FCC ID: PGP-R600V Radar Distance Measuring Sensor

R600V.DAE0 Operating Manual (EN) Off-Highway Ground & Crop Radar Sensor Last Update: 07 Jan 2021 land Baumer Electric AG, Hummelstrasse 17, 8501 Frauenfeld, Switzer-

1/29 Manual R600V.DAE0 (EN) 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 Page 2 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 Manual R600V.DAE0 (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 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.......................................................................................... 27 7.1.1 Copyright ......................................................................................................... 27 7.1.2 No Warranty .................................................................................................... 27 7.1.3 No Offer ........................................................................................................... 27 7.1.4 Limitation of Liability ........................................................................................ 27 7.1.5 Governing Law and Jurisdiction ...................................................................... 27 8 Document Revision History ........................................................................................... 28 9 Baumer Worldwide ........................................................................................................ 29 R600V.DAE0_manual_1.5 (EN).docm Page 3 of 29 Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) 1 General Information 1.1 Scope This manual is intended for the Baumer Off-Highway Ground & Crop Radar Sensor family and contains information about its installation and commissioning. The sensors and their soft-

ware configurations are listed below:

Tab 1 Applicable Products Art. no. Product Type 11209335 11228779 11188367 R600V.DAE0-

11209335 R600V.DAE0-

11228779 R600V.DAE0-

11188367 Radar sensor for sprayer applications

(250 kbaud) Radar sensor for sprayer applications

(500 kbaud) Radar sensor for general applications

(250 kbaud) SW Version R600VMSF 1.8.0 (or higher) R600VMSF 1.8.0 (or higher) R600VMOF 1.13.0 (or higher) Read this operating manual carefully and follow its safety instructions!

1.2 Comments, notes, and warnings Provides helpful operation instructions or other general recommendations. Indicates a possibly situation that may lead to damage. NOTE ATTENTION CAUTION Indicates a possibly hazardous situation. If it is not avoided injuries may occur or the device be damaged. 1.3 Intended Use 1.3.1 General The Radar Sensor for Ground & Crop Radar Sensor has been developed with the off-high-

way market (agriculture vehicles, construction vehicles, etc.) in mind. It is intended for use cases in which the structured ground (rough terrain, stubble, etc) and/or crop distance on a Page 4 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) vehicle (e.g. a tractor) or an implement (e.g. combine header, sprayer boom) shall be deter-

mined. For flat and unstructured surfaces (e.g. asphalt, concrete) the usage of the Off-High-

way Distance Radar Sensor (R600V.DAH5-11205779) is recommended. The 122GHz band NOTE For flat and unstructured surfaces (e.g. asphalt, concrete) the usage of the Off-Highway Distance Radar Sensor (R600V.DAH5-11205779) is recom-

mended. can be used in many different applications. The original equipment manufacturer or system integrator must observe local restrictions regarding the usage and/or placing in the market of this product. 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 customized to allow 500kbit/sec for customer specific sensors). The output rate defaults to 50ms, but may be varied between 10ms and 1000ms. High visibility LEDs display the sensor status, even in bright ambient light. 1.3.2 Audience This manual is intended for original equipment manufacturers (OEMs), or system integrators;

but not the end-users of equipment. It is the responsibility of the OEM / system integrator to provide a user manual where relevant information from this manual is passed on, if it either directly affects the safety or indirectly as discovered during a safety assessment of the con-

sequences of this products integration. The Baumer Off-highway Ground & Crop Radar sen-

sors are not intended for safety applications and potentially explosive atmospheres. The OEM or system integrator must ensure the safety of the equipment on which this product is used. The manual is written based on current information. Baumer reserves the right to update prod-

ucts, documentation and its manuals if better information becomes available. CAUTION This product must not be used in safety applications and in poten-

tially explosive atmospheres. 1.3.3 Application Policy Baumer products are applicable to a wide range of applications and / or end-use cases. Baumer cannot know all possible conditions under which products are installed, used, and operated. Every application and / or use-case is unique. The suitability and functionality of a Baumer product and its performance under different applications and / or end-use cases can only be verified by testing, and shall ultimately be the responsibility of the Baumer customer using a Baumer product. When the product configuration (software version, electronics revi-

sions, mechanical revisions, etc.) is changed the customer needs to validate and verify the Baumer product to ensure the proper function in the application and / or end-use case. R600V.DAE0_manual_1.5 (EN).docm Page 5 of 29 Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) The original equipment manufacturer or system integrator must ensure the suitability of this product in the application and / or use case through exten-

NOTE sive testing. Intellectual property rights may exist for some applications and / or end-use cases that may affect the usage and/or placing on the market of machines manufactured by the OEM using a 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 applica-

tion and/or end use case. The product shall not be used for functional safety applications. Possible malfunctions and failed measurements of the sensor must be intercepted at the system level and shall not lead to unsafe situations in the system. The customer shall perform its own safety assessment to account for sensor behaviour in particular situations (e.g. distance fluctuations in static situa-

tions, operator caused distance manipulation by hand or other objects). The product shall not be used in the direct control and modification of the state of function of the vehicle. This product must not be used in safety applications. A sensor malfunc-

tion must not lead to an unsafe situation. CAUTION CAUTION The product shall not be used in the direct control and modification of the state of function of the vehicle. Baumer ensures the compliance of its products to the specifications and declarations of con-

formity made available through its website www.baumer.com. All conditions of use provided in the data sheet, top level drawing must be observed. The machines or equipment manufactured by the customer utilizing Baumer product must only be put on the market as covered by the declaration of conformity provided. CAUTION The technical documentation provided must be observed. Page 6 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) Some applicable documents are listed below, but are not limited to:

Tab 2 Applicable Documents Art. no. Document Type Document 11209335, 11228779 Data sheet (DAB) DAB Radar sensor for sprayer applications 11209335, 11228779 Mounting instruction (MAL) MAL Radar sensor for sprayer applications 11188367 11188367 11209335, 11188367, 11228779 11209335, 11188367, 11228779 Data sheet (DAB) DAB Radar sensor for general applications Mounting instruction (MAL) MAL Radar sensor for general applications Declaration of conformity (EU) Baumer_R600V_DE-EN-FR_CoC_81302233 Declaration of conformity (US) Baumer_R600V_EN_DoC_81313208 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:

this device may not cause harmful interference, and

(1)

(2) cause undesired operation. this device must accept any interference received, including interference that may 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 com-

mercial environment. This equipment generates, uses, and can radiate radio frequency en-

ergy 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 exposure limits set forth for an uncontrolled environment. This equipment should be installed and operated with minimum distance of 20 cm between This transmitter must not be co-located or operating in conjunction with any other antenna or the radiator and your body. transmitter. Canada Compliance Statement

(1)

(2) cause undesired operation. Last Update: 07 Jan 2021 This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the following two conditions:

this device may not cause harmful interference, and this device must accept any interference received, including interference that may R600V.DAE0_manual_1.5 (EN).docm Page 7 of 29 Manual R600V.DAE0 (EN) This equipment complies with IC radiation exposure limits set forth for an uncontrolled envi-

ronment. This equipment should be installed and operated with minimum distance of 20 cm between the radiator and your body. transmitter. This transmitter must not be co-located or operating in conjunction with any other antenna or Le prsent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorise aux deux conditions suivantes:

(1) l'appareil ne doit pas produire de brouillage, et

(2) l'appareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est sus-

ceptible d'en compromettre le fonctionnement. Cet quipement est conforme aux limites d'exposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis 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. 1.3.5 Maintenance from the lens. 1.3.6 Mechanical Damage This product does not require any maintenance. If function is impaired dirt should be removed 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 Disposal (environmental protection) Do not dispose of electrical and electronic equipment in household waste. The product con-

tains valuable raw materials for recycling, which is why an old product must be returned to an authorised collection point for correct disposal / recycling. For further information refer to www.baumer.com. Page 8 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) 2 Integration Guidance CAUTION Installation, mounting and adjustment of this product must only be executed by skilled and authorized personnel. 2.1 Mechanical Integration 2.1.1 Mounting Direction, Blind-range Mount the sensor with its centre axis approximately perpendicular to the direction of move-

ment and the ground. An angle may affect the measurement due to the Doppler Effect. In field trials an angle of +/- 10 has been shown to be non-detrimental. Care should be taken to evaluate influence of the Doppler Effect on the end-result. There is limited compensation for the Doppler Effect in the software. The distance output is relative to the tip of the lens. A blind range of 300mm must be considered. No (reliable) measurement is possible within the blind range of the sensor, though strong targets may be detected. No targets above 6m are de-

tected. Blind range Center axis Crop distance Direction of movement Ground distance Fig 1 Mechanical Setup (for visualization only) 2.1.2 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. For direct mounting

(thread in plate) Baumer recommends a thickness of the steel plate of at least 6mm. For mounting on a thinner soft steel plates (3mm) flange nuts must be used instead. R600V.DAE0_manual_1.5 (EN).docm Page 9 of 29 Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) Fig 2 Mounting on thick soft steel plate (6mm). Fig 3 Mounting on a thin soft steel plate (3mm) It is recommended to use M6 screws per MBM 10105. The mounting torque for 10.9 (property class) screws must be within 12Nm15Nm, and for 8.8 (property class) screws it must be within 10Nm...12Nm. For the mounting pattern and available tool space for tightening the 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. Page 10 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) Fig 4 Mounting pattern, tool space. ATTENTION Observe mounting torque and tool space to avoid damage.to sensor. R600V.DAE0_manual_1.5 (EN).docm Page 11 of 29 Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) 2.1.3 Free Space and Directional Sensitivity The Baumer off-highway radar sensor is a very sensitive device to deliver superior crop pen-

etration and crop detection performance. The opening angle of the main beam is 6 (for 3dB signal reduction, or approx. 9 for 20dB signal reduction). A typical directional sensitivity is shown below. X-Axis / H-Plane: per-

pendicular to centerline /

connector Y-Axis / E-Plane:

along centerline / con-

nector X Y Fig 5 Typical Directional Sensitivity of Sensor Baumer recommends to limit intrusion of, in particular non-stationary, objects, into a rotational cone of approx. 6070 from the lens. Integration testing must be done to ensure that the integration with available free space does not have impact on the measurement. It is known that dangling wires, cables, hoses, water droplets may be picked up. Fig 6 Recommended Free Space NOTE Non stationary objects in the near range may be picked up by the sensor even outside the main directional sensitivity cone. The recommended free space should be kept free from moving objects. Page 12 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) 2.2 Targets and Measurement 2.2.1 Reference Target All data sheet specifications are based on a low-reflectance target (a wood panel with dimen-

sions 1200mm by 1700mm). This is to simulate the low reflectance of natural objects while avoiding distance ambiguities. The measurement with radar is an intrinsically statistical pro-

cess when measuring on ground and / or crop which are highly structured targets. Great care has been taken to design a robust signal processing to extract ground and crop distance. Nevertheless integration testing is essential in the application. The correlation between sensor output and the definition of the crop distance must be determined by testing. The zero point for the measurement is on the tip of the lens. NOTE The correlation between ground & canopy distance with actual targets must be determined for every application. 2.2.2 Structured application environment targets and stationary situations When measuring on a structured surface (such as soil) the measured distance will be aver-

aged over the whole area covered by the sensor opening angle (directionality). In static sit-

uations distances with a strong reflection will be favoured. When moving over the structured object statistics will avoid these strong reflections at distinct distances and the ground distance can be determined well. Nevertheless the structure of the surface of the soil will be reflected in the measured distances. The next figure shows that a multitude of strong reflections are possible within the opening angle of the sensor (blue dots). The output distances may shift over time, due to slight changes in position due to vibration and changed radar wave interference. Causes may be shifting of leaves in the wind, vibration and movement of the implement, and so on. The distance values must be filtered appropriately to avoid erratic movement of implements in these situations and avoid unpredictable movement for bystanders. CAUTION The superordinate controller instance must filter the sensor signal to avoid erratic implement movement. R600V.DAE0_manual_1.5 (EN).docm Page 13 of 29 Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) Directionality

(opening angle) Strong re-

flections Distance averaging

(over opening angle) Fig 7 Shifting reflections in a stationary situation 2.2.3 On Vehicle Calibration In a stationary situation (vehicle is not moving) while measuring on structured surfaces (such as soil) the output distances may shift over time, due to slight changes in position due to vibration and varying radar wave interference. For on-machine calibration purposes a flat sur-

face of adequate size (e.g. larger than 1200mm by 1200mm) with good radar reflection, and with its geometric centre lined up with the sensor centre axis must be used to avoid this effect and ensure a stable calibration procedure. NOTE For distance calibration on a vehicle a defined target must be used. Page 14 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 2.3 Electrical Integration Manual R600V.DAE0 (EN) 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 nominal voltage respectively) is re-

quired. The product shall not be used in the direct control and modification of the state of function of the machine. Please refer to the data sheet for information regarding operation during the engine start phase, and further technical details. Prior to electrical connection of the product the system must be down and not live. Do not exceed permissible bending radius of the cable. The device shall be appropriately protected by an external R/C or fuse. In an industrial environment the device shall be protected by an external R/C or listed fuse, rated max. 100W/Vp or max. 5A below 20VDC, and a UL class 2 power supply be used. Tab 3 Connector Pin-Out Connection type Mating connector Pin 1 2 3 4 Code

+Vs CAN HI GND CAN LO Ampseal 16 4P (776536-1) Ampseal 16 4P (776524-1) Description Positive Supply voltage 24VDC nominal) CAN High Ground (supply voltage) CAN Low

(12VDC

This product may be used on vehicle power fulfilling these requirements:

Tab 4 Vehicle Power Electrical Transients Test pulse (ISO 7637-2, ISO 16750-2) Severity level Functional status (12 VDC vehicle power) Functional status (24 VDC vehicle power) 1 IV C C 2a III A A 2b IV C C 3a III A A 3b III A A 4 III C C 5b

A A For test installations a cable with the order code 11213075 (ZCABL-ALL.AMP0300) may be used. The product shall not be used in the direct control and modification of the state of function of the machine. The product shall not be operated during engine start phase. CAUTION CAUTION ATTENTION suppression. The product shall not be used on machines without centralized load dump R600V.DAE0_manual_1.5 (EN).docm Page 15 of 29 Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) The product shall be appropriately protected by an extern fuse or R/C. ATTENTION NOTE For test installations a cable with the order code 11213075 (ZCABL-

ALL.AMP0300) may be used. 2.4 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 under bright ambient light. The following table indicates sensor status and LED blink codes. Tab 5 Status Mapping (Visual Diagnostic) Status Sensor fully operational (ob-

ject detected) Sensor fully operational, (no object detected) Hardware fault CAN Bus Off (malfunction) Address claim failed Waiting for Master ECU ad-

dress claim Other Code 100ms Green LED ON 400ms LED OFF Green LED as above, with additional 100ms Yellow LED ON in LED OFF interval 50ms Red LED ON 50ms LED OFF 50ms Magenta LED ON 150ms LED OFF 50ms Magenta LED ON 50ms LED OFF 500ms Magenta LED ON 500ms LED OFF Blue LED Page 16 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) The CAN physical layer is according to SAE J1939-15 (reduced physical layer). Some base 2.5 CAN Interface (Physical Layer) parameters are shown in the table below. Tab 6 CAN Interface Parameter Bus Speed Bus Termination Bus Voltage Wiring Cable impedance Value 250 kbit / sec (1) External termination 5V Unshielded twisted pair (UTP) 120 Ohm (+/- 10%)

(1) may be customized to 500 kbit/sec for customer specific versions. The bus termination resistor is not included in the device. The bus setup is shown in the figure below:

R600V Radar Sensor R600V Radar Sensor CAN HI 120 CAN LO Fig 8 CAN connection setup diagram 120 For further information please refer to the CAN Protocol chapter. R600V.DAE0_manual_1.5 (EN).docm Page 17 of 29 Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) The physical layer of the 2-wire interface is specified according to SAE J1939-15. The wires The implementation of the protocol stack follows the SAE J1939 standards and is visualized 3 CAN Protocol are protected against short-circuit. in the OSI network model as follows:

Tab 7 SAE J1939 in the OSI reference model OSI Layer Application Layer Presentation Session Transportation Layer Network Layer Data Link Layer Physical Layer Implementation SAE J1939-71 (Vehicle) SAE J1939-73 (Diagnostic) N/A N/A SAE J1939-21

(Data Link Layer) SAE J1939-31 SAE J1939-21 SAE J1939-14 SAE J1939-15 Network Management SAE J1939-81 Not all functions listed in the referenced standards have been implemented. The following chapters explain the extent and implemented functions. DBC files can be downloaded from the respective product page on www.baumer.com. 3.1 ISO Name Manufacturer code ECU instance Function instance Function System System instance Industry group Arbitration Capable 343 (Baumer Group) 0 for R600V.DAE0-11188367 1 for R600V.DAE0-11209335 0 0 0 0 2 1 3.2 Device address 3.2.1 Commanded address (PGN 0xFED8) Supported 3.2.2 Address Claim The device is arbitrary address capable. Address range:

0x80...0xCF Page 18 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) Default address:

0x80 3.2.3 Address resolution sequence After reset, the device performs the following start-up sequence:

1. After initialization, send request for address claimed message (PGN 0xEE00) 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. During this time, incoming address claims are evaluated and mark addresses claimed by devices with higher priority ISO names (NAME) than our own as claimed in the address sort table. 3. Send address claimed message a. Claim the own address, which is derived from the sort table. Address =

First free address in the sort table which is equal or higher than the pre-

ferred address (0x80) (1) 4. Wait 250 ms and handle address collisions. When, during this time, another device with higher priority claims our last claimed address, we will mark it as claimed and claim the next free address in the table

(1) 5. Start transmitting the cyclic ground & canopy message. The CAN SAE J1939 standard generally defines the address claim procedure. Each device on the bus can request an new address claiming from a single device or all nodes. The re-

questing device has to send a request (PGN 0xEA00) with the desired destination address DA (address of node, global address 0xFF) the data of the message must include the PGN 0xEE00. Tab 8 Address management messages Message Request for address claimed Address claimed Cannot claim source address Commanded address PGN 0xEA00 0xEE00 0xEE00 0xFED8 PF 234 238 238 254 PS DA 255 255 216 SA SA (2) SA 254 SA Length 3 bytes 8 bytes 8 bytes 9 bytes (3) DATA PGN 0xEE00 NAME NAME NAME, new SA

(1) This means that, provided no new sensors are mounted, each sensor will end up with the same device address each time. However, if a new sensor is added to the system, ad-

dresses might shift up or down according to the new sort order, which is always from lowest to highest serial number.

(2) In case no address has been claimed, yet the address may be set to 254

(3) longer than 8 bytes; transport protocol used instead R600V.DAE0_manual_1.5 (EN).docm Page 19 of 29 Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) 3.3 Supported PGN (Parameter Group Number) 3.3.1 ECU Identification Info Transmission rate:

On PGN request only 3.3.2 ECU Software Identification Transmission rate:

On PGN request only 3.3.3 DM14 Memory access command message 3.3.4 DM15 Memory access reply message Transmission rate:

Reply to DM14 command message 3.3.5 DM16 Memory access binary data 3.3.6 Ground & Canopy Message 0xFDC5 Transmit 0xFEDA Transmit 0xD900 Receive Random 0xD800 Transmit 0xD700 Transmit/receive When needed 0xC000 Transmit 50ms Sensor address Broadcast (0xff) PGN:

Direction:

PGN:

Direction:

PGN:

Direction:

Transmission rate:

PGN:

Direction:

PGN:

Direction:

Transmission rate:

PGN:

Direction:

Transmission rate:

Source address:

Destination address:

Initial delay after start-up sequence:

200ms All (data field) values are in little endian format. Bit1 of byte 1 = LSB of first byte Page 20 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 Tab 9 Ground & Canopy Message Start bit 1 Bits 2 Offset 0 Scaling 1 3 10 17 33 49 7 7 16 16 16 0 0 0 0 32768 1%

1%

1mm 1mm 1 Manual R600V.DAE0 (EN) Description Sensor status 0 = No error 1 = Reversible error. (e.g. temperature too high) 2 = Irreversible error. Sensor measurement not available Canopy confidence (3) Value 0100% (higher confidence = detection of canopy better) Ground confidence (3) Value 0100% (higher confidence = detection of ground better) Canopy distance Ground distance Reserved for future use: Value fixed to 0x0000

(3) The ground and canopy confidence values are independent, relative measures for ground and canopy distance. 80% confidence for ground means something else than 80%

for canopy. Signal strength, the number of targets detected, and the history of ground and canopy distance are considered to determine this value. The confidence values are an indi-

cation only. Thresholds for decisions made on the controller / system level need to be deter-

mined through application testing. 3.3.7 Vehicle Speed Message (reserved) PGN:

PDU Type:

Direction:

Reception address:

Reception rate:

0xC100 PDU1 Receive

< 1000ms Broadcast or device address This message may be used in future versions of the product to inform the sensor of the cur-

rent vehicle speed. This message is optional; the device is able to perform its basic function-

ality without speed information. All values are in little endian format. Bit1 of byte 1 = LSB of first byte Tab 10 Vehicle Speed Message (future use only) Start bit 1 17 18 Bits 16 1 48 Offset 0 0 0 Scaling 1 1 1 Description Vehicle speed [mm/s]

Sign (0/1 = forward/reverse) Dont care R600V.DAE0_manual_1.5 (EN).docm Page 21 of 29 Last Update: 07 Jan 2021 F O S I O R P y t i r o i r p t i b 3 Manual R600V.DAE0 (EN) 3.4 Exemplary Decoding of a CAN message frame Exemplary decoding the ground & canopy message (PGN 0xC000) Based on a line from a CAN log (6339707, 18C0FF80, Rx, 8, 8C, AB, 27, C, 34, C, 0, 0) Tab 11 Decoding a CAN SAE J1939 message frame 11 bit CAN ID 18 bit CAN ID R R S E D I 08 byte data field C R C t i b 6 1 K C A t i b 2 F O E t i b 7

n o c t i b 6 l d e i f l o r t R T R 0x 18 C0 FF 80

[1 1000 1100 0000 1111 1111 1000 0000]2 0x 8C AB 27 0C 34 0C 00 00

(11+18bit = 29bit) Tab 12 Example for decoding the CAN ID (29bit, PDU1 format) 8 bit PDU format (<240) P D e g a p a t a d t i b 1 R d e v r e s e r t i b 1 8 bit PDU specific

(group extension) 8 bit source address 0x06 0x00 0x00 0xC0 FF0x 0x80

[110]2

[0]2

[0]2

[1100 0000]2

[1111 1111]2

[1000 0000]2 PDU1 format Global destination address PGN (parameter group number) Tab 13 Example for decoding the 8 byte data field

