Wenglor PNBC106 Laser Distance Sensor Triangulation Operating instructions
The Wenglor PNBC106 is a high-precision laser distance sensor that provides accurate and reliable distance measurements. With its advanced features and user-friendly interface, the PNBC106 is an excellent choice for a wide range of applications, including industrial automation, robotics, and quality control.
The PNBC106 offers a number of key features that make it an ideal choice for demanding applications. These features include:
- High accuracy and repeatability
- Fast measurement speed
- Long measurement range
- Compact size and rugged construction
- Easy-to-use interface
- Variety of mounting options
- Suitable for harsh industrial environments
Advertisement
Advertisement
EN
PNBC1xx
Laser Distance Sensors High-Precision
Operating Instructions
Available as PDF file only
Status: 16.03.2023
Version: 1.0.0
www.wenglor.com
EN
Table of Contents
2
Laser Distance Sensor High-Precision 3
4
EN
1. Change Index, Operating Instructions
Version Date
1.0.0
Description/Change
16.03.2023 Initial version of the operating instructions
Version
Hardware: 1.0
Firmware: 5.0.1
EtherCAT COM: 5.3.0
EtherCAT COM: 1.0.3
2. General
2.1 Information Concerning these Instructions
• These instructions enable safe and efficient use of the following products:
» PNBC1xx
• These instructions are an integral part of the product and must be kept on hand for the entire duration of its service life.
• Local accident prevention regulations and national work safety regulations must be complied with as well.
• The product is subject to further technical development, and thus the information contained in these
operating instructions may also be subject to change. The current version can be found at www.wenglor.com in the product’s separate download area.
NOTE!
The operating instructions must be read carefully before using the product and must be kept on hand for later reference.
2.2 Explanations of Symbols
• Safety precautions and warnings are emphasized by means of symbols and attention-getting words.
• Safe use of the product is only possible if these safety precautions and warnings are adhered to.
The safety precautions and warnings are laid out in accordance with the following principle:
ATTENTION-GETTING WORD
Type and Source of Danger!
Possible consequences in the event that the hazard is disregarded.
• Measures for averting the hazard.
The meanings of the attention-getting words, as well as the scope of the associated hazards, are listed below.
DANGER!
This word indicates a hazard with a high degree of risk which, if not avoided, results in death or severe injury.
WARNING!
This word indicates a hazard with a medium degree of risk which, if not avoided, may result in death or severe injury.
Laser Distance Sensor High-Precision 5
6
EN
CAUTION!
This word indicates a hazard with a low degree of risk which, if not avoided, may result in minor or moderate injury.
ATTENTION:
This word draws attention to a potentially hazardous situation which, if not avoided, may result in property damage.
NOTE!
A note draws attention to useful tips and suggestions, as well as information regarding efficient, error-free use.
2.3 Limitation of Liability
• The product has been developed taking into account the state of the art as well as the applicable standards and guidelines.
• We reserve the right to make technical changes.
• A valid declaration of conformity can be found at www.wenglor.com in the download area of the product.
• wenglor sensoric elektronische Geräte GmbH (hereinafter "wenglor") accepts no liability for:
» failure to observe the operating manual,
» unsuitable or improper use of the product,
» excessive use, incorrect or negligent treatment of the product,
» incorrect installation or commissioning,
» use of untrained personnel,
» use of unauthorized spare parts or
» Improper or unauthorized changes, modifications or repair work to the products.
• This operating manual does not contain any guarantees/warrantees from wenglor with regard to the processes described or certain product properties.
• wenglor assumes no liability with regard to printing errors or other inaccuracies contained in this operating manual, unless it can be proven that wenglor was aware of the errors at the time the operating manual was created.
2.4 Copyrights
• The contents of these instructions are protected by copyright law.
• All rights are reserved by wenglor.
• Commercial reproduction or any other commercial use of the provided content and information, in particular graphics and images, is not permitted without previous written consent from wenglor.
General
3. For Your Safety
3.1 Use for Intended Purpose
This wenglor product is intended for use in accordance with the following functional principle:
Laser Distance Sensor High-Precision
This product group includes Laser Distance Sensors High-Precision for measuring distance, which function in accordance with various principles in scanning mode operation. Laser Distance Sensors High-Precision are especially fast or accurate, or have large working ranges. They’re extremely well suited for demanding applications. Even black and glossy objects can be reliably detected. Ethernet technology is integrated into selected sensors.
3.2 Use for Other than the Intended Purpose
• The product is not a safety component in accordance with the EG Machinery Directive.
• The product is not suitable for use in potentially explosive atmospheres.
DANGER!
Risk of personal injury or property damage in case of use for other than the intended purpose!
Use for other than the intended purpose may lead to hazardous situations.
• Instructions regarding use for intended purpose must be observed.
3.3 Personnel Qualifications
• Suitable technical training is a prerequisite.
• In-house electronics training is required.
• Trained personnel who use the product must have uninterrupted access to the operating instructions.
• Valid laser protection requirements must always be adhered to.
DANGER!
Risk of personal injury or property damage in case of incorrect initial start-up and maintenance!
Personal injury and damage to equipment may occur.
• Adequate training and qualification of personnel.
3.4 Modification of Products
DANGER!
Risk of personal injury or property damage if the product is modified!
Personal injury and damage to equipment may occur. Non-observance may result in loss of the CE marking and the guarantee may be rendered null and void.
• Modification of the product is impermissible.
Laser Distance Sensor High-Precision 7
8
EN
3.5 General Safety Precautions
NOTE!
• These instructions are an integral part of the product and must be kept on hand for the entire duration of its service life.
• In the event of possible changes, the respectively current version of the operating instructions can be accessed at www.wenglor.com in the product’s separate download area.
• Read the operating instructions carefully before using the product.
• The sensor must be protected against contamination and mechanical influences.
3.6 Laser/LED Warnings
LASER CLASS 2
EN60825-1
Laser Class 2 (EN 60825-1)
Observe all applicable standards and safety precautions.
The enclosed laser warning lables must be attached and visible at all time.
Do not stare into beam.
Attention!
If other operating or adjustment devices than those specified here are used or other procedures are carried out, this can lead to dangerous exposure to radiation.
3.6.1 Warnings According to Standard EN 60825-1:2014
LASER
2
CAUTION
LASER RADIATION
DO NOT STARE INTO BEAM
EN60825-1: 2014
λ = 620-690 nm Complies with 21 CFR
1040.10 and 1040.11 except for conformance with IEC 60825-1 Ed. 3., as described in Laser
Notice No. 56, dated May 8, 2019
CLASS 2 LASER PRODUCT
SAP 94882
3.7 Approvals and protection class
CAUTION
LASER RADIATION -
DO NOT STARE INTO BEAM
Conforme aux normes de sécurité
21 CFR 1040.10 et 1040.11,
à l’exclusion de la norme CEI 60825-1 éd. 3., comme indiqué dans la notice du laser n° 56 en date du 8 mai 2019
CLASS 2 LASER PRODUCT
SAP 94883
IND. CONT. EQ
72HL / E189727
For use in class 2 circuits
For Your Safety
4. Technical Data
PNBC101
Optical Characteristics
Working range [mm]
Resolution
Linearity deviation
Reproducibility maximum
Reproducibility 1 Sigma
Light source
Wavelength
20…24
0.06 µm
2 µm
4 µm
0,3 µm
Laser (red)
658 nm
100,000 hours Service life (T = +25° C)
Laser class (EN 60825-1)
Max. ambient light
Light spot diameter
2
10,000 lux
< 0.15 mm
Electrical Characteristics
Supply voltage 15 to 30 V DC
Current consumption (Ub=24V) 280 mA
Switching frequency
Response time
Output rate
Temperature drift *
15 kHz
<33 µs
10...30000/s
0.2 µm/K
Temperature range
Storage temperature
–10 to 40° C
–20 to 70° C
Number of switching outputs 4
Switching output voltage drop < 1.5 V
Switching output/switching current
Switching input low level
Switching input high level
Switching input resistance **
Switchable to NC/NO
Configurable to PNP / NPN / push-pull
Analog output
Short-circuit protection
Reverse polarity protection
Overload protection
Teach-in-Modus
Interface
Baud rate
Protection class
Webserver
Mechanical Characteristics
Setting method
100 mA
< 2 V
> 2.5 V
> 24 k
Yes
Yes
Yes
Yes
Yes
VT/FT
III
Yes
Ω
25…35
0.15 µm
5 µm
0,6 µm
Laser (red)
658 nm
100,000 hours
2
10,000 lux
< 0.20 mm
15 to 30 V DC
280 mA
15 kHz
<33 µs
10...30000/s
0.5 µm/K
–10 to 40° C
–20 to 70° C
4
5 µm
< 1.5 V
40 to 60
0.3 µm
10 µm
2
4
8 µm
0,8 µm
Laser (red)
658 nm
100,000 hours
10,000 lux
< 0.25 mm
15 to 30 V DC
280 mA
15 kHz
<33 µs
10...30000/s
1 µm/K
–10 to 40° C
–20 to 70° C
< 1.5 V
58 to 108
0.8 µm
25 µm
20 µm
2,5 µm
Laser (red)
658 nm
100,000 hours
2
10,000 lux
< 0.35 mm
15 to 30 V DC
280 mA
15 kHz
<33 µs
10...30000/s
2.5 µm/K
–10 to 40° C
–20 to 70° C
4
< 1.5 V
0...10 V/4...20 mA 0...10 V/4...20 mA 0...10 V/4...20 mA 0...10 V/4...20 mA
Ethernet TCP/IP
EtherCAT
