PEPPERL FUCHS MWL2A P+F Radar L2 CAN Ultrasonic Sensors with CAN Interface User Manual
Purpose & Scope
General Notes
This document describes the Radar Sensor from Pepperl+Fuchs, build state ‘Development Sample 2.2’. This build state is the pre-build of series versions and made in production environment. Thus the sensors in this build state are suitable for qualification testing, real world testing and field application use.
Provided is this manual in order to allow users of the sensors the proper setup for the intended use.
Contact
Pepperl+Fuchs SE
Lilienthalstraße 200
68307 Mannheim
Documentation
Document Version 1.8, Draft Version
Validity
This document applies to DS2.2 devices from hardware HW01.00 and firmware FW01.00. The version numbers can be found in CANopen parameter ‘Manufacturer Hardware Revision’ with Object Index 0x1009 and ‘Manufacturer Software Revision’ with Object Index 0x100A according to section 4.3 of this document.
For devices with newer versions, documentation will be available on request.
Product build state
The current build state is the Development Sample 2.2 (DS2.2). The unit can but must not show a complete labeling, but latest build states will show complete part marking. At least a 2D data matrix code is attached in order to apply a unique serial number to each DS2.2 sensor.
The sensor is currently available in four different versions defined according to Table 1 as listed below. The sensor housing and electronics except the kind of electrical connection is for all versions identical.
| Part number | Type code | Interface type | Connector type | Pigtail/cable type | Datasheet |
| 70134318-100000 | MWC25M-L2M-B16-V15 | CANopen | M12x1 | no | 70134318-100000_ENG |
| 70134318-100001 | MWC25M-L2M-B16-0,3M-APS5P | CANopen | AMP | 0.3m pigtail | 70134318-100001_ENG |
| 70134318-100002 | MWC25M-L2M-B16-0,3M-DT6P | CANopen | DEUTSCH | 0.3m pigtail | 70134318-100002_ENG |
| 70134318-100003 | MWC25M-L2M-B16-2M | CANopen | no connector | 2m cable | 70134318-100003_ENG |
Unit description
Intended Use
The radar sensor series MWC25M-L2M-B16 emits electromagnetic waves (radar waves) that are reflected from objects in the sensing range and received back by the radar sensor to detect objects, measure their distance from the sensor, and measure the relative velocity of an object. The radar sensor operates according to the Frequency Modulated Continuous Wave (FMCW) method in the 122 GHz – 123 GHz ISM band, approved for industrial use. The sensor it emits a continuous radar signal that is varied in frequency within the frequency range of the ISM band. With this method, the sensor is able to reliably detect the distance and velocity of static and moving objects. When measuring velocity, the radar sensor detects the velocity of an object in the radial direction only, without measuring tangential velocity or parts of speeds.
Use and application
The radar sensor series MWC25M-L2M-B16 with CAN open interface for distances up to 25 m range is optimized for use in industrial applications. Its compact cubic housing of the L2 series is proven in many industrial areas due to its high robustness.
The radar sensor has a standardized CANopen interface according to CiA 301 specification. Via Service Data Objects (SDOs) the sensor can be parameterized for specific features in each application. You can e.g. parameterize the measurement mode, the foreground and background suppression as well as the minimum and maximum velocity suppression. In addition, it is possible to set many other parameters, such as the filter operating mode, the filter strength and the sampling rate. Alternatively to the parameterization via CAN-Bus, P+F offers a device type manager (DTM) using the FTD framework program PACTware. Herewith you can additionally use various evaluation and filter settings for distance and velocity values.
Typically, radar sensors are used in a variety of applications such as:
- Distance measurement (between two vehicles, in a crane arm, between two cranes, etc.)
- Velocity measurement (of trains, on AGVs, etc.)
- Area monitoring/anti-collision monitoring (on front and rear of vehicles, etc.)
- Fill level control (silo, agricultural tanks, etc.)
- Height control (scissor lift table, work platforms, etc.)
Specific regulations
Europe
This device complies with the following standards:
EN 305550-1
EN 301489-1
EN 301489-3
EN 62368-1
EN 62311
EN 301489-1
EN 301489-3
EN 62368-1
EN 62311
With this the sensor fulfils the regulatory requirements in order to cover the requirements for the frequency band usage, the avoidance of electromagnetic interference, the robustness against accepted interference and the requirements for health and safety limits for the user, respectively.