[1000 1100 1010 1011 0010 0111 0000 1100 0011 0100 0000 1100 0000 0000 0000 0000]2 0x 8C AB 27 0C 34 0C 00 00 Sensor status

(bit 1-2) fidence

(bit 3-9) confidence

(bit 10-16) Canopy con-

Ground Canopy distance Ground distance

(bit 17-32)

(bit 33-48) Reserved

(bit 49-64)

[00]2

[1100011]2

[1010101]2 0x 0C 27 0x 0C 34 0x 00 00 0 99%

85%

3111mm 3124mm N/A Notes: little endian format, bit 1 underlined; colours indicate correspondences Page 22 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 3.5 Sensor Configuration A number of sensor parameters can be read and written over the CAN bus using the J1939 memory access (MA) protocol. Manual R600V.DAE0 (EN) 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). In its proceed reply, the device returns the actual number of bytes to be used for the trans-

fer. LED parameters are volatile, they assume their default values after each reset. 3.5.1 Tool ISO name acceptance criteria The sensor accepts MA sessions from any tool that fulfils all of the following criteria:

ISO name Function field = 129 ISO name Industry group field = 0 3.5.2 Adjustable Parameters The following parameters are available for adjustment:

Tab 14 Adjustable Parameters Address Parameter range offset scaling Default value 0x07DFAA 0x07DFAB 0x07DFAC 0x07DFAD 0x07DFAE 0x07DFAF Green LED duty cycle Green LED period Red LED duty cycle Red LED period Blue LED duty cycle Blue LED period 1%

100ms 1%

100ms 1%

100ms N/A (4) N/A (4) N/A (4) N/A (4) N/A (4) N/A (4) 0x07E388 0x07E389 Detection range end (5) Detection range start (5) 200..6000 200..6000 1mm 1mm 6000 200 LED settings 0..100 0..255 0..100 0..255 0..100 0..255 0 0 0 0 0 0 0 0 Measurement Settings CAN Settings 10..5000 N/A 0 N/A 1ms N/A 50 N/A 0x07E38A 0x07EF40 Data PGN transmit period Reset device to default values Write data in this sequence to reset all non-volatile SPNs to default values: 0x00, 0xAA, 0x55, 0x12, 0x34

(4) LED default values depend on the current state; these settings are volatile

(5) Detection range can be adjusted to avoid issues with double echo detections. R600V.DAE0_manual_1.5 (EN).docm Page 23 of 29 Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) 4 Trouble Shooting Tab 15 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. Replace part by qualified personnel. Check free space (or beyond) for non-stationary objects (such as dangling wires, tubes, water drops on surfaces. Check for double reflections, and limit measurement range Hardware fault. Replace part by qualified personnel The LED is blinking magenta CAN bus error. Check Tab 5 for details. Try a power cycle. If this does not fix the issue replace part by qualified personnel Check CAN speed (e.g. 250kbit/sec), check 120Ohm termination, to housing Mechanical damage and/or lens Unexplained targets / distance meas-

urement in near range Unexplained targets / distance meas-

urement in far range The LED is blinking red (50ms on /

50ms off) The LED is blinking blue for a long pe-

riod. No communication (also magenta blinking) 5 Accessories The following accessories are available for this product Tab 16 Accessories Art. no. Description Type Comment 11213075 ZCABL-ALL.AMP0300 Connector AMPSEAL 16 with PUR-cable 3m cable with AMPSEAL connector and fly-leads Page 24 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) 6 Appendix 6.1 Table Overview Tab 1 Applicable Products .................................................................................................. 4 Tab 2 Applicable Documents .............................................................................................. 7 Tab 3 Connector Pin-Out .................................................................................................. 15 Tab 4 Vehicle Power Electrical Transients ....................................................................... 15 Tab 5 Status Mapping (Visual Diagnostic) ........................................................................ 16 Tab 6 CAN Interface ......................................................................................................... 17 Tab 7 SAE J1939 in the OSI reference model .................................................................. 18 Tab 8 Address management messages ........................................................................... 19 Tab 9 Ground & Canopy Message ................................................................................... 21 Tab 10 Vehicle Speed Message (future use only) .......................................................... 21 Tab 11 Decoding a CAN SAE J1939 message frame ..................................................... 22 Tab 12 Example for decoding the CAN ID (29bit, PDU1 format) .................................... 22 Tab 13 Example for decoding the 8 byte data field ......................................................... 22 Tab 14 Adjustable Parameters........................................................................................ 23 Tab 15 Trouble Shooting Overview ................................................................................. 24 Tab 16 Accessories ........................................................................................................ 24 Tab 17 Definitions and Abbreviations ............................................................................. 26 Tab 18 Document revision history ................................................................................... 28 6.2 Figures Overview Fig 1 Mechanical Setup (for visualization only) ................................................................. 9 Fig 2 Mounting on thick soft steel plate (6mm). ............................................................ 10 Fig 3 Mounting on a thin soft steel plate (3mm) ............................................................. 10 Fig 4 Mounting pattern, tool space. ................................................................................ 11 Fig 5 Typical Directional Sensitivity of Sensor ................................................................. 12 Fig 6 Recommended Free Space .................................................................................... 12 Fig 7 Shifting reflections in a stationary situation ............................................................. 14 Fig 8 CAN connection setup diagram .............................................................................. 17 R600V.DAE0_manual_1.5 (EN).docm Page 25 of 29 Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) 6.3 Definitions and Abbreviations The following definitions and abbreviations are used throughout this manual Tab 17 Definitions and Abbreviations Definition Acknowledgement (CAN message frame) Controller Area Network Cyclic redundancy check Destination address Data Sheet Direct Memory Electronic Control Unit Data length code (CAN message frame) End of frame (CAN message frame) Identifier extension bit International Standardization Organization Light Emitting Device Memory Access Original Equipment Manufacturer Open Systems Interconnection Protocol Data Unit PDU Format Parameter Group Number PDU Specific Remote request bit (CAN message frame) Source address Society of Automotive Engineers Start of frame (CAN message frame) Substitute remote request (CAN message frame) Top Level Drawing Volt Direct Current Key ACK CAN CRC DA DAB DLC DM ECU EOF IDE ISO LED MA OEM OSI PDU PF PGN PS RTR SA SAE SOF SRR TLD VDC Page 26 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) 7 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. The (complete or partial) reproduction, transmission, modification, linking or utilization of this manual for publishing or commercial goals is pro-

hibited without prior written approval from the Baumer Group. 7.1.2 No Warranty The Baumer Group uses reasonable efforts in order to ensure the reliability of the information presented in this manual, but makes no warranties or representations whatsoever with respect to the accuracy or reliability of the information provided in this manual. Any information published and any opinion ex-

pressed in this manual are provided by the Baumer Group for personal use and for informational pur-

poses only; they may be changed by the Baumer Group at any time without prior notice. The suitability of the Baumer product must be validated by the customer for every application. Intellec-

tual property rights may exist for some applications and / or end use cases. Baumer does neither implic-

itly nor explicitly warrant the usage for specific application and / or end use case. 7.1.3 No Offer The information published in this manual does not constitute a solicitation to submit an offer, nor does it constitute an offer or a recommendation to acquire or sell investment vehicles or to conduct any other transactions. Baumer reserves the right to discontinue the sale of any product. The availability of any particular product cannot be guaranteed. All sales are subject to our standard terms of delivery. For a copy please contact Baumer. 7.1.4 Limitation of Liability The Baumer Group disclaims, without limitation, all liability for any loss or damage of any kind, including any direct, indirect or consequential damages, which might be incurred through the use of this manual. This is also valid for losses and damages caused by viruses. 7.1.5 Governing Law and Jurisdiction Subject to the Terms and Conditions set forth herein, any use of this manual and all legal disputes aris-

ing in connection therewith shall exclusively be governed by Swiss law. Exclusive place of jurisdiction is Frauenfeld (TG) Switzerland. R600V.DAE0_manual_1.5 (EN).docm Page 27 of 29 Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) 8 Document Revision History Tab 18 Document revision history Vers. Date Note Author Checked Released wemi wemi wemi wemi 0.5 29 Oct 2019 Technical review 1.0 15 Nov 2019 Initial Release 1.01 28 Nov 2019 Fix addresses for settings 1.1 1.2 1.4 29 Nov 2019 Align with other documents wemi 04 Feb 2020 1.3 03 Jul 2020 Add a decoded CAN mes-

sage as example Add address management table and adapt address allo-

cation sequence change transmit period 01 Dec 2020 Reset parameter 0x07EF40 included; Only LED Parame-

ters are still volatile rma 1.5 07 Jan 2021 Add compliance statements wemi tip, matts, rma, erv lph, sfri N/A N/A linz wemi N/A N/A N/A N/A N/A N/A N/A wemi rma Page 28 of 29 R600V.DAE0_manual_1.5 (EN).docm Last Update: 07 Jan 2021 Manual R600V.DAE0 (EN) 9 Baumer Worldwide Belgium Baumer SA/NV BE-2260 Westerlo Phone +32 14 57462 0 China Baumer (China) Co., Ltd. CN-201612 Shanghai Phone +86 (0)21 6768 7095 Germany/Austria Baumer GmbH DE-61169 Friedberg Phone +49 (0)6031 60 070 Republic of Korea Baumer (Korea) Co., Ltd. KR-411-766 Seoul Phone +82-2-6351-9909 Spain Baumer Automacin Ibrica S.L ES-08021 Barcelona Phone +34 932547864 United Kingdom Baumer Ltd. GB-Watchfield, Swindon, SN6 8TZ Phone +44 (0)1793 783 839 Brasil Baumer do Brasil Ltda 13208-120 Jundia, So Paulo Phone +55 11 4523-5120 Canada Baumer Inc. CA-Burlington, ON L7M 4B9 Phone +1 (1)905 335-8444 Denmark Baumer A/S DK-8210 Aarhus V. Phone +45 (0)8931 7611 France Baumer SAS FR-74250 Fillinges Phone +33 (0)450 392 466 India Baumer India Private Ltd. IN-411058 Pune Phone +91 2066292400 Italy Baumer Italia S.r.l. IT-20090 Assago, MI Phone +39 (0)245 70 60 65 Poland Baumer Sp.z.o.o. PL- 92-333 d Phone +48 42 676 7330 Sweden Baumer A/S SE-56122 Huskvarna Phone +46 (0)36 13 94 30 Singapore Baumer (Singapore) Pte. Ltd. SG-339412 Singapore Phone +65 6396 4131 Switzerland (Headquarter) Baumer Electric AG CH-8501 Frauenfeld Phone +41 (0)52 728 1122 USA Baumer Ltd. US-Southington , CT 06489 Phone +1 800 937 9336 www.baumer.com/worldwide R600V.DAE0_manual_1.5 (EN).docm Page 29 of 29 Last Update: 07 Jan 2021

R600V.DAH5 Operating Manual (EN) Off-Highway Distance Radar Sensor Last Update: 07 Jan 2021 land Baumer Electric AG, Hummelstrasse 17, 8501 Frauenfeld, Switzer-

1/32 Manual R600V.DAH5 (EN) 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 Page 2 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 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) ............................................................ 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 ......................................................................................................... 30 7.1.2. No Warranty .................................................................................................... 30 7.1.3. No Offer ........................................................................................................... 30 7.1.4. Limitation of Liability ........................................................................................ 30 7.1.5. Governing Law and Jurisdiction ...................................................................... 30 Document Revision History ........................................................................................ 31 Baumer Worldwide ..................................................................................................... 32 R600V.DAH5_manual_1.7 (EN).docm Page 3 of 32 Last Update: 07 Jan 20 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 1.0.0 (or higher) Read this operating manual carefully and follow its safety instructions!

Comments, notes, and warnings Provides helpful operation instructions or other general recommendations. Indicates a possibly situation that may lead to damage. Indicates a possibly hazardous situation. If it is not avoided injuries may occur or the device be damaged. NOTE ATTENTION CAUTION Intended Use 1.3.1. General The Off-highway Distance Radar has been developed with the off-highway market (agricul-

ture vehicles, construction vehicles, etc.) in mind. It is intended for use cases in which the distance onto a defined target such as a corner cube, a metal plate or flat and unstructured surfaces in general (e.g. asphalt, concrete) shall be determined. For highly structured surfaces

(rough terrain, stubble, etc.) Baumer recommends the usage of Off-Highway Ground & Crop Radar Sensor family (R600V.DAE0-11209335, R600V.DAE0-11188367). The 122GHz band can be used in many different applications. The original equipment manufacturer or system integrator must observe local restrictions regarding the usage and/or placing in the market of this product. Page 4 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 Manual R600V.DAH5 (EN) NOTE For highly structured surfaces (rough terrain, stubble, etc.) Baumer recom-

mends the usage of ground & crop radar sensor family (R600V.DAE0-

11209335, 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. High visibility LEDs displays the sensor status, even in bright ambient light. 1.3.2. Audience This manual is intended for original equipment manufacturers (OEMs), or system integrators;

but not the end-users of equipment. It is the responsibility of the OEM / system integrator to provide a user manual where relevant information from this manual is passed on, if it either directly affects the safety or indirectly as discovered during a safety assessment of the con-

sequences of this products integration. The Baumer Off-highway Distance Radar sensors are not intended for safety applications and potentially explosive atmospheres. The OEM or system integrator must ensure the safety of the equipment on which this product is used. The manual is written based on current information. Baumer reserves the right to update prod-

ucts, documentation and its manuals if better information becomes available. CAUTION This product must not be used in safety applications and in poten-

tially explosive atmospheres. 1.3.3. Application Policy Baumer products are applicable to a wide range of applications and / or end-use cases. Baumer cannot know all possible conditions under which products are installed, used, and operated. Every application and / or use-case is unique. The suitability and functionality of a Baumer product and its performance under different applications and / or end-use cases can only be verified by testing, and shall ultimately be the responsibility of the Baumer customer using a Baumer product. When the product configuration (software version, electronics revi-

sions, mechanical revisions, etc.) is changed the customer needs to validate and verify the Baumer product to ensure the proper function in the application and / or end-use case. NOTE The original equipment manufacturer or system integrator must ensure the suitability of this product in the application and / or use case through exten-

sive testing. Intellectual property rights may exist for some applications and / or end-use cases that may affect the usage and/or placing on the market of machines manufactured by the OEM using a R600V.DAH5_manual_1.7 (EN).docm Page 5 of 32 Last Update: 07 Jan 20 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 applica-

tion and/or end use case. The product shall not be used for functional safety applications. Possible malfunctions and failed measurements of the sensor must be intercepted at the system level and shall not lead to unsafe situations in the system. The customer shall perform its own safety assessment to account for sensor behaviour in particular situations (e.g. distance fluctuations in static situa-

tions, operator caused distance manipulation by hand or other objects). The product shall not be used in the direct control and modification of the state of function of the vehicle. This product must not be used in safety applications. A sensor malfunc-

tion must not lead to an unsafe situation. CAUTION CAUTION The product shall not be used in the direct control and modification of the state of function of the vehicle. Baumer ensures the compliance of its products to the specifications and declaration of con-

formity made available through its website www.baumer.com. All conditions of use provided in the data sheet, top level drawing must be observed. The machines or equipment manufactured by the customer utilizing Baumer product must only be put on the market as covered by the declaration of conformity provided. CAUTION The technical documentation provided must be observed. Some applicable documents are listed below, but are not limited to:

Tab 2 Applicable Documents Art. no. 11205779 11205779 11205779 11205779 Document Type Data sheet (DAB) Document DAB Radar distance measuring sensor Mounting instruction (MAL) MAL Radar distance measuring sensor Declaration of conformity (EU) Baumer_R600V_DE-EN-FR_CoC_81302233 Declaration of conformity (US) Baumer_R600V_EN_DoC_81313208 Page 6 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 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:

this device may not cause harmful interference, and

(1)

(2) cause undesired operation. this device must accept any interference received, including interference that may 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 com-

mercial environment. This equipment generates, uses, and can radiate radio frequency en-

ergy 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 exposure limits set forth for an uncontrolled environment. This equipment should be installed and operated with minimum distance of 20 cm between This transmitter must not be co-located or operating in conjunction with any other antenna or the radiator and your body. transmitter. Canada Compliance Statement This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the following two conditions:

this device may not cause harmful interference, and

(1)

(2) cause undesired operation. this device must accept any interference received, including interference that may This equipment complies with IC radiation exposure limits set forth for an uncontrolled envi-

ronment. This equipment should be installed and operated with minimum distance of 20 cm between the radiator and your body. transmitter. This transmitter must not be co-located or operating in conjunction with any other antenna or Le prsent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorise aux deux conditions suivantes:

(1) l'appareil ne doit pas produire de brouillage, et

(2) l'appareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est sus-

ceptible d'en compromettre le fonctionnement. Cet quipement est conforme aux limites d'exposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis avec un minimum de 20 cm de distance entre la source de rayonnement et votre corps. R600V.DAH5_manual_1.7 (EN).docm Page 7 of 32 Last Update: 07 Jan 20 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 from the lens. 1.3.6. Mechanical Damage This product does not require any maintenance. If function is impaired dirt should be removed 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. Disposal (environmental protection) Do not dispose of electrical and electronic equipment in household waste. The product con-

tains valuable raw materials for recycling, which is why an old product must be returned to an authorised collection point for correct disposal / recycling. For further information refer to www.baumer.com. Page 8 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 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 consid-

ered. No measurement is possible within the blind range of the sensor. For applications where accuracy is to be optimised, a flat metal surface (e.g. a 100 x 100mm metal plate) is recom-

mended. If the target surface is not mounted perpendicular to the sensor centre axis the re-

ceived signal gets weaker. From experience a good value of angular tolerance for a flat target is less than 2. Corner cubes are not sensitive to angular tolerances and may be the more robust choice for situations in which accuracy need not be optimized. To ensure proper de-

tection over the full sensing range it is recommend aligning the longitudinal axes of sensor and reflector as shown below. Aligning the axes is especially important to improve the signal at short distances (below 0.5m) when using a corner cube. For a selection of available corner cubes, please refer to Tab 15. The target material thickness (both flat metal plate and corner cube) must be more than 0.5mm and preferably metal. Coatings on the target may affect the reflectance properties. Non-metal targets may work as well, but sufficient reflectance at radar wavelengths is essential. The reflectance depends on the dielectric constant of the material at the radar wavelength. Suffi-

cient signal must be validated through integration testing. Centre axis Flat metal plate

(100 x 100mm) 300mm blind range 300mm blind range Fig 1 Mechanical Setup (for visualization only)

<20mm Corner cube R600V.DAH5_manual_1.7 (EN).docm Page 9 of 32 Last Update: 07 Jan 20 Manual R600V.DAH5 (EN) 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 2.1.2. Reference Target 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. For direct mounting

(thread in plate) Baumer recommends a thickness of the steel plate of at least 6mm. For mounting on a thinner soft steel plates (3mm) flange nuts must be used instead. Fig 2 Mounting on a thick soft steel plate (6mm). Fig 3 Mounting on a thin soft steel plate (3mm) It is recommended to use M6 screws per MBM 10105. The mounting torque for 10.9 (property class) screws must be within 12Nm15Nm, and for 8.8 (property class) screws it must be within 10Nm...12Nm. For the mounting pattern and available tool space for tightening the Page 10 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 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. Observe mounting torque and tool space to avoid damage.to sensor. ATTENTION Rules for Installation 2.2.1. Free Space and Directional Sensitivity The Baumer off-highway radar distance sensor is a very sensitive device to deliver superior measurement accuracy and speed. The opening angle of the main beam is 6 (for 3dB signal reduction, or approx. 9 for 20dB signal reduction). A typical directional sensitivity is shown below. R600V.DAH5_manual_1.7 (EN).docm Page 11 of 32 Last Update: 07 Jan 20 Manual R600V.DAH5 (EN) X-Axis / H-Plane: per-

pendicular to centerline /

connector Y-Axis / E-Plane:

along centerline / con-

nector X Y Fig 5 Typical Directional Sensitivity of Sensor Baumer recommends limiting intrusion of objects, into a rotational cone of approx. 6070 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. Fig 6 Recommended Free Space for weak targets For strongly reflecting targets (such as corner cubes and metal plates), the keep out aper-

ture angle is at least +/-3. Page 12 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 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. Target selection preference (first, last, strongest target) can be set via CAN commands. For details refer to chapter 3.5.2. Directionality

(Opening angle) Objects with strong reflec-

tions target shields Fig 7 Usage of shields to cover strongly reflecting objects If strongly reflecting objects in the background of the target cannot be covered by shields the target should be kept at a minimum distance of at least the specified blind range. Directionality

(opening angle) target Objects with strong reflec-

tions Object separation

> blind range Fig 8 Separate strongly reflecting objects from target 2.2.3. Multi-path beam propagation Multi-path beam propagation may impact the accuracy of the measurement and should be avoided. Multi-path propagation may occur due a combination of target alignment, existence of a reflective object and side lobes of the sensor. Integration testing is important to under-

stand the impact of the build space on the result. R600V.DAH5_manual_1.7 (EN).docm Page 13 of 32 Last Update: 07 Jan 20 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).docm Last Update: 07 Jan 20 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. Please refer to the data sheet for information regarding operation during the engine start phase, and further technical details. Prior to electrical connection of the product the system must be down and not live. Do not exceed permissible bending radius of the cable. The device shall be appropriately protected by an external R/C or fuse. In an industrial environment the device shall be protected by an external R/C or listed fuse, rated max. 100W/Vp or max. 5A below 20VDC, and a UL class 2 power supply be used. Tab 3 Connector Pin-Out Connection type Mating connector Pin 1 2 3 4 Code

+Vs CAN HI GND CAN LO Ampseal 16 4P (776536-1) Ampseal 16 4P (776524-1) Description Positive Supply voltage 24VDC nominal) CAN High Ground (supply voltage) CAN Low

(12VDC

This product may be used on vehicle power fulfilling these requirements:

Tab 4 Vehicle Power Electrical Transients Test pulse (ISO 7637-2, ISO 16750-2) Severity level Functional status (12 VDC vehicle power) Functional status (24 VDC vehicle power) 1 IV C C 2a III A A 2b IV C C 3a 3b III A A III A A 4 III C C 5b

A A For test installations a cable with the order code 11213075 (ZCABL-ALL.AMP0300) may be used. ATTENTION!

The product shall not be used in the direct control and modification of the state of function of the machine. ATTENTION!

