PGP-R600VRadar Distance Measuring Sensor

Baumer Electric AG, Hummelstrasse 17, 8501 Frauenfeld, Switzer- land 1/29 R600V.DAE0 Operating Manual (EN) Off-Highway Ground & Crop Radar Sensor Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) Page 2 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 Table of Contents 1 General Information ......................................................................................................... 4 1.1 Scope ....................................................................................................................... 4 1.2 Comments, notes, and warnings .............................................................................. 4 1.3 Intended Use ............................................................................................................ 4 1.3.1 General ............................................................................................................. 4 1.3.2 Audience ........................................................................................................... 5 1.3.3 Application Policy .............................................................................................. 5 1.3.4 Compliance Statements .................................................................................... 7 1.3.5 Maintenance ...................................................................................................... 8 1.3.6 Mechanical Damage.......................................................................................... 8 1.3.7 Disposal (environmental protection) .................................................................. 8 2 Integration Guidance ....................................................................................................... 9 2.1 Mechanical Integration ............................................................................................. 9 2.1.1 Mounting Direction, Blind-range ........................................................................ 9 2.1.2 Mounting ........................................................................................................... 9 2.1.3 Free Space and Directional Sensitivity ............................................................ 12 2.2 Targets and Measurement ..................................................................................... 13 2.2.1 Reference Target ............................................................................................ 13 2.2.2 Structured application environment targets and stationary situations ............. 13 2.2.3 On Vehicle Calibration ..................................................................................... 14 2.3 Electrical Integration ............................................................................................... 15 2.4 Visual Diagnostic .................................................................................................... 16 2.5 CAN Interface (Physical Layer) .............................................................................. 17 3 CAN Protocol ................................................................................................................. 18 3.1 ISO Name ............................................................................................................... 18 3.2 Device address ....................................................................................................... 18 3.2.1 Commanded address (PGN 0xFED8) ............................................................. 18 3.2.2 Address Claim ................................................................................................. 18 3.2.3 Address resolution sequence .......................................................................... 19 3.3 Supported PGN (Parameter Group Number) ......................................................... 20 3.3.1 ECU Identification Info ..................................................................................... 20 Manual R600V.DAE0 (EN) R600V.DAE0_manual_1.5 (EN).docm Page 3 of 29 Last Update: 07 Jan 2021 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 Ground & Canopy Message ............................................................................ 20 3.3.7 Vehicle Speed Message (reserved) ................................................................ 21 3.4 Exemplary Decoding of a CAN message frame ..................................................... 22 3.5 Sensor Configuration .............................................................................................. 23 3.5.1 Tool ISO name acceptance criteria ................................................................. 23 3.5.2 Adjustable Parameters .................................................................................... 23 4 Trouble Shooting ........................................................................................................... 24 5 Accessories ................................................................................................................... 24 6 Appendix ....................................................................................................................... 25 6.1 Table Overview ...................................................................................................... 25 6.2 Figures Overview ................................................................................................... 25 6.3 Definitions and Abbreviations ................................................................................. 26 7 Terms and conditions of use.........................................…