For a complete list of all supported standards please refer to the respective data sheet and the declaration of conformity, available on the P+F product web page.
USA & Canada
This device contains license exempt transmitter(s)/receiver(s) that comply with Innovation, Science and Economic Development Canada’s licence-exempt RSS(s) and complies with part 15 of the FCC Rules. Operation is subject to the following two conditions:
- This device may not cause harmful interference.
- This device must accept any interference received, including interference that may cause undesired operation of the device.
Note:
The operation on board of an aircraft and or / on board of a satellite is prohibited!
The operation on board of an aircraft and or / on board of a satellite is prohibited!
Note:
Canada specific regulation: The device should not point >30° elevation towards the sky in normal operation.
Note:
Changes or modifications made to this equipment not expressly approved by Peppers & Fuchs may void the FCC authorization to operate this equipment!
Changes or modifications made to this equipment not expressly approved by Peppers & Fuchs may void the FCC authorization to operate this equipment!
Note:
This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense.
This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense.
Radiofrequency radiation exposure Information:
This equipment complies with FCC and ISED radiation exposure limits set forth for an uncontrolled environment. This equipment should be installed and operated with minimum distance of 20 cm between the radiator and your body. This transmitter must not be co-located or operating in conjunction with any other antenna or transmitter.
This equipment complies with FCC and ISED radiation exposure limits set forth for an uncontrolled environment. This equipment should be installed and operated with minimum distance of 20 cm between the radiator and your body. This transmitter must not be co-located or operating in conjunction with any other antenna or transmitter.
FCC ID : IRE-MWL2A
IC ID : 7037A-MWL2A
HVIN/PMN : MWL2A
IC ID : 7037A-MWL2A
HVIN/PMN : MWL2A
Installation
Safety Information
Caution!
Risk of short circuit Carrying out work while the system is energized may result in damage to the device.
- Always disconnect the supply voltage before carrying out work on the device.
- Only connect the device to the supply voltage once all work has been completed.
Preparation
Unpacking the Device
- Check the packaging and contents for damage.
- In the event of damage, inform the shipping company and notify the supplier.
- Check the package contents against your order and the shipping documents to ensure that all items are present and correct.
- Should you have any questions, direct them to Pepperl+Fuchs.
- Retain the original packaging in case the device is to be stored or shipped again at a later date.
Connection
Applying Supply Voltage for a Sensor with V15 Connector Plug
To supply voltage to the sensor, proceed as follows:
To supply voltage to the sensor, proceed as follows:
- Insert the prepared connection cable into the connector plug provided for this purpose on the sensor.
- Screw the union nut onto the connector plug as far as it will go. This ensures that the power cable cannot be pulled out inadvertently.
- Now connect the supply voltage to the cables provided for this purpose and switch it on.
- The sensor is now ready for operation.
Applying Supply Voltage to a Sensor Fixed Cable with Plug
To supply voltage to the sensor, proceed as follows:
- Connect the prepared connection cable to the plug of the sensor connection cable.
- If present, secure the plug connection with the securing elements provided.
- Now connect the supply voltage to the cables provided for this purpose and switch it on.
- The sensor is now ready for operation.
Note:
- Use a shielded 5-wire sensor connection cable to connect the sensor to a CAN open bus, because the pinout of the CAN open specification differs from the standard pinout.
- For pin assignment or cable color assignment refer to the respective data sheet.
LED Indicators
The sensor has a status LED and a sensor LED.
The sensor has a status LED and a sensor LED.