The product shall not be operated during engine start phase. The product shall not be used on machines without centralized load dump ATTENTION suppression. R600V.DAH5_manual_1.7 (EN).docm Page 15 of 32 Last Update: 07 Jan 20 Manual R600V.DAH5 (EN) The product shall be appropriately protected by an extern fuse or R/C. ATTENTION NOTE For test installations a cable with the order code 11213075 (ZCABL-

ALL.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. Tab 5 Status Mapping (Visual Diagnostic) Status Sensor fully operational (ob-

ject detected) Sensor fully operational, (no object detected) Hardware fault CAN bus Off (malfunction) Address claim failed Waiting for Master ECU ad-

dress claim Other Code 100ms Green LED ON 400ms LED OFF As above 100ms Yellow LED ON in LED OFF interval 50ms Red LED ON 50ms LED OFF 50ms Magenta LED ON 150ms LED OFF 50ms Magenta LED ON 50ms LED OFF 500ms Magenta LED ON 500ms LED OFF Blue LED Page 16 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 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 Bus Speed Bus Termination Bus Voltage Wiring Cable impedance Value 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. The bus setup is shown in the figure below:

R600V Radar Sensor R600V Radar Sensor 120 CAN HI CAN LO Fig 10 CAN connection setup diagram 120 For further information please refer to the CAN Protocol chapter. R600V.DAH5_manual_1.7 (EN).docm Page 17 of 32 Last Update: 07 Jan 20 Manual R600V.DAH5 (EN) The physical layer of the 2-wire interface is specified according to SAE J1939-15. The wires The implementation of the protocol stack follows the SAE J1939 standards and is visualized CAN Protocol are protected against short-circuit. in the OSI network model as follows:

Tab 7 SAE J1939 in the OSI reference model OSI Layer Application Layer Presentation Session Transportation Layer Network Layer Data Link Layer Physical Layer Implementation SAE J1939-71 (Vehicle) SAE J1939-73 (Diagnostic) N/A N/A SAE J1939-21

(Data Link Layer) SAE J1939-31 SAE J1939-21 SAE J1939-14 SAE J1939-15 Network Management SAE J1939-81 Not all functions listed in the referenced standards have been implemented. The following chapters explain the extent and implemented functions. DBC files can be downloaded from the respective product page on www.baumer.com. ISO Name Manufacturer code ECU instance Function instance Function System System instance Industry group Arbitration Capable 343 (Baumer Group) 255 (nonspecific) 127 (nonspecific) 0 2 0 2 1 Device address 3.2.1. Commanded address (PGN 0xFED8) Supported 3.2.2. Address Claim The device is arbitrary address capable. Address range:

0x80...0xCF (adjustable) Default address:

0x80 (lowest address of set address range) Page 18 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 Manual R600V.DAH5 (EN) 3.2.3. Address resolution sequence (for default settings) After reset, the device performs the following start-up sequence:

1. After initialization, send request for address claimed message (PGN 0xEE00) 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. During this time, incoming address claims are evaluated and mark addresses claimed by devices with higher priority ISO names (NAME) than our own as claimed in the address sort table. 3. Send address claimed message a. Claim the own address, which is derived from the sort table. Address =

First free address in the sort table which is equal or higher than the pre-

ferred address (0x80) (1) 4. Wait 250 ms and handle address collisions. When, during this time, another device with higher priority claims our last claimed address, we will mark it as claimed and claim the next free address in the table

(1) 5. Start transmitting the cyclic target distance message. Most parameters (times, address, start of transmission, ) of this sequence are adjustable. For details please refer to chapter 3.5.2. The CAN SAE J1939 standard generally defines the address claim procedure. Each device on the bus can request an new address claiming from a single device or all nodes. The re-

questing device has to send a request (PGN 0xEA00) with the desired destination address DA (address of node, global address 0xFF) the data of the message must include the PGN 0xEE00. Tab 8 Address management messages Message Request for address claimed Address claimed Cannot claim source address Commanded address PGN 0xEA00 0xEE00 0xEE00 0xFED8 PF 234 238 238 254 PS DA 255 255 216 SA SA (2) SA 254 SA Length 3 bytes 8 bytes 8 bytes 9 bytes (3) DATA PGN 0xEE00 NAME NAME NAME, new SA

(1) This means that, provided no new sensors are mounted, each sensor will end up with the same device address each time. However, if a new sensor is added to the system, ad-

dresses might shift up or down according to the new sort order, which is always from lowest to highest serial number.

(2) In case no address has been claimed, yet the address may be set to 254

(3) longer than 8 bytes; transport protocol used instead R600V.DAH5_manual_1.7 (EN).docm Page 19 of 32 Last Update: 07 Jan 20 Manual R600V.DAH5 (EN) Supported PGNs 3.3.1. ECU Identification Info Transmission rate:

On PGN request only 3.3.2. ECU Software Identification Transmission rate:

On PGN request only 3.3.3. DM14 Memory access command message 3.3.4. DM15 Memory access reply message Transmission rate:

Reply to DM14 command message 3.3.5. DM16 Memory access binary data 0xFDC5 Transmit 0xFEDA Transmit 0xD900 Receive Random 0xD800 Transmit 0xD700 Transmit/receive When needed 0xC000 Transmit 50ms Sensor address Broadcast (0xff) 3.3.6. Target Distance Message (adjustable) Initial delay after start-up sequence:

200ms All values are in little endian format. Bit1 of byte 1 = LSB of first byte PGN:

Direction:

PGN:

Direction:

PGN:

Direction:

Transmission rate:

PGN:

Direction:

PGN:

Direction:

Transmission rate:

PGN:

Direction:

Transmission rate:

Source address:

Destination address:

Page 20 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 Tab 9 Target Distance Message (main message) Start bit Bits 2 Offset 0 Scaling 1 8 24 16 0 0 32768 1%

0.1mm 1mm/sec Manual R600V.DAH5 (EN) Description Sensor status 0 = No error 1 = Reversible error. (e.g. temperature too high) 2 = Irreversible error. Sensor measurement not available Target confidence*/**

Value 0100% (higher confidence = detection of target better) Target distance **

Target speed (positive: increasing distance)

*Target confidence is a function of signal strength. Above certain signal amplitude, confidence will always be 100%

**Target confidence and target distance will be 0 if no target is detected 1 9 17 49 R600V.DAH5_manual_1.7 (EN).docm Page 21 of 32 Last Update: 07 Jan 20 F O S I O R P y t i r o i r p t i b 3 Manual R600V.DAH5 (EN) Exemplary Decoding of a CAN message frame Exemplary decoding the target distance message (PGN 0xC000) Based on a line from a CAN log (18100856, 18C0FF80, Rx, 08, 00, 64, 89, 71, 00, 00, EE, 7F) Tab 10 Decoding a CAN SAE J1939 message frame 11 bit CAN ID 18 bit CAN ID R R S E D I 08 byte data field C R C t i b 6 1 K C A t i b 2 F O E t i b 7

n o c t i b 6 l d e i f l o r t R T R 0x 18 C0 FF 80

[1 1000 1100 0000 1111 1111 1000 0000]2 0x 00 64 89 71 00 00 EE 7F

(11+18bit = 29bit) Tab 11 Example for decoding the CAN ID (29bit, PDU1 format) 8 bit PDU format (<240) P D e g a p a t a d t i b 1 R d e v r e s e r t i b 1 8 bit PDU specific

(group extension) 8 bit source address 0x06 0x00 0x00 0xC0 FF0x 0x80

[110]2

[0]2

[0]2

[1100 0000]2

[1111 1111]2

[1000 0000]2 PDU1 format Global destination address PGN (parameter group number) Tab 12 Example for decoding the 8 byte data field

[0000 0000 0110 0100 1000 1001 0111 0001 0000 0000 0000 0000 1110 1110 0111 1111]2 0x 00 64 89 71 00 00 EE 7F Sensor-

status

(bit 1-2) dence

(bit 9-16) Target confi-

Target distance

(bit 17-40) N/A

(bit 41-48) Target speed

(bit 49-64)

[00]2 0x 64 0x 00 71 89 0x 00 0x7F EE 0 100%

2 5.906 mm N/A

-18 mm/sec Notes: little endian format, bit 1 underlined; colours indicate correspondences Page 22 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 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). In its proceed reply, the device returns the actual number of bytes to be used for the trans-

fer. 3.5.1. Tool ISO name acceptance criteria The sensor accepts MA sessions from any tool that fulfils all of the following criteria:

Address Parameter range offset scaling Default value LED settings

ISO name Function field = 129 ISO name Industry group field = 0 3.5.2. Adjustable Parameters The following parameters are available for adjustment:

Tab 13 Adjustable Parameters 0x07DFAA 0x07DFAB 0x07DFAC 0x07DFAD 0x07DFAE 0x07DFAF 0x07E388 0x07E389 0x07E3A6 Green LED duty cycle (5) Green LED period (5) Red LED duty cycle (5) Red LED period (5) Blue LED duty cycle (5) Blue LED period (5) 0..100 0..255 0..100 0..255 0..100 0..255 300..8500 300..8500 0 2 Measurement Settings Max. Detection range (4) Min. Detection range (4) Sensor Sensitivity 0 = lowest sensitivity 1 = normal sensitivity 2 = high sensitivity (6) Output filter mode (only with mode 3 in 0x07E3AB) 0 = tracking filter: moving average 1 = tracking filter: exponential aver-

aging Output filter history length

(only for mode 0 as set in SPN 0x07E3A7, together with mode 3 in 0x07E3AB) 0x07E3A7 0 1 1 0x07E3A8 1 32 0 1 1%

100ms 1%

100ms 1%

100ms 1mm 1mm 1 0 0 0 0 0 0 0 0 0 0 8500 300 1 0 0 0 0 0 0 0 2 R600V.DAH5_manual_1.7 (EN).docm Page 23 of 32 Last Update: 07 Jan 20 CAN Settings 10..5000 0..131071 0..3 1ms 1 1 50 49152 0 Manual R600V.DAH5 (EN) range 0 32 offset scaling Default value 1 1 01000000 1us 50000 0x07E3AB 03 1 1 Address 0x07E3A9 0x07E3AA 0x07E38A 0x07E38B 0x07E397 0x07E392 0x07E393 0x07E394 Parameter Output filter number of cycles to bridge (during signal loss, only with mode 3 in 0x07E3AB) Output filter time constant

(only for mode 1 as set in SPN 0x07E3A7, together with mode 3 in 0x07E3AB) Output distance selection 0 = distance is taken from strong-

est peak in range (unfiltered) 1 = distance is taken from nearest peak in detection range (unfiltered) 2 = distance is taken from farthest peak in detection range (unfiltered) 3 = filtered output (see 0x07E3A7, 0x07E3A8, 0x07E3A9, 0x07E3AA) Data PGN transmit period PGN for distance message trans-

mission PDU transmission start mode. Default enabled main message 0 = start immediately 1 = start after master address claim received

(msg transmission starts only when enable flags are set 0x07E38C) 2, 3 = reserved (do not use) Msg transmission enable flags (5) 0 = Main message off 1 = Main message on This SPN can be used to switch message on and off dynamically Default msg transmission enable flags 0 = Main message off 1 = Main message on Use to prevent the sensor from sending data after start up. Min time to wait before sending a request for address claimed mes-

sage Range of random time to wait be-

fore sending a request for address claimed message Time to wait after sending a re-

quest for address claimed mes-

sage before own address claim is sent Compare mask for bitwise AND of ISO name used for Master ECU Detection 0x07E38C 0..1 0 1 0x07E38D 0..1 0 1 1 1 0..5000 1ms 100 0..5000 1ms 100 0..5000 1ms 1250 0x07E39D 0..0xffffffffffffffff 0 1 0 Page 24 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 0 0 0 0 0 0 0 0 0 Manual R600V.DAH5 (EN) range offset scaling Default value 0..0xffffffffffffffff 0 1 0 0..5000 1ms 250 0..5000 1ms 200 128..209 128..209 0..1 1 1 1 128 209 0 0 0 0 0 0 Address 0x07E39E 0x07E395 0x07E396 0x07E398 0x07E399 0x07E39A 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. 0 = 250k 1 = 500k 2 = reserved (do not use) Reset device to default values Write data in this sequence to re-

set all SPNs to default values:

0x00, 0xAA, 0x55, 0x12, 0x34 0x07EF40 N/A N/A N/A N/A

(4) Detection range can be adjusted to avoid issues with double echo detections.

(5) SPN value is reset to default after a power cycle (volatile)

(6) Accuracy reduced R600V.DAH5_manual_1.7 (EN).docm Page 25 of 32 Last Update: 07 Jan 20 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. Hardware fault. Replace part by qualified personnel The LED is blinking magenta CAN bus error. Check Tab 5 for details. targets

/ distance to housing Mechanical damage and/or lens Unexplained measurement in near range Unexplained measurement in far range The LED is blinking red (50ms on /

50ms off)

/ distance targets The LED is blinking blue for a long period. No communication (also magenta blinking) No messages are sent Replace part by qualified personnel. Check free space (or beyond) for non-stationary objects (such as dangling wires, tubes, water drops on surfaces. Check for double reflections, and limit measurement range Try a power cycle. If this does not fix the issue peplace part by qualified personnel Check CAN speed (e.g. 250kbit/sec), check 120Ohm termination, Check default transmission enable flags (0x0087E38D) Check if master address has been claimed (when required due to PDU transmis-

sion start mode setting 0x0087E397) Accessories The following accessories are available for this product Tab 15 Accessories Art. no. Description Type Comment 11213075 ZCABL-ALL.AMP0300 11181700 ZREFL-RAD.CCUBE30 11197315 ZREFL-RAD.CCUBE100 Connector AMPSEAL 16 with PUR-cable Metal reflector as corner cube, edge length 30 mm Metal reflector as corner cube, edge length 100 mm 3m cable with AMPSEAL connector and fly-

leads Metal reflector in corner cube design Material: Steel Reliable object detection < 6 m Metal reflector in corner cube design Material: Steel Reliable object detection < 20 m Page 26 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 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 ....................................................................... 15 Tab 5 Status Mapping (Visual Diagnostic) ........................................................................ 16 Tab 6 CAN Interface ......................................................................................................... 17 Tab 7 SAE J1939 in the OSI reference model .................................................................. 18 Tab 8 Address management messages ........................................................................... 19 Tab 9 Target Distance Message (main message) ............................................................ 21 Tab 10 Decoding a CAN SAE J1939 message frame ..................................................... 22 Tab 11 Example for decoding the CAN ID (29bit, PDU1 format) .................................... 22 Tab 12 Example for decoding the 8 byte data field ......................................................... 22 Tab 13 Adjustable Parameters........................................................................................ 23 Tab 14 Trouble Shooting Overview ................................................................................. 26 Tab 15 Accessories ........................................................................................................ 26 Tab 16 Definitions and Abbreviations ............................................................................. 29 Tab 17 Document revision history ................................................................................... 31 R600V.DAH5_manual_1.7 (EN).docm Page 27 of 32 Last Update: 07 Jan 20 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. ................................................................................ 11 Fig 5 Typical Directional Sensitivity of Sensor ................................................................. 12 Fig 6 Recommended Free Space for weak targets ......................................................... 12 Fig 7 Usage of shields to cover strongly reflecting objects .............................................. 13 Fig 8 Separate strongly reflecting objects from target ..................................................... 13 Fig 9 Multi-path beam propagation .................................................................................. 14 Fig 10 CAN connection setup diagram .......................................................................... 17 Page 28 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 Manual R600V.DAH5 (EN) Definitions and Abbreviations The following definitions and abbreviations are used throughout this manual Tab 16 Definitions and Abbreviations Key CAN DAB DA DM ECU ISO LED MA OEM OSI PDU PF PGN PS SA SAE TLD VDC International Standardization Organization Definition Controller Area Network Data Sheet Destination address Direct Memory Electronic Control Unit Light Emitting Device Memory Access Original Equipment Manufacturer Open Systems Interconnection Protocol Data Unit PDU Format Parameter Group Number PDU Specific Source Address Society of Automotive Engineers Top Level Drawing Volt Direct Current R600V.DAH5_manual_1.7 (EN).docm Page 29 of 32 Last Update: 07 Jan 20 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. The (complete or partial) reproduction, transmission, modification, linking or utilization of this manual for publishing or commercial goals is pro-

hibited without prior written approval from the Baumer Group. 7.1.2. No Warranty The Baumer Group uses reasonable efforts in order to ensure the reliability of the information presented in this manual, but makes no warranties or representations whatsoever with respect to the accuracy or reliability of the information provided in this manual. Any information published and any opinion ex-

pressed in this manual are provided by the Baumer Group for personal use and for informational pur-

poses only; they may be changed by the Baumer Group at any time without prior notice. The suitability of the Baumer product must be validated by the customer for every application. Intellec-

tual property rights may exist for some applications and / or end use cases. Baumer does neither implic-

itly nor explicitly warrant the usage for specific application and / or end use case. 7.1.3. No Offer The information published in this manual does not constitute a solicitation to submit an offer, nor does it constitute an offer or a recommendation to acquire or sell investment vehicles or to conduct any other transactions. Baumer reserves the right to discontinue the sale of any product. The availability of any particular product cannot be guaranteed. All sales are subject to our standard terms of delivery. For a copy please contact Baumer. 7.1.4. Limitation of Liability The Baumer Group disclaims, without limitation, all liability for any loss or damage of any kind, including any direct, indirect or consequential damages, which might be incurred through the use of this manual. This is also valid for losses and damages caused by viruses. 7.1.5. Governing Law and Jurisdiction Subject to the Terms and Conditions set forth herein, any use of this manual and all legal disputes aris-

ing in connection therewith shall exclusively be governed by Swiss law. Exclusive place of jurisdiction is Frauenfeld (TG) Switzerland. Page 30 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20 Manual R600V.DAH5 (EN) Document Revision History Tab 17 Document revision history Vers. Date Note Author Checked Released 1.2 07 Jan 2020 rma wemi 0.5 29 Oct 2019 Technical review 1.0 15 Nov 2019 Initial Release 1.1 20 Nov 2019 Fix addresses, and details in Adjustable parameters Tab 9 Target confidence /

sensor sensitivity / default values changed Tab 9 correct output dis-

tance selection Add a decoded CAN mes-

sage as example Add address management table 1.3 17 Jan 2020 05 Mar 2020 03 Jul 2020 1.4 1.5 1.6 1.7 14 Aug 2020 Correct ch. 3.4 07 Jan 2021 Add compliance statements wemi tip, matts, rma, erv lph, sfri linz N/A linz rma N/A N/A N/A N/A N/A N/A N/A wemi wemi wemi wemi wemi wemi wemi R600V.DAH5_manual_1.7 (EN).docm Page 31 of 32 Last Update: 07 Jan 20 Manual R600V.DAH5 (EN) Baumer Worldwide Belgium Baumer SA/NV BE-2260 Westerlo Phone +32 14 57462 0 China Baumer (China) Co., Ltd. CN-201612 Shanghai Phone +86 (0)21 6768 7095 Germany/Austria Baumer GmbH DE-61169 Friedberg Phone +49 (0)6031 60 070 Republic of Korea Baumer (Korea) Co., Ltd. KR-411-766 Seoul Phone +82-2-6351-9909 Spain Baumer Automacin Ibrica S.L ES-08021 Barcelona Phone +34 932547864 United Kingdom Baumer Ltd. GB-Watchfield, Swindon, SN6 8TZ Phone +44 (0)1793 783 839 Brasil Baumer do Brasil Ltda 13208-120 Jundia, So Paulo Phone +55 11 4523-5120 Canada Baumer Inc. CA-Burlington, ON L7M 4B9 Phone +1 (1)905 335-8444 Denmark Baumer A/S DK-8210 Aarhus V. Phone +45 (0)8931 7611 France Baumer SAS FR-74250 Fillinges Phone +33 (0)450 392 466 India Baumer India Private Ltd. IN-411058 Pune Phone +91 2066292400 Italy Baumer Italia S.r.l. IT-20090 Assago, MI Phone +39 (0)245 70 60 65 Poland Baumer Sp.z.o.o. PL- 92-333 d Phone +48 42 676 7330 Sweden Baumer A/S SE-56122 Huskvarna Phone +46 (0)36 13 94 30 Singapore Baumer (Singapore) Pte. Ltd. SG-339412 Singapore Phone +65 6396 4131 Switzerland (Headquarter) Baumer Electric AG CH-8501 Frauenfeld Phone +41 (0)52 728 1122 USA Baumer Ltd. US-Southington , CT 06489 Phone +1 800 937 9336 www.baumer.com/worldwide Page 32 of 32 R600V.DAH5_manual_1.7 (EN).docm Last Update: 07 Jan 20

R600V.DAH5 Multi-Object Operating Manual (EN) Off-Highway Multi-object Radar Sensor Last Update: 01 Jan 2021 land Baumer Electric AG, Hummelstrasse 17, 8501 Frauenfeld, Switzer-

1/36 Manual R600V.DAH5 Multi-object (EN) 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 Page 2 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) 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 ................................................................................. 33 Terms and conditions of use ...................................................................................... 34 7.1.1. Copyright ......................................................................................................... 34 7.1.2. No Warranty .................................................................................................... 34 7.1.3. No Offer ........................................................................................................... 34 7.1.4. Limitation of Liability ........................................................................................ 34 7.1.5. Governing Law and Jurisdiction ...................................................................... 34 Document Revision History ........................................................................................ 35 Baumer Worldwide ..................................................................................................... 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 3 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) General Information Scope This manual is intended for the Baumer Off-highway Multi-object Radar Sensor. The sensors and their software configuration are listed below:

Tab 1 Applicable Products Art. no. Product Type 11221283 R600V.DAH5-11221283 Multi-object distance radar SW Version R600VM8F_S(1.0) (or higher) Read this operating manual carefully and follow its safety instructions!