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Baumer Electric AG, Hummelstrasse 17, 8501 Frauenfeld, Switzer- land 1/32 R600V.DAH5 Operating Manual (EN) Off-Highway Distance Radar Sensor Last Update: 07 Jan 2021 Manual R600V.DAH5 (EN) Page 2 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 Table of Contents General Information ..................................................................................................... 4 Scope ....................................................................................................................... 4 Comments, notes, and warnings .............................................................................. 4 Intended Use ............................................................................................................ 4 1.3.1. General ............................................................................................................. 4 1.3.2. Audience ........................................................................................................... 5 1.3.3. Application Policy .............................................................................................. 5 1.3.4. Compliance Statements .................................................................................... 7 1.3.5. Maintenance ...................................................................................................... 8 1.3.6. Mechanical Damage.......................................................................................... 8 1.3.7. Disposal (environmental protection) .................................................................. 8 Integration Guidance .................................................................................................... 9 Mechanical Integration ............................................................................................. 9 2.1.1. Targets, Blind-range .......................................................................................... 9 2.1.2. Reference Target ............................................................................................ 10 2.1.3. Mounting ......................................................................................................... 10 Rules for Installation ............................................................................................... 11 2.2.1. Free Space and Directional Sensitivity ............................................................ 11 2.2.2. Target area guidelines ..................................................................................... 13 2.2.3. Multi-path beam propagation ........................................................................... 13 Electrical Integration ............................................................................................... 15 Visual Diagnostic .................................................................................................... 16 CAN Interface (Physical Layer) .............................................................................. 17 CAN Protocol ............................................................................................................. 18 ISO Name ............................................................................................................... 18 Device address ....................................................................................................... 18 3.2.1. Commanded address (PGN 0xFED8) ............................................................. 18 3.2.2. Address Claim ................................................................................................. 18 3.2.3. Address resolution sequence (for default settings) ......................................... 19 Supported PGNs .................................................................................................... 20 3.3.1. ECU Identification Info ..................................................................................... 20 Manual R600V.DAH5 (EN) R600V.DAH5_manual_1.7 (EN).docm Page 3 of 32 Last Update: 07 Jan 20 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) ............................................................ 20 Exemplary Decoding of a CAN message frame ..................................................... 22 Sensor Configuration .............................................................................................. 23 3.5.1. Tool ISO name acceptance criteria ................................................................. 23 3.5.2. Adjustable Parameters .................................................................................... 23 Trouble Shooting ........................................................................................................ 26 Accessories ................................................................................................................ 26 Appendix .................................................................................................................... 27 Table Overview ...................................................................................................... 27 Figures Overview ................................................................................................... 28 Definitions and Abbreviations ................................................................................. 29 Terms and conditions of use ...................................................................................... 30 7.1.1. Copyright .................................................................................…

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Baumer Electric AG, Hummelstrasse 17, 8501 Frauenfeld, Switzer- land 1/36 R600V.DAH5 Multi-Object Operating Manual (EN) Off-Highway Multi-object Radar Sensor Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) Page 2 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Table of Contents General Information ..................................................................................................... 4 Scope ....................................................................................................................... 4 Comments, notes, and warnings .............................................................................. 4 Intended Use ............................................................................................................ 4 1.3.1. General ............................................................................................................. 4 1.3.2. Audience ........................................................................................................... 5 1.3.3. Application Policy .............................................................................................. 5 1.3.4. Compliance Statements .................................................................................... 7 1.3.5. Maintenance ...................................................................................................... 8 1.3.6. Mechanical Damage.......................................................................................... 8 1.3.7. Disposal (environmental protection) .................................................................. 8 Integration Guidance .................................................................................................... 9 Mechanical Integration ............................................................................................. 