100 Mbit/s
Teach-in
PNBC102
100 mA
< 2 V
> 2.5 V
> 24 k
Yes
Yes
Yes
Yes
Yes
VT/FT
III
Yes
Ω
Ethernet TCP/IP
EtherCAT
100 Mbit/s
Teach-in
PNBC103
100 mA
< 2 V
> 2.5 V
> 24 k
Yes
Yes
Yes
Yes
Yes
VT/FT
Ω
Ethernet TCP/IP
EtherCAT
100 Mbit/s
III
Yes
Teach-in
PNBC104
100 mA
< 2 V
> 2.5 V
> 24 k
Yes
Yes
Yes
Yes
Yes
VT/FT
III
Yes
Ω
Ethernet TCP/IP
EtherCAT
100 Mbit/s
Teach-in
Laser Distance Sensor High-Precision 9
EN
Housing material
Degree of protection
Connection
Type of connection Ethernet
Optic cover
PNBC101
Aluminum
IP 67
M12×1, 8-pin
M12× 1, 4-pin
Glass
* At a sensor temperature of 20...40 °C
** only valid if input load is switched off
PNBC102
Aluminum
IP 67
M12×1, 8-pin
M12×1, 4-pin
Glass
PNBC103
Aluminum
IP 67
M12×1, 8-pin
M12×1, 4-pin
Glass
PNBC104
Aluminum
IP 67
M12×1, 8-pin
M12×1, 4-pin
Glass
PNBC105
Optical Characteristics
Working range [mm]
Measuring range
Linearity deviation
Reproducibility maximum
Reproducibility 1 Sigma
Light source
Wavelength
90…190
100 mm
50 µm
30 µm
3,0 µm
Laser (red)
658 nm
100,000 hours Service life (T = +25° C)
Laser class (EN 60825-1)
Max. ambient light
Light spot diameter
2
10,000 lux
< 0.75 mm
Electrical Characteristics
Supply voltage 15 to 30 V DC
Current consumption (Ub=24V) 280 mA
Switching frequency
Response time
Output rate
Temperature drift *
15 kHz
<33 µs
10...30000/s
5 µm/K
Temperature range
Storage temperature
–10 to 40° C
–20 to 70° C
Number of switching outputs 4
Switching output voltage drop < 1.5 V
Switching output/switching current
Switching input low level
Switching input high level
Switching input resistance **
Switchable to NC/NO
Configurable to PNP / NPN / push-pull
Analog output
Short-circuit protection
Reverse polarity protection
100 mA
< 2 V
> 2.5 V
> 24 k
Yes
Yes
Ω
PNBC106
200…400
200 mm
100 µm
13 µm
Laser (red)
658 nm
100,000 hours
2
10,000 lux
< 0.90 mm
15 to 30 V DC
280 mA
15 kHz
<33 µs
10...30000/s
10 µm/K
–10 to 40° C
–20 to 70° C
4
60 µm
< 1.5 V
100 mA
< 2 V
> 2.5 V
> 24 k
Yes
Yes
Ω
PNBC107
250…650
400 mm
200 µm
2
4
80 µm
14 µm
Laser (red)
658 nm
100,000 hours
10,000 lux
< 1.20 mm
15 to 30 V DC
280 mA
15 kHz
<33 µs
10...30000/s
20 µm/K
–10 to 40° C
–20 to 70° C
< 1.5 V
100 mA
< 2 V
> 2.5 V
> 24 k
Yes
Yes
Ω
PNBC108
200…1000
800 mm
375 µm
100 µm
15 µm
Laser (red)
658 nm
100,000 hours
2
10,000 lux
< 1.60 mm
15 to 30 V DC
280 mA
15 kHz
<33 µs
10...30000/s
37.5 µm/K
–10 to 40° C
–20 to 70° C
4
< 1.5 V
100 mA
< 2 V
> 2.5 V
> 24 k
Yes
Yes
Ω
0...10 V/4...20 mA 0...10 V/4...20 mA 0...10 V/4...20 mA 0...10 V/4...20 mA
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
10 Technical Data
Overload protection
Teach-in-Modus
Interface
Baud rate
Protection class
Webserver
Mechanical Characteristics
Setting method
Housing material
Degree of protection
Connection
Type of connection Ethernet
Optic cover
* At a sensor temperature of 20...40 °C
** only valid if input load is switched off
PNBC105
Yes
VT/FT
Ethernet TCP/IP
EtherCAT
100 Mbit/s
III
Yes
Teach-in
Aluminum
IP67
M12×1, 8-pin
M12×1, 4-pin
Glass
PNBC106
Yes
VT/FT
Ethernet TCP/IP
EtherCAT
100 Mbit/s
III
Yes
Teach-in
Aluminum
IP67
M12×1, 8-pin
M12×1, 4-pin
Glass
PNBC107
Yes
VT/FT
Ethernet TCP/IP
EtherCAT
100 Mbit/s
III
Yes
Teach-in
Aluminum
IP67
M12×1, 8-pin
M12×1, 4-pin
Glass
PNBC108
Yes
VT/FT
Ethernet TCP/IP
EtherCAT
100 Mbit/s
III
Yes
Teach-in
Aluminum
IP67
M12×1, 8-pin
M12×1, 4-pin
Glass
4.1 Surface Effects
A measuring rate of 30 kHz is achieved at the reflectivities given in the following table.
Object colour white grey black
Reflectivity
90 %
20 %
6 %
Values measured on Zenith Polymer Diffuser
NOTE!
These are typical measured values which may vary depending on surface characteristics and angle of incidence.
Laser Distance Sensor High-Precision 11
EN
4.2 Wiring Diagram
Pin assignment power supply: Pin assignment Ethernet:
Z
S
E
T
RxD
TxD
RDY
GND
CL
E/A
Legend
Ā
V
~
A
+
–
Supply Voltage +
Supply Voltage 0 V
Supply Voltage (AC Voltage)
Switching Output (NO)
Switching Output (NC)
Contamination/Error Output (NO)
Contamination/Error Output (NC)
Input (analog or digital)
Teach Input
Time Delay (activation)
Shielding
Interface Receive Path
Interface Send Path
Ready
Ground
Clock
Output/Input programmable
PoE
IN
OSSD
Signal ower over Ethernet
Safety Input
Safety Output
Signal Output
BI_D+/– Ethernet Gigabit bidirect. data line (A-D)
EN
0 RS422
PT
Encoder 0-pulse 0/ (TTL)
Platinum measuring resistor
W
W–
O
O–
BZ
A
MV a b
SY
SY–
E+
S+ nc
U
SnR
Rx+/–
Tx+/–
B
US
La
Mag
RES
EDM
EN
A RS422
Not connected
Test Input
Test Input inverted
Trigger Input
Ground for the Trigger Input
Analog Output
Ground for the Analog Output
Block Discharge
Valve Output
Valve Control Output +
Valve Control Output 0 V
Synchronization
Ground for the Synchronization
Receiver-Line
Emitter-Line
Grounding
Switching Distance Reduction
Ethernet Receive Path
Ethernet Send Path
Interfaces-Bus A(+)/B(–)
Emitted Light disengageable
Magnet activation
Input confirmation
Contactor Monitoring
Encoder A/Ā (TTL)
YE
GN
BU
VT
BK
BN
RD
OG
GY
WH
PK
GNYE
EN
EN
B RS422
A
Encoder B/ (TTL)
Encoder A
EN
A
A
B
MIN
MAX
A
OK
SY In
SY OUT Synchronization OUT
O
M
LT
Encoder B
Digital output MIN
Digital output MAX
Digital output OK
Synchronization In
Brightness output
Maintenance rsv Reserved
Wire Colors according to DIN IEC 60757
Black
Brown
Red
Orange
Yellow
Green
Blue
Violet
Grey
White
Pink
Green/Yellow
12 Technical Data
4.3 Housing Dimensions
PNBC101
PNBC102
Laser Distance Sensor High-Precision 13
EN
PNBC103
PNBC104
14 Technical Data
PNBC105
PNBC106 / PNBC107 / PNBC108
Laser Distance Sensor High-Precision 15
EN
4.4 Sensor Construction
1
2
3
= Connector power supply
= Connector Ethernet
= LED display
= Laser exit
= Receiver
= Thread for fixing the screening grid retainer
4
6 5
16 Technical Data
4.5 Control Panel
68 = Supply Power Indicator
8c = Signal/Status
85 = Link/Act LED
Description
Power
Signal/Status
Link/Act
Status Function
Blue
Off
Green
Blinking green
Red
Yellow
Operating voltage on
Operating voltage off
Signal strength OK, sensor ready to measure
Weak signal, unreliable measurement results
No signal, sensor contaminated and/or overranging
Link available (TCP/IP)
Blinking yellow Communication
4.6 Complementary Products wenglor offers Connection Technology for field wiring.
Suitable mounting technology no.
341
Suitable connection technology no.
89 51
Switch ZAC51xN01
Cooling unit
Screening Grid Retainer
Screening Grids
Software wTeach2 DNNF005
Laser Distance Sensor High-Precision 17
EN
5. System Overview
Connection Lines
M12, 8-polig to open end
ZAS89R201
ZAS89R501
ZAS89R601
ZAS89R701
ZAS89R202
ZAS89R502
ZAS89R602 straight straight straight straight angled angled angled
Connection Cables
M12, 4-pin
ZAV51R201
ZAV51R601 straight straight
M12, 4-pin to RJ45
ZAV51R202
ZAV51R602
M12, 8-pin
BG88SG88V2-06M
BG88SG88V2-2M straight straight straight straight
2 m
5 m
10 m
20 m
2 m
5 m
10 m
2 m
10 m
2 m
10 m
0,6 m
2 m
Mounting System
ZNBZ001
ZNBZ002
Cooling Unit (optional)
ZNBK001
ZNBK002 for PNBC101, PNBC102, PNBC103, PNBC104, PNBC105 for PNBC106, PNBC107, PNBC108
Screening Grid Retainer (optional)
ZNBS001
ZNBS004
ZNBS005
ZNBS007
ZNBS008
ZNBS009 for PNBC101 for PNBC104 for PNBC105 for PNBC106, PNBC107, PNBC108 for PNBC102 for PNBC103
18 System Overview
Screening Grid Sets (optional)
ZNBE002 (Plastic)
ZNBE003 (Plastic)
ZNBE004 (Glass)
ZNBE005 (Glass) for ZNBS001, ZNBS002; ZNBS003, ZNBS004, ZNBS005 for ZNBS006 for ZNBS001, ZNBS002; ZNBS003, ZNBS004, ZNBS005 for ZNBS006
6. Installation Instructions
During use of the sensor, applicable electrical and mechanical regulations, standards and safety precautions must be adhered to. The sensor must be protected against mechanical influences.
When installing the sensor it must be ensured that direct eye contact with the laser beam is avoided. The laser warning must be plainly visible.
When installing the sensor it must be ensured that the measuring beam is exactly perpendicular to the surface to be measured in order to assure accurate measurement results. Tilting results in a geometrically longer measuring path.
Moving or Striped Objects
If moving or striped objects will be measured, the sensor head should be mounted with its long side perpendicular to the motion of direction or the stripes. In this way, better measurement results can be achieved in the corners because shadowing is avoided: falsch wrong richtig correct
Laser Distance Sensor High-Precision 19
EN
6.1 Default Settings
Description
IP address
Subnet mask
Evaluation method
Average filter
Sampling rate
Output rate
Laser
Offset
Analog mode
E1
E2
A3
A4
Input load: 2 mA
Input
Teach-in mode
Default value
192.168.0.225
255.255.0.0
COG
0 (corresponds to the off state)
Auto
10 kHz
Auto
0.0 mm
4 to 20 mA
Ext. teach-in: O3
Ext. teach-in: O4
Switching output: PNP / NO
Switching output: PNP / NO
On
Operating voltage active
Foreground teach-in
7. Initial Start-Up
Two connector plugs are integrated in to the sensor’s housing. The 8-pin plug supplies the sensor with +24 V operating voltage, whereas communication for parameters configuring and process data is conducted via the
4-pin socket (see pin assignment in section 4.2
). We recommend the exclusive use of Ethernet switches in
order to optimize data communication.
NOTE!
If Gigabit Ethernet cards are used, the polarity of the Tx and Rx conductors might not be correctly detected. Connecting sensors directly may result in complications. With an Ethernet crossover cable (crosslink), the sensor functions flawlessly via a PC network card. As an alternative, a commercially available 100 Mbit Ethernet switch can also be used.
20 Initial Start-Up
8. Function Descriptions
PNCB Laser Distance Sensors High-Precision work with a high resolution CMOS line array and determine distance by means of an angular measurement at a sampling rate of up to 30 kHz. The sensor is equipped with integrated electronics and no additional controller is required as a result.
