Operating Manual

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Baumer Electric AG, Hummelstrasse 17, 8501 Frauenfeld, Switzer-

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R600V.DAH5 Operating Manual (EN)

Off-Highway Distance

Radar Sensor

Last Update: 07 Jan 2021

Summary of content (32 pages)

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R600V.
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Manual R600V.DAH5 (EN) Table of Contents General Information .....................................................................................................4 Scope .......................................................................................................................4 Comments, notes, and warnings ..............................................................................4 Intended Use .................................................................................................
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Manual R600V.DAH5 (EN) 3.3.2. ECU Software Identification ............................................................................ 20 3.3.3. DM14 Memory access command message .................................................... 20 3.3.4. DM15 Memory access reply message ............................................................ 20 3.3.5. DM16 Memory access binary data .................................................................. 20 3.3.6. Target Distance Message (adjustable) ...........
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Manual R600V.DAH5 (EN) General Information Scope This manual is intended for the Baumer “Off-highway Distance Radar” family. The sensors and their software configuration are listed below: Tab 1 Applicable Products Art. no. Product Type SW Version 11205779 R600V.DAH5-11205779 High accuracy distance radar R600VSOF_S 1.0.
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Manual R600V.DAH5 (EN) NOTE For highly structured surfaces (rough terrain, stubble, etc.) Baumer recommends the usage of “ground & crop radar sensor” family (R600V.DAE011209335, R600V.DAE0-11188367) The sensor may be integrated into vehicles with 12VDC and 24VDC vehicle power supplies, and provides a CAN SAE J1939 interface with a set speed of 250kbit/sec (may be changed to 500kbit/sec). The output rate defaults to 50ms, but may be varied between 10ms and 1000ms.
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Manual R600V.DAH5 (EN) Baumer product. Baumer does neither implicitly nor explicitly warrant the usage for specific application and / or end use case. NOTE The original equipment manufacturer or system integrator must consider third party intellectual property rights. No warranty is given for the application and/or end use case. The product shall not be used for functional safety applications.
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Manual R600V.DAH5 (EN) 1.3.4. Compliance Statements FCC Compliance 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. NOTICE: Changes or modifications made to this equipment not expressly approved by Baumer may void the FCC authorization to operate this equipment.
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Manual R600V.DAH5 (EN) Ce transmetteur ne doit pas etre place au meme endroit ou utilise simultanement avec un autre transmetteur ou antenne. 1.3.5. Maintenance This product does not require any maintenance. If function is impaired dirt should be removed from the lens. 1.3.6. Mechanical Damage If the product shows mechanical damage to an exterior part, it should be replaced to avoid undetected malfunction. The product must be replaced by skilled and authorized personnel. 1.3.7.
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Manual R600V.DAH5 (EN) Integration Guidance CAUTION Installation, mounting and adjustment of this product must only be executed by skilled and authorized personnel. Mechanical Integration 2.1.1. Targets, Blind-range The sensor shall be mounted with its centre axis approximately perpendicular to the target. The distance output is relative to the tip of the lens. A blind range of 300mm must be considered. No measurement is possible within the blind range of the sensor.
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Manual R600V.DAH5 (EN) 2.1.2. Reference Target All data sheet specifications are based on a flat high-reflectance target (a metal plate with dimensions of 100mm by 100mm). The zero point for the measurement is on the tip of the lens. 2.1.3. Mounting A mounting plate with a flatness of better than 0.2mm per 100mm shall be used. Baumer recommends soft steel as material to match specified mounting torque.
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Manual R600V.DAH5 (EN) mounting screws please refer to the Figure below. Enough space must be allowed for the wiring harness to avoid excessive bending of the wires or wire assembly. The wires must also be appropriately secured and be suitable for the application. Fig 4 Mounting pattern, tool space. ATTENTION Observe mounting torque and tool space to avoid damage.to sensor. Rules for Installation 2.2.1.
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Manual R600V.DAH5 (EN) X-Axis / H-Plane: perpendicular to centerline / connector Y-Axis / E-Plane: along centerline / connector Fig 5 X Y Typical Directional Sensitivity of Sensor Baumer recommends limiting intrusion of objects, into a rotational cone of approx. 60…70° from the lens for very weakly reflecting targets. Integration testing must be done to ensure that the integration with available free space does not have impact on the measurement.
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Manual R600V.DAH5 (EN) 2.2.2. Target area guidelines Generally it is desirable that the target is the object with the strongest reflection back to the radar sensor. If strongly reflecting objects in the background cannot be avoided the insertion of shields is recommended. As a rule of thumb a shield angle larger than approx. the total opening angle (e.g. >10°) is recommended. Multi-path reflections may need to be considered. The following figure shows the setup schematically.
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Manual R600V.DAH5 (EN) Reflective objects (e.g. walls) target Directionality (opening angle) Fig 9 Multi-path beam propagation Page 14 of 32 R600V.DAH5_manual_1.7 (EN).
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Manual R600V.DAH5 (EN) Electrical Integration The sensor can be used on direct vehicle power for 12VDC nominal voltage systems and 24VDC nominal voltage systems in the range +VS = 9VDC … 32VDC). A centralized load dump suppression (35V at 12VDC, and 58V at 24VDC respectively) is required. The product shall not be used in the direct control and modification of the state of function of the machine.
