CANTOPS CTS-HCOM Hybrid PIO User Manual Appendix 8 x

CanTops Hybrid PIO Appendix 8 x

Users Manual

1 CTS-HCOM-AA01 (EQ-PIO) CTS-HCOM-AB01 (OHT-PIO) * This device may have the possibility of radio interference during operation. 2016. 01. 08.(Ver1.2) Hybrid-PIO Specification (RF, IR)
2 FCC STATEMENT This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. FCC ID: RMNCTS-HCOM WARNING! Changes or modifications to this unit not expressly approved by the party responsible for compliance could void the user’s authority to operate the equipment. RF EXPOSURE WARNING! This equipment must be installed and operated in accordance with provided instructions and the antenna(s) used for this transmitter must be installed to provide a separation distance of at least 20 cm from all persons and must not be co-located or operating in conjunction with any other antenna or transmitter. End-users and installers must be provided with antenna installation instructions and transmitter operating conditions for satisfying RF exposure compliance. Note: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures: —Reorient or relocate the receiving antenna. —Increase the separation between the equipment and receiver. —Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. —Consult the dealer or an experienced radio/TV technician for help.
3 [ Table of Contents ] 1 Product Overview ······························································ 3 2 Product Feature ································································ 3 3 Product Code Configuration ················································· 4 4 Input/Output Circuit ··························································· 6 5 Product Specification ························································· 7 6 Device Specification ·························································· 9 7 Connector Specification ···················································· 10 8 LED Display ··································································· 13 9 Major Pin Function ··························································· 14 10 Communication Medium Selecting Method ······························ 15 11 RF Function ··································································· 16 12 IR Function ···································································· 20 13 List of Serial Communication Commands ······························· 22
4 1. Product Overview The CTS-HCOM Series is an integrated device that uses both RF communi-cation in 2.4GHz and 5GHz and IR (Infrared light, optical) communication. It is capable of choosing the stable communication media depending on the surrounding conditions. This product is a communication device to transmit and receive 8-bit data contactlessly according to the SEMI-E84 protocol regulation. It is possible to set many comfortable additional functions by the serial port or the wireless communication. Also it is possible to change the communication media from IR to RF and vice versa, depending on the noise level of surrounding. Moreover, it provides various functions that find causes and solutions promptly when there are abnormalities in transmitted/received data during the communication. This device is mainly for the exchange of the control signals between the vehicle (Master or Active devices such as AGV/OHT) and the equipment (Slave or Passive devices). 2. Product Feature • The integration of RF (2.4GHz, 5GHz) and IR (Infrared light, optical) communication in one device. • The contactless exchange of the 8-bit input/output signals. • The ability to choose the optimal communication media depending on the surrounding condition. • Wireless communication in 2.5GHz and 5GHz: Additional functions such as data transmission/reception and F/W downloading. • The maximum operational distance is 5m. (Only when there is no obstacles to electromagnetic wave in the middle.) • Designation of Wireless communication ID (address): 6 digits (ASCII code) • Storage of various data using a large-capacity SRAM: Up to about 130 operations including data and errors, standard time, signal intensity, etc. (The SRAM is cleared when the power is off.) • Additional functions using a serial port: Changing the settings, receiving real-time communication data, F/W downloading, etc.