Status LED
The Status LED is a two colour LED with green colour or red colour. A mixture of both colours in order to obtain an orange colour is not used. The status LED indicates the sensor / CAN-Bus status according to the definitions in the table detailed below,
The Status LED is a two colour LED with green colour or red colour. A mixture of both colours in order to obtain an orange colour is not used. The status LED indicates the sensor / CAN-Bus status according to the definitions in the table detailed below,
| Part number | Type code | Interface type | Connector type | Pigtail/cable type | Datasheet |
| 70134318-100000 | MWC25M-L2M-B16-V15 | CANopen | M12x1 | no | 70134318-100000_ENG |
| 70134318-100001 | MWC25M-L2M-B16-0,3M-APS5P | CANopen | AMP | 0.3m pigtail | 70134318-100001_ENG |
| 70134318-100002 | MWC25M-L2M-B16-0,3M-DT6P | CANopen | DEUTSCH | 0.3m pigtail | 70134318-100002_ENG |
| 70134318-100003 | MWC25M-L2M-B16-2M | CANopen | no connector | 2m cable | 70134318-100003_ENG |
Sensor LED
The sensor LED indicates the measurement result of the sensor with a yellow colour. Two states are implemented:
The sensor LED indicates the measurement result of the sensor with a yellow colour. Two states are implemented:
- LED is on, permanent yellow light indicates an object detected in the sensing range.
- If the LED is off no object has been detected.
LED Configuration
The sensor configuration allows a LED off mode. The indication by LEDs can be completely disabled over the object 0x4001 according to section 4.3 of this document.
The sensor configuration allows a LED off mode. The indication by LEDs can be completely disabled over the object 0x4001 according to section 4.3 of this document.
CANopen Interface
Commissioning
Supported Features and Standards
The CANopen interface on the Pepperl+Fuchs Radar Sensor DS2 supports the following CANopen features:
- Network management (NMT)
- Heartbeat
- Acyclic parameter access via service data objects (SDO)
- 4 transmit process data objects (TPDO)
- Layer setting services (LSS) for configuring the node ID and baud rate
- Store/restore configuration
The CANopen interface for the 1D Radar Sensor works with the following standard configuration (factory setting):
- Node ID: 16
- Baud rate: 250 kBit/s (CiA)
Note:
Before connecting the device to a network, make sure to configure the node ID according to the IDs present in the network. A node ID must be unambiguous, otherwise message collisions and errors can occur.
Network management (NMT)
The CANopen standard CiA301 specifies 3 possible states for the sensor node.
- Preoperational
- Operational
- Stopped
The node can be set to any of these states as required. When activated, a sensor always starts in preoperational state and issues a boot up message.
Preoperational
PDO (process data) messages cannot be sent in the “preoperational” state; as such, this state is used to parameterize the sensor or indicate a standby state.
PDO (process data) messages cannot be sent in the “preoperational” state; as such, this state is used to parameterize the sensor or indicate a standby state.
Operational
In the “operational” state, all communication services are performed and process data is exchanged.
In the “operational” state, all communication services are performed and process data is exchanged.
Stopped
In the “stopped” state, only NMT (network management) messages can be sent; redundant or defective sensors can be isolated from the bus almost completely in this state. The network manager can issue NMT messages to prompt the sensor to change from one state to another. Other NMT functions include 2 reset commands for resetting either the entire sensor or bus communication only.
In the “stopped” state, only NMT (network management) messages can be sent; redundant or defective sensors can be isolated from the bus almost completely in this state. The network manager can issue NMT messages to prompt the sensor to change from one state to another. Other NMT functions include 2 reset commands for resetting either the entire sensor or bus communication only.
Example of an NMT message sent by the network manager (start node #16)
| 0x000h | 0x80h | 0x10h | – | – | – | – | – | – |
| CAN-ID | Command | Node | not used | |||||
| Data byte 1 | Data byte 2 | Data byte 3 | Data byte 4 | Data byte 5 | Data byte 6 | Data byte 7 | Data byte 8 | |
CAN-ID: 000h, NMT message from the network manager
Command: 80h, switch to preoperational state
Command: 02h, switch to stopped state
Command: 01h, switch to operational state
Command: 82h, reset communication
Command: 81h, reset sensor
Node: 01h … 7Fh, to address nodes 1 … 127 individually
Node: 00h, to address all nodes in the network simultaneously
Setting the Baud Rate and Node ID
For DS2 baud rate and node ID can be configured via LSS.
For DS2 baud rate and node ID can be configured via LSS.
Note:
Configuration of Node ID and Baud rate via LSS is active after power cycle.
Configuration of Node ID and Baud rate via LSS is active after power cycle.