Comments, notes, and warnings Provides helpful operation instructions or other general recommendations. Indicates a possibly situation that may lead to damage. Indicates a possibly hazardous situation. If it is not avoided injuries may occur or the device be damaged. NOTE ATTENTION CAUTION Intended Use 1.3.1. General The Off-highway Multi-object Radar Sensor has been developed with the off-highway market

(agriculture vehicles, construction vehicles, etc.) in mind. It is intended for use cases in which multiple objects may be seen at a time, highly fluctuating environments and for applications that do not fit special purpose applications as outlined below. This sensor allows for advanced customer side filtering of raw data and customer value creation. For highly structured surfaces (rough terrain, stubble, etc.) and situations in which the distance to ground and crop need to be measured, Baumer recommends the usage of Off-Highway Ground & Crop Radar Sensor family (R600V.DAE0-11209335, R600V.DAE0-11188367). For flat and unstructured surfaces (e.g. asphalt, concrete) the usage of the Off-Highway Distance Page 4 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) Radar Sensor (R600V.DAH5-11205779) is recommended. The 122GHz band can be used in many different applications. The original equipment manufacturer or system integrator must observe local restrictions regarding the usage and/or placing in the market of this product. NOTE For highly structured surfaces (rough terrain, stubble, etc.) Baumer recom-

mends the usage of ground & crop radar sensor family (R600V.DAE0-

11209335, R600V.DAE0-11188367) For flat and unstructured surfaces (e.g. asphalt, concrete) the usage of the Off-Highway Distance Radar Sensor (R600V.DAH5-11205779) is recom-

mended. 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. High visibility LEDs displays the sensor status, even in bright ambient light. 1.3.2. Audience This manual is intended for original equipment manufacturers (OEMs), or system integrators;

but not the end-users of equipment. It is the responsibility of the OEM / system integrator to provide a user manual where relevant information from this manual is passed on, if it either directly affects the safety or indirectly as discovered during a safety assessment of the con-

sequences of this products integration. The Baumer Off-highway Mult-object Radar Sensors are not intended for safety applications and potentially explosive atmospheres. The OEM or system integrator must ensure the safety of the equipment on which this product is used. The manual is written based on current information. Baumer reserves the right to update prod-

ucts, documentation and its manuals if better information becomes available. CAUTION This product must not be used in safety applications and in poten-

tially explosive atmospheres. 1.3.3. Application Policy Baumer products are applicable to a wide range of applications and / or end-use cases. Baumer cannot know all possible conditions under which products are installed, used, and operated. Every application and / or use-case is unique. The suitability and functionality of a Baumer product and its performance under different applications and / or end-use cases can only be verified by testing, and shall ultimately be the responsibility of the Baumer customer using a Baumer product. When the product configuration (software version, electronics revi-

sions, mechanical revisions, etc.) is changed the customer needs to validate and verify the Baumer product to ensure the proper function in the application and / or end-use case. R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 5 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) NOTE The original equipment manufacturer or system integrator must ensure the suitability of this product in the application and / or use case through exten-

sive testing. Intellectual property rights may exist for some applications and / or end-use cases that may affect the usage and/or placing on the market of machines manufactured by the OEM using a 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 applica-

tion and/or end use case. The product shall not be used for functional safety applications. Possible malfunctions and failed measurements of the sensor must be intercepted at the system level and shall not lead to unsafe situations in the system. The customer shall perform its own safety assessment to account for sensor behaviour in particular situations (e.g. distance fluctuations in static situa-

tions, operator caused distance manipulation by hand or other objects). The product shall not be used in the direct control and modification of the state of function of the vehicle. This product must not be used in safety applications. A sensor malfunc-

tion must not lead to an unsafe situation. CAUTION CAUTION The product shall not be used in the direct control and modification of the state of function of the vehicle. Baumer ensures the compliance of its products to the specifications and declaration of con-

formity made available through its website www.baumer.com. All conditions of use provided in the data sheet, top level drawing must be observed. The machines or equipment manufactured by the customer utilizing Baumer product must only be put on the market as covered by the declaration of conformity provided. CAUTION The technical documentation provided must be observed. Page 6 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Art. no. 11221283 11221283 11221283 11221283 Manual R600V.DAH5 Multi-object (EN) Some applicable documents are listed below, but are not limited to:

Tab 2 Applicable Documents Document Type Document Data sheet (DAB) Mounting instruction (MAL) DAB Radar multi-object distance measuring sensor MAL Radar multi-object distance measuring sensor Declaration of conformity (EU) Baumer_R600V_DE-EN-FR_CoC_81302233 Declaration of conformity (US) Baumer_R600V_EN_DoC_81313208 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:

this device may not cause harmful interference, and

(1)

(2) cause undesired operation. this device must accept any interference received, including interference that may 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 com-

mercial environment. This equipment generates, uses, and can radiate radio frequency en-

ergy 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 exposure limits set forth for an uncontrolled environment. This equipment should be installed and operated with minimum distance of 20 cm between This transmitter must not be co-located or operating in conjunction with any other antenna or the radiator and your body. transmitter. Canada Compliance Statement

(1)

(2) This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the following two conditions:

this device may not cause harmful interference, and 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 uncontrolled envi-

ronment. This equipment should be installed and operated with minimum distance of 20 cm between the radiator and your body. R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 7 of 36 Last Update: 01 Jan 2021 transmitter. Manual R600V.DAH5 Multi-object (EN) This transmitter must not be co-located or operating in conjunction with any other antenna or Le prsent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorise aux deux conditions suivantes:

(1) l'appareil ne doit pas produire de brouillage, et

(2) l'appareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est sus-

ceptible d'en compromettre le fonctionnement. Cet quipement est conforme aux limites d'exposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis 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. 1.3.5. Maintenance from the lens. 1.3.6. Mechanical Damage This product does not require any maintenance. If function is impaired dirt should be removed 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. Disposal (environmental protection) Do not dispose of electrical and electronic equipment in household waste. The product con-

tains valuable raw materials for recycling, which is why an old product must be returned to an authorised collection point for correct disposal / recycling. For further information refer to www.baumer.com. Page 8 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 integration testing. 300mm blind range lens. 2.1.3. Mounting Manual R600V.DAH5 Multi-object (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. Objects, Blind-range The sensor shall be mounted directed towards the area of interest. The sensor opening angle and angular sensitivity must be considered. Further details can be found in chapter 2.2. 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. The radar reflectance of the material (metal, non-metal, ), its geometry (size, surface struc-

ture, shape) determine the how well objects can be detected. Coatings on the target may affect the reflectance properties. The reflectance depends on the dielectric constant and con-

ductance of the material at the radar wavelength. Sufficient signal must be validated through Fig 1 Mechanical Setup (for visualization only) 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 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. For direct mounting

(thread in plate) Baumer recommends a thickness of the steel plate of at least 6mm. For mounting on a thinner soft steel plates (3mm) flange nuts must be used instead. R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 9 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) Fig 2 Mounting on a thick soft steel plate (6mm). Fig 3 Mounting on a thin soft steel plate (3mm) It is recommended to use M6 screws per MBM 10105. The mounting torque for 10.9 (property class) screws must be within 12Nm15Nm, and for 8.8 (property class) screws it must be within 10Nm...12Nm. For the mounting pattern and available tool space for tightening the 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. Page 10 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) Fig 4 Mounting pattern, tool space. ATTENTION Observe mounting torque and tool space to avoid damage to sensor. R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 11 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) Rules for Installation 2.2.1. Free Space and Directional Sensitivity The Baumer off-highway multi-object radar sensor is a very sensitive device to deliver superior measurement accuracy and speed. The opening angle of the main beam is 6 (for 3dB signal reduction, or approx. 9 for 20dB signal reduction). A typical directional sensitivity is shown below. X-Axis / H-Plane: per-

pendicular to centerline /

connector Y-Axis / E-Plane:

along centerline / con-

nector X Y Fig 5 Typical Directional Sensitivity of Sensor Baumer recommends limiting intrusion of unwanted objects, into a rotational cone of approx. 6070 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 measure-

ment. Fig 6 Recommended Free Space for weak targets Page 12 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) 2.2.2. Typical Detection Cone The following figures show the detection cone for two exemplary target types: A steel round bar with a 25mm diameter and a 100x100mm flat metal target. The measurement is done by moving the object sideways into the beam at several distances. The edge position of the object at which a measurement is possible is used. Fig 7 Typical Detection Cone for 25mm round bar (object not to scale) Fig 8 Typical Detection Cone for 100 x 100mm flat metal plate round bar (object not to scale) R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 13 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) 2.2.3. Target area guidelines Generally it is desirable that the sensor picks up only wanted objects. If objects in the back-

ground 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 re-

flections may need to be considered. Directionality

(Opening angle) unwanted ob-

jects wanted objects shields Fig 9 Usage of shields to cover unwanted objects Wanted objects should always be kept at a minimum distance of at least the specified blind range. For best accuracy 400mm should be considered. Directionality

(opening angle) Objects Fig 10 Separation of objects Object separation

> blind range Page 14 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) 2.2.4. Multi-path beam propagation Multi-path beam propagation may impact the accuracy of the measurement and should be avoided. Multi-path propagation may occur due a combination of target alignment, existence of a reflective object and side lobes of the sensor. Integration testing is important to under-

stand the impact of the build space on the result. Reflective objects

(e.g. walls) wanted object Directionality

(opening angle) Fig 11 Multi-path beam propagation R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 15 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (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. Please refer to the data sheet for information regarding operation during the engine start phase, and further technical details. Prior to electrical connection of the product the system must be down and not live. Do not exceed permissible bending radius of the cable. The device shall be appropriately protected by an external R/C or fuse. In an industrial environment the device shall be protected by an external R/C or listed fuse, rated max. 100W/Vp or max. 5A below 20VDC, and a UL class 2 power supply be used. Tab 3 Connector Pin-Out Connection type Mating connector Pin 1 2 3 4 Code

+Vs CAN HI GND CAN LO Ampseal 16 4P (776536-1) Ampseal 16 4P (776524-1) Description Positive Supply voltage 24VDC nominal) CAN High Ground (supply voltage) CAN Low

(12VDC

This product may be used on vehicle power fulfilling these requirements:

Tab 4 Vehicle Power Electrical Transients Test pulse (ISO 7637-2, ISO 16750-2) Severity level Functional status (12 VDC vehicle power) Functional status (24 VDC vehicle power) 1 IV C C 2a III A A 2b IV C C 3a 3b III A A III A A 4 III C C 5b

A A For test installations a cable with the order code 11213075 (ZCABL-ALL.AMP0300) may be used. ATTENTION!

The product shall not be used in the direct control and modification of the state of function of the machine. ATTENTION!

The product shall not be operated during engine start phase. The product shall be used on machines with centralized load dump sup-

ATTENTION pression. Page 16 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) ATTENTION NOTE The product shall be appropriately protected by an extern fuse or R/C. For test installations a cable with the order code 11213075 (ZCABL-

ALL.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. Tab 5 Status Mapping (Visual Diagnostic) Status Sensor fully operational (ob-

ject detected) Sensor fully operational, (no object detected) Hardware fault CAN bus Off (malfunction) Address claim failed Waiting for Master ECU ad-

dress claim Other Code 100ms Green LED ON 400ms LED OFF As above 100ms Yellow LED ON in LED OFF interval 50ms Red LED ON 50ms LED OFF 50ms Magenta LED ON 150ms LED OFF 50ms Magenta LED ON 50ms LED OFF 500ms Magenta LED ON 500ms LED OFF Blue LED R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 17 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (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 Bus Speed Bus Termination Bus Voltage Wiring Cable impedance Value 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. The bus setup is shown in the figure below:

R600V Radar Sensor R600V Radar Sensor 120 CAN HI CAN LO Fig 12 CAN connection setup diagram 120 For further information please refer to the CAN Protocol chapter. Page 18 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) The physical layer of the 2-wire interface is specified according to SAE J1939-15. The wires The implementation of the protocol stack follows the SAE J1939 standards and is visualized Network Management SAE J1939-81 CAN Protocol are protected against short-circuit. in the OSI network model as follows:

Tab 7 SAE J1939 in the OSI reference model OSI Layer Application Layer Presentation Session Transportation Layer Network Layer Data Link Layer Physical Layer Implementation SAE J1939-71 (Vehicle) SAE J1939-73 (Diagnostic) N/A N/A SAE J1939-21

(Data Link Layer) SAE J1939-31 SAE J1939-21 SAE J1939-14 SAE J1939-15 Not all functions listed in the referenced standards have been implemented. The following chapters explain the extent and implemented functions. DBC files can be downloaded from the respective product page on www.baumer.com. ISO Name Manufacturer code ECU instance Function instance Function System System instance Industry group Arbitration Capable 343 (Baumer Group) 0 3 0 1 255 (non-specific) 127 (non-specific) 2 (Agriculture) Device address 3.2.1. Commanded address (PGN 0xFED8) Supported 3.2.2. Address Claim The device is arbitrary address capable. Address range:

0x80...0xCF (adjustable) Default address:

0x80 (lowest address of set address range) R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 19 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) 3.2.3. Address resolution sequence (for default settings) After reset, the device performs the following start-up sequence:

1. After initialization, send request for address claimed message (PGN 0xEE00) 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. During this time, incoming address claims are evaluated and mark addresses claimed by devices with higher priority ISO names (NAME) than our own as claimed in the address sort table. 3. Send address claimed message a. Claim the own address, which is derived from the sort table. Address =

First free address in the sort table which is equal or higher than the pre-

ferred address (0x80) (1) 4. Wait 250 ms and handle address collisions. When, during this time, another device with higher priority claims our last claimed address, we will mark it as claimed and claim the next free address in the table

(1) 5. Start transmitting the cyclic target distance message. Most parameters (times, address, start of transmission, ) of this sequence are adjustable. For details please refer to chapter 0. The CAN SAE J1939 standard generally defines the address claim procedure. Each device on the bus can request an new address claiming from a single device or all nodes. The re-

questing device has to send a request (PGN 0xEA00) with the desired destination address DA (address of node, global address 0xFF) the data of the message must include the PGN 0xEE00. Tab 8 Address management messages Message Request for address claimed Address claimed Cannot claim source address Commanded address PGN 0xEA00 0xEE00 0xEE00 0xFED8 PF 234 238 238 254 PS DA 255 255 216 SA SA (2) SA 254 SA Length 3 bytes 8 bytes 8 bytes 9 bytes (3) DATA PGN 0xEE00 NAME NAME NAME, new SA

(1) This means that, provided no new sensors are mounted, each sensor will end up with the same device address each time. However, if a new sensor is added to the system, ad-

dresses might shift up or down according to the new sort order, which is always from lowest to highest serial number.

(2) In case no address has been claimed, yet the address may be set to 254

(3) longer than 8 bytes; transport protocol used instead Page 20 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) Supported PGN (Parameter Group Number) 3.3.1. ECU Identification Info Transmission rate:

On PGN request only 3.3.2. ECU Software Identification Transmission rate:

On PGN request only 3.3.3. DM14 Memory access command message 3.3.4. DM15 Memory access reply message Transmission rate:

Reply to DM14 command message 3.3.5. DM16 Memory access binary data PGN:

Direction:

PGN:

Direction:

PGN:

Direction:

Transmission rate:

PGN:

Direction:

PGN:

Direction:

Transmission rate:

PGN:

Direction:

Transmission rate:

Source address:

Destination address:

3.3.6. Object Messages (Main Messages) Initial delay after start-up sequence:

200ms All values are in little endian format. Bit1 of byte 1 = LSB of first byte 0xFDC5 Transmit 0xFEDA Transmit 0xD900 Receive Random 0xD800 Transmit 0xD700 Transmit/receive When needed 0xC000 Transmit 50ms Sensor address Broadcast (0xff) R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 21 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) Tab 9 Object 1, 2 Message (Main Message) Start bit Offset Scaling 128 128 0.03125m/s 0.03125m/s Tab 10 Object 3, 4 Message (Main Message) Start bit Offset Scaling 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 3 5 6 7 21 35 42 49 57 1 3 5 6 7 21 35 42 49 57 Bits 2 2 1 1 14 14 7 7 8 8 Bits 2 2 1 1 14 14 7 7 8 8 1 1 1 1 1mm 1mm 1%

1%

1 1 1 1 1mm 1mm 1%

1%

Description Multiplexor = 0 Sensor Status 0 = No error 1 = Reversible error. (e.g. temperature too high) 2 = Irreversible error. Sensor measurement not available Object status 1 ( 1 = peak is the strongest peak of all ) Object status 2 ( 1 = peak is the strongest peak of all ) Object distance 1 **

Object distance 2 **

Object distance confidence 1 */**

Value 0100% (higher confidence = detection of target better) Object distance confidence 2 */**

Value 0100% (higher confidence = detection of target better) Object speed 1 Value -43.96875 m/s ***

Object speed 2 Value -43.96875 m/s ***

Description Multiplexor = 1 Sensor Status 0 = No error 1 = Reversible error. (e.g. temperature too high) 2 = Irreversible error. Sensor measurement not available Object status 3 ( 1 = peak is the strongest peak of all ) Object status 4 ( 1 = peak is the strongest peak of all ) Object distance 3 **

Object distance 4 **

Object distance confidence 3 */**

Value 0100% (higher confidence = detection of target better) Object distance confidence 4 */**

Value 0100% (higher confidence = detection of target better) Object speed 3 Value -43.96875 m/s ***

Object speed 4 Value -43.96875 m/s ***

128 128 0.03125m/s 0.03125m/s Page 22 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Tab 11 Object 5, 6 Message (Main Message) Start bit Offset Scaling 1 3 5 6 7 21 35 42 49 57 1 3 5 6 7 21 35 42 49 57 1 1 1 1 1 1 1 1 1mm 1mm 1%

1%

0.03125m/s 0.03125m/s 1mm 1mm 1%

1%

0.03125m/s 0.03125m/s Manual R600V.DAH5 Multi-object (EN) Description Multiplexor = 2 Sensor Status 0 = No error 1 = Reversible error. (e.g. temperature too high) 2 = Irreversible error. Sensor measurement not available Object status 5 ( 1 = peak is the strongest peak of all ) Object status 6 ( 1 = peak is the strongest peak of all ) Object distance 5 **

Object distance 6 **

Object distance confidence 5 */**

Value 0100% (higher confidence = detection of target better) Object distance confidence 6 */**

Value 0100% (higher confidence = detection of target better) Object speed 5 Value -43.96875 m/s ***

Object speed 6 Value -43.96875 m/s ***

Description Multiplexor = 3 Sensor Status 0 = No error 1 = Reversible error. (e.g. temperature too high) 2 = Irreversible error. Sensor measurement not available Object status 7 ( 1 = peak is the strongest peak of all ) Object status 8 ( 1 = peak is the strongest peak of all ) Object distance 7 **

Object distance 8 **

Object distance confidence 7 */**

Value 0100% (higher confidence = detection of target better) Object distance confidence 8 */**

Value 0100% (higher confidence = detection of target better) Object speed 7 Value -43.96875 m/s ***

Object speed 8 Value -43.96875 m/s ***

Bits 2 2 Bits 2 2 1 1 14 14 7 7 8 8 1 1 14 14 7 7 8 8 128 128 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 128 128 Tab 12 Object 7, 8 Message (Main Message) Start bit Offset Scaling

*Target confidence is a function of signal strength. Above certain signal amplitude, confidence will always be 100%

**Target confidence and target distance will be 0 if no target is detected

*** positive values: increasing distance R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 23 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) 3.3.7. Vehicle Speed Message PGN:

PDU Type:

Direction:

Reception address:

Reception rate:

0xC100 PDU1 Receive

< 1000ms Broadcast or device address This message may be used to inform the sensor of the current vehicle speed. This message is optional; the device is able to perform its functionality without this information, as long as the speed differential is low. All values are in little endian format. Bit1 of byte 1 = LSB of first byte Tab 13 Effective Vehicle Speed Message Start bit Bits Offset Scaling Description 1 17 18 16 1 48 0 0 0 1mm/sec. Effective vehicle speed 1 1 Sign (0/1 = forward/reverse) Dont care The effective vehicle speed depends on the mounting angle towards the object. Depending on this angle the speed transmitted needs to be corrected. No speed signal is required if the measurement perpendicular to the vehicle movement.

= sin0 = 0

= sin Fig 13 Effective Vehicle Speed veff Page 24 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 F O S I O R P y t i r o i r p t i b 3 Manual R600V.DAH5 Multi-object (EN) Exemplary Decoding of a CAN message frame Exemplary decoding the object message (PGN 0xC000) Based on a line from a CAN log (18100856, 18C0FF80, Rx, A0 20 02 AC 78 C3 7D 7F Tab 14 Decoding a CAN SAE J1939 message frame 11 bit CAN ID 18 bit CAN ID R R S E D I 0x 18 C0 FF 80

[1 1000 1100 0000 1111 1111 1000 0000]2 C R C t i b 6 1 K C A t i b 2 F O E t i b 7

n o c t i b 6 l d e i f l o r t R T R 08 byte data field 0x A0 20 02 AC 78 C3 7D 7F

(11+18bit = 29bit) Tab 15 Example for decoding the CAN ID (29bit, PDU1 format) 8 bit PDU format (<240) P D e g a p a t a d t i b 1 R d e v r e s e r t i b 1 8 bit PDU specific

(group extension) 8 bit source address 0x06 0x00 0x00 0xC0 FF0x 0x80

[110]2

[0]2

[0]2

[1100 0000]2

[1111 1111]2

[1000 0000]2 PDU1 format Global destination address PGN (parameter group number) Tab 16 Example for decoding the 8 byte data field

[1010 0000 0010 0000 0000 0010 1010 1100 0111 1000 1100 0011 0111 1101 0111 1111]2 0x A0 20 02 AC 78 C3 7D 7F Multi-

plexor

(bit 1-2) Sensor status

(bit 3-4) Object status 2n

(bit 5) Object 2n distance

(bit 7-20) Object 2n+1 distance

(bit 21-34) Object 2n confidence

(bit 35-41) Object 2n+1 confidence

(bit 42-48) Object 2n Object 2n+1 speed speed

(bit 49-56)

(bit 57-64) Object status 2n+1

(bit 6)

[00]2

[00]2

[0]2

[1]2 0x 08 82 0x 0A C0 0x 5E 0x 61 0x 7D 0x 7F n=0 0 0 1 2178mm 2752 mm 94 %

97 %

-0.094m/s

-0.031m/s Notes: little endian format, bit 1 underlined; colours indicate correspondences R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 25 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (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 speed 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). In its proceed reply, the device returns the actual number of bytes to be used for the trans-

fer. 3.5.1. Tool ISO name acceptance criteria The sensor accepts MA sessions from any tool that fulfils all of the following criteria:

ISO name Function field = 129 ISO name Industry group field = 0 Page 26 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) 3.5.2. Adjustable Parameters The following parameters are available for adjustment:

Tab 17 Adjustable Parameters Address Parameter range offset scaling Default value LED settings 0..100 0..255 0..100 0..255 0..100 0..255 300..8500 300..8500 0 100 Measurement Settings 1%

100ms 1%

100ms 1%

100ms 1mm 1mm 1%

0 0 0 0 0 0 8500 300 100 0 100 1%

5 CAN Settings 10..5000 0..131071 0..3 1ms 1 1 50 49152 0 0x07DFAA 0x07DFAB 0x07DFAC 0x07DFAD 0x07DFAE 0x07DFAF 0x07E388 0x07E389 0x07E3A6 0x07E3A7 0x07E38A 0x07E38B 0x07E397 Green LED duty cycle (5) Green LED period (5) Red LED duty cycle (5) Red LED period (5) Blue LED duty cycle (5) Blue LED period (5) Max. Detection range (4) Min. Detection range (4) Sensor Sensitivity 0 = min sensitivity 100 = max sensitivity Weak peak suppression threshold

(% of strongest peak amplitude) Peaks with amplitudes under this threshold will be suppressed Data PGN transmit period PGN for distance message trans-

mission PDU transmission start mode. Default enabled main message 0 = start immediately 1 = start after master address claim received

(msg transmission starts only when enable flags are set 0x07E38C) 2, 3 = reserved (do not use) Msg transmission enable flags (5) 0 = Main messages off 1 = Main messages on This SPN can be used to switch message on and off dynamically Default msg transmission enable flags 0 = Main messages off 1 = Main messages on Use to prevent the sensor from sending data after start up. Min time to wait before sending a request for address claimed mes-

sage Range of random time to wait be-

fore sending a request for address claimed message 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0x07E38C 0..1 0 1 0x07E38D 0..1 0 1 1 1 0x07E392 0x07E393 0..5000 1ms 100 0..5000 1ms 100 R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 27 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) Address 0x07E394 0x07E39D 0x07E39E 0x07E395 0x07E396 0x07E398 0x07E399 0x07E39A 0x07EF40 scaling 1ms Default value 1250 1 1 0 0 0 offset 0..5000 0..0xffffffffffffffff 0..0xffffffffffffffff range 0..5000 Parameter Time to wait after sending a re-

quest for address claimed mes-

sage before own address claim is sent Compare mask for bitwise AND of ISO name used for Master ECU Detection 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. 0 = 250k 1 = 500k 2 = reserved (do not use) Reset device to default values Write data in this sequence to reset all non-volatile SPNs to default values:

0x00, 0xAA, 0x55, 0x12, 0x34 128..209 128..209 0..5000 0..1 0 0 0 0 0 1 1 1 1ms 250 1ms 200 0 0 128 209 0

(4) Detection range can be adjusted to avoid issues with double echo detections.