Ascertained distance values are read out as process data via the interface and at the analogue output with16bit resolution.
Measuring range
20 mA
4 mA
Distance to object
The diffusely reflected light from the measuring point is decisive for the measurement. Inadequate intensity of the remitted light is indicated by an LED signal lamp on the sensor’s control panel. In the event of minimal remission, the sensor automatically reduces its sampling and output rates, in order to provide accurate measurement results. Signal strength is indicated on the website as a percentage (see “Status Display” in section
Not only does the laser spot produce an illuminated pixel on the CMOS line array, it also generates an intensity curve which is distributed over several pixels. This intensity curve is called the peak, and ideally it’s steep at both ends, monotonically non-decreasing and symmetrical. The curve depends on distance, internal optics and the surface of the object to be measured. The evaluation method is decisive with regard to attainable measuring accuracy. Some surfaces require an evaluation method which is especially suited to them.
Laser Distance Sensor High-Precision 21
EN
8.1 Evaluation method
8.1.1 Center of Gravity (Cog)
The Cog evaluation method calculates the peak’s center of gravity, whose×-coordinate is the sought crude result. The peak has to be separated from the “sink” for the purpose of center of gravity analysis, which necessitates calculation of the threshold.
Sink height
Background level
Measured value
The threshold is the mean value of all pixel intensities and is thus somewhat higher than the background level.
All pixels to the left and to the right of the maximum, whose intensity is greater than the threshold, are used in order to calculate the center of gravity. With 16-bit resolution, the measured values are highly precise thanks to this evaluation method.
8.1.2 Edge Evaluation
In this evaluation method, the peak's edges are evaluated. The advantage of this evaluation method is the fact that the peak’s asymmetrical crests, caused for example by speckle effects resulting from a sheet metal panel, are excluded from the evaluation.
Measured value
With edge evaluation as well, the measured values achieve highly precise 13-bit resolution.
22 Function Descriptions
8.2 Measuring Accuracy and Error Influence
8.2.1 Calibration Report
A calibration report is included with the sensor, which graphically represents linearity error as a percentage for the measured value on a matte white surface.
The following is an example of a calibration report:
Calibration Protocol
Order Number:
Serial Number:
MAC Address:
PNBC107
001000
00:07:AB:F0:0C:AB
Measurement Conditions:
Measuring Range
Working Range
Measured Surface
Evaluation Method
Temperature
Laser Class
400 mm
250...650 mm
White Surface
COG
20° C (+/-1° C)
2 (max 1.0 mW)
Differences to the above data can appear due to:
1. Target material and surface
2. Target geometry
3. Sensor mounting
4. Temperature fluctuation during the measurement
5. Strong circulation of warm air between sensor and target
Further statements in the datasheet and the operation instructions are valid.
Inspector:
Date:
Klinkow
08.07.2022
Laser Distance Sensor High-Precision 23
EN
8.2.2 Surface Material
Possible objects to be measured include all sorts of materials such as metal, plastic, ceramic, rubber and paper. Suitability for use only needs to be tested individually for highly reflective surfaces and liquids.
8.2.3 Surface Damage on the Object to be Measured
A scratch on the surface of the object to be measured which runs perpendicular to the axis of the lens may cause stronger light emissions, whose maxima are located next to the center of the spot. An incorrect distance is simulated as a result.
If a moving object is involved, the mean (integral) measured value remains constant when the damaged surface is scanned, i.e. the positive and negative edges cancel each other out due to the damage.
Undesired deflection can be minimized by selecting a suitable average filter.
8.2.4 Extraneous Light
When installing the sensor it must be assured that no direct or reflected sunlight can shine into the receiver optics. Where difficult applications are involved, this “extraneous light” may interfere with measured value recording. The measuring point should be correspondingly shaded in such cases.
NOTE!
In order to achieve the highest possible resistance to extraneous light, the shortest possible
maximum exposure time should be set (see section 9.3
8.2.5 Changes in Remission
The sensors are equipped with luminous intensity control which is automatically adjusted to the level of remission from the object to be measured. If remission from the surface changes during measurement, the sensor compensates for any fluctuation. By selecting a fixed sampling rate, measured values remain accurate even if surface remission changes.
8.2.6 Dependence of Measurement on Angle
Measurement is minimally dependent on angle if the sensor is not aligned at a right angle to the object to be measured. Tilting the sensor results in a greater distance to the object. This change in distance can be set to zero by means of a corresponding offset shift.
24 Function Descriptions
9. Settings
There are several different ways to enter settings to the device:
• Via the integrated website, with which PNBC Sensors are equipped. This website functions independent of the operating system and the sensor can be configured via a standard browser. The web-based configuration
).
• With the help of w-Teach configuration and display software which is available for download from www.wenglor.com
Settings are explained below based on the descriptive example provided by the website which is integrated into the sensor.
NOTE!
If the sensor is connected to a controller, the settings which have been selected via the website are overwritten by the controller.
9.1 Accessing the Website
Start the web browser. Enter the sensor’s manually selected IP address to the address line in your browser and press the enter key. In order to ensure that the browser displays the current settings on the website, the website has to be automatically reloaded whenever changes are made. This setting must be changed in a browser-specific manner which is described here using the Internet Explorer as an example. Select "Every time I visit the webpage " under Tools Internet options General Settings . Otherwise, changes might not be correctly displayed via the website.
Laser Distance Sensor High-Precision 25
EN
26 Settings
In order to be able to access the product’s website (in this example the PNBC102), the IP address must be entered to the browser’s address line as described.
Default IP address: 192.168.0.225
The initial page appears with general information concerning the connected sensor.
9.2 Page Layout (website)
Laser Distance Sensor High-Precision 27
EN
The website is subdivided into the following areas:
Language selection
The website can be changed from English (default language) to other languages with the language selection function.
Status display
Measured value
I/O1...I/O4
Measurement rate
Exposure time
Signal strength
Temperature
Displays the current distance between the edge of the sensor’s housing and the object..
Indicates the switching status of the respective input or output.
Displays the current measurement rate
Displays the current exposure time
Indicates the intensity of received light. If luminious intensity is too low (<2 %), the object is either outside of the measuring range or the emitted light setting is not high enough.
Displays current temperature inside the sensor housing. Depending on how the sensor is mounted, this temperature is 10 to 15° C above ambient temperature. “OK” appears next to the value in order to indicate that the sensor is being operated within its specified values
Encoder
NOTE!
If the sensor's temperature is too high (>50 °C), the information "Too hot" is also displayed. In this case it is recommended to either cool the sensor or to mount it in such a way that the heat is better dissipated.
Displays the current encoder value.
Page content
Depending on which category is selected in the menu at the left-hand side of the page, respective page content appears here.
Category selection
General device
Device settings
I/O settings
Overview page with general information regarding the sensor as a display without any setting options..
• The sensor's network settings (see section 9.3
• The sensor's measured value settings (see section
• General settings (see section
)
Settings for the digital inputs and outputs (see section 9.4
28 Settings
9.3 Device Settings (website)
Network settings:
The IP address and the addresses for the subnet mask and the gateway can be changed in the respective fields. Changes are activated by entering the “admin” password and by restarting the device. Please make sure that the selected subnet mask is actually available within the network. Otherwise you might not be able to find the sensor in the network.
Laser Distance Sensor High-Precision 29
EN
Measured value settings:
Evaluation method
Average filter
Functions description (see section
)
Adjustable, rolling average filter from 1 to 1000 measured values.
The smaller the selected value, the faster the measured value reacts to jumps.
The larger the selected value, the more smoothed the measured value becomes.
Max. exposure time Setting of specific exposure times in fixed or auto mode with corrsponding measuring frequency:
Setting sensor website
5 µs Auto (30 kHz)
29 µs Auto (30 kHz)
50 µs Auto (20 kHz)
100 µs Auto (10 kHz)
200 µs Auto (5 kHz)
1,6 µs Fix (30 kHz)
29 µs Fix (30 kHz)
50 µs Fix (20 kHz)
100 µs Fix (10 kHz)
200 µs Fix (5 kHz)
Interface command (see section 10.4)
set_regulator=0 oder 1 set_meas_freq=30000 set_regulator=0 oder 1 set_meas_freq=30000 set_max_shutter=29 set_regulator=0 oder 1 set_meas_freq=20000 set_regulator=0 oder 1 set_meas_freq=10000 set_regulator=0 oder 1 set_meas_freq=5000 set_regulator=2 oder 3 set_meas_freq=30000 set_regulator=2 oder 3 set_meas_freq=30000 set_shutter=29 set_regulator=2 oder 3 set_meas_freq=20000 set_regulator=2 oder 3 set_meas_freq=10000 set_regulator=2 oder 3 set_meas_freq=5000
Sampling rate
Output rate
Emitted light
Offset
Screening grid
Possible settings include "Auto" (the sampling rate is adjusted automatically) or
"= output rate" (sampling rate = output rate). Values can be selected within a range of
900 to 30,000 Hz as well.
Values can be selected within a range of 10 to 30,000 Hz. The measured values are compiled indiviually as an Ethernet data packet at the selected rate.
Example: Using the "extended continuous measurement" evaluation method with 150 distance values and a selected output rate of 1 kHz (corresponds to 1 ms), you get the entire data packet every 150 ms (see section
).
Laser power adjustable from 0.1 mW to 1.0 mW, or automatic
If desired, a zero-point offset can be entered here.
When activated, the effects of the screening grid on the measured distance value and linearity are compensated by this option.
30 Settings
EtherCAT
Activate
Update
EtherCAT is activated by pressing the "Apply" button.
Update of EtherCAT interface
NOTE!
In the EtherCAT operating mode the sensor can only be configured via EtherCAT. The data can only be received via this interface.
NOTE!
To return from EtherCAT mode to TCP/IP mode, the configuration must be changed via the
EtherCAT interface (see section
).
General settings:
Encoder reset
Default values
Resets the encoder input to zero
Resets all values to their default settings (exception: network settings)
9.4 I/O Settings (website)
Analog output:
Selection of 0...10 V or 4...20 mA. Is the analog output used as a voltage source, the connected load should be 1 k Ω . Is the analog output configured as current output, the connected load should be 400 Ω .
I/O settings:
Various pin functions can be selected for the individual inputs/outputs.
Depending on the selected setting, context menus offer corresponding selection options.
Laser Distance Sensor High-Precision 31
EN
Pin function
Switching output
External teach-in
Encoder E1+E2
Encoder reset
Laser off
Error output
The selected output operates as a swiching output
The switching input can be taught in again by applying an electrical signal
A 2-channel rotary encoder with HTL square-wave signal must be used. Channel A is displaced 90 ° relative to channel B. It must be assured that a shielded cable is used in order to avoid possible interference or crosstalk between the conductors.
E1/A
5...24 V
90°
0 V
E2/B
5...24 V
0 V
Displacement
Displacement
HINWEIS!
The maximum encoder frequency must not exceed 100 kHz.
The encoder is reset to "0".
The laser can be switched on or off by activating the input load or the input voltage.
The output switches when the selected intensity is exceeded or not reached or when the target is outside the measuring range.
NOTE!