Heartbeat Function
The interval after which status messages are sent can be set via the object 1017h “Producer heartbeat time”. Entering the value 0 will deactivate the function. Every other 16-bit value determines the heart- beat interval in milliseconds. Default value is 0 ms, Heartbeat disabled (acc. to CiA301 profile requirements).
The interval after which status messages are sent can be set via the object 1017h “Producer heartbeat time”. Entering the value 0 will deactivate the function. Every other 16-bit value determines the heart- beat interval in milliseconds. Default value is 0 ms, Heartbeat disabled (acc. to CiA301 profile requirements).
Heartbeat of the sensor (sensor in operation)
| 0x710h | 0x05h | – | – | – | – | – | – | – |
| CAN-ID | Status | not used | ||||||
| Data byte 1 | Data byte 2 | Data byte 3 | Data byte 4 | Data byte 5 | Data byte 6 | Data byte 7 | Data byte 8 | |
CAN-ID: 0x710h, heartbeat message from the node with node number 16 (0x700h + 0x10h)
Status: 7Fh, sensor in “preoperational” state
Status: 04h, sensor in “stopped” state
Status: 05h, sensor in “operational” state
Error Register
The error register shows the appearance of event or errors of the sensor. Each event or error is coded bit by bit and multiple errors can be indicated at any time. A value of 0 is indicated if no error occurred. The error register can be accessed using object 0x1001h.
The error register shows the appearance of event or errors of the sensor. Each event or error is coded bit by bit and multiple errors can be indicated at any time. A value of 0 is indicated if no error occurred. The error register can be accessed using object 0x1001h.
| 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
| Manufac- turer specific | Re- served | Device pro- file specific | Communica- tion error | Tempera- ture | Voltage | Current | Generic error |
Detailed description:
Manufacturer specific: is indicated if a no target event or a hardware failure occurred
Device profile specific: currently not implemented
Communication error: currently not implemented
Temperature: is indicated if an over temperature warning occurred, Sensor outside specified temperature
Voltage: is indicated if an under voltage warning occurred
Generic error: is indicated in addition to any other error in this register
Manufacturer specific: is indicated if a no target event or a hardware failure occurred
Device profile specific: currently not implemented
Communication error: currently not implemented
Temperature: is indicated if an over temperature warning occurred, Sensor outside specified temperature
Voltage: is indicated if an under voltage warning occurred
Generic error: is indicated in addition to any other error in this register
Operation and Communication
Process Data Object (PDO)
A maximum of 8 bytes of useable data can be sent in each message using the process data object (PDO). This feature is only available in the operational state and can be activated in dif ferent modes, set using the object 0x1800 “TPDO Communication Parameter” and 0x1A00 “TPDO mapping parameter.” A total of 2 transmit PDOs will be supported in the final product – currently in use is only 1 transmit PDO. The protocol supports dynamic PDO mapping. Example of the default PDO1 message: This PDO message contains measuring readings of the sensor that are sent periodically and automatically once new values are available (event triggered). The measuring rate of the device is 50Hz (per default value).
| 0x190 | 0x07AA | 0x0000 | 0x03 | 0x4D |
| CAN-ID | Distance | Velocity | Signal quality | Cycle counter |
| Data word 1 | Data word 2 | Data byte 1 | Data byte 2 |
CAN-ID: 190h, PDO1 channel of node 16 (0x180h + 0x10h)
Distance: 0x07AA, corresponds to 1962 mm
Velocity: 0x0000, corresponds to 0 cm/s
Signal quality: 0x03, corresponds to excellent signal quality
Cycle counter: 0x4D, corresponds to 77 cycles
Distance: 0x07AA, corresponds to 1962 mm
Velocity: 0x0000, corresponds to 0 cm/s
Signal quality: 0x03, corresponds to excellent signal quality
Cycle counter: 0x4D, corresponds to 77 cycles
Service Data Object (SDO)
The device from Pepperl+Fuchs is equipped with service data channel 1 as required by CiA 301.
The channel is permanently set to CAN-IDs 580h + node ID for transmission and 600h + node ID for reception. A maximum of 4 bytes of usable data can be transmitted in a single message. Larger quantities of data are divided among several messages.