(5) SPN value is reset to default after a power cycle (volatile) Page 28 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) Trouble Shooting Tab 18 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. Hardware fault. Replace part by qualified personnel The LED is blinking magenta CAN bus error. Check Tab 5 for details. targets

/ distance to housing Mechanical damage and/or lens Unexplained measurement in near range Unexplained measurement in far range The LED is blinking red (50ms on /

50ms off)

/ distance targets The LED is blinking blue for a long period. No communication (also magenta blinking) No messages are sent Replace part by qualified personnel. Check free space (or beyond) for non-stationary objects (such as dangling wires, tubes, water drops on surfaces. Check for double reflections, and limit measurement range Try a power cycle. If this does not fix the issue peplace part by qualified personnel Check CAN speed (e.g. 250kbit/sec), check 120Ohm termination, Check default transmission enable flags (0x0087E38D) Check if master address has been claimed (when required due to PDU transmis-

sion start mode setting 0x0087E397) R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 29 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) Accessories The following accessories are available for this product Tab 19 Accessories Art. no. Description Type Comment 11213075 ZCABL-ALL.AMP0300 11181700 ZREFL-RAD.CCUBE30 11197315 ZREFL-RAD.CCUBE100 Connector AMPSEAL 16 with PUR-cable Metal reflector as corner cube, edge length 30 mm Metal reflector as corner cube, edge length 100 mm 3m cable with AMPSEAL connector and fly-

leads Metal reflector in corner cube design Material: Steel Reliable object detection < 6 m Metal reflector in corner cube design Material: Steel Reliable object detection < 20 m Page 30 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) Appendix Table Overview Tab 1 Applicable Products .................................................................................................. 4 Tab 2 Applicable Documents .............................................................................................. 7 Tab 3 Connector Pin-Out .................................................................................................. 16 Tab 4 Vehicle Power Electrical Transients ....................................................................... 16 Tab 5 Status Mapping (Visual Diagnostic) ........................................................................ 17 Tab 6 CAN Interface ......................................................................................................... 18 Tab 7 SAE J1939 in the OSI reference model .................................................................. 19 Tab 8 Address management messages ........................................................................... 20 Tab 9 Object 1, 2 Message (Main Message) .................................................................... 22 Tab 10 Object 3, 4 Message (Main Message) ................................................................ 22 Tab 11 Object 5, 6 Message (Main Message) ................................................................ 23 Tab 12 Object 7, 8 Message (Main Message) ................................................................ 23 Tab 13 Effective Vehicle Speed Message ...................................................................... 24 Tab 14 Decoding a CAN SAE J1939 message frame ..................................................... 25 Tab 15 Example for decoding the CAN ID (29bit, PDU1 format) .................................... 25 Tab 16 Example for decoding the 8 byte data field ......................................................... 25 Tab 17 Adjustable Parameters........................................................................................ 27 Tab 18 Trouble Shooting Overview ................................................................................. 29 Tab 19 Accessories ........................................................................................................ 30 Tab 20 Definitions and Abbreviations ............................................................................. 33 Tab 21 Document revision history ................................................................................... 35 R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 31 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (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. ................................................................................ 11 Fig 5 Typical Directional Sensitivity of Sensor ................................................................. 12 Fig 6 Recommended Free Space for weak targets ......................................................... 12 Fig 7 Typical Detection Cone for 25mm round bar (object not to scale) .......................... 13 Fig 8 Typical Detection Cone for 100 x 100mm flat metal plate round bar (object not to scale) ............................................................................................................................. 13 Fig 9 Usage of shields to cover unwanted objects .......................................................... 14 Fig 10 Separation of objects .......................................................................................... 14 Fig 11 Multi-path beam propagation .............................................................................. 15 Fig 12 CAN connection setup diagram .......................................................................... 18 Fig 13 Effective Vehicle Speed veff................................................................................. 24 Page 32 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) Definitions and Abbreviations The following definitions and abbreviations are used throughout this manual Tab 20 Definitions and Abbreviations Key CAN DAB DA DM ECU ISO LED MA OEM OSI PDU PF PGN PS SA SAE TLD VDC International Standardization Organization Definition Controller Area Network Data Sheet Destination address Direct Memory Electronic Control Unit Light Emitting Device Memory Access Original Equipment Manufacturer Open Systems Interconnection Protocol Data Unit PDU Format Parameter Group Number PDU Specific Source Address Society of Automotive Engineers Top Level Drawing Volt Direct Current R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 33 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (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. The (complete or partial) reproduction, transmission, modification, linking or utilization of this manual for publishing or commercial goals is pro-

hibited without prior written approval from the Baumer Group. 7.1.2. No Warranty The Baumer Group uses reasonable efforts in order to ensure the reliability of the information presented in this manual, but makes no warranties or representations whatsoever with respect to the accuracy or reliability of the information provided in this manual. Any information published and any opinion ex-

pressed in this manual are provided by the Baumer Group for personal use and for informational pur-

poses only; they may be changed by the Baumer Group at any time without prior notice. The suitability of the Baumer product must be validated by the customer for every application. Intellec-

tual property rights may exist for some applications and / or end use cases. Baumer does neither implic-

itly nor explicitly warrant the usage for specific application and / or end use case. 7.1.3. No Offer The information published in this manual does not constitute a solicitation to submit an offer, nor does it constitute an offer or a recommendation to acquire or sell investment vehicles or to conduct any other transactions. Baumer reserves the right to discontinue the sale of any product. The availability of any particular product cannot be guaranteed. All sales are subject to our standard terms of delivery. For a copy please contact Baumer. 7.1.4. Limitation of Liability The Baumer Group disclaims, without limitation, all liability for any loss or damage of any kind, including any direct, indirect or consequential damages, which might be incurred through the use of this manual. This is also valid for losses and damages caused by viruses. 7.1.5. Governing Law and Jurisdiction Subject to the Terms and Conditions set forth herein, any use of this manual and all legal disputes aris-

ing in connection therewith shall exclusively be governed by Swiss law. Exclusive place of jurisdiction is Frauenfeld (TG) Switzerland. Page 34 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) Document Revision History Tab 21 Document revision history Vers. Date Note 12 Aug 2020 Initial Release 07 Jan 2021 Add Compliance Statement wemi 1.0 1.1 Author wemi Checked Released N/A N/A N/A N/A R600V.DAH5_multiobject_manual_1.1 (EN).docm Page 35 of 36 Last Update: 01 Jan 2021 Manual R600V.DAH5 Multi-object (EN) Baumer Worldwide Belgium Baumer SA/NV BE-2260 Westerlo Phone +32 14 57462 0 China Baumer (China) Co., Ltd. CN-201612 Shanghai Phone +86 (0)21 6768 7095 Germany/Austria Baumer GmbH DE-61169 Friedberg Phone +49 (0)6031 60 070 Republic of Korea Baumer (Korea) Co., Ltd. KR-411-766 Seoul Phone +82-2-6351-9909 Spain Baumer Automacin Ibrica S.L ES-08021 Barcelona Phone +34 932547864 United Kingdom Baumer Ltd. GB-Watchfield, Swindon, SN6 8TZ Phone +44 (0)1793 783 839 Brasil Baumer do Brasil Ltda 13208-120 Jundia, So Paulo Phone +55 11 4523-5120 Canada Baumer Inc. CA-Burlington, ON L7M 4B9 Phone +1 (1)905 335-8444 Denmark Baumer A/S DK-8210 Aarhus V. Phone +45 (0)8931 7611 France Baumer SAS FR-74250 Fillinges Phone +33 (0)450 392 466 India Baumer India Private Ltd. IN-411058 Pune Phone +91 2066292400 Italy Baumer Italia S.r.l. IT-20090 Assago, MI Phone +39 (0)245 70 60 65 Poland Baumer Sp.z.o.o. PL- 92-333 d Phone +48 42 676 7330 Sweden Baumer A/S SE-56122 Huskvarna Phone +46 (0)36 13 94 30 Singapore Baumer (Singapore) Pte. Ltd. SG-339412 Singapore Phone +65 6396 4131 Switzerland (Headquarter) Baumer Electric AG CH-8501 Frauenfeld Phone +41 (0)52 728 1122 USA Baumer Ltd. US-Southington , CT 06489 Phone +1 800 937 9336 www.baumer.com/worldwide Page 36 of 36 R600V.DAH5_multiobject_manual_1.1 (EN).docm Last Update: 01 Jan 2021

Radar Sensoren Radar sensors Dtecteurs radar R600V.DAE0-11188367 Radarsensor fr Boden- und Pflanzen-

abstand (fr allgemeine Anwendungen) Radar sensor for ground & crop distance (for general applications) Dtecteurs radar appropri la mesure de la distance du sol et des plantes

(pour utilisation gnral) 82 62 42 2 x 6

, 8 4 8 4

, 7 1 1 1 2 4 97 32 Abmessungen Dimensions Dimensions Elektrischer Anschluss Connection diagram Schma de raccordement CAN SAE J1939

(1)

(2)

(4)

(3)

+Vs CAN HI CAN LO 0 V 2 CAN HI 4 CAN LO 3 GND 1 +Vs 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 dtecteur. Technische Daten Erfassungsbereich Sd ffnungswinkel Betriebsspannungsbereich

+Vs Stromaufnahme max.

(ohne Last) 0,3 ... 5 m 6 (3dB) 9 ... 32 VDC 160 mA Technical data Donnes techniques sensing distance Sd 0,3 ... 5 m Porte de dtection Sd aperture angle voltage supply range

+Vs current consumption max. (no load) 6 (3dB) 9 ... 32 VDC 160 mA Angle douverture Plage de tension +Vs 9 ... 32 VDC 0,3 ... 5 m 6 (3dB) Consommation max. (sans charge) 160 mA Ausgangsschaltung CAN (5V) output circuit CAN (5V) circuit de sortie CAN (5V) logische Schnittstelle CAN SAE J1939 logical interface CAN SAE J1939 interface logique CAN SAE J1939 Baud Rate kurzschlussfest 250 kBaud ja short circuit protection yes baud rate 250 kBaud vitesse de transmission 250 kBaud verpolungsfest ja, Vs zu GND reverse polarity pro-

tection yes, Vs to GND Arbeitstemperatur

-40 ... +70 C operating temperature

-40 ... +70 C Protg contre courts-cir-

cuits Protg contre inversion polarit Temprature de fonctionne-

ment oui oui, Vs vers GND

-40 ... +70 C Lagertemperatur Schutzart

-40 ... +85 C IP 68/69K storage temperature

-40 ... +85 C Temprature de stockage

-40 ... +85 C protection class IP 68/69K Classe de protection IP 68/69K Technische nderungen vorbehalten Tecnical specifications subject to change Sous rserve de modifications techniques 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 prsent appareil est conforme aux CNR dIndustrie Canada applicables aux appareils radio exempts de licence. Lexploita-

tion est autorise aux deux conditions suivantes: (1) lappareil ne doit pas produire de brouillage, et (2) lappareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible den compromettre le fonctionnement. Cet quipement est conforme aux limites dexposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis 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 Visuelle Diagnose Visual diagnostic Diagnostic visuel Status / Status / Condition Code Sensor voll funktionfhig (Objekt detektiert) Sensor fully operational (object detected) Capteur compltement oprational (object dtect) 100 ms grne LED an / green LED on / LED verte allumine 900 ms LED aus / off / teinte Sensor voll funktionfhig (kein Objekt detektiert) Sensor fully operational (no object detected) Capteur compltement oprational (anun object dtect) wie oben / as above / comme ci-dessus zustzlich / with additional / avec supplmentaire 100 ms gelbe LED an / yellow LED on / LED jaune allumine Elektronikfehler Hardware fault Dfaut de matriel CAN Abwurf (Fehlfunktion) CAN bus off (malfunction) Arrt du bus CAN (dysfonctionnement) Adresszuweisung fehlgeschlagen Address claim failed Assigment d addresse failli 50 ms rote LED an / red LED on / LED rouge allumine 50 ms LED aus / off / teinte 50 ms magenta LED an / on / allumine 150 ms LED aus / off / teinte 50 ms magenta LED an / on / allumine 50 ms LED aus / off / teinte Warten auf Adresszuweisung Waiting for Master ECU adress claim En attendre il assignment d adresse du matre ECU 500 ms magenta LED an / on / allumine 500 ms LED aus / off / teinte Andere / other / autre blaue LED / blue LED / LED bleue Grundinformation CAN - basic information CAN -

informations de base CAN Boden- und Pflanzenabstand CAN Nachricht - ground and crop CAN message - Message CAN, distance du sol es des plantes CAN Kommunikation - CAN communication - communication CAN ISO Name ISO name Nom ISO Gerteadresse Device address Adresse de lappareil Manufacturer code:

ECU instance:

Function instance:

Function:

System:

System instance:

Industry group:

Arbitration capable:

343 (Baumer Group) 0 0 0 0 0 2 1 Untersttzt / supports commanded address /

supporte adresse commande (PGN 0xFED8) im Bereich / in range / dans l interval:

0x80 ... 0xCF (Standard / default / dfault 0x80) PGN CAN Nachricht / CAN message / Message CAN : 0xC000 Start bit Bits Beschreibung / description / description Abstand offset dcaillage Skalierung scaling caillage 1 3 10 17 33 49 0 0 0 0 0 2 7 7 16 16 16 1 1%

1%

1mm 1mm 1 Sensorstatus / Sensor status / tat de capteur 0 = Kein Fehler / no error / Pas d erreur 1 = Reversibler Fehler / reversible error / erreur reversible 2 = Irreversibler Fehler / irreversible error / erreur irrversible Konfidenz Pflanzenabstand / canopy confidence /

confidance en la distance par raportaux plantes 0% ... 100%

Konfidenz Bodenabstand / ground confidence /

confidance en la distance par rapport au sol 0% ... 100%

Pflanzenabstand / canopy distance / distance des plantes Bodenabstand / ground distance / distance du sol 32768 Reserviert / reserved / reserve (Ausgabe / fixed to / fix : 0xffff) Fr weitere Informationen lesen Sie bitte die Bedienungsanleitung - For further information please refer to the user manual - Pour plus d informations, veuillez vous rfrer au manuel d utilisation 2/4 2 3 4 5 6 8 7 2 1 4 3 82 0,3 62 0,5

, 5 8 1 0,2 6,8

, 5 0 1 1

, 5 0 2 4 1 NOTES:

1. ELECTRICAL SPECIFICATION:

8 0 0 1 1 2 0 2 n a J 3 1

. A 2. OUTPUT FUNCTION:

a. VOLTAGE SUPPLY RANGE: 9V32V (12VDC/24VDC VEHICLE POWER) b. CURRENT CONSUMPTION: <160mA (averaged) c. RADAR FREQUENCY: 122GHz123GHz a. CAN SAE J1939 b. BAUD RATE: 250kbaud c. OUTPUT CIRCUIT: CAN 5V without internal 120 terminator d. CAN UPDATE RATE: 1 100 Hz e. SENSING RANGE, DYNAMIC FIELD DATA: 300mm5000mm (center axis) f. SENSING RANGE, STATIC TARGET: 390mm5000mm (center axis) g. BLIND RANGE: 300mm (object detection limited) 3. MECHANICAL DATA:

a. RECTANGULAR HOUSING: 97 x 84 x 42.5mm (without connector) b. DIAMETER MOUNTING HOLES:6.8mm0.2mm c. RECOMMENDED SCREWS: M6 ACC. MBM 10105 d. INSTALLATION TORQUE: Screw with property class 10.9: max torque of screw 12Nm15Nm, Screw with property class 8.8: max torque of screw 10Nm12Nm e. ENCLOSURE MATERIAL: POLYAMID (GLASS FIBER REINFORCED) f. MOUNTING PLATE: ALUMINUM (COATED WITH CATAPHORETIC PAINTING (KTL)) g. LENS MATERIAL: Polyetherimid (PEI) zero distance 4. AMBIENT CONDITIONS:

a. STORAGE TEMPERATURE: -40C+85C b. OPERATING TEMPERATURE: -40C+70C 5. SENSOR MEETS FOLLOWING REQUIREMENTS OF EMC AND ENVIRONMENT ACC. FSP:

a. EMC AGRICULTURAL MACHINERY EN ISO 14982 (12V/24V-SYSTEM) b. EMC CONSTRUCTION MACHINERY EN 13309 (12V/24V-SYSTEM) c. EMC EARTH MOVING MACHINERY ISO 13766 (12V/24V-SYSTEM) d. EUROPE: RADIO EQUIPMENT AND REPEALING DIRECTIVE (RED) 2014/53/EU e. USA / CDN: COMPLIANCE STATEMENTS SEE PAGE 2, CHAPTER 11 OF THIS center axis 0 6 DRAWING f. EMC (Industrial) ACC. TO EN 61000-6-2 / EN 61000-6-3 g. PROTECTION CLASS ISO 20653: IP69K h. PARTICLE IMPACT EN ISO 20567-1 (GRAVEL ACC. TO EN11124-2) i. RANDOM VIBRATION IEC 60068-2-64 (5Hz2000Hz, 11.55 Grms) j. OPERATING MECHANICAL SHOCK IEC 60068-2-27 (50g) 6. PART IS MARKED WITH BAUMER LOGO; PART NUMBER; DATE CODE, SERIAL NUMBER 7. MOUNTING RECOMMENDATION:

a. REQUIRED FLATNESS OF THE SENSOR MOUNTING SURFACE 0.2mm/100mm b. DIRECT MOUNTING ONTO A STEEL PLATE WITH A THICKNESS OF 6mm WITH TWO c. M6 SCREWS INDIRECT MOUNTING ONTO A STEEL PLATE WITH A THICKNESS OF 3mm WITH TWO M6 SCREWS AND TWO FLANGE NUTS 8. LED FUNCTIONS (LED INSIDE LENS) a. SENSOR FULLY OPERATIONAL: GREEN LED blinking b. NO OBJECT DETECTED: GREEN / YELLOW blinking c. CAN BUS WAITING ON MASTER OR ERRORS: MAGENTA LED blinking d. HW FAULT: RED LED blinking 9. Intended use / application policy:

a. The suitability and functionality of a Baumer product and its performance under different applications and / or end-use cases can only be verified by testing, and shall ultimately be the responsibility of the customer. b. The product shall not be used:

- For functional safety applications and in potentially explosive atmospheres.

- In the direct control and modification of the state of function of the machine. c. Possible malfunctions and failed measurements of the sensor must be intercepted at the system level and shall not lead to unsafe situations in the system. d. The customer shall perform its own safety assessment to account for sensor behavior in particular situations (e.g. distance fluctuations in static situations, operator caused dist ance manipulation by hand or other objects). e. Safety relevant information must be communicated to the end-user. 10. Recommended free space around radar lens Rotational cone with an angle of 30 around sensor center axis Sensitivity and detection of objects near the blind range can be influenced by disturbing objects

(e.g. metal boom structures or water hose) within this free space. Moving objects up to 60 outside of free space should be avoided. Further testing is recommended to define a smaller free space. B C D E F 3/4 42,5 0,5 42 0,5 (Lens) 1 1 x x x x x x

. R 6 0 0 V D A E 0

1 1 x x x x x x

. S N x x x x 1 0 X

x x x x

x x x x F C C I

D x x x x x x I C I

D x x x x x x H V I

N x x x x x x 32 0,5 Qty Mod y a m d n a Y T R E P O R P R U O s i i g n w a r d s h T i l e b a l i a v a e d a m t r o d e a e r c e r

, i d e p o c e b t o n i i n o s s m r e p r o i r p t u o h t i w y t r a p d r i h t y n a o t Mating Connector AMPSEAL 16 776524-1 PIN 1 PIN 2 PIN 3 PIN 4

+Vs CAN HI GND CAN LO 0 2 O

. x a m

, 5 0 4 8

, 5 0

, 4 7 1 Laser marked 97 0,5 1 / 2 Item Pos. Material Rev Drawn a 13.01.2021 cg Approved rma 13.01.2021 Rev Drawn Approved deburred Project Remarks 10714028 Off Highway Radar Mod R600V.DAE0-11188367 Ground & Crop (General) Baumer Electric AG Postfach Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 (0)52 728 11 22 Fax +41 (0)52 728 11 44 11188367 Replaced by Replacement for Scale Drawn 1:1 Checked Approved 17.04.2019 17.04.2019 17.04.2019 RZ.00015 cg rma wemi A 1 2 3 4 5 6 7 8 11. Compliance Statements:

a. 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 installed and used in accordance with the instruction manual, may cau se 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. b. Canada Compliance Statement This device complies with Industry Canada licence-exempt RSS standard(s). 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. This equipment complies with IC 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. Le prsent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorise aux deux conditions suivantes:

(1) l'appareil ne doit pas produire de brouillage, et

(2) l'appareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible d'en compromettre le fonctionnement. Cet quipement est conforme aux limites d'exposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis avec un minimum de 20 cm de distance entre la source de rayonnement et votre corps. Ce transmetteur ne doit pas tre place au mme endroit ou utilise simultanment avec un autre transmetteur ou antenne.