The set threshold values for the intensity are not identical to the specifica-
tion of the signal strength in the status display (see section 9.2
Output
PNP output
NPN output
Push-pull
Output function
NO
NC
The load or the analysis module is connected between the minus pole (reference) and the output. When switched, the output is connected to the plus pole via an electronic switch. A PNP output can also be equipped with a pull-down resistor.
The load or the analysis module is connected between the plus pole (reference) and the output. When the sensor is switched, the output is connected to the minus pole via an electronic switch. A NPN output can also be equipped with a pull-up resistor.
Alternate PNP and NPN switching
The output is configured as normally open
The output is configured as normally closed
32 Settings
Teach-in mode
Teach-in
FT teach-in mode
(window teach-in)
A function by means of which the sensor is caused to automatically calculate and save future settings based upon currently recorded values by pressing a button or applying a control signal.
There are two switching points in the case of window teach-in. The distance between the two switching points is called the window. The size of the window is described as window width. The sensor is switched when an object is within the window.
Sensor
Teach-in distance
Window Width
Switching Point 1
Object
Switching Point 2
VT teach-in mode
(foreground teach-in)
Teach-in is performed while the sensor is aligned to the object. The switching distance is then automatically set to a distance which is slightly larger than the clearance between the sensor and the object. So the sensor switches when the distance between sensor and object is smaller or equal to the distance to the object used for the teach-in procedure.
Sensor
Teach-in distance
Object
Switching Point
Laser Distance Sensor High-Precision 33
EN
Change switching point:
Shifts the switching point to the entered distance. In the case of foreground teach-in this is the teach-in distance described above, and in the case of window teach-in it’s the distance to the middle of the window.
Switching Hysteresis:
Describes the distance between the switch-on and switch-off points. Due to the highly stable measured values provided by this range of sensors, hysteresis can be set very low – even down to 0.000 mm. This setting may be advisable in certain applications where an average filter is used.
Switching Reserve:
Clearance between the teach-in distance and the sensor’s switching point. Switching reserve ensures reliable object detection even in the case of slightly fluctuating distances between the objects and the sensor.
Window size: see window “teach-in”.
2 mA input load:
Input load is set to 2 mA as a default value, but it can be switched off in the dropdown menu (e.g. if the PLC has a high-impedance PNP output).
Input setting:
Operating voltage active: Pending tasks are executed when input voltage is on.
Operating voltage inactive: Pending tasks are executed when input voltage is off.
34 Settings
10. Interface Protocol Ethernet TCP/IP
This section describes the structure and the function of the TCP commands for controlling and configuring the
Laser Distance Sensor High-Precision PNBCxxx.
The commands are send via the port 3000. After opening the port, the sensor transmits data packets without any further prompting.
Further information regarding the header and the data format can be found in section
.
It is advisable to stop measurement before configuring the parameters.
Upper and lower case letters must be observed.
HINWEIS!
Please note upper and lower case.
HINWEIS!
Set commands are only acknowledged with an answer when the reply mode is activated (see chapter
).
10.1 General Measuring Commands
10.1.1 Selecting the “Continuous Distance Measurement” Data Format
Command
Response
Description set_measure_start<CR>
Data stream (see section 10.6.1
)
Starts the “Continuous Distance Measurement” data stream (distance data).
10.1.2 Selecting the “Extended Continuous Measurement” Data Format
Command
Response
Description set_ext_measure_start<CR>
Data stream (see section 10.6.2
)
Starts the “Extended Continuous Measurement” data stream (distance, intensity and encoder data).
10.1.3 Selecting the Data Format for Peak Data
Command
Response
Description set_peak<CR>
Data stream (see section 10.6.3
)
A peak is transmitted.
Laser Distance Sensor High-Precision 35
EN
10.1.4 Setting Packet Length
Command (Set) set_packet_size=x<CR>
Command (Get) get_packet_size<CR>
Response
Description
OK:packet_size=x<CR>
The desired number of distance values per packet can be selected here.
Possible values for “x” include:
• 1...450 (continuous measurement)
• 1...150 (extended continuous measurement)
The entered value remains valid until the data format is changed. The values are then reset to the default values (150/450).
10.1.5 Stopping the Measurement
Command
Response
Description set_measure_stop<CR>
No response
All measurement and transmission of measurement data is stopped.
10.1.6 Reply Mode
Command
Response
Description set_reply_echo_activate<CR> set_reply_echo_deactivate<CR>
Only in case of “reply echo activate”: OK:reply_echo_activate<CR>
All commands are acknowledged (default setting: mode deactivated).
10.2 Sensor-specific Details
10.2.1 Querying the Order Number
Command
Response
Description get_name<CR>
Example: OK:name=PNBC105<CR>
The order number is read out.
10.2.2 Querying the Product Version
Command
Response
Description get_pversion<CR>
Example: OK:pversion=1.0.0<CR>
The product version is read out.
36 Interface Protocol Ethernet TCP/IP
10.2.3 Querying the Manufacturer
Command
Response
Description get_manufacturer<CR>
OK:manufacturer=wenglor_sensoric_GmbH<CR>
The manufacturer is read out. Blanks are replaced by underlines!
10.2.4 Querying the Description
Command
Response
Description get_description<CR>
OK:description=High_Performance_Distance_Sensor<CR>
The description is read out. Blanks are replaced by underlines!
10.2.5 Querying the Serial Number
Command
Response
Description get_serial<CR>
Example: OK:serial=001020<CR>
The serial number is read out.
10.2.6 Querying the MAC Address
Command
Response
Description get_mac_address<CR>
Example: OK:mac_address=0007ABF00CAB<CR>
The MAC address is read out.
10.2.7 Querying the Hardware Version
Command
Response
Description get_hwversion<CR>
Example: OK:hw_version=3.0.0<CR>
The hardware version is read out.
10.3 Network Settings
10.3.1 Setting the IP Address
Command (Set) set_ip_addr=192.168.0.225<CR>
Command (Get) get_ip_addr<CR>
Response OK:ip_addr=192.168.0.225<CR>
Description The new address becomes active after restarting the sensor.
Laser Distance Sensor High-Precision 37
EN
10.3.2 Setting the Subnet Mask Address
Command (Set) set_netmask_addr=255.255.0.0<CR>
Command (Get) get_net_mask<CR>
Response
Description
OK:net_mask=255.255.0.0<CR>
The new subnet mask becomes active after restarting the sensor.
10.3.3 Setting the Gateway Address
Command (Set) set_gateway_addr=192.168.0.1<CR>
Command (Get) get_gateway<CR>
Response
Description
OK:gateway_addr=192.168.0.1<CR>
The new gateway address becomes active after restarting the sensor.
10.3.4 Reset the Network Settings to Default Values
Command
Response
Description set_activate_network_default<CR>
OK:activate_network_default<CR>
Reset of IP address, gateway and subnet mask to default values.
10.4 Measurement Settings
10.4.1 Select the Evaluation Method
Command (Set) set_calc_mode=x<CR>
Command (Get) get_calc_mode<CR>
Response OK:calc_mode=x<CR>
Description The peak evaluation method can be selected with this command.
Possible values for “x” include:
2: COG (default setting)
5: Edge
10.4.2 Adjusting the Average Filter
Command (Set) set_avg_filter_cnt=x<CR>
Command (Get) get_avg_filter_cnt<CR>
Response
Description
OK:avg_filter_cnt=x<CR>
The rolling average can be generated based on a value between 2 and 1 000.
The smaller the selected value, the faster the measured value reacts to jumps.
The larger the selected value, the more smoothed the measured value becomes.
Possible values for “x” include:
0/1: off (default setting: 0)
2...1 000
38 Interface Protocol Ethernet TCP/IP
10.4.3 Setting the Sampling Rate
Command (Set) set_meas_freq=x<CR>
Command (Get) get_meas_freq<CR>
Response
Description
OK:meas_freq=x<CR>
The sampling rate is set in Hertz.
Possible values for “x” include:
900...30 000
• Depending on the selected value, the measurement rate is set to the closest level
(5 000, 10 000, 20 000, 30 000).
• The maximum exposure time is set according to the measuring rate:
» 30 kHz: 29 µs
» 20 kHz: 50 µs
» 10 kHz: 100 µs
» 5 kHz: 200 µs
10.4.4 Setting the Output Rate
Command (Set) set_freq=x<CR>
Command (Get) get_freq<CR>
Response
Description
OK:freq=x<CR>
The output rate is set in Hertz (default setting: 10000 Hz).
The measured values are compiled individually as an Ethernet data packet at the selected rate.
Example: Using the “Extended Continuous Measurement” evaluation method with 150 distance values and a selected output rate of 1000 Hz (corresponds to 1 ms), you get the entire data packet every 150 ms.
Possible values for “x” include:
10...30 000
10.4.5 Switching the Laser On/Off
Command
Response
Description set_activate_laser<CR> set_deactivate_laser<CR>
OK:activate_laser<CR>
OK:deactivate_laser<CR>
The laser is switched on or off by means of TCP commands (default setting: laser on).
When the pin function of a USRIO ist set to the input function Laser on/off, then the pin level is dominant. This setting cannot be changed by the input command.
Laser Distance Sensor High-Precision 39
EN
10.4.6 Setting Laser Power
Command (Set) set_laser=x<CR>
Command (Get) get_laser<CR>
Response
Description
OK:laser=x<CR>
Laser power can be adjusted in 1/10 mW steps.
Possible values:
0: Auto (default setting)
1: (0,1 mW)
...
10: 1 mW
This setting is only active in case of manual laser power regulation (see section
)
10.4.7 Exposure Time
Command (Set) set_shutter=x<CR>
Command (Get) get_shutter<CR>
Response
Description
OK:shutter=x<CR>
Exposure time is set (in us), if the exposure time regulation is set to manual (set_regulator=2 or 3).
Possible values for „x“ include:
30 kHz - 1,6 ... 29 µs / in steps of 0,025 µs (example: 1,6, 1,625 ... 29)
20 kHz - 1,6 ... 50 µs / in steps of 0,025 µs (example: 1,6, 1,625 ... 50)
10 kHz - 1,6 ... 100 µs / in steps of 0,025 µs (examplel: 1,6, 1,625 ... 100)
5 kHz - 1,6 ... 200 µs / in steps of 0,025 µs (example: 1,6, 1,625 ... 200)
Example: set_shutter=1,625
10.4.8 Maximum Exposure Time
Command (Set) set_max_shutter=x<CR>
Command (Get) get_max_shutter<CR>
Response
Description
OK:max_shutter=x<CR>
The maximum exposure time is set (in us), if the exposure time regulation is set to automatic (set_regulator=0 or 1)
Possible values for „x“ include:
30 kHz - 1,6 ... 29 µs / in steps of 0,025 µs (example: 1,6, 1,625 ... 29)
20 kHz - 1,6 ... 50 µs / in steps of 0,025 µs (example: 1,6, 1,625 ... 50)
10 kHz - 1,6 ... 100 µs / in steps of 0,025 µs (example: 1,6, 1,625 ... 100)
5 kHz - 1,6 ... 200 µs / in steps of 0,025 µs (example: 1,6, 1,625 ... 200)
Example: set_max_shutter=4,025
40 Interface Protocol Ethernet TCP/IP
10.4.9 Setting Regulation of Laser Power and Exposure Time
Command (Set) set_regulator=x<CR>
Command (Get) get_regulator<CR>
Response
Description
OK:regulator=x<CR>
Regulation of the exposure time and laser power is set here.