The device from Pepperl+Fuchs is equipped with service data channel 1 as required by CiA 301.
The channel is permanently set to CAN-IDs 580h + node ID for transmission and 600h + node ID for reception. A maximum of 4 bytes of usable data can be transmitted in a single message. Larger quantities of data are divided among several messages.
Example of reading an object with max. 4 bytes of data
Request to node #16:
Request to node #16:
| 0x610h | 0x40h | 0x00h | 0x20h | 0x01h | 0x00h | 0x00h | 0x00h | 0x00h |
| CAN- ID | Com- mand | Object index | Subin- dex | Data | ||||
| Data byte1 | Data byte2 | Data byte3 | Data byte4 | Data byte5 | Data byte6 | Data byte7 | Data byte8 | |
Request CAN-ID: 0x610h, SDO1 channel of node 16 (0x600h + 0x10h)
Command: 40h, read object 0x2000:1.
Command: 40h, read object 0x2000:1.
Reply of node #16:
| 0x590h | 0x4Bh | 0x00h | 0x20h | 0x01h | 0xAAh | 0x07h | – | – |
| CAN- ID | Command reply | Object index | Subin- dex | Data | ||||
| Data byte1 | Data byte2 | Data byte3 | Data byte4 | Data byte5 | Data byte6 | Data byte7 | Data byte8 | |
Reply CAN-ID: 0x590h, SDO1 channel of node 16 (0x580h + 0x10h)
Command Reply: 0x4Bh (Return has 2 Bytes of Data), object 0x2000:1, 0x7AAh (Returned Data).
Command Reply: 0x4Bh (Return has 2 Bytes of Data), object 0x2000:1, 0x7AAh (Returned Data).
Object Directory
Communication Segment
| Index | Sub- Index | Parameter name | Data Type | Code description | Default value | Notes |
| 0x1000 | 0 | Device Type | u32 | 0x00000000 | 0 means that no device pro- file is used | |
| 0x1001 | 0 | Error register | U8 | 0x00 | Can be mapped to TPDO 0x00/0 No Error0x03/3 Current 0x05/5 Undervoltage0x09/9 Overtemperature 0x11/17 Communication0x21/33 DeviceProfiler 0x81/129 Manuf. Spec. | |
| 0x1002 | 0 | Manufacturer status register | u32 | 0x00000000 | 0x00/0 NoError0x01/1 YetNoMeasurement 0x02/2 HardwareFailure 0x04/4 Undervoltage 0x08/8 Overtemperature 0x10/16 NoTarget Emrgency (only if config- ured)0x20/32 SignalError (in case of noise/unexpectedsignal) | |
| 0x1003 | 0 | Preferred error field | u32 | 0x01 | This object provides the er- rors that occurred on the CANopen device and were signaled via the emergencyobject. | |
| 0x1005 | 0 | COB ID SYNC | u32 | 0x00000080 | This object indicates the configured COB-ID of the synchronization object (SYNC). Further, it defineswhether the CANopen de- vice generates the SYNC. | |
| 0x1008 | 0 | Manufacturer Device Name | String | Type code like MWC25M-L2M- B16-V15 | MWC25M-L2M- B16-V15 | This object provides the name of the device as given by the manufacturer. |
| 0x1009 | 0 | Manufacturer Hard- ware Revision | String | Revision code like “1.0” | HW01.00 | This object provides themanufacturer hardware ver- sion description. |
| 0x100A | 0 | Manufacturer Soft- ware Revision | String | Revision code like “1.0.0” | FW01.00 | This object provides the manufacturer software ver- sion description. |
| 0x1010 | 1 | Save all parameters | u32 | This object controls the saving of parameters in non-volatile memory. | ||
| 0x1011 | 1 | Restore all default parameters | u32 | With this object the default values of parameters ac- cording to the communica- tion profile, device profile and application profile are restored.0x01/1 Restore parameters | ||
| 0x1014 | 0 | COB ID EMCY | u32 | $NODEID+0x80 | This object indicates theconfigured COB-ID for the EMCY write service. |
| Index | Sub- Index | Parameter name | Data Type | Code description | Default value | Notes |
| 0x1015 | 0 | Inhibit time emergency | u16 | This object indicates the configured inhibit time forthe EMCY message. | ||
