Pepperl+Fuchs PGV100-F200A-B25-V1D User Manual
PGV100-F200A-B25-V1D
Incident Light Positioning
System
Manual
With regard to the supply of products, the current issue of the following document is applicable: The
General Terms of Delivery for Products and Services of the Electrical Industry, published by the Central
Association of the Electrical Industry (Zentralverband Elektrotechnik und Elektroindustrie (ZVEI) e.V.)
in its most recent version as well as the supplementary clause: "Expanded reservation of proprietorship"
Worldwide
Pepperl+Fuchs Group
Lilienthalstr. 200
68307 Mannheim
Germany
Phone: +49 621 776 - 0
E-mail: info@de.pepperl-fuchs.com
North American Headquarters
Pepperl+Fuchs Inc.
1600 Enterprise Parkway
Twinsburg, Ohio 44087
USA
Phone: +1 330 425-3555
E-mail: sales@us.pepperl-fuchs.com
Asia Headquarters
Pepperl+Fuchs Pte. Ltd.
P+F Building
18 Ayer Rajah Crescent
Singapore 139942
Phone: +65 6779-9091
E-mail: sales@sg.pepperl-fuchs.com
https://www.pepperl-fuchs.com
PGV100-F200A-B25-V1D
Contents
1 Introduction................................................................................................................ 4
1.1 Content of this Document............................................................................. 4
1.2 Target Group, Personnel ............................................................................... 4
1.3 Symbols Used ................................................................................................ 5
2 Product Description ..................................................................................................6
2.1 Use and Application ...................................................................................... 6
2.2 LED Indicators and Operating Elements..................................................... 8
2.3 Accessories.................................................................................................... 9
3 Installation................................................................................................................ 10
3.1 Mounting the Read Head............................................................................. 10
3.2 Mounting the Colored Tape and Code Tape ..............................................12
3.3 Electrical connection................................................................................... 30
3.4 EtherNet/IP Connection .............................................................................. 32
4 Commissioning........................................................................................................ 33
4.1 Direction Decision ....................................................................................... 33
5 Communication via EtherNet/IP............................................................................. 36
5.1 General Information on Communication via EtherNet/IP ........................ 36
5.2 Setting the IP Address ................................................................................37
5.3 EtherNet/IP Objects .....................................................................................40
5.4 EtherNet/IP Connections ............................................................................ 43
5.5 Overview of the Attributes of EtherNet/IP Objects................................... 45
5.6 Description of the Attributes of EtherNet/IP Objects............................... 46
6 Appendix .................................................................................................................. 53
6.1 ASCII table.................................................................................................... 53
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PGV100-F200A-B25-V1D
Introduction
1 Introduction
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
Note
For full information on the product, refer to the further documentation on the Internet at
www.pepperl-fuchs.com.
The documentation comprises the following parts:
• This document
• Datasheet
In addition, the documentation may comprise the following parts, if applicable:
• EU-type examination certificate
• EU declaration of conformity
• Attestation of conformity
• Certificates
• Control drawings
• Instruction manual
• Other documents
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.
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PGV100-F200A-B25-V1D
Introduction
1.3 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:
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.
Informative Symbols
Note
This symbol brings important information to your attention.
Action
This symbol indicates a paragraph with instructions. You are prompted to perform an action or
a sequence of actions.
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PGV100-F200A-B25-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.
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.
Figure 2.1 Automated guided vehicle with green colored tape
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PGV100-F200A-B25-V1D
Product Description
Tag 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.
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PGV100-F200A-B25-V1D
ADJUST
CONFIG
1
2
LED 1 2 3 4 5 6 7
BUS ACTIVITY
Product Description
2.2 LED Indicators and Operating Elements
The read head has six indicator LEDs for carrying out visual function checks and quick diagnosis.
Activate the alignment aid and parameterization mode using the two control buttons on the
back of the device.
Button 1 is labeled "ADJUST." Button 2 is labeled "CONFIG."
Figure 2.3 Overview of LED indicators and controls
LED
[#1]
BUS LINK
[#2]
BUS ACTIVITY
Lights up x - x x x x Connection active
1
x
Flashing - x x x x Data transfer
x x - x x x x Communication errors
x x - x x x x No communication
x x - Lights up red x x x System error
x x - Lights up
x x - Off Flashing x x Code not detected
Table 2.1 Description of LED status
x x - x Lights up x x Tape detected
x x - x x Lights up x Direction selection
State
[#3]
No function
[#4]
PWR
SYSERR/NO CODE
[#5]
LANE AVAILABLE
[#6]
FOLLOW L/R
[#7]
INTERNAL DIAGNOSTIC
Red/green/
yellow
DescriptionColor Green Yellow - Green/red Yellow Yellow
error
x x x Code detected
green
active
1. x = LED status has no meaning
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Product Description
Device switched on: at least one LED is switched on or flashing.
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-FE Grounding terminal and plug (set)
PCV-SC12 Grounding clip
V1SD-G-*M-PUR-ABG-V1SD-G Bus cable, M12 to M12, available in several
PCV-AG100 Alignment guide for reader
V19-G-*M-*
PCV-CM20-0* Event marker
PCV-MB1 Mounting bracket for reader
V19-G-*M-PUR-ABG Single-ended female cordset, M12, 8-pin,
PCV-LM25 Marker head for code tape
PGV33M-CB19-* PGV colored tape
PCV-KBL-V19-STR-USB USB cable unit with power supply
different lengths
Configurable connection cable
shielded, PUR cable
1
1. Ask your contact person at Pepperl+Fuchs
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Installation
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.
Optimal Read Distance
Model number Read distance [mm] Depth of focus [mm]
PGV100* 100 ± 20 117 x 75
Table 3.1 Read distance
Field of view (w x h)
[mm]
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 16.
Model number Max. Y Value Out [mm] Min. Y Value In [mm]
PGV100* 60 45
Table 3.2 Distance to zero point
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10 70 12
94.5
70
50
22
ø 25
M6 x 9 (4x)
12.5
20 20
Installation
Read Head Dimensions
Figure 3.1 Dimensions
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.
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.
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Installation
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.
Ensure 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.
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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+Y
+X
+Z
R
Installation
Cleaning Colored Tape/Code Tape
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®.
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.
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 3.2 Field of view and coordinates of the sensor
Figure 3.3 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.
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PGV100-F200A-B25-V1D
X
Y
α
X
Y
α
β
✓
✗
Installation
Angle Output
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.
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 3.4 Relative angle
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PGV100-F200A-B25-V1D
X
Y
α
X
Y
α
Installation
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 3.5 Absolute angle
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PGV100-F200A-B25-V1D
X
Y
A
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 3.6 Distance A for colored tape
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X
Y
A
Installation
Data Matrix code tape
The read head indicates the vertical distance of the zero point in relation to the Data Matrix
code tape.
Figure 3.7 Distance A for Data Matrix code tape
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