Possible values for “x” include:
0: Automatic exposure time regulation AND laser power regulation (default setting)
1: Automatic exposure time , laser power manually adjustable
2: Automatic laser power, exposure time manually adjustable
3: Laser power and exposure time manually adjustable
In case of laser power regulation and exposure time regulation, the sensor automatically selects the setting which results in the best intensity. Depending on the application, either exposure time or laser power regulation is preferable. If a constant exposure time is needed, then the laser power regulation is more suitabe, for a constant laser power the exposure time regulation is more suitable.
10.4.10 Adjusting Offset
Command
Response
Description set_digout_offset=x<CR>
OK:digout_offset=x<CR>
A zero-point offset can be entered here as a 16-bit value (default setting: 0.000).
Possible values for “x” include:
-30,000...30,000
Conversion of digital offset to offset in mm:
Offset [mm] = x / 65536 × Messbereich [mm]
10.4.11 Protective Screen Compensation
Command
Response
Description set_compensation_activate<CR> set_compensation_deactivate<CR>
No response
Activation/deactivation of protective screen compensation
10.4.12 Encoder Reset
Command
Response
Description set_clear_encoder<CR>
OK:clear_encoder<CR>
This command resets the internal encoder counter to zero.
Laser Distance Sensor High-Precision 41
EN
10.4.13 Encoder Counter Right Shift
Command (Set) set_enc_right_shift=x<CR>
Command (Get) get_enc_rshift<CR>
Response
Description
OK:enc_rshift=x<CR>
The scaling factor of the encoder input can be set with this command.
Possible values for “x” include:
.
0: Every encoder pulse is counted
1: Every 2nd encoder pulse is counted
..
2: Every 4th encoder pulse is counted (default setting)
8: Every 256th encoder pulse is counted
10.4.14 Reset to Default Values
Command
Response
Description set_activate_default<CR>
OK:activate_default<CR>
Returns all settings to their default values. Exception: network settings.
10.5 I/O Settings
10.5.1 Selecting the Analog Mode
Command (Set) set_anaout_mode=x<CR>
Command (Get) get_anaout_mode<CR>
Response
Description
OK:anaout_mode=x<CR>
Selects the analog mode.
Possible values for “x” include:
1: 0...10 V
8: 4...20 mA (default setting)
10.5.2 Quering the Input Status
Command
Response
Description get_usr_io1<CR> get_usr_io2<CR> get_usr_io3<CR> get_usr_io4<CR>
(e.g. I/O1): OK:usr_io1=1<CR>
Reads out the input status at the pin.
Possible values include:
0 and 1
42 Interface Protocol Ethernet TCP/IP
10.5.3 Quering the Input/Output Status of All Inputs/Outputs
Command
Response
Description get_usr_allinputs<CR>
OK:usr_io_allinputs=0110<CR>
Reads out the status of all inputs/outputs in the following order: IO4, IO3, IO2 and IO1.
Possible values include:
0 and 1.
The following applies to the example included above:
IO4: 0 (inactive)
IO3: 1 (active)
IO2: 1 (active)
IO1: 0 (inactive)
10.5.4 Setting the Pin Function
Command (Set) set_usrio1_pin_function=x<CR> set_usrio2_pin_function=x<CR> set_usrio3_pin_function=x<CR> set_usrio4_pin_function=x<CR>
Command (Get) get_usrio1_pin_function<CR> get_usrio2_pin_function<CR> get_usrio3_pin_function<CR> get_usrio4_pin_function<CR>
Response
Description
(e.g. I/O1): OK:usr_io1_pin_function=x<CR>
Sets the pin function.
Possible values for “x” include:
1: Switching output
2: External teach-in input for O1
3: External teach-in input for O2
4: External teach-in input for O3
5: External teach-in input for O4
6: Encoder input (I1+I2)
7: Encoder reset input
10: Laser on/off input
11: Error output
10.5.5 Selecting the Output Mode
Command (Set) set_usrio1_output_mode=x<CR> set_usrio2_output_mode=x<CR> set_usrio3_output_mode=x<CR> set_usrio4_output_mode=x<CR>
Command (Get) get_usrio1_output_mode<CR> get_usrio2_output_mode<CR>
Response get_usrio3_output_mode<CR> get_usrio4_output_mode<CR>
(e.g. I/O1): OK:usr_io1_output_mode=x<CR>
Laser Distance Sensor High-Precision 43
EN
Description Sets the output mode.
Possible values for “x” include:
1: PNP
2: NPN
3: Push-pull
10.5.6 Setting the Output Function
Command (Set) set_usrio1_output_function=x<CR> set_usrio2_output_function=x<CR> set_usrio3_output_function=x<CR> set_usrio4_output_function=x<CR>
Command (Get) get_usrio1_output_function<CR> get_usrio2_output_function<CR> get_usrio3_output_function<CR> get_usrio4_output_function<CR>
Response
Description
(e.g. I/O1): OK:usr_io1_output_function=x<CR>
Configures the output function.
Possible values for “x” include:
1: Normally open (NO)
2: Normally closed (NC)
10.5.7 Selecting the Teach-In Mode
Command (Set) set_usrio1_teach_mode=x<CR> set_usrio2_teach_mode=x<CR> set_usrio3_teach_mode=x<CR> set_usrio4_teach_mode=x<CR>
Command (Get) get_usrio1_teach_mode<CR> get_usrio2_teach_mode<CR> get_usrio3_teach_mode<CR> get_usrio4_teach_mode<CR>
Response
Description
(e.g. I/O1): OK:usr_io1_teach_mode=x<CR>
Sets the teach-in mode.
Possible values for “x” include:
1: Foreground teach-in (default setting)
2: Window teach-in
Foreground teach-in: Teach-in is performed while the sensor is aligned to the object.
The teach-in distance is set automatically, so that the sensor switches as soon as the distance between the sensor and the object is less than or equal to the previously taught in distance.
Window teach-in: There are two switching points in the case of window teach-in. The distance between the two switching points is the window width. The sensor switches when the object is within the window.
44 Interface Protocol Ethernet TCP/IP
10.5.8 Teaching the Switching Distance (Teach-in)
Command
Response
Description set_usrio1_teach_in=x<CR> set_usrio2_teach_in=x<CR> set_usrio3_teach_in=x<CR> set_usrio4_teach_in=x<CR>
(e.g. I/O3): OK:usr_io3_switch_dist_mm=87.614<CR>
A function by means of which the sensor is caused to automatically calculate and save future settings based on momentarily acquired values by pressing a button or applying a control signal.
NOTE!
The pin function of the respective output must be configured as a switching output.
10.5.9 Setting Window Width
Command (Set) set_usrio1_window_size_mm=x<CR> set_usrio2_window_size_mm=x<CR> set_usrio3_window_size_mm=x<CR> set_usrio4_window_size_mm=x<CR>
Command (Get) get_usrio1_window_size_mm<CR> get_usrio2_window_size_mm<CR>
Response
Description get_usrio3_window_size_mm<CR> get_usrio4_window_size_mm<CR>
(e.g. I/O1): OK:usr_io1_window_size_mm=x<CR>
Sets the window width (see section
The entered value must be smaller than the sensor’s measuring range.
Example: 0.100 (specified in mm)
window teach-in).
NOTE!
Decimal points must be used for non-whole numbers - not decimal commas.
Laser Distance Sensor High-Precision 45
EN
10.5.10 Setting the Switching Point
Command (Set) set_usrio1_switch_dist_mm=x<CR> set_usrio2_switch_dist_mm=x<CR> set_usrio3_switch_dist_mm=x<CR> set_usrio4_switch_dist_mm=x<CR>
Command (Get) get_usrio1_switch_dist_mm<CR> get_usrio2_switch_dist_mm<CR> get_usrio3_switch_dist_mm<CR> get_usrio4_switch_dist_mm<CR>
Response
Description
(e.g. I/O1): OK:usr_io1_switch_dist_mm=x<CR>
The switching point is shifted to the entered distance. In the case of foreground teach-in,
this is the teach-in distance (see section 10.5.7
), while in the case of window teach-in, it is
the distance to the middle of the window.
The value selected for “x” must lie within the working range.
Example: 22.123 (specified in mm)
NOTE!
Decimal points must be used for non-whole numbers - not decimal commas.
10.5.11 Setting Hysteresis
Command (Set) set_usrio1_hysteresis_mm=x<CR> set_usrio2_hysteresis_mm=x<CR> set_usrio3_hysteresis_mm=x<CR> set_usrio4_hysteresis_mm=x<CR>
Command (Get) get_usrio1_hysteresis_mm<CR> get_usrio2_hysteresis_mm<CR> get_usrio3_hysteresis_mm<CR> get_usrio4_hysteresis_mm<CR>
Response
Description
(e.g. I/O1): OK:usr_io1_hysteresis_mm=x<CR>
Hysteresis describes the distance between the switch-on and switch-off points.
Possible values for “x” include:
0...1/4 of measuring range
Example: 0.030 (specified in mm)
NOTE!
Decimal points must be used for non-whole numbers - not decimal commas.
46 Interface Protocol Ethernet TCP/IP
10.5.12 Setting Switching Reserve
Command (Set) set_usrio1_switch_res_mm=x<CR> set_usrio2_switch_res_mm=x<CR> set_usrio3_switch_res_mm=x<CR> set_usrio4_switch_res_mm=x<CR>
Command (Get) get_usrio1_switch_res_mm<CR> get_usrio2_switch_res_mm<CR> get_usrio3_switch_res_mm<CR> get_usrio4_switch_res_mm<CR>
Response
Description
(e.g. I/O1): OK:usr_io1_switch_res_mm=x<CR>
Switching reserve describes the clearance between the teach-in distance and the sensor’s switching point. Switching reserve ensures reliable object detection even in the case of slightly fluctuating distances between the objects and the sensor.
Possible values for “x” include:
0...1/4 of measuring range
Example: 0.120 (specified in mm)
Switching reserve can only be set for foreground teach-in.
NOTE!
Decimal points must be used for non-whole numbers - not decimal commas.
10.5.13 Setting Input Load
Command (Set) set_usrio1_input_load=x<CR> set_usrio2_input_load=x<CR> set_usrio3_input_load=x<CR> set_usrio4_input_load=x<CR>
Command (Get) get_usrio1_input_load<CR> get_usrio2_input_load<CR> get_usrio3_input_load<CR> get_usrio4_input_load<CR>
Response
Description
(e.g. I/O1): OK:usr_io1_input_load=x<CR>
Sets the input load.
Possible values for “x” include:
1: Input load active (2 mA; default setting)
2: Input load inactive
Laser Distance Sensor High-Precision 47
EN
10.5.14 Setting the Input Function
Command (Set) set_usrio1_input_function=x<CR> set_usrio2_input_function=x<CR> set_usrio3_input_function=x<CR> set_usrio4_input_function=x<CR>
Command (Get) get_usrio1_input_function<CR> get_usrio2_input_function<CR> get_usrio3_input_function<CR> get_usrio4_input_function<CR>
Response
Description
(e.g. I/O1): OK:usr_io1_input_function=x<CR>
Configures the input function.