5 3. Product Code Configuration Usage Product Code Configuration Equipment (EQ) OHT (VHL) 1000500 (Standard)300030510xx IR Communication Distance(mm)Front ViewTop ViewTFyOptical(Tx, Rx) Axis Direction300025001500150250300zzz I/O Cable Length1500150300No Cable00030rrr Serial Cable Length(mm)No Connector0Serial ConnectoruNo Connector0I/O Connectorw9P DSUB, Female Type125P DSUB, Male Type1
6  Example of Product Code Usage Product Code Optical Axis Direction Serial Cable Data Cable Connector Type Length (mm) Connector Type Length (mm) Equipment (EQ) CTS-HCOM-AA10-05-T-250-050 Top DSUB9P 500 None 2500 CTS-HCOM-AA11-05-F-250-050 Front DSUB9P 500 DSUB 25P (#4-40UNC) 2500 CTS-HCOM-AA11-05-T-150-050 Top DSUB9P 500 DSUB 25P (#4-40UNC) 1500 OHT (VHL) CTS-HCOM-AB10-05-T-250-050 Top DSUB9P 500 None 2500 CTS-HCOM-AB21-05-F-080-050 Front Molex 4P (53375-0410) 500 Hirose (HIF6-26D-1.27R) 800 CTS-HCOM-AB44-05-T-120-120 Top JST 1200 AMP 1200
7 RF-PIOInsideINPUT+24V VCCPIO 4. Input/Output Circuit Input Signal : Maximum 10mA Output Signal :NPN Open Collector, maximum driving current is 50mA / 30V VCE max. 100mV / 10mA RF-PIOInsideOUTPUTDCVPIO
8 5. Product Specification Division Specifics Content Display GO ON when the RF or IR communication between a master (OHT, AGV) PIO and a slave (EQ) PIO begins. STATE FLASHS as watchdog signals showing operation status. IN Displays the operation status of 8-bit input port OUT Displays the operation status of 8-bit input port External Equipment Connection Connector (Optional) AA01 Model(Slave) : 25-pin DSUB, No Connector. AB01 Model(Master) : Hirose 26-pin, JST, Molex, No Connector Cable 26AWG x 22C + 24AWG x 3C, Foil Shield Input 8 Bit, Photo-Coupler, 24V On : 10mA, Off : 0.1mA or less Output 8Bit, Open Collector, NPN, 30V Maximum operating current: 50mA IR Commu-nication Major Function 8-bit I/O Communication Communication Media 870nm, Infrared Transmission Distance 0.5m (0°), 0.25m (+15°, -15°) Directional Angle 30° (±15°) Transmission Method 1:1 Transmission, Half Duplex Optical Axis Direction T Type : Pointing TOP F Type : Pointing FRONT Optical Modulation Type Pulse Modulation Transmission Error Check Parity Transmission Period About 24ms when linked, about 85ms when disconnected. RF Commu-nication Major Function 8-bit I/O communication, downloading F/W and communication data, changing the settings, etc. Communication Media 2.4GHz, 5GHz ISM Band, bandwidth 1MHz Freac-ency Band 2.4GHz 2.403~2.480GHz, 78 channels*1) 5GHz 5.728~5.825GHz, 95개 channels*1) Safety Function Serial number confirmation function, CRC-16 Transmission Method 1:1 transmission, Half Duplex ID Setting PIO serial number to avoid an interference with neighboring PIOs, which is composed of 6 digits (ASCII)
9 Channel Setting Transmission frequency to avoid an interference with neighboring PIOs, which is composed of 3 digits (ASCII). ID Setting Method Serial communication command (Set as default when released) Operational Distance 5m@0dBm (Only when there is no obstacles to electromagnetic wave in the middle.) Environ-ment Storage Environment Temperature: -25 ~ 70°C Humidity: 5 ~ 95%RH (There shall be no dew condensation.) Operating Environment Ambient brightness(When using IR) : 4000lx or less (Incandescent lamp, fluorescent lamp) *) Install it such that no external light may enter the receiver. Temperature : 0 ~ 40°C Humidity : 35~85%RH (There shall be no dew condensation.) Vibration : 4~150 Hz, 4.9m/s2 or less Power Input Voltage DC 24V±10% Supply Current 130mA or less @ 24V Case Material Polycarbonate Dimension (WHD) 505320mm (Excluding the cable overhang) Weight About 300g (CTS-HCOM-AA01-05-T-150) *1) Can be used in an environment without frequency interference with other wireless devices such as wireless LAN, Bluetooth, etc.