8 0 0 1 1 2 0 2 n a J 3 1

. A B C D E F Item Pos. Material Rev Drawn a 13.01.2021 cg Approved rma 13.01.2021 Rev Drawn Approved deburred Project Remarks 10714028 Off Highway Radar Mod R600V.DAE0-11188367 Ground & Crop (General) Baumer Electric AG Postfach Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 (0)52 728 11 22 Fax +41 (0)52 728 11 44 11188367 2 / 2 Replaced by Replacement for Scale Drawn 1:1 Checked Approved 17.04.2019 17.04.2019 17.04.2019 RZ.00015 cg rma wemi A 4/4 Qty Mod y a m d n a Y T R E P O R P R U O s i i g n w a r d s h T i l e b a l i a v a e d a m t r o d e a e r c e r

, i d e p o c e b t o n i i n o s s m r e p r o i r p t u o h t i w y t r a p d r i h t y n a o t

Abmessungen Dimensions Dimensions Elektrischer Anschluss Connection diagram Schma de raccordement Radar Sensoren Radar sensors Dtecteurs radar R600V.DAH5-11205779 Radar Distanz messender Sensor Radar distance measuring sensor Radar dtecteurs de mesure de distance 82 62 42 2 x 6

, 8 4 8 4

, 7 1 1 1 2 4 97 32 Alle Masse in mm All dimensions in mm Toutes les dimensions en mm CAN SAE J1939

(1)

(2)

(4)

(3)

+Vs CAN HI CAN LO 0 V Vor dem Anschliessen des Sensors die Anlage spannungsfrei schalten. Disconnect power before connecting the sensor. Mettre l`installation hors tension avant le raccordement du dtecteur. 2 CAN HI 4 CAN LO 3 GND 1 +Vs Technische Daten Technical data Donnes techniques Erfassungsbereich Sd 0,3 ... 8,5 m sensing distance Sd 0,3 ... 8,5 m Porte de dtection Sd 0,3 ... 8,5 m ffnungswinkel Betriebsspannungsbereich

+Vs Stromaufnahme max.

(ohne Last) 6 (3dB) 9 ... 32 VDC 160 mA aperture angle voltage supply range

+Vs current consumption max. (no load) 6 (3dB) 9 ... 32 VDC 160 mA Angle douverture 6 (3dB) Plage de tension +Vs 9 ... 32 VDC Consommation max.

(sans charge) 160 mA Ausgangsschaltung CAN (5V) output circuit CAN (5V) circuit de sortie CAN (5V) logische Schnittstelle CAN SAE J1939 logical interface CAN SAE J1939 interface logique CAN SAE J1939 Baud Rate kurzschlussfest ja short circuit protection yes 250 kBaud (500 kBaud) baud rate 250 kBaud (500 kBaud) vitesse de transmission 250 kBaud (500 kBaud) verpolungsfest ja, Vs zu GND reverse polarity pro-

tection yes, Vs to GND Arbeitstemperatur

-40 ... +70 C operating temperature

-40 ... +70 C Lagertemperatur

-40 ... +85 C storage temperature

-40 ... +85 C Protg contre courts-circuits oui Protg contre inversion polarit Temprature de foncti-

onnement Temprature de stocka-

ge oui, Vs vers GND

-40 ... +70 C

-40 ... +85 C Schutzart IP 68/69K protection class IP 68/69K Classe de protection IP 68/69K Technische nderungen vorbehalten Tecnical specifications subject to change Sous rserve de modifications techniques 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 prsent appareil est conforme aux CNR dIndustrie Canada applicables aux appareils radio exempts de licence. Lexploita-

tion est autorise aux deux conditions suivantes: (1) lappareil ne doit pas produire de brouillage, et (2) lappareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible den compromettre le fonctionnement. Cet quipement est conforme aux limites dexposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis 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 Visuelle Diagnose Visual diagnostic Diagnostic visuel Status / Status / Condition Code Sensor voll funktionfhig (Objekt detektiert) Sensor fully operational (object detected) Capteur compltement oprational (object dtect) 100 ms grne LED an / green LED on / LED verte allumine 900 ms LED aus / off / teinte Sensor voll funktionfhig (kein Objekt detektiert) Sensor fully operational (no object detected) Capteur compltement oprational (anun object dtect) wie oben / as above / comme ci-dessus zustzlich / with additional / avec supplmentaire 100 ms gelbe LED an / yellow LED on / LED jaune allumine Elektronikfehler Hardware fault Dfaut de matriel CAN Abwurf (Fehlfunktion) CAN bus off (malfunction) Arrt du bus CAN (dysfonctionnement) Adresszuweisung fehlgeschlagen Address claim failed Assigment d addresse failli 50 ms rote LED an / red LED on / LED rouge allumine 50 ms LED aus / off / teinte 50 ms magenta LED an / on / allumine 150 ms LED aus / off / teinte 50 ms magenta LED an / on / allumine 50 ms LED aus / off / teinte Warten auf Adresszuweisung Waiting for Master ECU adress claim En attendre il assignment d adresse du matre ECU 500 ms magenta LED an / on / allumine 500 ms LED aus / off / teinte Andere / other / autre blaue LED / blue LED / LED bleue CAN Kommunikation - CAN communication - communication CAN Grundinformation CAN - basic information CAN -

informations de base CAN ISO Name ISO name Nom ISO Gerteadresse Device address Adresse de lappareil Manufacturer code:

ECU instance:

Function instance:

Function:

System:

System instance:

Industry group:

Arbitration capable:

343 (Baumer Group) 0 2 255 (non specific) 127 (non specific) 0 2 1 Untersttzt / supports commanded address /

supporte adresse commande (PGN 0xFED8) im Bereich / in range / dans l interval:

0x80 ... 0xCF (Standard / default / dfault 0x80) Zielabstand CAN Nachricht - target distance CAN message - Message CAN, distance des cible PGN CAN Nachricht / CAN message / Message CAN : 0xC000 Start bit Bits Beschreibung / description / description Abstand offset dcaillage Skalierung scaling caillage 1 9 17 49 0 0 0 2 8 24 16 1 1%

Sensorstatus / Sensor status / tat de capteur 0 = Kein Fehler / no error / Pas d erreur 1 = Reversibler Fehler / reversible error / erreur reversible 2 = Irreversibler Fehler / irreversible error / erreur irrversible Konfidenz Zielabstand / target distance confidence /

confidance en la distance par raportaux cible 0% ... 100%

0,1mm Zielabstand / target distance / distance des cible 32768 1mm/sec Zielgeschwindikeit / target speed / vitesse des cible Fr weitere Informationen lesen Sie bitte die Bedienungsanleitung - For further information please refer to the user manual - Pour plus d informations, veuillez vous rfrer au manuel d utilisation 2/4 1 2 3 4 5 6 8 7 2 1 4 3 82 0,3 62 0,5

, 5 8 1 0,2 6,8

, 5 0 1 1

, 5 0 2 4 Mating Connector AMPSEAL 16 776524-1 PIN 1 PIN 2 PIN 3 PIN 4

+Vs CAN HI GND CAN LO 0 2 O

. x a m

, 5 0 4 8

, 5 0

, 4 7 1

7 NOTES:

2 1 1 1 2 0 2 n a J 3 1

. 1. ELECTRICAL SPECIFICATION:

a. VOLTAGE SUPPLY RANGE: 9V32V (12VDC/24VDC VEHICLE POWER) b. CURRENT CONSUMPTION: <160mA (averaged) c. RADAR FREQUENCY: 122GHz123GHz A 2. OUTPUT FUNCTION:

a. CAN SAE J1939 b. BAUD RATE: 250kbaud c. OUTPUT CIRCUIT: CAN 5V without internal 120 terminator d. CAN UPDATE RATE: 1 100 Hz e. SENSING RANGE: 300mm8500mm (center axis) f. BLIND RANGE: 300mm (object detection limited) 3. MECHANICAL DATA:

a. RECTANGULAR HOUSING: 97 x 84 x 42.5mm (without connector) b. DIAMETER MOUNTING HOLES:6.8mm0.2mm c. RECOMMENDED SCREWS: M6 ACC. MBM 10105 d. INSTALLATION TORQUE: Screw with property class 10.9: max torque of screw 12Nm15Nm, Screw with property class 8.8: max torque of screw 10Nm 12Nm e. ENCLOSURE MATERIAL: POLYAMID (GLASS FIBER REINFORCED) f. MOUNTING PLATE: ALUMINUM (COATED WITH CATAPHORETIC PAINTING (KTL)) g. LENS MATERIAL: Polyetherimid (PEI) zero distance 4. AMBIENT CONDITIONS:

a. STORAGE TEMPERATURE: -40C+85C b. OPERATING TEMPERATURE: -40C+70C 5. SENSOR MEETS FOLLOWING REQUIREMENTS OF EMC AND ENVIRONMENT ACC. FSP:

a. EMC AGRICULTURAL MACHINERY EN ISO 14982 (12V/24V-SYSTEM) b. EMC CONSTRUCTION MACHINERY EN 13309 (12V/24V-SYSTEM) c. EMC EARTH MOVING MACHINERY ISO 13766 (12V/24V-SYSTEM) d. EUROPE: RADIO EQUIPMENT AND REPEALING DIRECTIVE (RED) 2014/53/EU e. USA / CDN: COMPLIANCE STATEMENTS SEE PAGE 2, CHAPTER 11 OF THIS center axis 0 6 DRAWING f. EMC (Industrial) ACC. TO EN 61000-6-2 / EN 61000-6-3 g. PROTECTION CLASS ISO 20653: IP69K h. PARTICLE IMPACT EN ISO 20567-1 (GRAVEL ACC. TO EN11124-2) i. RANDOM VIBRATION IEC 60068-2-64 (5Hz2000Hz, 11.55 Grms) j. OPERATING MECHANICAL SHOCK IEC 60068-2-27 (50g) 6. PART IS MARKED WITH BAUMER LOGO; BAUMER PART NUMBER; BAUMER DATE CODE 7. MOUNTING RECOMMENDATION:

a. REQUIRED FLATNESS OF THE SENSOR MOUNTING SURFACE 0.2mm/100mm b. DIRECT MOUNTING ONTO A STEEL PLATE WITH A THICKNESS OF 6mm WITH TWO c. M6 SCREWS INDIRECT MOUNTING ONTO A STEEL PLATE WITH A THICKNESS OF 3mm WITH TWO M6 SCREWS AND TWO FLANGE NUTS 8. LED FUNCTIONS (LED INSIDE LENS) a. SENSOR FULLY OPERATIONAL: GREEN LED blinking b. NO OBJECT DETECTED: GREEN / YELLOW blinking c. CAN BUS WAITING ON MASTER OR ERRORS: MAGENTA LED blinking d. HW FAULT: RED LED blinking 9. Intended use / application policy:

a. The suitability and functionality of a Baumer product and its performance under different applications and / or end-use cases can only be verified by testing, and shall ultimately be the responsibility of the customer. b. The product shall not be used:

- For functional safety applications and in potenti ally explosive atmospheres.

- In the direct control and modification of the state of function of the machine. c. Possible malfunctions and failed measurements of the sensor must be intercepted at the system level and shall not lead to unsafe situations in t he system. d. The customer shall perform its own safety assessment to account for sensor behavior in particular situations (e.g. distance fluctuations in static situations, operator caused distance manipulation by hand or other objects). e. Safety relevant information must be communicated to the end-user. 10. Recommended free space around radar lens Rotational cone with an angle of 30 around sensor center axis Sensitivity and detection of objects near the blind region can be influenced by disturbing objects

(e.g. metal boom structures or water hose) within this free space. Moving objects up to 60 outside of free space should be avoided. Further testing is recommended to define a smaller free space. B C D E F 3/4 42,5 0,5 42 0,5 (Lens) 1 1 x x x x x x

. R 6 0 0 V D A H 5

1 1 x x x x x x

. S N x x x x 1 0 X

x x x x

x x x x F C C I

D x x x x x x I C I

D x x x x x x H V I

N x x x x x x 32 0,5 Qty Mod y a m d n a Y T R E P O R P R U O s i i g n w a r d s h T i l e b a l i a v a e d a m t r o d e a e r c e r

, i d e p o c e b t o n i i n o s s m r e p r o i r p t u o h t i w y t r a p d r i h t y n a o t Laser marked 97 0,5 1 / 2 Item Pos. Material Rev Drawn a 13.01.2021 cg Approved rma 13.01.2021 Rev Drawn Approved deburred Project Remarks 10714028 Off Highway Radar Mod R600V.DAH5-11205779 Distance measuring sensor Baumer Electric AG Postfach Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 (0)52 728 11 22 Fax +41 (0)52 728 11 44 11205779 Replaced by Replacement for Scale Drawn 1:1 Checked Approved 17.04.2019 17.04.2019 17.04.2019 RZ.00017 cg rma wemi A 1 2 3 4 5 6 7 8 11. Compliance Statements:

a. 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 installed and used in accordance with the instruction manual, may cau se 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. b. Canada Compliance Statement This device complies with Industry Canada licence-exempt RSS standard(s). 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. This equipment complies with IC 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. Le prsent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorise aux deux conditions suivantes:

(1) l'appareil ne doit pas produire de brouillage, et

(2) l'appareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible d'en compromettre le fonctionnement. Cet quipement est conforme aux limites d'exposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis avec un minimum de 20 cm de distance entre la source de rayonnement et votre corps. Ce transmetteur ne doit pas tre place au mme endroit ou utilise simultanment avec un autre transmetteur ou antenne.

7 2 1 1 1 2 0 2 n a J 3 1

. A B C D E F Item Pos. Material Rev Drawn a 13.01.2021 cg Approved rma 13.01.2021 Rev Drawn Approved deburred Project Remarks 10714028 Off Highway Radar Mod R600V.DAH5-11205779 Distance measuring sensor Baumer Electric AG Postfach Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 (0)52 728 11 22 Fax +41 (0)52 728 11 44 11205779 2 / 2 Replaced by Replacement for Scale Drawn 1:1 Checked Approved 17.04.2019 17.04.2019 17.04.2019 RZ.00017 cg rma wemi A 4/4 Qty Mod y a m d n a Y T R E P O R P R U O s i i g n w a r d s h T i l e b a l i a v a e d a m t r o d e a e r c e r

, i d e p o c e b t o n i i n o s s m r e p r o i r p t u o h t i w y t r a p d r i h t y n a o t

Radar Sensoren Radar sensors Dtecteurs radar R600V.DAE0-11209335 Radarsensor fr Boden- und Pflanzen-

abstand (fr Sprayeranwendungen) Radar sensor for ground & crop distance (for sprayer applications) Dtecteurs radar appropri la mesure de la distance du sol et des plantes (pour des pulvrisateurs) 1/4 Abmessungen Dimensions Dimensions Elektrischer Anschluss Connection diagram Schma de raccordement 82 62 42 2 x 6

, 8 4 8

, 4 7 1 1 1 2 4 97 32 CAN SAE J1939

(1)

(2)

(4)

(3)

+Vs CAN HI CAN LO 0 V 2 CAN HI 4 CAN LO 3 GND 1 +Vs 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 dtecteur. Technische Daten Erfassungsbereich Sd ffnungswinkel Betriebsspannungsbereich

+Vs Stromaufnahme max.

(ohne Last) 0,3 ... 5 m 6 (3dB) 9 ... 32 VDC 160 mA Technical data Donnes techniques sensing distance Sd 0,3 ... 5 m Porte de dtection Sd aperture angle voltage supply range

+Vs current consumption max. (no load) 6 (3dB) 9 ... 32 VDC 160 mA Angle douverture Plage de tension +Vs 9 ... 32 VDC 0,3 ... 5 m 6 (3dB) Consommation max. (sans charge) 160 mA Ausgangsschaltung CAN (5V) output circuit CAN (5V) circuit de sortie CAN (5V) logische Schnittstelle CAN SAE J1939 logical interface CAN SAE J1939 interface logique CAN SAE J1939 Baud Rate kurzschlussfest 250 kBaud ja short circuit protection yes baud rate 250 kBaud vitesse de transmission 250 kBaud verpolungsfest ja, Vs zu GND reverse polarity pro-

tection yes, Vs to GND Arbeitstemperatur

-40 ... +70 C operating temperature

-40 ... +70 C Protg contre courts-cir-

cuits Protg contre inversion polarit Temprature de fonctionne-

ment oui oui, Vs vers GND

-40 ... +70 C Lagertemperatur Schutzart

-40 ... +85 C IP 68/69K storage temperature

-40 ... +85 C Temprature de stockage

-40 ... +85 C protection class IP 68/69K Classe de protection IP 68/69K Technische nderungen vorbehalten Tecnical specifications subject to change Sous rserve de modifications techniques 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 prsent appareil est conforme aux CNR dIndustrie Canada applicables aux appareils radio exempts de licence. Lexploita-

tion est autorise aux deux conditions suivantes: (1) lappareil ne doit pas produire de brouillage, et (2) lappareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible den compromettre le fonctionnement. Cet quipement est conforme aux limites dexposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis 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. Visuelle Diagnose Visual diagnostic Diagnostic visuel Status / Status / Condition Code Sensor voll funktionfhig (Objekt detektiert) Sensor fully operational (object detected) Capteur compltement oprational (object dtect) 100 ms grne LED an / green LED on / LED verte allumine 900 ms LED aus / off / teinte Sensor voll funktionfhig (kein Objekt detektiert) Sensor fully operational (no object detected) Capteur compltement oprational (anun object dtect) wie oben / as above / comme ci-dessus zustzlich / with additional / avec supplmentaire 100 ms gelbe LED an / yellow LED on / LED jaune allumine Elektronikfehler Hardware fault Dfaut de matriel CAN Abwurf (Fehlfunktion) CAN bus off (malfunction) Arrt du bus CAN (dysfonctionnement) Adresszuweisung fehlgeschlagen Address claim failed Assigment d addresse failli 50 ms rote LED an / red LED on / LED rouge allumine 50 ms LED aus / off / teinte 50 ms magenta LED an / on / allumine 150 ms LED aus / off / teinte 50 ms magenta LED an / on / allumine 50 ms LED aus / off / teinte Warten auf Adresszuweisung Waiting for Master ECU adress claim En attendre il assignment d adresse du matre ECU 500 ms magenta LED an / on / allumine 500 ms LED aus / off / teinte Andere / other / autre blaue LED / blue LED / LED bleue Grundinformation CAN - basic information CAN -

informations de base CAN Boden- und Pflanzenabstand CAN Nachricht - ground and crop CAN message - Message CAN, distance du sol es des plantes CAN Kommunikation - CAN communication - communication CAN ISO Name ISO name Nom ISO Gerteadresse Device address Adresse de lappareil Manufacturer code:

ECU instance:

Function instance:

Function:

System:

System instance:

Industry group:

Arbitration capable:

343 (Baumer Group) 0 1 0 0 0 2 1 Untersttzt / supports commanded address /

supporte adresse commande (PGN 0xFED8) im Bereich / in range / dans l interval:

0x80 ... 0xCF (Standard / default / dfault 0x80) PGN CAN Nachricht / CAN message / Message CAN : 0xC000 Start bit Bits Beschreibung / description / description Abstand offset dcaillage Skalierung scaling caillage 1 3 10 17 33 49 0 0 0 0 0 2 7 7 16 16 16 1 1%

1%

1mm 1mm 1 Sensorstatus / Sensor status / tat de capteur 0 = Kein Fehler / no error / Pas d erreur 1 = Reversibler Fehler / reversible error / erreur reversible 2 = Irreversibler Fehler / irreversible error / erreur irrversible Konfidenz Pflanzenabstand / canopy confidence /

confidance en la distance par raportaux plantes 0% ... 100%

Konfidenz Bodenabstand / ground confidence /

confidance en la distance par rapport au sol 0% ... 100%

Pflanzenabstand / canopy distance / distance des plantes Bodenabstand / ground distance / distance du sol 32768 Reserviert / reserved / reserve (Ausgabe / fixed to / fix : 0xffff) Fr weitere Informationen lesen Sie bitte die Bedienungsanleitung - For further information please refer to the user manual - Pour plus d informations, veuillez vous rfrer au manuel d utilisation 2/4 1 2 3 4 5 6 7 8 Mating Connector AMPSEAL 16 776524-1 PIN 1 PIN 2 PIN 3 PIN 4

+Vs CAN HI GND CAN LO 0 2 O

. x a m

, 5 0 4 8

, 5 0

, 4 7 1

7 1 0 1 1 2 0 2 n a J 3 1

. NOTES:

1. ELECTRICAL SPECIFICATION:

A 2. OUTPUT FUNCTION:

a. VOLTAGE SUPPLY RANGE: 9V32V (12VDC/24VDC VEHICLE POWER) b. CURRENT CONSUMPTION: <160mA (averaged) c. RADAR FREQUENCY: 122GHz123GHz a. CAN SAE J1939 b. BAUD RATE: 250kbaud (11209395) / 500kbaud (11228779) c. OUTPUT CIRCUIT: CAN 5V without internal 120 terminator d. CAN UPDATE RATE: 1 100 Hz e. SENSING RANGE, DYNAMIC FIELD DATA: 300mm5000mm (center axis) f. SENSING RANGE, STATIC TARGET: 390mm5000mm (center axis) g. BLIND RANGE: 300mm (object detection limited) 3. MECHANICAL DATA:

a. RECTANGULAR HOUSING: 97 x 84 x 42.5mm (without connector) b. DIAMETER MOUNTING HOLES:6.8mm0.2mm c. RECOMMENDED SCREWS: M6 ACC. MBM 10105 d. INSTALLATION TORQUE: Screw with property class 10.9: max torque of screw 12Nm15Nm, Screw with property class 8.8: max torque of screw 10Nm12Nm e. ENCLOSURE MATERIAL: POLYAMID (GLASS FIBER REINFORCED) f. MOUNTING PLATE: ALUMINUM (COATED WITH CATAPHORETIC PAINTING (KTL)) g. LENS MATERIAL: Polyetherimid (PEI) zero distance 4. AMBIENT CONDITIONS:

a. STORAGE TEMPERATURE: -40C+85C b. OPERATING TEMPERATURE: -40C+70C 5. SENSOR MEETS FOLLOWING REQUIREMENTS OF EMC AND ENVIRONMENT ACC. FSP:

a. EMC AGRICULTURAL MACHINERY EN ISO 14982 (12V/24V-SYSTEM) b. EMC CONSTRUCTION MACHINERY EN 13309 (12V/24V-SYSTEM) c. EMC EARTH MOVING MACHINERY ISO 13766 (12V/24V-SYSTEM) d. EUROPE: RADIO EQUIPMENT AND REPEALING DIRECTIVE (RED) 2014/53/EU e. USA / CDN: COMPLIANCE STATEMENTS SEE PAGE 2, CHAPTER 11 OF THIS center axis 0 6 DRAWING f. EMC (Industrial) ACC. TO EN 61000-6-2 / EN 61000-6-3 g. PROTECTION CLASS ISO 20653: IP69K h. PARTICLE IMPACT EN ISO 20567-1 (GRAVEL ACC. TO EN11124-2) i. RANDOM VIBRATION IEC 60068-2-64 (5Hz2000Hz, 11.55 Grms) j. OPERATING MECHANICAL SHOCK IEC 60068-2-27 (50g) 6. PART IS MARKED WITH BAUMER LOGO; PART NUMBER; DATE CODE, SERIAL NUMBER 7. MOUNTING RECOMMENDATION:

a. REQUIRED FLATNESS OF THE SENSOR MOUNTING SURFACE 0.2mm/100mm b. DIRECT MOUNTING ONTO A STEEL PLATE WITH A THICKNESS OF 6mm WITH TWO c. M6 SCREWS INDIRECT MOUNTING ONTO A STEEL PLATE WITH A THICKNESS OF 3mm WITH TWO M6 SCREWS AND TWO FLANGE NUTS 8. LED FUNCTIONS (LED INSIDE LENS) a. SENSOR FULLY OPERATIONAL: GREEN LED blinking b. NO OBJECT DETECTED: GREEN / YELLOW blinking c. CAN BUS WAITING ON MASTER OR ERRORS: MAGENTA LED blinking d. HW FAULT: RED LED blinking 9. Intended use / application policy:

a. The suitability and functionality of a Baumer product and its performance under different applications and / or end-use cases can only be verified by testing, and shall ultimately be the responsibility of the customer. b. The product shall not be used:

- For functional safety applications and in potentially explosive atmospheres.