Possible values for “x” include:
1: Ub active (pending tasks are executed when input voltage is on, default setting)
2: Ub inactive (pending tasks are executed when input voltage = 0 V)
10.5.15 Minimum Intensity
Command (Set) set_usrio1_min_err_intens=x<CR> set_usrio2_min_err_intens=x<CR> set_usrio3_min_err_intens=x<CR> set_usrio4_min_err_intens=x<CR>
Command (Get) get_usrio1_min_err_intens<CR> get_usrio2_min_err_intens<CR> get_usrio3_min_err_intens<CR> get_usrio4_min_err_intens<CR>
Response
Description
(e.g. I/O1): OK:usr_io1_min_err_intens=x<CR>
Sets the minimum intensity value for the error output (see section
).
Possible values for “x” include:
0...4095
10.5.16 Maximum Intensity
Command (Set) set_usrio1_max_err_intens=x<CR> set_usrio2_max_err_intens=x<CR> set_usrio3_max_err_intens=x<CR> set_usrio4_max_err_intens=x<CR>
Command (Get) get_usrio1_max_err_intens<CR> get_usrio2_max_err_intens<CR> get_usrio3_max_err_intens<CR> get_usrio4_max_err_intens<CR>
Response
Description
(z. B. I/O1): OK:usr_io1_max_err_intens=x<CR>
Sets the maximum intensity value for the error output (see section 9.4
Possible values for “x” include:
0...4095
48 Interface Protocol Ethernet TCP/IP
10.6 Header and Data Format
After opening port 3000, the sensor transmits data packets in the selected data format (exception: peak data,
The following data formats are possible:
• Continuous distance measurement (default setting)
• Extended continuous measurement
• Peak data
The header and the data are distributed to two TCP/IP packages of roughly the same size. In the case of a header with 94 bytes and a data volume of 900 bytes (for a total of 994 bytes), the first package contains 496 bytes and the second package 498. The header is always at the beginning of the package and is followed by the data.
The data layout is described in the following tables. The respective data format is identified by means of the
“Data Format” field.
Example: If a value of 17520 appears in the “Data Format” field, this corresponds to continuous distance measurement.
All values are little-endian, i. e. the least significant byte comes first.
In the case of zero-terminated strings, the entry ends with the first “0”. The last value must be a ‘0’ at the latest, i. e. one less byte is available for the entry. All zero-terminated strings are read out in ASCII code.
NOTE!
All registers are specified as a hexadecimal value.
Laser Distance Sensor High-Precision 49
EN
10.6.1 Continuous Distance Measurement
This data format should be used for processes which do not require an encoder.
All measured distance values are transmitted uninterruptedly.
Designation
Data format
Internal
Order number (zero-terminated)
Serial number (zero-terminated)
Software version (zero-terminated)
Operating time counter in ms
Measuring range lower limit in mm
Measuring range in mm
Laser power in 0.1 mW
Sampling rate in Hz
Temperature in the sensor in °C
Evaluation method
Laser power/sampling rate regulation
EncRightShift
)
Internal
I/Ox status, laser (see section 10.6.4
)
Output rate in Hz
Average filter
Offset
Number of distance values per packet
Distance 1 (see section
)
Distance 2
.
..
Distance 450
*) Example values
75
76
77
78
68
70
72
74
40
52
62
66
0
4
Offset
[bytes]
28
92
94
96
98
.
..
994
79
87
88
90
2
2
8
1
2
2
1
1
1
1
2
1
2
2
4
2
12
10
Length
[bytes]
4
24
12
2
Type unsigned int
Read-out/Comment
17520 string PNBC102* string string
001000*
V2.11* unsigned int 1467* unsigned short 25* unsigned short 10* unsigned short 1...10
unsigned short 900...30,000 unsigned char 35* unsigned char 2, 5 unsigned char 0...3
unsigned char 0...8
unsigned char 0...255
unsigned char 0...255
unsigned short 10...30,000 unsigned short 0...1000
signed short –30,000...+30,000 unsigned short 1...450
0...65,535
50 Interface Protocol Ethernet TCP/IP
10.6.2 Extended Continuous Measurement (Distance, Intensity, Encoder)
This data format should be selected when an encoder is used in the application.
In this case, intensity and the encoder value (encoder counter in the PNBC Sensor) are transmitted for each individual measurement in addition to distance values. This makes it possible to obtain an actual position value synchronous to the distance values.
Designation
Data format
Internal
Order number (zero-terminated)
Serial number (zero-terminated)
Software version (zero-terminated)
Operating time counter in ms
Measuring range lower limit in mm
Measuring range in mm
Laser power in 0.1 mW
Sampling rate in Hz
Temperature in the sensor in °C
Evaluation method
Laser power/sampling rate regulation
EncRightShift
Status (see section
)
Internal
I/Ox status, laser (see section
)
Output rate in Hz
Average filter
Offset
Number of distance, intensity and encoder values per packet
Distance 1 (see section
.
..
Intensity 1 (see section
Encoder 1 (see section
Distance 150
Intensity 150
Encoder 150
*) Example values
96
98
..
100
.
990
992
994
79
87
88
90
92
94
75
76
77
78
68
70
72
74
40
52
62
66
0
4
Offset
[bytes]
28
2
2
8
1
2
2
1
1
1
1
2
1
2
2
4
2
12
10
Length
[bytes]
4
24
12
6
Type unsigned int
Read-out/Comment
17536 string PNBC102* string string
001000*
V2.11* unsigned int 1467* unsigned short 25* unsigned short 10* unsigned short 1...10
unsigned short 900...30,000 unsigned char 35* unsigned char 2, 5 unsigned char 0...3
unsigned char 0...8
unsigned char 0...255
unsigned char 0...255
unsigned short 10...30,000 unsigned short 0...1000
signed short –30,000...+30,000 unsigned short 1...150
unsigned short
0...65,535
0...4,095
0...65,535
Laser Distance Sensor High-Precision 51
EN
10.6.3 Peak Data
This data format is suitable for diagnosis purposes.
All 1024 pixel intensities of the sensor’s CMOS line array are transmitted.
This data format is not retained after a restart. The sensor is automatically reset to the previously selected format.
Designation
Data format
Internal
Order number (zero-terminated)
Serial number (zero-terminated)
Software version (zero-terminated)
Operating time counter in ms
Measuring range lower limit in mm
Measuring range in mm
Laser power in 0.1 mW
Sampling rate in Hz
Temperature in the sensor in °C
Evaluation method
Laser power/sampling rate regulation
EncRightShift
Status (see section
)
Internal
I/Ox status, laser (see section
)
Distance in digits
Intensity in digits
Encoder value in digits
Number of intensity values per packet
Intensity pixel 1
Intensity pixel 2
.
..
Intensity pixel 1024
*) Example values
75
76
77
78
68
70
72
74
40
52
62
66
0
4
Offset
[bytes]
28
79
87
88
90
92
94
96
98
.
..
2142
2
2
8
1
2
2
1
1
1
1
2
1
2
2
4
2
12
10
Länge
[bytes]
4
24
12
2
Type unsigned int
Read-out/Comment
17488 string PNBC102* string string
001000*
V2.11* unsigned int 1467* unsigned short 25* unsigned short 10* unsigned short 1...10
unsigned short 900...30,000 unsigned char 35* unsigned char 2, 5 unsigned char 0...3
unsigned char 0...8
unsigned char 0...255
unsigned char 0...255
unsigned short 0...65,535 unsigned short 0...4,095 unsigned short 0...65,535 unsigned short 1,024 unsigned short 0...4,095
52 Interface Protocol Ethernet TCP/IP
10.6.4 Description of the Measurement Data
Status:
The status is represented as a 7-bit value:
7 6 5 4 3 2 1 0
Bit 0:
Bit 1:
Out of range error: intensity or distance is outside of the valid working range
Internal peak memory overflow error
Bit 2: Sensor FIFO overflow: CPU processing is unable to keep up with the measurement data
Bit 3...7: = 0
I/Ox and Laser Status:
The statuses of the inputs/outputs and the laser are represented as 7-bit values
7 6 5 4 3 2 1 0
Bit 0:
Bit 1:
Bit 2:
Bit 3:
Bit 7:
Status of I/O1
Status of I/O2
Status of I/O3
Status of I/O4
Laser status: 1 = On; 0 = Off
Distance as Bit:
Distance is represented as a 16-bit value:
15 14 13 12 11 10 9 8 7 6 5 4
Bit 0...15: Measured distance value (0...65,535)
The following formula is used to obtain the value displayed on the website:
Measured value in mm = (distance in bits × sensor measuring range in mm / 65,536) + lower working range limit in mm
3
Example (PNBC105): Measured value = 35,721 × 100 mm / 65,536 + 90 mm = 144.5 mm
2 1 0
Laser Distance Sensor High-Precision 53
EN
Intensity Value:
The intensity value is represented as a 16-bit value:
15 14 13 12 11 10 9 8
Bit 0 to 11: Intensity value (=peak value; 0...4095)
Bit 12:
Bit 13:
Bit 14:
Bit 15:
Reserved (=0)
Reserved (=0)
Error bit: intensity too low or too high
Error bit: distance outside of working range
7 6 5 4 3 2 1
The following formula for converting the digital value into a percentage is used to obtain the signal strength displayed on the website:
0
Signal strength as percentage = intensity value/16
If the intensity value is higher than 1600 the signal strength is limited to 100 %.
Encoder Value:
The encoder value is represented as a 16-bit value:
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Bit 0 to 15: Encoder value (0...65,535)
A converted value in mm cannot be provided here because conversion depends on the utilized encoder and how it is installed.
54 Interface Protocol Ethernet TCP/IP
11. Interface Protocoll EtherCAT
The Ethernet interface can be switched from TCP/IP to EtherCAT via the website (see section 9.3
EtherCAT is an industry standard that is real-time capable and offers easy connection to all EtherCAT compatible devices.
ATTENTION:
In the activated EtherCAT mode, the sensor website cannot be called up and no commands can be executed via TCP/IP. If the sensor should be switched from EtherCAT to TCP/IP, this must be done via the EtherCAT interface.