9 2.1.1. Objects, Blind-range .......................................................................................... 9 2.1.2. Reference Target .............................................................................................. 9 2.1.3. Mounting ........................................................................................................... 9 Rules for Installation ............................................................................................... 12 2.2.1. Free Space and Directional Sensitivity ............................................................ 12 2.2.2. Typical Detection Cone ................................................................................... 13 2.2.3. Target area guidelines ..................................................................................... 14 2.2.4. Multi-path beam propagation ........................................................................... 15 Electrical Integration ............................................................................................... 16 Visual Diagnostic .................................................................................................... 17 CAN Interface (Physical Layer) .............................................................................. 18 CAN Protocol ............................................................................................................. 19 ISO Name ............................................................................................................... 19 Device address ....................................................................................................... 19 3.2.1. Commanded address (PGN 0xFED8) ............................................................. 19 3.2.2. Address Claim ................................................................................................. 19 3.2.3. Address resolution sequence (for default settings) ......................................... 20 Supported PGN (Parameter Group Number) ......................................................... 21 Manual R600V.DAH5 Multi-object (EN) R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 3 of 36 Last Update: 01 Jan 2021 3.3.1. ECU Identification Info ..................................................................................... 21 3.3.2. ECU Software Identification ............................................................................ 21 3.3.3. DM14 Memory access command message .................................................... 21 3.3.4. DM15 Memory access reply message ............................................................ 21 3.3.5. DM16 Memory access binary data .................................................................. 21 3.3.6. Object Messages (Main Messages) ................................................................ 21 3.3.7. Vehicle Speed Message .................................................................................. 24 Exemplary Decoding of a CAN message frame ..................................................... 25 Sensor Configuration .............................................................................................. 26 3.5.1. Tool ISO name acceptance criteria ................................................................. 26 3.5.2. Adjustable Parameters .................................................................................... 27 Trouble Shooting ........................................................................................................ 29 Accessories ................................................................................................................ 30 Appendix .................................................................................................................... 31 Table Overview ...................................................................................................... 31 Figures Overview ................................................................................................... 32 Definitions and Abbreviations ................…

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Radar Sensoren Radar sensors Détecteurs à radar Radarsensor für Boden- und Pflanzen- abstand (für allgemeine Anwendungen) Radar sensor for ground & crop distance (for general applications) Détecteurs radar approprié à la mesure de la distance du sol et des plantes (pour utilisation général) Technische DatenTechnical dataDonnées techniques Erfassungsbereich Sd0,3 ... 5 msensing distance Sd0,3 ... 5 mPortée de détection Sd0,3 ... 5 m Öffnungswinkel6° (3dB)aperture angle6° (3dB)Angle d‘ouverture6° (3dB) Betriebsspannungsbereich +Vs 9 ... 32 VDCvoltage supply range +Vs 9 ... 32 VDCPlage de tension +Vs 9 ... 32 VDC Stromaufnahme max. (ohne Last) 160 mAcurrent consumption max. (no load) 160 mAConsommation max. (sans charge) 160 mA AusgangsschaltungCAN (5V)output circuitCAN (5V)circuit de sortieCAN (5V) logische SchnittstelleCAN SAE J1939logical interfaceCAN SAE J1939interface logiqueCAN SAE J1939 Baud Rate250 kBaudbaud rate250 kBaudvitesse de transmission250 kBaud kurzschlussfestjashort circuit protectionyesProtégé contre courts-cir- cuits oui verpolungsfestja, Vs zu GNDreverse polarity pro- tection yes, Vs to GNDProtégé contre inversion polarité oui, Vs vers GND Arbeitstemperatur-40 ... +70 °Coperating temperature-40 ... +70 °CTempérature de fonctionne- ment -40 ... +70 °C Lagertemperatur-40 ... +85 °Cstorage temperature-40 ... +85 °CTempérature de stockage-40 ... +85 °C SchutzartIP 68/69K protection classIP 68/69K Classe de protectionIP 68/69K R600V.DAE0-11188367 AbmessungenDimensionsDimensionsElektrischer AnschlussSchéma de raccordement • Alle Masse in mm • All dimensions in mm • Toutes les dimensions en mm • Vor dem Anschliessen des Sensors die Anlage spannungsfrei schalten. • Disconnect power before connecting the sensor. • Mettre l`installation hors tension avant le raccordement du détecteur. Connection diagram 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. 