- In the direct control and modification of the state of function of the machine. c. Possible malfunctions and failed measurements of the sensor must be intercepted at the system level and shall not lead to unsafe situations in the system. d. The customer shall perform its own safety assessment to account for sensor behavior in particular situations (e.g. distance fluctuations in static situations, operator caused distance manipulation by hand or other objects). e. Safety relevant information must be communicated to the end-user. 10. Recommended free space around radar lens Rotational cone with an angle of 30 around sensor center axis Sensitivity and detection of objects near the blind range can be influenced by disturbing objects

(e.g. metal boom structures or water hose) within this free space. Moving objects up to 60 outside of free space should be avoided. Further testing is recommended to define a smaller free space. B C D E F 3/4 42,5 0,5 42 0,5 (Lens) 1 1 x x x x x x

. R 6 0 0 V D A E O

1 1 x x x x x x

. S N x x x 1 0 X

x x x x

x x x x F C C I

D x x x x x x I C I

D x x x x x x H V I

N x x x x x x 32 0,5 Qty Mod y a m d n a Y T R E P O R P R U O s i i g n w a r d s h T i l e b a l i a v a e d a m t r o d e a e r c e r

, i d e p o c e b t o n i i n o s s m r e p r o i r p t u o h t i w y t r a p d r i h t y n a o t Laser marked 97 0,5 1 / 2 Item Pos. Material Rev Drawn a 13.01.2021 cg Approved rma 13.01.2021 Rev Drawn Approved deburred Project Remarks 10714028 Off Highway Radar Mod Replaced by Replacement for R600V.DAE0-11209335 /-11228779 Ground & Crop (Spray drift suppression) Scale Drawn 1:1 Checked Approved Baumer Electric AG Postfach Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 (0)52 728 11 22 Fax +41 (0)52 728 11 44 11209335 28.03.2019 28.03.2019 15.04.2019 RZ.00016 cg rma wemi A 2 1 4 3 82 0,3 62 0,5

, 5 8 1 0,2 6,8

, 5 0 1 1

, 5 0 2 4 1 2 3 4 5 6 7 8 11. Compliance Statements:

a. 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 installed and used in accordance with the instruction manual, may cau se 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. b. Canada Compliance Statement This device complies with Industry Canada licence-exempt RSS standard(s). 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. This equipment complies with IC 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. Le prsent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorise aux deux conditions suivantes:

(1) l'appareil ne doit pas produire de brouillage, et

(2) l'appareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible d'en compromettre le fonctionnement. Cet quipement est conforme aux limites d'exposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis avec un minimum de 20 cm de distance entre la source de rayonnement et votre corps. Ce transmetteur ne doit pas tre place au mme endroit ou utilise simultanment avec un autre transmetteur ou antenne.

7 1 0 1 1 2 0 2 n a J 3 1

. A B C D E F 2 / 2 Qty Mod y a m d n a Y T R E P O R P R U O s i i g n w a r d s h T i l e b a l i a v a e d a m t r o d e a e r c e r

, i d e p o c e b t o n i i n o s s m r e p r o i r p t u o h t i w y t r a p d r i h t y n a o t Item Pos. Material Rev Drawn a 13.01.2021 cg Approved rma 13.01.2021 Rev Drawn Approved deburred Project Remarks 10714028 Off Highway Radar Mod Replaced by Replacement for R600V.DAE0-11209335 /-11228779 Ground & Crop (Spray drift suppression) Scale Drawn 1:1 Checked Approved Baumer Electric AG Postfach Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 (0)52 728 11 22 Fax +41 (0)52 728 11 44 11209335 28.03.2019 28.03.2019 15.04.2019 RZ.00016 cg rma wemi A 4/4

Abmessungen Dimensions Dimensions Elektrischer Anschluss Connection diagram Schma de raccordement Radar Sensoren Radar sensors Dtecteurs radar R600V.DAH5-11221283 Multiobjekt Radarsensor Multi-object radar sensor Dtecteur radar de multi-objet 82 62 42 2 x 6

, 8 4 8

, 4 7 1 1 1 2 4 97 32 Alle Masse in mm All dimensions in mm Toutes les dimensions en mm CAN SAE J1939

(1)

(2)

(4)

(3)

+Vs CAN HI CAN LO 0 V Vor dem Anschliessen des Sensors die Anlage spannungsfrei schalten. Disconnect power before connecting the sensor. Mettre l`installation hors tension avant le raccordement du dtecteur. 2 CAN HI 4 CAN LO 3 GND 1 +Vs Technische Daten Technical data Donnes techniques Erfassungsbereich Sd 0,3 ... 8,5 m sensing distance Sd 0,3 ... 8,5 m Porte de dtection Sd 0,3 ... 8,5 m ffnungswinkel Betriebsspannungsbereich

+Vs Stromaufnahme max.

(ohne Last) 6 (3dB) 9 ... 32 VDC 160 mA aperture angle voltage supply range

+Vs current consumption max. (no load) 6 (3dB) 9 ... 32 VDC 160 mA Angle douverture 6 (3dB) Plage de tension +Vs 9 ... 32 VDC Consommation max.

(sans charge) 160 mA Ausgangsschaltung CAN (5V) output circuit CAN (5V) circuit de sortie CAN (5V) logische Schnittstelle CAN SAE J1939 logical interface CAN SAE J1939 interface logique CAN SAE J1939 Baud Rate kurzschlussfest ja short circuit protection yes 250 kBaud (500 kBaud) baud rate 250 kBaud (500 kBaud) vitesse de transmission 250 kBaud (500 kBaud) verpolungsfest ja, Vs zu GND reverse polarity pro-

tection yes, Vs to GND Arbeitstemperatur

-40 ... +70 C operating temperature

-40 ... +70 C Protg contre courts-cir-

cuits oui Protg contre inversion polarit Temprature de foncti-

onnement oui, Vs vers GND

-40 ... +70 C Lagertemperatur Schutzart

-40 ... +85 C IP 68/69K storage temperature

-40 ... +85 C Temprature de stockage

-40 ... +85 C protection class IP 68/69K Classe de protection IP 68/69K Technische nderungen vorbehalten Tecnical specifications subject to change Sous rserve de modifications techniques 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 prsent appareil est conforme aux CNR dIndustrie Canada applicables aux appareils radio exempts de licence. Lexploita-

tion est autorise aux deux conditions suivantes: (1) lappareil ne doit pas produire de brouillage, et (2) lappareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible den compromettre le fonctionnement. Cet quipement est conforme aux limites dexposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis 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 Visuelle Diagnose Visual diagnostic Diagnostic visuel Status / Status / Condition Code Sensor voll funktionfhig (Objekt detektiert) Sensor fully operational (object detected) Capteur compltement oprational (object dtect) 100 ms grne LED an / green LED on / LED verte allumine 900 ms LED aus / off / teinte Sensor voll funktionfhig (kein Objekt detektiert) Sensor fully operational (no object detected) Capteur compltement oprational (anun object dtect) wie oben / as above / comme ci-dessus zustzlich / with additional / avec supplmentaire 100 ms gelbe LED an / yellow LED on / LED jaune allumine Elektronikfehler Hardware fault Dfaut de matriel CAN Abwurf (Fehlfunktion) CAN bus off (malfunction) Arrt du bus CAN (dysfonctionnement) Adresszuweisung fehlgeschlagen Address claim failed Assigment d addresse failli 50 ms rote LED an / red LED on / LED rouge allumine 50 ms LED aus / off / teinte 50 ms magenta LED an / on / allumine 150 ms LED aus / off / teinte 50 ms magenta LED an / on / allumine 50 ms LED aus / off / teinte Warten auf Adresszuweisung Waiting for Master ECU adress claim En attendre il assignment d adresse du matre ECU 500 ms magenta LED an / on / allumine 500 ms LED aus / off / teinte Andere / other / autre blaue LED / blue LED / LED bleue Grundinformation CAN - basic information CAN -

informations de base CAN Objektdistanzen CAN Nachrichten - object distances CAN messages - Messages CAN des distances d objet CAN Kommunikation - CAN communication - communication CAN ISO Name ISO name Nom ISO Gerteadresse Device address Adresse de lappareil Manufacturer code:

ECU instance:

Function instance:

Function:

System:

System instance:

Industry group:

Arbitration capable:

343 (Baumer Group) 0 3 255 (non specific) 127 (non specific) 0 2 1 Untersttzt / supports commanded address /

supporte adresse commande (PGN 0xFED8) im Bereich / in range / dans l interval:

0x80 ... 0xCF (Standard / default / dfault 0x80) PGN CAN Nachrichten (fr 8 Objekte) / CAN messages (for 8 objects) / Messages CAN (pour 8 objets) : 0xC000 Start bit Bits Beschreibung / description / description Abstand offset dcaillage Skalierung scaling caillage 1 3 5 6 7 21 35 42 49 57 14 14 2 2 1 1 7 7 8 8 0 0 0 0 0 0 0 0 128 128 1 1 1 1 1 mm 1 mm 1 %

1 %

Mulitiplexer / multiplexor / multiplexor n = {0, 1, 2, 3}

Sensorstatus / Sensor status / tat de capteur 0 = Kein Fehler / no error / Pas d erreur 1 = Reversibler Fehler / reversible error / erreur reversible 2 = Irreversibler Fehler / irreversible error / erreur irrversible Objektstatus 2n+1 / object status 2n+1 / statut d objet 2n+1 Objektstatus 2n+2 / object status 2n+2 / statut d objet 2n+2 Objektdistanz 2n+1 / object distance 2n+1 / distance d objet 2n+1 Objektdistanz 2n+2 / object distance 2n+2 / distance d objet 2n+2 Konfidenz Objektdistanz 2n+1 / object distance confidence 2n+1 /

confiance en la distance par raportaux objet 2n+1 [0 100%]

Konfidenz Objektdistanz 2n+2 / object distance confidence 2n+2 /

confiance en la distance par raportaux objet 2n+2 [0 100%]

0.03125 m/s 0.03125 m/s Objektgeschwindigkeit 2n+1 / object speed 2n+1 /

vitesse d objet 2n+1 [-4 3.96875 m/s]

Objektgeschwindigkeit 2n+2 / object speed 2n+2 /

vitesse d objet 2n+2 [-4 3.96875 m/s]

Fr weitere Informationen lesen Sie bitte die Bedienungsanleitung - For further information please refer to the user manual - Pour plus d informations, veuillez vous rfrer au manuel d utilisation 2/4 1 2 3 4 5 6 8 7 2 1 4 3 82 0,3 62 0,5

, 5 8 1 0,2 6,8

, 5 0 1 1

, 5 0 2 4 Mating Connector AMPSEAL 16 776524-1 PIN 1 PIN 2 PIN 3 PIN 4

+Vs CAN HI GND CAN LO 0 2 O

. x a m

, 5 0 4 8

, 5 0

, 4 7 1 NOTES:

2 0 1 1 1 2 0 2 n a J 3 1

. A 1. ELECTRICAL SPECIFICATION:

a. VOLTAGE SUPPLY RANGE: 9V32V (12VDC/24VDC VEHICLE POWER) b. CURRENT CONSUMPTION: <160mA (averaged) c. RADAR FREQUENCY: 122GHz123GHz 2. OUTPUT FUNCTION:

a. CAN SAE J1939 b. BAUD RATE: 250/500kbaud c. OUTPUT CIRCUIT: CAN without internal 120 terminator (5V CAN-SYSTEM) d. CAN UPDATE RATE: 0.2Hz 100 Hz e. SENSING RANGE (FROM LENS FRONT): 300mm8500mm f. SENSING RANGE, STATIC TARGET: 390mm8500mm (center axis) g. BLIND RANGE: 300mm (object detection limited) 3. MECHANICAL DATA:

a. RECTANGULAR HOUSING: 97 x (84 +17.4) x 42.5mm b. DIAMETER MOUNTING HOLES:6.8mm0.2mm c. RECOMMENDED SCREWS: M6 ACC. MBM 10105 d. INSTALLATION TORQUE: Screw with property class 10.9: max torque of screw 12Nm15Nm, Screw with property class 8.8: max torque of screw 10Nm 12Nm e. ENCLOSURE MATERIAL: POLYAMID (GLASS FIBRE REINFORCED) f. MOUNTING PLATE: ALUMINUM (COATED WITH CATAPHORETIC PAINTING (KTL)) g. LENS MATERIAL: Polyetherimid (PEI) zero distance 4. AMBIENT CONDITIONS:

a. STORAGE TEMPERATURE: -40C+85C b. OPERATING TEMPERATURE: -40C+70C 5. SENSOR MEETS FOLLOWING REQUIREMENTS OF EMC AND ENVIRONMENT ACC. FSP:

a. EMC AGRICULTURAL MACHINERY EN ISO 14982 (12V/24V-SYSTEM) b. EMC CONSTRUCTION MACHINERY EN 13309 (12V/24V-SYSTEM) c. EMC EARTH MOVING MACHINERY ISO 13766 (12V/24V-SYSTEM) d. EUROPE: RADIO EQUIPMENT AND REPEALING DIRECTIVE (RED) 2014/53/EU e. USA / CDN: COMPLIANCE STATEMENTS SEE PAGE 2, CHAPTER 11 OF THIS center axis 0 6 DRAWING f. EMC (INDUSTRIAL) EN 61000-6-2 / EN 61000-6-3 g. PROTECTION CLASS ISO 20653_2013: IP68/IP69K h. PARTICLE IMPACT EN ISO 20567-1 (GRAVEL EN11124-2) i. RANDOM VIBRATION IEC 60068-2-64 (5Hz2000Hz, 11.55 Grms) j. OPERATING MECHANICAL SHOCK IEC 60068-2-27 (50g) D 6. PART IS MARKED WITH BAUMER LOGO; PART NUMBER; DATE CODE, SERIAL NUMBER 7. MOUNTING RECOMMENDATION:

a. REQUIRED FLATNESS OF THE SENSOR MOUNTING SURFACE 0.2mm/100mm b. DIRECT MOUNTING ONTO A STEEL PLATE WITH A THICKNESS OF 6mm WITH TWO M6 SCREWS c. INDIRECT MOUNTING ONTO A STEEL PLATE WITH A THICKNESS OF 3mm WITH TWO M6 SCREWS AND TWO FLANGE NUTS 8. LED FUNCTIONS (LED INSIDE LENS) a. SENSOR FULLY OPERATIONAL: GREEN LED blinking b. NO OBJECT DETECTED: GREEN / YELLOW blinking c. CAN BUS WAITING ON MASTER OR ERRORS: MAGENTA LED blinking d. HW FAULT: RED LED blinking E 9. INTENDED USE / APPLICATION POLICY:

a. The suitability and functionality of a Baumer product and its performance under different applications and / or end-use cases can only be verified by testing, and shall ultimately be the responsibility of the customer. b. The product shall not be used:

I. II. For functional safety applications and in potentially explosive atmospheres. In the direct control and modification of the state of function of the machine. not lead to unsafe situations in the system. d. The customer shall perform its own safety assessment to account for sensor behavior in particular situations

(e.g. distance fluctuations in static situations, operator caused distance manipulation by hand or other objects). e. Safety relevant information must be communicated to the end-user. F 10. INTEGRATION REMARKS:

Objects within a rotational cone of 30 may be picked up by the sensor depending on position and/or surface properties. When mounting behind a cover material, properties and thickness must be taken into account to avoid excessive damping of the signal. Coatings containing metal must be avoided. B C 3/4 42,5 0,5 42 0,5 (Lens) 1 1 x x x x x x

. R 6 0 0 V D A H 5

1 1 x x x x x x

. S N x x x x 1 0 X

x x x x

x x x x F C C I

D x x x x x x I C I

D x x x x x x H V I

N x x x x x x 32 0,5 Qty Mod y a m d n a Y T R E P O R P R U O s i i g n w a r d s h T i l e b a l i a v a e d a m t r o d e a e r c e r

, i d e p o c e b t o n i i n o s s m r e p r o i r p t u o h t i w y t r a p d r i h t y n a o t c. Possible malfunctions and failed measurements of the sensor must be intercepted at the system level and shall Mod Laser marked 97 0,5 1 / 2 Item Pos. Material Rev Drawn a 13.01.2021 cg Approved rma 13.01.2021 Rev Drawn Approved deburred Project Remarks 10714028 Off Highway Radar R600V.DAH5-11221283 Multi object radar sensor Baumer Electric AG Postfach Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 (0)52 728 11 22 Fax +41 (0)52 728 11 44 11221283 Replaced by Replacement for Scale Drawn 1:1 Checked Approved 09.03.2020 09.03.2020 31.08.2020 RZ.00019 cg rma wemi A 1 2 3 4 5 6 7 8 11. Compliance Statements:

a. 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 installed and used in accordance with the instruction manual, may cau se 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. b. Canada Compliance Statement This device complies with Industry Canada licence-exempt RSS standard(s). 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. This equipment complies with IC 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. Le prsent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorise aux deux conditions suivantes:

(1) l'appareil ne doit pas produire de brouillage, et

(2) l'appareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible d'en compromettre le fonctionnement. Cet quipement est conforme aux limites d'exposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis avec un minimum de 20 cm de distance entre la source de rayonnement et votre corps. Ce transmetteur ne doit pas tre place au mme endroit ou utilise simultanment avec un autre transmetteur ou antenne.

2 0 1 1 1 2 0 2 n a J 3 1

. A B C D E F 2 / 2 Qty Mod y a m d n a Y T R E P O R P R U O s i i g n w a r d s h T i l e b a l i a v a e d a m t r o d e a e r c e r

, i d e p o c e b t o n i i n o s s m r e p r o i r p t u o h t i w y t r a p d r i h t y n a o t Item Pos. Material Rev Drawn a 13.01.2021 cg Approved rma 13.01.2021 Rev Drawn Approved deburred Project Remarks 10714028 Off Highway Radar Mod R600V.DAH5-11221283 Multi object radar sensor Baumer Electric AG Postfach Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 (0)52 728 11 22 Fax +41 (0)52 728 11 44 11221283 Replaced by Replacement for Scale Drawn 1:1 Checked Approved 09.03.2020 09.03.2020 31.08.2020 RZ.00019 cg rma wemi A 4/4

Abmessungen Dimensions Dimensions Elektrischer Anschluss Connection diagram Schma de raccordement Radar Sensoren Radar sensors Dtecteurs radar R600V.RAH5-11225384 Radar Reflextaster Radar retro-reflective sensor Dtecteur rflexion radar 82 62 42 2 x 6

, 8 4 8 4

, 7 1 1 1 2 4 97 32 Alle Masse in mm All dimensions in mm Toutes les dimensions en mm CAN SAE J1939

(1)

(2)

(4)

(3)

+Vs CAN HI CAN LO 0 V Vor dem Anschliessen des Sensors die Anlage spannungsfrei schalten. Disconnect power before connecting the sensor. Mettre l`installation hors tension avant le raccordement du dtecteur. 2 CAN HI 4 CAN LO 3 GND 1 +Vs Technische Daten Technical data Donnes techniques Erfassungsbereich Sd 0,3 ... 8,5 m sensing distance Sd 0,3 ... 8,5 m Porte de dtection Sd 0,3 ... 8,5 m ffnungswinkel Betriebsspannungsbereich

+Vs Stromaufnahme max.

(ohne Last) 6 (3dB) 9 ... 32 VDC 160 mA aperture angle voltage supply range

+Vs current consumption max. (no load) 6 (3dB) 9 ... 32 VDC 160 mA Angle douverture 6 (3dB) Plage de tension +Vs 9 ... 32 VDC Consommation max.