Index 0x1000 - Device Type
Sub index Name of element Data type
0 UDINT
Index 0x1018 - Identity Object
0
1
2
Sub index Name of element Data type
Number of elements
Vendor ID
Product Code
USINT
UDINT
UDINT
Bit size
32
Access Description ro
Bit size
8
32
32
32
32
Access Description ro ro ro PNBC101
PNBC102
PNBC103
PNBC104
PNBC105
PNBC106
PNBC107
PNBC108 ro ro
3
4
Revision Number UDINT
Serial Number UDINT
Index 0x10F8 - Timestamp Object
Sub index Name of element Data type
0 ULINT
Index 0x1a00 - 1. TxPDO
0
1
2
3
Sub index Name of element Data type
Number of elements
PDO Object 1
PDO Object 2
PDO Object 3
USINT
UDINT
UDINT
UDINT
Bit size
64
Bit size
8
32
32
32
Access Description ro
Access Description rw rw rw rw
Laser Distance Sensor High-Precision
Factory settings
Factory settings
04
0x0000059B
0x053F2B65
0x053F2B66
0x053F2B67
0x053F2B68
0x053F2B69
0x053F2B6A
0x053F2B6B
0x053F2B6C
Factory settings
Factory settings
03
0x30000110
0x30000210
0x30000310
55
EN
Index 0x1c12 - Sync Manager 1PDO Assignment
Sub index Name of element Data type
0
Number of elements
Subindex 001
USINT
Bit size
8
DT1C12ARR 16
Access Description rw rw
Index 0x1c13 - Sync Manager 2PDO Assignment
Sub index Name of element Data type
0
Number of elements
Subindex 001
USINT
Bit size
8
DT1C13ARR 16
Access Description rw rw
Index 0x3000 - Inputs
Sub index Name of element Data type
0
1
Number of elements
Distance
USINT
UINT
Bit size
8
16
Access Description ro ro
16
16 ro ro
Factory settings
0
#x0
Factory settings
0
0x1A00
Factory settings
03
Distance value as 16 bit value. Conversion in 'mm' takes place via
MeasurementRange and MeasurementBegin
Intensity value as 16 bit value.
Encoder value as 16 bit value.
0000
0000
0000
2
3
Intensity
Encoder
UINT
UINT
Index 0x4000 - Control
1
2
Sub index Name of element Data type
0 Number of elements
USINT
Measure Start BOOL
EthernetEnable BOOL
3
4
Frequency
MeasureFrequency
UDINT
UDINT
Bit size
8
1
1
32
32
Access Description ro rw rw rw rw
Factory settings
24
Starts/stops measurement
Choose between TCP/IP and Ether-
CAT mode.
Setting the register to "true" puts the sensor instantaneously into TCP/
IP mode.
Adjustment/output of output rate in
Hertz. At values >1000 the sensor limits the output rate in EtherCAT mode to 1000 Hz.
Values:
▪ 10...1 000
▪ The measuring rate is fixed to
5 kHz in EtherCAT mode.
The maximum exposure time is fixed to 200 µs.
0
0
56 Interface Protocoll EtherCAT
6
7
8
9
10
11
Sub index Name of element Data type
5 CalcMode UDINT
LaserActive
LaserPower
Regulator
MeasurementRange
Measurement-
Begin
Temperature
BOOL
UDINT
UDINT
UINT
UINT
USINT
16
16
8
Bit size
32
1
32
32
Access Description rw rw rw rw ro ro ro
Determination of Peak evaluation method.
Values:
▪ 2: COG
▪ 5: Edge
Switching the laser on/off.
When the pin function of a USRIO ist set to the input function Laser on/ off, then the pin level is dominant.
This setting cannot be changed by the input command.
Values:
▪ 0: Laser off
▪ 1: Laser on
Laser power is set in in 1/10 mW steps.
The setting is only effective with manual laser power control.
Values:
▪ 0: 0,1 mW
...
▪ 10: 1 mW
Adjustment/output of the exposure time and laser power regulation.
In case of laser power regulation and exposure time regulation, the sensor automatically selects the setting which results in the best pixel intensity. For a constant laser power the exposure time regulation is more suitable.
Values:
▪ 0: Automatic regulation of exposure time and laser power.
▪ 1: Automatic exposure time regulation, laser power manually adjustable.
Read out the measuring range in mm.
Read out the begin of measuring range in mm.
Read out the sensor temperature.
Factory settings
2
1
0
Laser Distance Sensor High-Precision 57
EN
Sub index Name of element Data type
12
13
14
IP Address *
Subnet Mask *
Gateway
Address *
UDINT
UDINT
UDINT
Bit size
32
32
32
Access Description rw rw rw
Used only in TCP/IP mode.
The new IP address becomes active after restarting the sensor.
Input in hex format.
Used only in TCP/IP mode.
The new subnet mask becomes active after restarting the sensor.
Input in hex format.
Used only in TCP/IP mode.
The new gateway address becomes active after restarting the sensor.
Input in hex format.
Factory settings
#C0A800E1
#FFFFFF00
#A9FE9601
* Formats of IP address, subnet mask and gateway address:
Hex format: 0x | 00 | 00 | 00 | 01 bis
Decimal format: 0 . 0 . 0 . 1 bis
0x | FF | FF | FF | FE
255 . 255 . 255 . 254
Sub index Name of element Data type
15
16
Set Network
Defaults
Average Filter
BOOL
UINT
17 Protective Screen BOOL
Bit size
1
16
1
Access Description rw rw rw
IP address, gateway and subnet mask are reset.
The rolling average is between 2 and 1 000.
The smaller the selected value, the faster the measured value reacts to jumps. The larger the selected value, the more smoothed the measured value becomes.
Values:
▪ 0: off
▪ 1: off
▪ 2...1 000
Activates/deactivates the protective screen compensation.
Values:
▪ 0: deactivated
▪ 1: activated
Factory settings
0
0
0
58 Interface Protocoll EtherCAT
Sub index Name of element Data type
18
19
20
21
22
23
24
Offset
Reset Encoder
Encoder Shift
Set Defaults
INT
BOOL
USINT
BOOL
Bit size
16
1
8
1
FPGA FW Version
STRING(16) 128 ro
COM FW Version STRING(16) 128 ro
APP FW Version STRING(16) 128 ro
Access Description rw rw rw rw
Input of zero point shift. The offset is input as 16 bit value.
Conversion of offset from digital to mm:
Offset [digits] = Offset [mm] /
MeasurementRange × 65536
Values:
▪ -30 000...30 000
Internal encoder counter is reset to 0.
Scaling factor of the encoder input.
Values:
▪ 0: Every encoder pulse is counted
▪ 1: Every 2nd encoder pulse is counted.
▪ 2: Every 4th encoder pulse is counted.
...
▪ 8: Every 256th encoder pulse is counted.
Resets all settings to factory settings except network settings.
Factory settings
0
0
2
0
Index 0x5000 - USRIO Common
Sub index Name of element Data type
0
1
Number of elements
Analog Mode
USINT
USINT
Bit size
8
8
Access Description ro rw
Factory settings
02
2 USRIO Status USINT 8 ro
Analog mode selection.
Values:
▪ 1: 0...10 V
▪ 8: 4...20 mA
Query of the input status at pin 1-4.
The pin state is coded in bit 0-3.
8
0
Laser Distance Sensor High-Precision 59
2
3
4
EN
Index 0x5100 - USRIO1
Sub index Name of element Data type
0
1
Number of elements
Pin Function
USINT
USINT
Output Mode
Output Function USINT
Teach-in
USINT
BOOL
Bit size
8
8
8
8
1
Access Description ro rw rw rw rw
Selects the Pin function.
Values:
0: Switching output
1: External teach-in input for O1
2: External teach-in input for O2
3: External teach-in input for O3
4: External teach-in input for O4
5: Encoder input (I1+I2)
6: Encoder reset input
9: Laser on/off input
10: Error output
Output mode selection.
Values:
▪ 0: PNP
▪ 1: NPN
▪ 2: Push-Pull
Output function selection.
Values:
▪ 0: Normally open (NO)
▪ 1: Normally closed (NC)
Future setting values are automatically calculated and saved from the currently recorded values.
The pin function of the respective output must be set as a switching output.
3
0
0
0
Factory settings
11
60 Interface Protocoll EtherCAT
Sub index Name of element Data type
5 Teach Mode USINT
6 Switching Point UINT
Bit size
8
16
Access Description rw rw
Teach-in mode selection.
Foreground teach-in: Teach-in is performed while the sensor is aligned to the object. The teach-in distance is set automatically, so that the sensor switches as soon as the distance between the sensor and the object is less than or equal to the previously taught in distance.
Window teach-in: There are two switching points in the case of window teach-in. The distance between the two switching points is the window width. The sensor switches when the object is within the window.
Values:
0: Foreground teach-in
1: Window teach-in
The switching point is shifted to the entered distance. In the case of foreground teach-in, this is the teach-in distance (see section
), while in the case of window teach-in, it is the distance to the middle of the window.
The switching point is specified as a
16 bit value.
Conversion to mm takes place via
MeasurementRange and MeasurementBegin:
Switching Point [digits] = (Switching
Point [mm] - MeasurementBegin
[mm]) / MeasurementRange [mm]
× 65536
Values:
0...65535
Factory settings
0
32 768
Laser Distance Sensor High-Precision 61
8
9
EN
Sub index Name of element Data type
7 Hysteresis UINT
Switch Reserve UINT
Window
10 Input Load
UINT
USINT
Bit size
16
16
16
8
Access Description rw rw rw rw
Distance in mm between switch-on and switch-off point.
The hysteresis is specified as a 16 bit value.
Conversion to mm takes place via
MeasurementRange:
Hysteresis [digits] = Hysteresis [mm]
/ MeasurementRange [mm] × 65536
Values:
▪ 2...16383
Distance in mm between the teach-in distance and the sensor’s switching point. Switching reserve ensures reliable object detection even in the case of slightly fluctuating distances between the objects and the sensor.
The switch reserve is specified as a
16 bit value.
Conversion to mm takes place via
MeasurementRange:
Switch Reserve [digits] = Switch
Reserve [mm] / MeasurementRange
[mm] × 65536
Values:
▪ 0...16383
Determination of window width in
Window is specified as a 16 bit value.
Conversion to mm takes place via
MeasurementRange:
Window [digits] = Window [mm] /
MeasurementRange [mm] × 65536
Values:
▪ 0...65535
Determination of input load,
Values:
▪ 0: Input load active (2 mA)
▪ 1: Input load inactive
Factory settings
2
0
1 300
0
62 Interface Protocoll EtherCAT
Sub index Name of element Data type
11 Input Function USINT
Bit size
8
Access Description rw Determintation of input function.
Ub active: Pending tasks are executed if Ub = on.
Ub inactive: Pending tasks are executed if Ub = 0 V)
Values:
▪ 0: Ub active
▪ 1: Ub inactive
Factory settings
0
Index 0x5200 - USRIO2
Sub index Name of element Data type
0
1
Number of elements
Pin Function
USINT
USINT
2
3
4
Output Mode
Output Function
Teach-in
USINT
USINT
BOOL
Bit size
8
8
8
8
1
Access Description ro rw rw rw rw
Selects the Pin function.
Values:
0: Switching output
1: External teach-in input for O1
2: External teach-in input for O2
3: External teach-in input for O3
4: External teach-in input for O4
5: Encoder input (I1+I2)
6: Encoder reset input
9: Laser on/off input
10: Error output
Output mode selection.
Values:
▪ 0: PNP
▪ 1: NPN
▪ 2: Push-Pull
Output function selection.
Values:
▪ 0: Normally open (NO)
▪ 1: Normally closed (NC)
Future setting values are automatically calculated and saved from the currently recorded values.
The pin function of the respective output must be set as a switching output.
4
0
0
0
Factory settings
11
Laser Distance Sensor High-Precision 63
6
EN
Sub index Name of element Data type
5 Teach Mode USINT
Switching Point UINT
Bit size
8
16
Access Description rw rw
Teach-in mode selection.
