Echo is illuminated.
Attention: In Echo mode the sensors wms-251/RT, wms501/RT and wms-800/RT can be
connected to the Trans-O-Prox III. If sensor wms-800/RT is used, due to the twisted logic of
Manual Trans-O-Prox III page 27 of 42
Länna, S-142 50 SKOGÅS Ordertel 08-771 00 04 Växel 08-771 02 20 Email info@hemomatik.se
Stockholm, Sweden Orderfax 08-771 62 00 Teknisk 08-771 35 80 Internet www.hemomatik.se
the echo signal the sensor chanels not in use have to be programmed with sensor type 0
(TY0).
2.3 Programming mode
2.3.1 Manual programming
During normal operation (Trans-O-Prox III activated) the switching distances (trip points) of
the currently active mode (echo or transponder) can be adjusted by the buttons on the
front panel. To enter manual programming press the ENTER button for 3 sec, until both
yellow LEDs A1 and A2 start to blink. Release ENTER button. LED A1 blinks to signalize,
that the trip point close to the sensor (-> output A1) is about to be programmed; depending on the operation mode either the LED Echo or Transp. is illuminated permanently.
The trip points of all sensor channels 1 to 3 (1 to 4 in the pure echo mode) can be increased by pressing UP, decreased by pressing DOWN; the trip points of all channels are set to
the value of channel 1 and are altered commonly. Pressing ENTER confirms the previous
adjustment.
If different trip points shall be selected for each sensor channel, one must place test targets in front of the sensors at the desired distances. Pressing UP and DOWN simultaneously
will then take the measured distances of these target as trip points. This learning procedure must be confirmed by pressing ENTER.
Pressing the ENTER button will lead in both cases to the programming of the far trip point.
Now LED A2 will start to blink to signalize, that the far trip point (-> output 2) is about to
be programmed. Again UP increases, DOWN decreases, UP & DOWN learns the trip
points. After another confirmation by pressing ENTER the selected distances are stored within a non volatile memory (EEPROM), the manual programming is terminated here.
If the operating mode changes during manual programming (echo <-> transponder) or if
an <esc> is received on the RS232, manual programming is aborted restoring the old
values, which have been valid before.
2.3.2 RS232 programming
Changing system parameters is possible by a serial communication between Trans-O-Prox
III and a host. For this purpose the host has to send an <esc> (ASCII code 27
) to Trans-O-
dec
Prox II; other characters are ignored. As soon as an <esc> has been received normal operation is aborted and programming mode is initiated (both red LEDs Echo and Transp are
on). When entering the programming mode both switching outputs are switched as if
there were an obstacle, to prevent the vehicle from further movements (exception: see FR
command). The answering function as an active reflector on channel no. 4 will be maintained even in this mode to prevent collisions from behind.
For communication purposes a command set has been defined by microsonic, which consists of a two letter ASCII code. This command code may be followed by a parameter value
or a question mark, no blanks (=space, ASCII code 32
) may be inserted here. All entries
dec
Manual Trans-O-Prox III page 28 of 42
must be terminated by a <cr> (carriage return, ASCII code 13
dec
).
If the command is directly followed by a <cr>, the current parameters associated with this
command will be output. Entering a parameter value after a command overwrites the previously valid parameters, if parameters are entered in the correct format. The successful
alteration of a value is confirmed by returning an ´ok´- string. When a question mark is
added to the command an on-line help text related to this specific command is transferred.
The function of the backspace key (ASCII code 8
false inputs at once. Tab (ASCII code 9
) and linefeed (ASCII code 10
dec
) is supported to be able to correct
dec
) are ignored.
dec
2.3.2.1 ?? - Command set
When a double question mark is input, the list of all available commands of a Trans-O-Prox
III is transmitted:
BD baudrate
KY disable/enable
IS disable/enable inputs
IT logical state of inputs when disabled
SA echo near switching distances (EEPROM)
SB echo far switching distances (EEPROM)
TA temporary echo near switching distances (RAM only)
TB temporary echo far switching distances (RAM only)
HA hysteresis for sa or ta
HB hysteresis for sb or tb
XA transponder near switching distance (EEPROM)
XB transponder far switching distance (EEPROM)
YA temporary distance xa (RAM only)
YB temporary distance xb (RAM only)
ZA hysteresis for xa or ya
ZB hysteresis for xb or yb
PH peakhold for pnp-outputs
OD delay for switching on pnp-outputs
OM pnp-output n.o./n.c.
TY sensor type
FR freeze switching state of pnp-outputs
RN random cycle time
MD operating mode
GV preference computation
VS software version no.
DT software validation date
NR serial-no. of this device
Loading...