| 0x1017 | 0 | Producer Heartbeat Time | u16 | 0x00/0 | The producer heartbeat time indicates the config- ured cycle time of the heart- beat produced by the de- vice.The value shall be given in multiples of 1 ms. The value 0 shall disable the producer heartbeat. 0x00 BootUp 0x04 Stopped 0x05 Operational0x7F Pre-operational | |
| 0x1018 | Identity Object | |||||
| 0 | Number of entries | u8 | 0x04 | This object provides gen- eral identification infor- mation of the CANopen de-vice. | ||
| 1 | Vendor ID | u8 | 0xAD/173 (=Pep-perl-Fuchs) | Subindex 1 contains the unique value that is allo- cated uniquely to each ven-dor of a CANopen device. | ||
| 2 | Product Code | u32 | Byte 1: Product Group CodeByte 2-4: Sequen- tial number | 0x07000001 (ex-ample for MWC25M-L2M- B16-V15) | Subindex 2 contains the unique value that identifies a specific type of CANopen devices. | |
| 0x1018 | Identity Object | |||||
| 3 | Revision Number | u32 | 0x01 | Subindex 3 contains the major revision number and the minor revision number of the revision of the CANo-pen device. | ||
| 4 | Serial Number | u32 | 32-bit P+F CANo-pen serial number | 0x01234567 | Not implemented yetSubindex 4 contains the se- rial number that identifies uniquely a CANopen device within a product group anda specific revision. | |
| 0x1020 | Verify configuration | |||||
| 1 | Configuration date | u32 | Can be parametrized Value shall contain the number of days since Janu-ary 1,1984. | |||
| 2 | Configuration time | u32 | Can be parametrizedValue shall be number of ms after midnight. | |||
| 0x1200 | Server SDO Parameter | |||||
| 1 | COB ID Client to Server | u32 | $NODEID+0x600 | In order to describe the SDOs used on a CANopen device the data type SDO parameter is introduced. | ||
| 2 | COB ID Server to Client | u32 | $NODEID+0x580 | |||
| Index | Sub- Index | Parameter name | Data Type | Code description | Default value | Notes |
| 0x1800 | Transmit PDO Communication Parameter | |||||
| 1 | COB ID | u32 | $NODEID+ 0x280 | Subindex 1 contains the COB-ID of the TPDO. | ||
| 2 | Transmission Type | u8 | 0xFE/245 | Subindex 2 defines the transmission character of the TPDO. 0x00/0 synchronous (acy- clic)0x01/1 synchronous (cyclic every SYNC)0x02/2 synchronous (cyclic every 2nd SYNC)…0xF0/240 synchronous (cy- clic every 240th SYNC) 0xF1/241 reserved…0xFB/251 reserved 0xFC/252 RTR-only (syn- chronous)0xFD/253 RTR-only (event- driven)0xFE/254 event-driven (manufacturer-specific) 0xFF/255 event-driven (pro-file-specific) | ||
| 3 | Inhibit time | u16 | 0x00/0 | Subindex 3 contains the in- hibit time. The time is the minimum interval for PDO transmission if the trans- mission type is set to 0xFE and 0xFF. The value is de- fined as multiple of 100ms.The value of 0x00 shall dis- able the inhibit time. | ||
| 5 | Event timer | u16 | 0x00/0 | Subindex 5 contains the event-timer. The time is the maximum interval for PDO transmission if the trans- mission type is set to 0xFE and 0xFF.The value is defined as multiple of 1 ms.The value of 0x00 shall dis- able the event-timer. | ||
| 6 | SYNC start value | u8 | 0x00/0 | Subindex 6 contains the SYNC start value.The SYNC start value of 0x00 shall indicate that the counter of the SYNC mes- sage shall not be pro- cessed for this PDO.The SYNC start value 1 to 240 shall indicate that the counter of the SYNC mes- sage shall be processed forthis PDO. | ||
| 0x1801 | Transmit PDO Communication Parameter | |||||
| 1 | COB ID | u32 | Can be parametrized | |||
| … | … | … | ||||
| Index | Sub- Index | Parameter name | Data Type | Code description | Default value | Notes |