6. DevicF Typ T Typ e Specifie : Pointing pe : PointingTication FRONT g TOP Top Front 10 Unit : mm Unit : mmm
11 7. Connector Specification 1) For Equipment (CTS-HCOM-AA01) : Slave, DSUB 25-pin, Pin Type, Maximum cable length is 10m. Function Pin No. Color Function Pin No. Color IN 1 1 Red 1 OUT 1 14 Blue 1 IN 2 2 Red 2 OUT 2 15 Blue 2 IN 3 3 Red 3 OUT 3 16 Blue 3 IN 4 4 Red 4 OUT 4 17 Blue 4 IN 5 5 Green 1 OUT 5 18 White 1 IN 6 6 Green 2 OUT 6 19 White 2 IN 7 7 Green 3 OUT 7 20 White 3 IN 8 8 Green 4 OUT 8 21 Black 1 Not Connected 9 X Not Connected 22 X SELECT 10 Yellow 3 +VIN 23 Red MODE1) 11 (GND) Yellow 2 GND 24 Black Go (Ready) 12 Black 2 GND 25 White Not Connected 13 X x x Serial Port (DSUB 9-pin, Female) TxD 2 Black RxD 3 Brown GND 5 Red Cable Connection Diagram 1) Mode pin(11) is connected to GND inside so no additional connection is needed.
12 2) For OHT (CTS-HCOM-AB01), Master  Hirose 26-pin, 1.27mm IDE Connector Function Pin No. Color Function Pin No. Color IN 1 16 Black OUT 1 3 Gray + Pink IN 2 17 Brown OUT 2 4 Yellow + Brown IN 3 18 Red OUT 3 5 White + Gray IN 4 19 Yellow OUT 4 6 Red + Blue IN 5 20 Green OUT 5 7 Gray + Brown IN 6 21 Blue OUT 6 8 White + Green IN 7 22 Purple OUT 7 9 White + Black IN 8 23 Gray OUT 8 10 White + Yellow SELECT 14 White Ready (Go) 2 White + Pink MODE 15 Pink +VIN 12 Brown + Green X 11, 24 X GND 1 Brown + Red X 25, 26 X GND 13 White + Red Serial Port DSUB 9-pin, female TxD 2 Black RxD 3 Brown GND 5 Red Molex 4P (5557-04R) TxD 1 Black RxD 2 Brown GND 3 Red Molex 3P (51103-0300) TxD 1 Black RxD 2 Brown GND 3 Red Cable Connection Diagram
13  AMP 12-pin, 172170 A Connector Function Pin No. Color Function Pin No. Color IN 1 5 Red 1 OUT 1 6 Blue 1 IN 2 7 Red 2 OUT 2 8 Blue 2 IN 3 9 Red 3 OUT 3 10 Blue 3 IN 4 11 Red 4 OUT 4 12 Blue 4 SELECT 3 Yellow 3 Ready (Go) 4 Black 2 MODE 2 Yellow 2 GND 1 White Cable Connection Diagram B Connector Function Pin No. Color Function Pin No. Color IN 5 1 Green 1 OUT 5 2 White 1 IN 6 3 Green 2 OUT 6 4 White 2 IN 7 5 Green 3 OUT 7 6 White 3 IN 8 7 Green 4 OUT 8 8 Black 1 X 11 X +VIN 9 Red X 12 X GND 10 Black Cable Connection Diagram
14 8. LED Display LED Name Display Content 1~8 IN Indicates the operation status of input circuit inside of PIO, which is ON when the input is LOW. OUT Indicates the output status inside of PIO, which is ON when TR is ON. GO Turns ON when there is data transmission/reception between a master and a slave PIOs. The maximum time that GO LED and output remain OFF after the wireless communication is disconnected is 775ms. This can be adjusted by user through <R> command. STATE1) Used as watchdog signal to check whether there is an abnormality in the product. ▪ RF mode: Blinks with periods of Master mode (0.25 sec), Slave mode (1 sec), standby mode (0.1 sec). ▪ IR mode : Similar to that of RF mode, but has different blinking periods. ※ Operation modes are distinguishable. See the diagram below. *) LED Diagram 1) STATE LED Operation Timing Mode Period Graph IR Slave Master 2.4G Slave Master
15 9. Major Pin Function Signal Name Usage Mode (Input) Input to select a mode of PIO ▪ GND : Slave Mode (EQ, Connected to GND inside of PIO so no additional connection is necessary.) ▪ OPEN : Master Mode (OHT) Select (Input) Input to operate the PIO ▪ GND : Stops a wireless communication of PIOs. ▪ OPEN : Operates a wireless communication of PIOs. GO (Output) Turns ON if there is a normal communication between a master and a slave PIOS.  Modes Master Mode Transmits data from input port wirelessly if PIO is operated by OPENing the Select signal. This mode is used by OHT or AGV. Slave Mode Even though PIO is operated by OPENing the Select signal, does not transmit but only receives optical signals. Transmits data from input port wirelessly when receives optical signals from the master. This mode is used by equipment. 5G Slave Master
16 10. Communication Medium Selecting Method This product has two contactless communication media: the optical (infrared light) and the wireless communication (2.4GHz, 5GHz RF). There can be a communication interference in the semiconductor factories because of surrounding equipment or sensors. If this happens, this product provides a stable communication by selecting the other medium without an interference. A communication medium can be selected by the serial communication command (M command). In case of wireless communication (RF), the distinct channel ID and other variables must be set.