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Manual R600V.DAH5 (EN) ATTENTION The product shall be appropriately protected by an extern fuse or R/C. NOTE For test installations a cable with the order code 11213075 (ZCABLALL.AMP0300) may be used. Visual Diagnostic High luminosity LEDs provide quick feedback on the operational status of the sensor. The LEDs are positioned behind the radar lens and may be observed even in bright ambient light. The following table indicates sensor status and LED blink codes.
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Manual R600V.DAH5 (EN) CAN Interface (Physical Layer) The CAN physical layer is according to SAE J1939-15 (reduced physical layer). Some base parameters are shown in the table below. Tab 6 CAN Interface Parameter Value Bus Speed Bus Termination Bus Voltage Wiring Cable impedance 250 kbit / sec (1) External termination 5V Unshielded twisted pair (UTP) 120 Ohm (+/- 10%) (1) may be parameterized to 500 kbit/sec. (see below) The bus termination resistor is not included in the device.
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Manual R600V.DAH5 (EN) CAN Protocol The physical layer of the 2-wire interface is specified according to SAE J1939-15. The wires are protected against short-circuit.
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Manual R600V.DAH5 (EN) 3.2.3. Address resolution sequence (for default settings) After reset, the device performs the following start-up sequence: After initialization, send “request for address claimed” message (PGN 0xEE00) 1. a. At initialization, clear the address sort table b. Send a request for address claimed. This causes other devices on the bus to claim their addresses 2. Wait 1250 ms.
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Manual R600V.DAH5 (EN) Supported PGNs 3.3.1. ECU Identification Info PGN: 0xFDC5 Direction: Transmit Transmission rate: On PGN request only 3.3.2. ECU Software Identification PGN: 0xFEDA Direction: Transmit Transmission rate: On PGN request only 3.3.3. DM14 Memory access command message PGN: 0xD900 Direction: Receive Transmission rate: Random 3.3.4. DM15 Memory access reply message PGN: 0xD800 Direction: Transmit Transmission rate: Reply to DM14 command message 3.3.5.
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Manual R600V.DAH5 (EN) Tab 9 Target Distance Message (main message) Start bit 1 Bits 2 Offset 0 Scaling 1 9 8 0 1% 17 49 24 16 0 32768 0.1mm 1mm/sec Description Sensor status 0 = No error 1 = Reversible error. (e.g. temperature too high) 2 = Irreversible error. Sensor measurement not available Target confidence*/** Value 0…100% (higher confidence = detection of target better) Target distance ** Target speed (positive: increasing distance) *Target confidence is a function of signal strength.
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Manual R600V.
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Manual R600V.DAH5 (EN) Sensor Configuration A number of sensor parameters can be read and written over the CAN bus using the J1939 memory access (MA) protocol. User level for access = 1 Key for access is equal to the “seed” generated by the device. All addresses are direct spatial (is pointer) The access is similar to the SPN space. Each parameter has an individual size. The tool shall issue a read or write command with a memory length of 1 (one).
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Manual R600V.
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Manual R600V.DAH5 (EN) Address 0x07E39E 0x07E395 0x07E396 0x07E398 0x07E399 0x07E39A 0x07EF40 Parameter Compare value for ISO name used for Master ECU Detection (after applying bitwise mask defined in 0x07E39D) Delay between detection of master address claim and starting RUN mode Delay between detection of master address claim and first PDU1 transmission Lowest device address to claim in address resolution sequence Highest device address to claim in address resolution sequence CAN Bus speed.
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Manual R600V.DAH5 (EN) Trouble Shooting Tab 14 Trouble Shooting Overview Failure Action No function, no LED Check cables, connections, power supply at pins Function impaired, thick layer of dirt Clean lens and remove excess water. Mechanical damage to housing and/or lens Unexplained targets / distance measurement in near range Unexplained targets / distance measurement in far range The LED is blinking red (50ms on / 50ms off) The LED is blinking magenta The LED is blinking blue for a long period.
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Manual R600V.DAH5 (EN) Appendix Table Overview Tab 1 Applicable Products ..................................................................................................4 Tab 2 Applicable Documents ..............................................................................................6 Tab 3 Connector Pin-Out .................................................................................................. 15 Tab 4 Vehicle Power Electrical Transients ........................................
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Manual R600V.DAH5 (EN) Figures Overview Fig 1 Mechanical Setup (for visualization only) .................................................................9 Fig 2 Mounting on a thick soft steel plate (≥6mm). .......................................................... 10 Fig 3 Mounting on a thin soft steel plate (≥3mm)............................................................. 10 Fig 4 Mounting pattern, tool space. .................................................................................
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Manual R600V.
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Manual R600V.DAH5 (EN) Terms and conditions of use 7.1.1. Copyright The entire content of this manual is protected by copyright law. All rights remain reserved to the Baumer Group. The printout of this manual is permitted provided that neither the copyright statements nor any other legally protected designations are removed or altered.
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Manual R600V.DAH5 (EN) Document Revision History Tab 17 Document revision history Vers. Date Note Author Checked Released 0.5 29 Oct 2019 Technical review wemi tip, matts, rma, erv N/A 1.0 15 Nov 2019 Initial Release wemi lph, sfri N/A wemi linz N/A rma wemi N/A wemi N/A N/A wemi linz N/A wemi rma N/A 1.1 20 Nov 2019 1.2 07 Jan 2020 1.3 17 Jan 2020 1.4 05 Mar 2020 1.5 03 Jul 2020 1.
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Manual R600V.DAH5 (EN) Baumer Worldwide Belgium Baumer SA/NV BE-2260 Westerlo Phone +32 14 57462 0 Brasil Baumer do Brasil Ltda 13208-120 Jundiaí, São Paulo Phone +55 11 4523-5120 Canada Baumer Inc. CA-Burlington, ON L7M 4B9 Phone +1 (1)905 335-8444 China Baumer (China) Co., Ltd. CN-201612 Shanghai Phone +86 (0)21 6768 7095 Denmark Baumer A/S DK-8210 Aarhus V.