| 0x1802 | Transmit PDO Communication Parameter | |||||
| 1 | COB ID | u32 | Can be parametrized | |||
| … | … | … | ||||
| 0x1803 | Transmit PDO Communication Parameter | |||||
| 1 | COB ID | u32 | Can be parametrized | |||
| … | … | … | ||||
| 0x1A00 | Transmit PDO Mapping Parameter | |||||
| 1 | Mapping Entry 1 | u32 | 0x20000110 | Subindex from 1 to 8 con- tains the information of the mapped application objects from process data object 0x2000 | ||
| 2 | Mapping Entry 2 | u32 | 0x20000210 | |||
| 3 | Mapping Entry 3 | u32 | 0x20000308 | |||
| 4 | Mapping Entry 4 | u32 | 0x20000508 | |||
| … | Mapping Enrty … | u32 | 0x00000000 | |||
| 0x1A01 | Transmit PDO Mapping Parameter | |||||
| 1 | Mapping Entry 1 | u32 | 0x00000000 | Can be parametrized | ||
| … | Mapping Entry … | u32 | 0x00000000 | |||
| 0x1A02 | Transmit PDO Mapping Parameter | |||||
| 1 | Mapping Entry 1 | u32 | 0x00000000 | Can be parametrized | ||
| … | Mapping Entry … | u32 | 0x00000000 | |||
| 0x1A03 | Transmit PDO Mapping Parameter | |||||
| 1 | Mapping Entry 1 | u32 | 0x00000000 | Can be parametrized | ||
| … | Mapping Entry … | u32 | 0x00000000 | |||
Manufacturer Segment
| Index | Sub- Index | Parameter name | Data Type | Code description | Default value | Notes |
| 0x2000 | Process Data | |||||
| 1 | Distance | u16 | 0x0000: target in blindzone 0xFFFF: no target detected | Distance value to the target in mm. Values will be given out between 500…50000 mm. | ||
| Mapped to TPDO on de- fault | ||||||
| 2 | Velocity | int16 | 0x7FFF: target in blindzone 0x7FFF: no target detected | Relative velocity value be- tween the sensor and a tar- get in cm/s.A target approaches if the algebraic sign of the veloc- ity value is negative.A positive algebraic sign in- dicates a target which moves away. Values will be given out between-8000…8000 cm/s. | ||
| Mapped to TPDO on de- fault | ||||||
| 3 | Signal Quality | u8 | 0x00 – no target> 0x01 – Acceptable> 0x05 – Good> 0x0A – Excellent> 0x0F – Perfect (≙ corner reflector) | This object contains re- ceived signal strength of a reflection.The signal quality can help to adjust the orientation of the sensor in the applica- tion.The maximum signal quality value is dependent on the target distance and radar cross section of the target. | ||
| 0x00/0 no target0x01/1 worst signal quality…0x14/20 best signal quality (highest possible value) | ||||||
| Mapped to TPDO on de- fault | ||||||
| 4 | Cycle Counter16 | u16 | Counts from 0x01/1 to 0xFFFF/65535 | This object contains a counter which is incre- mented if a measurement cycle has been finished. In case of an overflow, the cy- cle counter restarts at the value 1. | ||
| Mapped to TPDO on de- fault | ||||||
| 5 | Cycle Counter8 | u8 | Counts from 0x01/1 to 0xFF/255 | This object contains a counter which is incre- mented if a measurement cycle has been finished. In case of an overflow, the cy- cle counter restarts at the value 1. | ||
| Mapped to TPDO on de- fault | ||||||
| Index | Sub- Index | Parameter name | Data Type | Code description | Default value | Notes |
| 0x2001 | 0 | Operating Hours | u32 | This object contains the time duration the sensor was operating. The time duration shows the value infull hours. | ||
| 0x2010 | Identification & Info – public | |||||
| 1 | Vendor Name | String | “Pepperl+Fuchs” | This object contains a list of identification parameters. | ||
| 2 | Vendor Text | String | Web link | www.pepperl-fuchs.com/CANo- pen | ||
| 3 | Product ID | String | Part number | 70000001 | ||
| 4 | Product Text | String | “Radar Distance Sensor” | |||