17 11. RF Function RF Communication Characteristics RF communication using ISM (Industrial Scientific and Medical) Band of 2.4GHz and 5GHz that can be used without an authorization. High-speed data communication - 1Mbps per channel. GFSK modulation, 1MHz bandwidth. A great expandability provided by the function selecting the serial numbers of 6 bytes and frequencies of 3 bytes. Channel occupation time is about 1ms (Communication period: 25ms). Minimizes the interference between other wireless devices. Setting the channel without conflict is necessary because of the frequency interference with 2.4GHz and 5GHz wireless LEN and other wireless devices. Maximum RF output power: 0dBm Sensitivity of the receiver : -90dBm Antenna Configuration Emission Pattern 81234567STATE GOOUTIN
18 How to install  These are the examples of the damping ratios depending on directions of the master and slave PIOs in 10cm. See the values as the relative values with error of measurement. Like the diagrams below, the reception sensitivity can be vary depending on the directions, even in such a short distance. This can influence the performance of RF communication. Therefore, check the optimal conditions for RF communication before the installation of PIOs. Damping Ratio Installation Direction -25dB -30dB -
19 Dampting Ratio Installation Direction -33dB - -35dB - -37dB -
20 12. IR Function Precautions for Installation 1) Metals, mirrors and other objects existing in a space at the straight-line distance between two sensors reduce the communication performance. Remove the obstacles on the path if possible. 2) You can use it stably without communication errors when there is no interference with other wireless devices in an open space. 3) There may be no metals or other obstacles within a 60mm radius around this antenna. 4) There may happen frequency interference due to other RF devices around. Use this in an environment without frequency interference for stable operation. 5) Especially, when using this together with a device using a 5GHz band, allocate a channel by avoiding overlaps. 6) Maintain a 20cm or more interval between PIOs for equipment. Wireless Environment Setting The wireless communication (RF) function of CTS-HCOM Series can be simultaneously connected to many devices due to its characteristics. In order to communicate with one device (equipment), the ID and CH(channel) of the communication counterparty (For equipment, Slave PIO) shall be set before starting communication with the vehicle (OHT, Master PIO). The ID and CH setting is possible using serial communication commands. PIO Setting Method Slave ▪ Connect to PIO serial port => Set by a communication commands (ID and CH, transmission power etc.) ▪ The set data is stored in the memory, so it doesn’t need to be set again even though power is turned OFF. Master ▪ Connect to PIO serial port => Set by a communication commands (No. of VHL/Communication Medium/ID/CH/PORT) ▪ In case of Select OFF(Communication Permitted)  ON (Communication Prohibited), the IC and CH are changed to defaults. The No. of VHL, communication medium, ID, CH, PORT must be reset before Select OFF. ※ If it is not ready for data transmission, it does not transmit data even though it becomes Select OFF. ※ For more information, see the Serial Communication Specification.