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 in- stalled 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 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. Canada Compliance Statement This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the following two condi- tions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. This equipment complies with IC radiation exposure limits set forth for an un- controlled 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. Le présent appareil est conforme aux CNR d‘Industrie Canada applicables aux appareils radio exempts de licence. L‘exploita- tion est autorisée aux deux conditions suivantes: (1) l‘appareil ne doit pas produire de brouillage, et (2) l‘appareil doit accepter tout brouillage radioélectrique subi, même si le brouillage est susceptible d‘en compromettre le fonctionnement. Cet équipement est conforme aux limites d‘exposition aux rayonnements IC établies pour un environnement non contrôlé. Cet équipement doit être installé et utilisé avec un minimum de 20 cm de distance entre la source de rayonnement et votre corps. Ce transmetteur ne doit pas etre place au meme endroit ou utilise simultanement avec un autre transmetteur ou antenne. 1/4 Technische Änderungen vorbehaltenTecnical specifications subject to changeSous réserve de modifications techniques 82 97 84 6 , 8 2 x 17,4 32 62 42 11 42 +Vs (3) (1) (4) 0 V CAN HI (2) CAN SAE J1939 CAN LO 2 CAN HI 4 CAN LO 1 +Vs 3 GND Status / Status / ConditionCode Sensor voll funktionfähig (Objekt detektiert) Sensor fully operational (object detected) Capteur complètement opérational (object détecté) 100 ms grüne LED an / green LED on / LED verte alluminée 900 ms LED aus / off / éteinte Sensor voll funktionfähig (kein Objekt detektiert) Sensor fully operational (no object detected) Capteur complètement opérational (anun object détecté) wie oben / as above / comme ci-dessus zusätzlich / with additional / avec supplémentaire 100 ms gelbe LED an / yellow LED on / LED jaune alluminée Elektronikfehler Hardware fault Défaut de matériel 50 ms rote LED an / red LED on / LED rouge alluminée 50 ms LED aus / off / éteinte CAN Abwurf (Fehlfunktion) CAN bus off (malfunction) Arrêt du bus CAN (dysfonctionnement) 50 ms magenta LED an / on / alluminée 150 ms LED aus / off / éteinte Adresszuweisung fehlgeschlagen Address claim failed Assigment d‘ addresse failli 50 ms magenta LED an / on / alluminée 50 ms LED aus / off / éteinte Warten auf Adresszuweisung Waiting for Master ECU …

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Radar Sensoren Radar sensors Détecteurs à radar Radar Distanz messender Sensor Radar distance measuring sensor Radar détecteurs de mesure de distance Technische DatenTechnical dataDonnées techniques Erfassungsbereich Sd0,3 ... 8,5 msensing distance Sd0,3 ... 8,5 mPortée de détection Sd0,3 ... 8,5 m Öffnungswinkel6° (3dB)aperture angle6° (3dB)Angle d‘ouverture6° (3dB) Betriebsspannungsbereich +Vs 9 ... 32 VDCvoltage supply range +Vs 9 ... 32 VDCPlage de tension +Vs 9 ... 32 VDC Stromaufnahme max. (ohne Last) 160 mAcurrent consumption max. (no load) 160 mAConsommation max. (sans charge) 160 mA AusgangsschaltungCAN (5V)output circuitCAN (5V)circuit de sortieCAN (5V) logische SchnittstelleCAN SAE J1939logical interfaceCAN SAE J1939interface logiqueCAN SAE J1939 Baud Rate250 kBaud (500 kBaud)baud rate250 kBaud (500 kBaud)vitesse de transmission250 kBaud (500 kBaud) kurzschlussfestjashort circuit protectionyesProtégé contre courts-circuits oui verpolungsfestja, Vs zu GNDreverse polarity pro- tection yes, Vs to GNDProtégé contre inversion polarité oui, Vs vers GND Arbeitstemperatur-40 ... +70 °Coperating temperature-40 ... +70 °CTempérature de foncti- onnement -40 ... +70 °C Lagertemperatur-40 ... +85 °Cstorage temperature-40 ... +85 °CTempérature de stocka- ge -40 ... +85 °C SchutzartIP 68/69K protection classIP 68/69K Classe de protectionIP 68/69K R600V.DAH5-11205779 AbmessungenDimensionsDimensionsElektrischer AnschlussSchéma de raccordement • Alle Masse in mm • All dimensions in mm • Toutes les dimensions en mm • Vor dem Anschliessen des Sensors die Anlage spannungsfrei schalten. • Disconnect power before connecting the sensor. • Mettre l`installation hors tension avant le raccordement du détecteur. Connection diagram 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. 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 in- stalled 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 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. Canada Compliance Statement This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the following two condi- tions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. This equipment complies with IC radiation exposure limits set forth for an un- controlled 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. Le présent appareil est conforme aux CNR d‘Industrie Canada applicables aux appareils radio exempts de licence. L‘exploita- tion est autorisée aux deux conditions suivantes: (1) l‘appareil ne doit pas produire de brouillage, et (2) l‘appareil doit accepter tout brouillage radioélectrique subi, même si le brouillage est susceptible d‘en compromettre le fonctionnement. Cet équipement est conforme aux limites d‘exposition aux rayonnements IC établies pour un environnement non contrôlé. Cet équipement doit être installé et utilisé avec un minimum de 20 cm de distance entre la source de rayonnement et votre corps. Ce transmetteur ne doit pas etre place au meme endroit ou utilise simultanement avec un autre transmetteur ou antenne. 1/4 Technische Änderungen vorbehaltenTecnical specifications subject to changeSous réserve de modifications techniques 82 97 84 6 , 8 2 x 17,4 32 62 42 11 42 +Vs (3) (1) (4) 0 V CAN HI (2) CAN SAE J1939 CAN LO 2 CAN HI 4 CAN LO 1 +Vs 3 GND Status / Status / ConditionCode Sensor voll funktionfähig (Objekt detektiert) Sensor fully operational (object detected) Capteur complètement opérational (object détecté) 100 ms grüne LED an / green LED on / LED verte alluminée 900 ms LED aus / off / éteinte Sensor voll funktionfähig (kein Objekt detektiert) Sensor fully operational (no object detected) Capteur complètement opérational (anun object détecté) wie oben / as above / comme ci-dessus zusätzlich / with additional / avec supplémentaire 100 ms gelbe LED an / yellow LED on / LED jaune alluminée Elektronikfehler Hardware fault Défaut de matériel 50 ms rote LED an / red LED on / LED rouge alluminée 50 ms LED aus / off / éteinte CAN Abwurf (Fehlfunktion) CAN bus off (malfunction) Arrêt du bus CAN (dysfonctionnement) 50 ms magenta LED an / on / alluminée 150 ms LED aus / off / éteinte Adresszuweisung fehlgeschlagen Address claim failed Assigment d‘ addresse failli 50 ms magenta LED an / on / alluminée 50 ms LED aus / off / éteinte Warten auf Adresszuweisung Waiting for Master ECU adress claim En attendre il assignment d‘ adresse du maître ECU 500 ms magenta LED an / on / allumi…

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