Foreground teach-in: Teach-in is performed while the sensor is aligned to the object. The teach-in distance is set automatically, so that the sensor switches as soon as the distance between the sensor and the object is less than or equal to the previously taught in distance.
Window teach-in: There are two switching points in the case of window teach-in. The distance between the two switching points is the window width. The sensor switches when the object is within the window.
Values:
0: Foreground teach-in
1: Window teach-in
The switching point is shifted to the entered distance. In the case of foreground teach-in, this is the teach-in distance (see section
), while in the case of window teach-in, it is the distance to the middle of the window.
The switching point is specified as a
16 bit value.
Conversion to mm takes place via
MeasurementRange and MeasurementBegin:
Switching Point [digits] = (Switching
Point [mm] - MeasurementBegin
[mm]) / MeasurementRange [mm]
× 65536
Values:
0...65535
Factory settings
0
32 768
64 Interface Protocoll EtherCAT
Sub index Name of element Data type
7 Hysteresis UINT
8
9
10
Switch Reserve
Window
Input Load
UINT
UINT
USINT
Bit size
16
16
16
8
Access Description rw rw rw rw
Distance in mm between switch-on and switch-off point.
The hysteresis is specified as a 16 bit value.
Conversion to mm takes place via
MeasurementRange:
Hysteresis [digits] = Hysteresis [mm]
/ MeasurementRange [mm] × 65536
Values:
▪ 2...16383
Distance in mm between the teach-in distance and the sensor’s switching point. Switching reserve ensures reliable object detection even in the case of slightly fluctuating distances between the objects and the sensor.
The switch reserve is specified as a
16 bit value.
Conversion to mm takes place via
MeasurementRange:
Switch Reserve [digits] = Switch
Reserve [mm] / MeasurementRange
[mm] × 65536
Values:
▪ 0...16383
Determination of window width in
Window is specified as a 16 bit value.
Conversion to mm takes place via
MeasurementRange:
Window [digits] = Window [mm] /
MeasurementRange [mm] × 65536
Values:
▪ 0...65535
Determination of input load,
Values:
▪ 0: Input load active (2 mA)
▪ 1: Input load inactive
Factory settings
2
0
1 300
0
Laser Distance Sensor High-Precision 65
EN
Sub index Name of element Data type
11 Input Function USINT
Bit size
8
Access Description rw Determintation of input function.
Ub active: Pending tasks are executed if Ub = on.
Ub inactive: Pending tasks are executed if Ub = 0 V)
Values:
▪ 0: Ub active
▪ 1: Ub inactive
Factory settings
0
Index 0x5300 - USRIO3
Sub index Name of element Data type
0
1
Number of elements
Pin Function
USINT
USINT
2
3
4
Output Mode
Output Function
Teach-in
USINT
USINT
BOOL
Bit size
8
8
8
8
1
Access Description ro rw rw rw rw
Selects the Pin function.
Values:
0: Switching output
1: External teach-in input for O1
2: External teach-in input for O2
3: External teach-in input for O3
4: External teach-in input for O4
5: Encoder input (I1+I2)
6: Encoder reset input
9: Laser on/off input
10: Error output
Output mode selection.
Values:
▪ 0: PNP
▪ 1: NPN
▪ 2: Push-Pull
Output function selection.
Values:
▪ 0: Normally open (NO)
▪ 1: Normally closed (NC)
Future setting values are automatically calculated and saved from the currently recorded values.
The pin function of the respective output must be set as a switching output.
0
0
0
0
Factory settings
11
66 Interface Protocoll EtherCAT
Sub index Name of element Data type
5 Teach Mode USINT
6 Switching Point UINT
Bit size
8
16
Access Description rw rw
Teach-in mode selection.
Foreground teach-in: Teach-in is performed while the sensor is aligned to the object. The teach-in distance is set automatically, so that the sensor switches as soon as the distance between the sensor and the object is less than or equal to the previously taught in distance.
Window teach-in: There are two switching points in the case of window teach-in. The distance between the two switching points is the window width. The sensor switches when the object is within the window.
Values:
0: Foreground teach-in
1: Window teach-in
The switching point is shifted to the entered distance. In the case of foreground teach-in, this is the teach-in distance (see section
), while in the case of window teach-in, it is the distance to the middle of the window.
The switching point is specified as a
16 bit value.
Conversion to mm takes place via
MeasurementRange and MeasurementBegin:
Switching Point [digits] = (Switching
Point [mm] - MeasurementBegin
[mm]) / MeasurementRange [mm]
× 65536
Values:
0...65535
Factory settings
0
32 768
Laser Distance Sensor High-Precision 67
8
9
EN
Sub index Name of element Data type
7 Hysteresis UINT
Switch Reserve UINT
Window
10 Input Load
UINT
USINT
Bit size
16
16
16
8
Access Description rw rw rw rw
Distance in mm between switch-on and switch-off point.
The hysteresis is specified as a 16 bit value.
Conversion to mm takes place via
MeasurementRange:
Hysteresis [digits] = Hysteresis [mm]
/ MeasurementRange [mm] × 65536
Values:
▪ 2...16383
Distance in mm between the teach-in distance and the sensor’s switching point. Switching reserve ensures reliable object detection even in the case of slightly fluctuating distances between the objects and the sensor.
The switch reserve is specified as a
16 bit value.
Conversion to mm takes place via
MeasurementRange:
Switch Reserve [digits] = Switch
Reserve [mm] / MeasurementRange
[mm] × 65536
Values:
▪ 0...16383
Determination of window width in
Window is specified as a 16 bit value.
Conversion to mm takes place via
MeasurementRange:
Window [digits] = Window [mm] /
MeasurementRange [mm] × 65536
Values:
▪ 0...65535
Determination of input load,
Values:
▪ 0: Input load active (2 mA)
▪ 1: Input load inactive
Factory settings
2
0
1 300
0
68 Interface Protocoll EtherCAT
Sub index Name of element Data type
11 Input Function USINT
Bit size
8
Access Description rw Determintation of input function.
Ub active: Pending tasks are executed if Ub = on.
Ub inactive: Pending tasks are executed if Ub = 0 V)
Values:
▪ 0: Ub active
▪ 1: Ub inactive
Factory settings
0
Index 0x5400 - USRIO4
Sub index Name of element Data type
0
1
Number of elements
Pin Function
USINT
USINT
2
3
4
Output Mode
Output Function
Teach-in
USINT
USINT
BOOL
Bit size
8
8
8
8
1
Access Description ro rw rw rw rw
Selects the Pin function.
Values:
0: Switching output
1: External teach-in input for O1
2: External teach-in input for O2
3: External teach-in input for O3
4: External teach-in input for O4
5: Encoder input (I1+I2)
6: Encoder reset input
9: Laser on/off input
10: Error output
Output mode selection.
Values:
▪ 0: PNP
▪ 1: NPN
▪ 2: Push-Pull
Output function selection.
Values:
▪ 0: Normally open (NO)
▪ 1: Normally closed (NC)
Future setting values are automatically calculated and saved from the currently recorded values.
The pin function of the respective output must be set as a switching output.
0
0
0
0
Factory settings
11
Laser Distance Sensor High-Precision 69
6
EN
Sub index Name of element Data type
5 Teach Mode USINT
Switching Point UINT
Bit size
8
16
Access Description rw rw
Teach-in mode selection.
Foreground teach-in: Teach-in is performed while the sensor is aligned to the object. The teach-in distance is set automatically, so that the sensor switches as soon as the distance between the sensor and the object is less than or equal to the previously taught in distance.
Window teach-in: There are two switching points in the case of window teach-in. The distance between the two switching points is the window width. The sensor switches when the object is within the window.
Values:
0: Foreground teach-in
1: Window teach-in
The switching point is shifted to the entered distance. In the case of foreground teach-in, this is the teach-in distance (see section
), while in the case of window teach-in, it is the distance to the middle of the window.
The switching point is specified as a
16 bit value.
Conversion to mm takes place via
MeasurementRange and MeasurementBegin:
Switching Point [digits] = (Switching
Point [mm] - MeasurementBegin
[mm]) / MeasurementRange [mm]
× 65536
Values:
0...65535
Factory settings
0
32 768
70 Interface Protocoll EtherCAT
Sub index Name of element Data type
7 Hysteresis UINT
8
9
10
Switch Reserve
Window
Input Load
UINT
UINT
USINT
Bit size
16
16
16
8
Access Description rw rw rw rw
Distance in mm between switch-on and switch-off point.
The hysteresis is specified as a 16 bit value.
Conversion to mm takes place via
MeasurementRange:
Hysteresis [digits] = Hysteresis [mm]
/ MeasurementRange [mm] × 65536
Values:
▪ 2...16383
Distance in mm between the teach-in distance and the sensor’s switching point. Switching reserve ensures reliable object detection even in the case of slightly fluctuating distances between the objects and the sensor.
The switch reserve is specified as a
16 bit value.
Conversion to mm takes place via
MeasurementRange:
Switch Reserve [digits] = Switch
Reserve [mm] / MeasurementRange
[mm] × 65536
Values:
▪ 0...16383
Determination of window width in
Window is specified as a 16 bit value.
Conversion to mm takes place via
MeasurementRange:
Window [digits] = Window [mm] /
MeasurementRange [mm] × 65536
Values:
▪ 0...65535
Determination of input load,
Values:
▪ 0: Input load active (2 mA)
▪ 1: Input load inactive
Factory settings
2
0
1 300
0
Laser Distance Sensor High-Precision 71
EN
Sub index Name of element Data type
11 Input Function USINT
Bit size
8
Access Description rw Determintation of input function.
Ub active: Pending tasks are executed if Ub = on.
Ub inactive: Pending tasks are executed if Ub = 0 V)
Values:
▪ 0: Ub active
▪ 1: Ub inactive
Factory settings
0
72 Interface Protocoll EtherCAT
12. Maintenance Instructions
• This wenglor sensor is maintenance-free.
• It is advisable to clean the lens and the display, and to check the plug connections at regular intervals.
• Do not clean with solvents or cleansers which could damage the product.
13. Proper Disposal
wenglor sensoric GmbH does not accept the return of unusable or irreparable products. Respectively valid national waste disposal regulations apply to product disposal.
14. EU Declaration of Conformity
The EU declaration of conformity can be found on our website at www.wenglor.com in the product’s separate download area.
Laser Distance Sensor High-Precision 73
Download
Public link updated
The public link to your chat has been updated. You may view and manage your chat links after registration here.
Document public link
Advertisement
Key features
High accuracy and repeatability
Fast measurement speed
Long measurement range
Compact size and rugged construction
Easy-to-use interface
Variety of mounting options
Suitable for harsh industrial environments
Frequently asked questions
The measurement range of the PNBC106 is 100 mm to 250 mm
The accuracy of the PNBC106 is ±0.1 mm
The repeatability of the PNBC106 is ±0.05 mm
The measurement speed of the PNBC106 is 1 kHz
The operating temperature range of the PNBC106 is -10 °C to +50 °C
The protection class of the PNBC106 is IP67
The PNBC106 uses a visible red laser