21 IR Communication Characteristics  Wavelength : 870nm (Infrared light, Optical)  Ambient brightness : 4000lx or less of incandescent light and fluorescent light, the place without direct light  Transmission/reception method : Half Duplex  Modulation : Pulse Modulation  Operational distance and angle : 0.5m at 0°, 0.25m at ±15°  Adjustment of communication distance : Serial/RF communication command  Adjustment of reception level : Serial/RF communication command (To eliminate surrounding noises if any.)  Input signals and GO output filtering : Is possible to set the time by the serial command. IR Radiation Characteristics As shown in the figure below, the communicable angle is 30°, and communication is possible from a 0.25m away distance at ±15° and from a 0.5m away distance at 0°. If light, sunshine, IR remote controller, optical sensor, etc. applies light directly to the transmission/reception window, loss of communication may happen. In this case, block the external light and then use it. Unit : mm
22 Considerations for installation This product uses both IR and RF communication. In case of IR (optical and infrared light) communication, the performance declines if light is blocked by fixed brackets or parts since it uses invisible infrared light. As shown in the figure below, when PIOs of VHL stop without error or within the range of ±15°, surrounding objects shall not block the light of PIOs. Stop without error Stop at 15 degrees to the right Stop at 15 degrees to the left The cases of the light of PIO is blocked by the surrounding objects are shown in diagrams below. In these cases, there is high possibility of PIO communication error depending on where VHL stops. If a VHL stops without error, the PIO communication will operate normally. However, if it stops with error, communication error can happen becuse light is blocked. Therefore, be careful when install the fixed equipment and surrounding devices. Stop without error Stop at 15 degrees to the right Stop at 15 degrees to the left Also, if there is optical noise, it is necessary to block the noise using the fixed objects.
23 13. List of Serial Communication Commands How to set commands • Serial Communication Setting Value: 38400,8,n,1, No flow control • The first letter of every commands is “<” and the last letter is “>”. • The first letter of responds for commands is “[“ and the last letter is “]”. Command Function Medium1) Master2) Slave2) M Set the communication medium IR/RF Maintain Maintain R The number of trials for stable connection IR/RF Maintain Maintain T Set the current time IR/RF Reset Reset Y Check whether it is ready to communicate IR/RF - - G Check the GO status IR/RF - - L Download the communication data IR/RF - (Function N/A) - (Available) S Download the status of the communication data IR/RF - (Function N/A) - (Available) V Check the version IR/RF - - C Set the channel RF Reset Maintain A Set the ID RF Reset Maintain N Set the PORT number RF Reset Unused P Intensity of RF radiation RF Maintain Maintain W Time to check whether there are other devices. RF Maintain Unused O The number of OHT RF Maintain Unused 1) Whether to use the set values is dependent on media (optical or wireless) 2) Whether to save the set values (If the set value is saved, it maintains this value even though the power is off.) is dependent on the mode (Master/Slave), so be careful when use serial commands. ※ Use the serial communication program provided by CanTops to enter the commands.  About A Serial Command Setting for Different Modes Master Mode Setting the No. of OHT, communication medium, ID, CH, and No. of PORT is only possible when SELECT is ON (Communication prohibited). Other commands can be used at any time through the serial communication. Slave Mode Serial commands can be used at any time, regardless of SELECT status. ※ See “Serial communication specification” for more detailed information. *) The specification of this product may change without notice to improve performance of the product. * Rev Information
24 Document Ver. Date Modified content V 1.0 2015.8.6 ▪ Maximum value of Go signal: 375ms => 775ms (p.11) ▪ Period of standby mode of STATE LED: 0.05 => 0.1초 ▪ Display the number of blinks of STATE LED depending on media - Only for IR : 3 times - RF Mode, when IR operates : 5 times - RF Mode, when 2.4GHz operates : 7 times - RF Mode, when 5GHz operates : 9 times ▪ Modification in part of formats ▪ Addition of cable (Master) AMP for OHT V1.1 2015.9.7 ▪ Addition of the item number code format V1.2 2016.1.8 ▪ Addition of the RF patterns and installation method depending on the damping ratios. (p. 16, 17, 18 are added.)

Navigation menu