| 5 | Serial Number | String | 40000000000001 | |||
| 6 | Application Sepcific Tag | String | ||||
| 7 | Functional Tag | String | *** | |||
| 8 | Location Tag | String | *** | |||
| 9 | Unique Product ID | String | https://pefu.de/ + Serial Number | |||
| 0x4000 | Measurement Configuration | |||||
| 1 | Measurement Mode | u8 | 0x00: Closest dis- tance0x01: Best reflexion 0x02: Fastest veloc-ity | 0x00 | Subindex 1 allows to select the measurement mode for the sensor. | |
| 2 | Sampling Rate | u16 | Sampling Rate in Hz [1; 2; …; 200 Hz] | 0x0032 / 50 | Subindex 2 allows to set the sampling rate in opera-tional mode in Hz. | |
| 3 | Filter Mode | u8 | 0x00 – No filter 0x01 – Median filter | 0x01 | Subindex 3 allows to select the measurement filter mode. The strength of the median filter can be config-ured in subindex 4. | |
| 4 | Filter Strength (Me- dian filter) | u8 | 0x00 – Low 0x01 – Standard 0x02 – High 0x03 – Very high | 0x01 | Subindex 4 allows to select the filter strength for the median filter. The sliding window size can be se- lected from low to very high.The parameter has no influ- ence if “No filter” is se- lected. | |
| low = 3×2 std = 7×4 high = 11x6very high = 15×8 | ||||||
| 5 | Event Configuration | u8 | 0x00: No Target re- sults in Replace- ment Value0x01: No Target out- puts Emergency Message | 0x00 | Subindex 5 allows to con- figure an event to trigger an emergency message | |
| 6 | Foreground Supp- ression | u16 | Range in mm | 0x012C | Subindex 6 allows to set a distance value in mm tosuppress targets in the foreground sensing range. | |
| Index | Sub-Index | Parameter name | DataType | Code description | Default value | Notes |
| 7 | Background Supp- ression | u16 | Range in mm | 0x7EF4 | Subindex 7 allows to set a distance value in mm tosuppress targets in the background sensing range. | |
| 8 | Minimum velocity suppression | u16 | Range in cm/s | 0x00 | Subindex 8 allows to set an absolute velocity value in cm/s to suppress targets below it. | |
| Lowest limit with 0cm/s | ||||||
| 9 | Maximum velocity suppression | u16 | Range in cm/s | 0x00C8 | Subindex 9 allows to set an absolute velocity value in cm/s to suppress targets above it. | |
| Highest range with 8000cm/s (80m/s) | ||||||
| 0x4001 | LED Configuration | |||||
| 1 | LED Config | BOOL | 0x00: Disable all | 0x01 | This object contains the | |
| LEDs0x01: Enable all LEDs | configuration of the LED be-havior. It allows to ena- ble/disable all indicatorLEDs of the sensor. | |||||
| 0x4100 | Reflections Array List | |||||
| 1 | 1 Distance | real32 | [300; 50000 mm]0 if no target de- tected | This object contains up to ten reflections of targets. All reflections are output without any influence of fil- ters or suppressions. Each reflection shows the following values:-distance in mm-velocity in cm/s-amplitude in digits | ||
| 2 | 2 Velocity | real32 | [0; +/-8000 cm/s]0 if target does not move | |||
| 3 | 3 Amplitude | real32 | [0; 100000]0 if no target de- tected | |||
| … | … Distance… Velocity… Amplitude | |||||
| 31 | GetAll | String | Subindex 31 returns all re- flections at once. The val- ues need to be converted from bytes to float. | |||
Nur zur internen Verwendung, eingeschränkte externe Verwendung!
For internal use only, restricted external use!
For internal use only, restricted external use!
Documents / Resources
 |
PEPPERL FUCHS MWL2A P+F Radar L2 CAN Ultrasonic Sensors with CAN Interface [pdf] User Manual MWL2A P F Radar L2 CAN Ultrasonic Sensors with CAN Interface, MWL2A P F Radar L2 CAN, Ultrasonic Sensors with CAN Interface, Sensors with CAN Interface, CAN Interface |