(sans charge) 160 mA Ausgangsschaltung CAN (5V) output circuit CAN (5V) circuit de sortie CAN (5V) logische Schnittstelle CAN SAE J1939 logical interface CAN SAE J1939 interface logique CAN SAE J1939 Baud Rate kurzschlussfest ja short circuit protection yes 250 kBaud (500 kBaud) baud rate 250 kBaud (500 kBaud) vitesse de transmission 250 kBaud (500 kBaud) verpolungsfest ja, Vs zu GND reverse polarity pro-

tection yes, Vs to GND Arbeitstemperatur

-40 ... +70 C operating temperature

-40 ... +70 C Lagertemperatur

-40 ... +85 C storage temperature

-40 ... +85 C Protg contre courts-circuits oui Protg contre inversion polarit Temprature de foncti-

onnement Temprature de stocka-

ge oui, Vs vers GND

-40 ... +70 C

-40 ... +85 C Schutzart IP 68/69K protection class IP 68/69K Classe de protection IP 68/69K Technische nderungen vorbehalten Tecnical specifications subject to change Sous rserve de modifications techniques 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 prsent appareil est conforme aux CNR dIndustrie Canada applicables aux appareils radio exempts de licence. Lexploita-

tion est autorise aux deux conditions suivantes: (1) lappareil ne doit pas produire de brouillage, et (2) lappareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible den compromettre le fonctionnement. Cet quipement est conforme aux limites dexposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis 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 Visuelle Diagnose - Visual diagnostic - Diagnostic visuel Reflektorposition - Reflector Position - Position du rflecteur Status / Status / Condition Code Reflektor innerhalb der der Toleranz Reflector within tolerance A Rflecteur dans les limites de la tolrance A (Operating range) Reflektor innerhalb der der Toleranz B Reflector within tolerance B Rflecteur dans les limites de la tolrance B (Boundary range) Reflektorsignal zu schwach Reflector signal too weak Signal du rflecteur trop faible Objekt zwischen Sensor und Reflektor Object between sensor and reflector Objet entre le capteur et le rflecteur Elektronikfehler / Hardware fault / Dfaut de matriel CAN Abwurf (Fehlfunktion) CAN bus off (malfunction) Arrt du bus CAN (dysfonctionnement) Adresszuweisung fehlgeschlagen Address claim failed Assigment d addresse failli Warten auf Adresszuweisung Waiting for Master ECU adress claim En attendre il assignment d adresse du matre ECU 100 ms grne LED an / green LED on / LED verte allumine 900 ms LED aus / off / teinte 2x 50 ms grne LED an / green LED on / LED verte allumine 880 ms LED aus / off / teinte 3x 50 ms grne LED an / green LED on / LED verte allumine 800 ms LED aus / off / teinte wie oben zustzlich 100 ms gelbe LED an as above with additional yellow LED on comme ci-dessus avec supplmentaire LED jaune 50 ms rote LED an / red LED on / LED rouge allumine 50 ms LED aus / off / teinte 50 ms magenta LED an / on / allumine 150 ms LED aus / off / teinte 50 ms magenta LED an / on / allumine 50 ms LED aus / off / teinte 500 ms magenta LED an / on / allumine 500 ms LED aus / off / teinte Andere / other / autre blaue LED / blue LED / LED bleue Reflector position R Reflector e. g. fixed machine part Operating range LED green flashing Boundary range LED green flashing (fast) A B Reflektorposition R setzen Set reflector position R Rgler la position du rflecteur R

(SAE J1939 Memory Access) Reflektordistanz in mm an Adresse schreiben 0x07E388 Write reflector distance in to address 0x07E388 Inscrivez la distance du rflecteur en mm ladresse 0x07E388 Teach Reflektorposition R Teach reflector position R Teach du reflecteur R

(SAE J1939 Memory Access) Wert 1 auf Adresse 0x07E389 schreiben Write value 1 to address 0x07E389 Inscrivez la valeur 1 ladresse 0x07E389 Grundinformation CAN - basic information CAN -

informations de base CAN ISO Name ISO name Nom ISO Gerteadresse Device address Adresse de lappareil SAE J1939 Memory Access (MA) Protokoll / protocol /

protocole Manufacturer code:

ECU instance:

Function instance:

Function:

System:

System instance:

Industry group:

Arbitration capable:

343 (Baumer Group) 0 4 255 (non specific) 127 (non specific) 0 2 1 Untersttzt / supports commanded address /

supporte adresse commande (PGN 0xFED8) im Bereich / in range / dans l interval:

0x80 ... 0xCF (Standard / default / dfault 0x80) Tool Anforderungen / requirements / exigences

user level = 1 Key for access is seed from sensor direct spatial addresses (is pointer) r/w command memory length = 1 use transfer length from proceed reply ISO name Function field = 129 ISO name Industry group field = 0 CAN Kommunikation - CAN communication - communication CAN Objektdetektion und Zhler object detection and counter dtection et comptage dobjets PGN CAN Nachricht / CAN message / Message CAN : 0xC000 Start bit Bits Abstand offset dcaillage Skalierung scaling caillage Beschreibung / description / description Sensorstatus / Sensor status / tat de capteur 0 = Kein Fehler / no error / Pas d erreur 1 = Reversibler Fehler / reversible error / erreur reversible 2 = Irreversibler Fehler / irreversible error / erreur irrversible 1 3 6 7 2 3 1 2 9 41 32 12 0 0 0 0 0 0 1 1 1 1 1 1 Sensorstatus nach Teach / sensor status after reflector teach / tat du capteur aprs Teach du reflecteur 0 = Kein Fehler / no error / pas derreur 1 = Signal zu schwach / signal too weak / signal trop faible 2 = Reflektor ausserhalb Gltigkeitsbereich / reflector outside valid range / Rflecteur en dehors de la plage valable 1,2 = Teach nicht akzeptiert / teach not accepted / Teach non accept Status Objektdetektion / Object detection status / tat de la dtection des objets 0 = Kein Objekt zwischen Sensor und Reflektor / No object between sensor and reflector /

Aucun objet entre le capteur et le rflecteur 1 = Objekt zwischen Sensor und Reflektor / object between sensor and reflector / Objet entre le capteur et le rflecteur Reflektorpositoin / Reflector position / Position du rflecteur 0 = Reflektor im Betriebsbereich (A) / Reflector in operating range (A) / Rflecteur en zone fonctionnement 1 = Reflektor im Grenzbereich (B) / Reflector in boundary range (B) / Rflecteur en zone limite 2 = Reflektor ausserhalb Bereich (A/B) / Reflector outside of range (A/B) / Rflecteur en dehors de la plage valable 3 =Reflektorsignal zu schwach / Reflector signal too weak / Le signal du rflecteur est trop faible Zhler fr Objektdetektionsereignisse / Counter for object detection events / Compteur dvnements de dtection dobjets : 04294967296 N/A Fr weitere Informationen lesen Sie bitte die Bedienungsanleitung - For further information please refer to the user manual - Pour plus d informations, veuillez vous rfrer au manuel d utilisation 2/4 1 2 3 4 5 6 8 7 2 1 4 3 82 0,3 62 0,5

, 5 8 1 0,2 6,8

, 5 0 1 1

, 5 0 2 4 Mating Connector AMPSEAL 16 776524-1 PIN 1 PIN 2 PIN 3 PIN 4

+Vs CAN HI GND CAN LO 0 2 O

. x a m

, 5 0 4 8

, 5 0

, 4 7 1

0 5 1 1 NOTES:

1 2 0 2 n a J 3 1

. A 1. ELECTRICAL SPECIFICATION:

a. VOLTAGE SUPPLY RANGE: 9V32V (12VDC/24VDC VEHICLE POWER) b. CURRENT CONSUMPTION: <160mA (averaged) c. RADAR FREQUENCY: 122GHz123GHz 2. OUTPUT FUNCTION:

a. CAN SAE J1939 b. BAUD RATE: 250/500kbaud c. OUTPUT CIRCUIT: CAN 5V without internal 120 terminator d. CAN UPDATE RATE: 0.2Hz 100 Hz e. SENSING RANGE: 300mm8500mm (center axis) f. REFLECTOR POSITION RANGE: 300mm8500mm (center axis) g. BLIND RANGE: 300mm 3. MECHANICAL DATA:

a. RECTANGULAR HOUSING: 97 x 84 x 42.5mm (without connector) b. DIAMETER MOUNTING HOLES:6.8mm0.2mm c. RECOMMENDED SCREWS: M6 ACC. MBM 10105 d. INSTALLATION TORQUE: Screw with property class 10.9: max torque of screw 12Nm15Nm, Screw with property class 8.8: max torque of screw 10Nm12Nm e. ENCLOSURE MATERIAL: POLYAMID (GLASS FIBRE REINFORCED) f. MOUNTING PLATE: ALUMINUM (COATED WITH CATAPHORETIC PAINTING (KTL)) g. LENS MATERIAL: Polyetherimid (PEI) zero distance 4. AMBIENT CONDITIONS:

a. STORAGE TEMPERATURE: -40C+85C b. OPERATING TEMPERATURE: -40C+70C 5. SENSOR MEETS FOLLOWING REQUIREMENTS OF EMC AND ENVIRONMENT ACC. FSP:

a. EMC AGRICULTURAL MACHINERY EN ISO 14982 (12V/24V-SYSTEM) b. EMC CONSTRUCTION MACHINERY EN 13309 (12V/24V-SYSTEM) c. EMC EARTH MOVING MACHINERY ISO 13766 (12V/24V-SYSTEM) d. EUROPE: RADIO EQUIPMENT AND REPEALING DIRECTIVE (RED) 2014/53/EU e. USA / CDN: COMPLIANCE STATEMENTS SEE PAGE 2, CHAPTER 11 OF THIS center axis 0 6 DRAWING f. EMC (CE) EN 61000-6-2 / EN 61000-6-3 g. PROTECTION CLASS ISO 20653_2013: IP68/IP69 K h. PARTICLE IMPACT EN ISO 20567-1 (GRAVEL EN11124-2) i. RANDOM VIBRATION IEC 60068-2-64 (5Hz2000Hz, 11.55 Grms) j. OPERATING MECHANICAL SHOCK IEC 60068-2-27 (50g) D 6. PART IS MARKED WITH BAUMER LOGO; PART NUMBER; DATE CODE, SERIAL NUMBER 7. MOUNTING RECOMMENDATION:

a. REQUIRED FLATNESS OF THE SENSOR MOUNTING SURFACE 0.2mm/100mm b. DIRECT MOUNTING ONTO A STEEL PLATE WITH A THICKNESS OF 6mm WITH TWO M6 SCREWS c. INDIRECT MOUNTING ONTO A STEEL PLATE WITH A THICKNESS OF 3mm WITH TWO M6 SCREWS AND TWO FLANGE NUTS 8. LED FUNCTIONS (LED INSIDE LENS) a. SENSOR FULLY OPERATIONAL (Reflector in Operating Range A): GREEN LED blinking b. SENSOR FULLY OPERATIONAL (Reflector in Boundary Range B): GREEN/Yellow LED blinking c. NO REFLECTOR OR SWITCHING DETECTED: GREEN / YELLOW 2x blinking d. CAN BUS WAITING ON MASTER OR ERRORS: MAGENTA LED blinking e. HW FAULT: RED LED blinking E 9. Intended use / application policy:

a. The suitability and functionality of a Baumer product and its performance under different applications and / or end-

use cases can only be verified by testing, and shall ultimately be the responsibility of the customer. b. The product shall not be used:

- For functional safety applications and in potentially explosive atmospheres.

In the direct control and modification of the state of function of the machine. lead to unsafe situations in the system. d. The customer shall perform its own safety assessment to account for sensor behavior in particular situations (e.g. distance fluctuations in static situations, operator caused distance manipulation by hand or other objects). e. Safety relevant information must be communicated to the end-user. 10. Recommended free space around radar lens:

Rotational cone with an angle of 30 around sensor center axis Sensitivity and detection of objects near the dead band can be influenced by disturbing objects (e.g. metal boom structures or water hose) within this free space. Moving objects up to 60 outside of free space should be avoided. Further testing is recommended to define a smaller free space. B C F 3/4 42,5 0,5 42 0,5 (Lens) 1 1 x x x x x x

. R 6 0 0 V D A H 5

1 1 x x x x x x

. S N x x x x 1 0 X

x x x x

x x x x F C C I

D x x x x x x I C I

D x x x x x x H V I

N x x x x x x 32 0,5 Qty Mod y a m d n a Y T R E P O R P R U O s i i g n w a r d s h T i l e b a l i a v a e d a m t r o d e a e r c e r

, i d e p o c e b t o n i i n o s s m r e p r o i r p t u o h t i w y t r a p d r i h t y n a o t c. Possible malfunctions and failed measurements of the sensor must be intercepted at the system level and shall not Mod Laser marked 97 0,5 1 / 2 Item Pos. Material Rev Drawn a 13.01.2021 cg Approved rma 13.01.2021 Rev Drawn Approved deburred Project Remarks 10714028 Off Highway Radar R600V.DAH5-11225384 Radar retro-reflective sensor Baumer Electric AG Postfach Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 (0)52 728 11 22 Fax +41 (0)52 728 11 44 11225384 Replaced by Replacement for Scale Drawn 1:1 Checked Approved 09.03.2020 09.03.2020 09.03.2020 RZ.00020 cg rma wemi A 1 2 3 4 5 6 7 8 11. Compliance Statements:

a. 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 installed and used in accordance with the instruction manual, may cau se 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. b. Canada Compliance Statement This device complies with Industry Canada licence-exempt RSS standard(s). 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. This equipment complies with IC 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. Le prsent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorise aux deux conditions suivantes:

(1) l'appareil ne doit pas produire de brouillage, et

(2) l'appareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible d'en compromettre le fonctionnement. Cet quipement est conforme aux limites d'exposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis avec un minimum de 20 cm de distance entre la source de rayonnement et votre corps. Ce transmetteur ne doit pas tre place au mme endroit ou utilise simultanment avec un autre transmetteur ou antenne.

0 5 1 1 1 2 0 2 n a J 3 1

. A B C D E F 2 / 2 Qty Mod y a m d n a Y T R E P O R P R U O s i i g n w a r d s h T i l e b a l i a v a e d a m t r o d e a e r c e r

, i d e p o c e b t o n i i n o s s m r e p r o i r p t u o h t i w y t r a p d r i h t y n a o t Item Pos. Material Rev Drawn a 13.01.2021 cg Approved rma 13.01.2021 Rev Drawn Approved deburred Project Remarks 10714028 Off Highway Radar Mod R600V.DAH5-11225384 Radar retro-reflective sensor Baumer Electric AG Postfach Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 (0)52 728 11 22 Fax +41 (0)52 728 11 44 11225384 Replaced by Replacement for Scale Drawn 1:1 Checked Approved 09.03.2020 09.03.2020 09.03.2020 RZ.00020 cg rma wemi A 4/4

Radar Sensoren Radar sensors Dtecteurs radar R600V.DAE0-11228779 Radarsensor fr Boden- und Pflanzen-

abstand (fr Sprayeranwendungen) Radar sensor for ground & crop distance (for sprayer applications) Dtecteurs radar appropri la mesure de la distance du sol et des plantes (pour des pulvrisateurs) 1/4 Abmessungen Dimensions Dimensions Elektrischer Anschluss Connection diagram Schma de raccordement 82 62 42 2 x 6

, 8 4 8

, 4 7 1 1 1 2 4 97 32 CAN SAE J1939

(1)

(2)

(4)

(3)

+Vs CAN HI CAN LO 0 V 2 CAN HI 4 CAN LO 3 GND 1 +Vs 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 dtecteur. Technische Daten Erfassungsbereich Sd ffnungswinkel Betriebsspannungsbereich

+Vs Stromaufnahme max.

(ohne Last) 0,3 ... 5 m 6 (3dB) 9 ... 32 VDC 160 mA Technical data Donnes techniques sensing distance Sd 0,3 ... 5 m Porte de dtection Sd aperture angle voltage supply range

+Vs current consumption max. (no load) 6 (3dB) 9 ... 32 VDC 160 mA Angle douverture Plage de tension +Vs 9 ... 32 VDC 0,3 ... 5 m 6 (3dB) Consommation max. (sans charge) 160 mA Ausgangsschaltung CAN (5V) output circuit CAN (5V) circuit de sortie CAN (5V) logische Schnittstelle CAN SAE J1939 logical interface CAN SAE J1939 interface logique CAN SAE J1939 Baud Rate kurzschlussfest 500 kBaud ja short circuit protection yes baud rate 500 kBaud vitesse de transmission 500 kBaud verpolungsfest ja, Vs zu GND reverse polarity pro-

tection yes, Vs to GND Arbeitstemperatur

-40 ... +70 C operating temperature

-40 ... +70 C Protg contre courts-cir-

cuits Protg contre inversion polarit Temprature de fonctionne-

ment oui oui, Vs vers GND

-40 ... +70 C Lagertemperatur Schutzart

-40 ... +85 C IP 68/69K storage temperature

-40 ... +85 C Temprature de stockage

-40 ... +85 C protection class IP 68/69K Classe de protection IP 68/69K Technische nderungen vorbehalten Tecnical specifications subject to change Sous rserve de modifications techniques 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 prsent appareil est conforme aux CNR dIndustrie Canada applicables aux appareils radio exempts de licence. Lexploita-

tion est autorise aux deux conditions suivantes: (1) lappareil ne doit pas produire de brouillage, et (2) lappareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible den compromettre le fonctionnement. Cet quipement est conforme aux limites dexposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis 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. Visuelle Diagnose Visual diagnostic Diagnostic visuel Status / Status / Condition Code Sensor voll funktionfhig (Objekt detektiert) Sensor fully operational (object detected) Capteur compltement oprational (object dtect) 100 ms grne LED an / green LED on / LED verte allumine 900 ms LED aus / off / teinte Sensor voll funktionfhig (kein Objekt detektiert) Sensor fully operational (no object detected) Capteur compltement oprational (anun object dtect) wie oben / as above / comme ci-dessus zustzlich / with additional / avec supplmentaire 100 ms gelbe LED an / yellow LED on / LED jaune allumine Elektronikfehler Hardware fault Dfaut de matriel CAN Abwurf (Fehlfunktion) CAN bus off (malfunction) Arrt du bus CAN (dysfonctionnement) Adresszuweisung fehlgeschlagen Address claim failed Assigment d addresse failli 50 ms rote LED an / red LED on / LED rouge allumine 50 ms LED aus / off / teinte 50 ms magenta LED an / on / allumine 150 ms LED aus / off / teinte 50 ms magenta LED an / on / allumine 50 ms LED aus / off / teinte Warten auf Adresszuweisung Waiting for Master ECU adress claim En attendre il assignment d adresse du matre ECU 500 ms magenta LED an / on / allumine 500 ms LED aus / off / teinte Andere / other / autre blaue LED / blue LED / LED bleue Grundinformation CAN - basic information CAN -

informations de base CAN Boden- und Pflanzenabstand CAN Nachricht - ground and crop CAN message - Message CAN, distance du sol es des plantes CAN Kommunikation - CAN communication - communication CAN ISO Name ISO name Nom ISO Gerteadresse Device address Adresse de lappareil Manufacturer code:

ECU instance:

Function instance:

Function:

System:

System instance:

Industry group:

Arbitration capable:

343 (Baumer Group) 0 1 0 0 0 2 1 Untersttzt / supports commanded address /

supporte adresse commande (PGN 0xFED8) im Bereich / in range / dans l interval:

0x80 ... 0xCF (Standard / default / dfault 0x80) PGN CAN Nachricht / CAN message / Message CAN : 0xC000 Start bit Bits Beschreibung / description / description Abstand offset dcaillage Skalierung scaling caillage 1 3 10 17 33 49 0 0 0 0 0 2 7 7 16 16 16 1 1%

1%

1mm 1mm 1 Sensorstatus / Sensor status / tat de capteur 0 = Kein Fehler / no error / Pas d erreur 1 = Reversibler Fehler / reversible error / erreur reversible 2 = Irreversibler Fehler / irreversible error / erreur irrversible Konfidenz Pflanzenabstand / canopy confidence /

confidance en la distance par raportaux plantes 0% ... 100%

Konfidenz Bodenabstand / ground confidence /

confidance en la distance par rapport au sol 0% ... 100%

Pflanzenabstand / canopy distance / distance des plantes Bodenabstand / ground distance / distance du sol 32768 Reserviert / reserved / reserve (Ausgabe / fixed to / fix : 0xffff) Fr weitere Informationen lesen Sie bitte die Bedienungsanleitung - For further information please refer to the user manual - Pour plus d informations, veuillez vous rfrer au manuel d utilisation 2/4 1 2 3 4 5 6 7 8 Mating Connector AMPSEAL 16 776524-1 PIN 1 PIN 2 PIN 3 PIN 4

+Vs CAN HI GND CAN LO 0 2 O

. x a m

, 5 0 4 8

, 5 0

, 4 7 1

7 1 0 1 1 2 0 2 n a J 3 1

. NOTES:

1. ELECTRICAL SPECIFICATION:

A 2. OUTPUT FUNCTION:

a. VOLTAGE SUPPLY RANGE: 9V32V (12VDC/24VDC VEHICLE POWER) b. CURRENT CONSUMPTION: <160mA (averaged) c. RADAR FREQUENCY: 122GHz123GHz a. CAN SAE J1939 b. BAUD RATE: 250kbaud (11209395) / 500kbaud (11228779) c. OUTPUT CIRCUIT: CAN 5V without internal 120 terminator d. CAN UPDATE RATE: 1 100 Hz e. SENSING RANGE, DYNAMIC FIELD DATA: 300mm5000mm (center axis) f. SENSING RANGE, STATIC TARGET: 390mm5000mm (center axis) g. BLIND RANGE: 300mm (object detection limited) 3. MECHANICAL DATA:

a. RECTANGULAR HOUSING: 97 x 84 x 42.5mm (without connector) b. DIAMETER MOUNTING HOLES:6.8mm0.2mm c. RECOMMENDED SCREWS: M6 ACC. MBM 10105 d. INSTALLATION TORQUE: Screw with property class 10.9: max torque of screw 12Nm15Nm, Screw with property class 8.8: max torque of screw 10Nm12Nm e. ENCLOSURE MATERIAL: POLYAMID (GLASS FIBER REINFORCED) f. MOUNTING PLATE: ALUMINUM (COATED WITH CATAPHORETIC PAINTING (KTL)) g. LENS MATERIAL: Polyetherimid (PEI) zero distance 4. AMBIENT CONDITIONS:

a. STORAGE TEMPERATURE: -40C+85C b. OPERATING TEMPERATURE: -40C+70C 5. SENSOR MEETS FOLLOWING REQUIREMENTS OF EMC AND ENVIRONMENT ACC. FSP:

a. EMC AGRICULTURAL MACHINERY EN ISO 14982 (12V/24V-SYSTEM) b. EMC CONSTRUCTION MACHINERY EN 13309 (12V/24V-SYSTEM) c. EMC EARTH MOVING MACHINERY ISO 13766 (12V/24V-SYSTEM) d. EUROPE: RADIO EQUIPMENT AND REPEALING DIRECTIVE (RED) 2014/53/EU e. USA / CDN: COMPLIANCE STATEMENTS SEE PAGE 2, CHAPTER 11 OF THIS center axis 0 6 DRAWING f. EMC (Industrial) ACC. TO EN 61000-6-2 / EN 61000-6-3 g. PROTECTION CLASS ISO 20653: IP69K h. PARTICLE IMPACT EN ISO 20567-1 (GRAVEL ACC. TO EN11124-2) i. RANDOM VIBRATION IEC 60068-2-64 (5Hz2000Hz, 11.55 Grms) j. OPERATING MECHANICAL SHOCK IEC 60068-2-27 (50g) 6. PART IS MARKED WITH BAUMER LOGO; PART NUMBER; DATE CODE, SERIAL NUMBER 7. MOUNTING RECOMMENDATION:

a. REQUIRED FLATNESS OF THE SENSOR MOUNTING SURFACE 0.2mm/100mm b. DIRECT MOUNTING ONTO A STEEL PLATE WITH A THICKNESS OF 6mm WITH TWO c. M6 SCREWS INDIRECT MOUNTING ONTO A STEEL PLATE WITH A THICKNESS OF 3mm WITH TWO M6 SCREWS AND TWO FLANGE NUTS 8. LED FUNCTIONS (LED INSIDE LENS) a. SENSOR FULLY OPERATIONAL: GREEN LED blinking b. NO OBJECT DETECTED: GREEN / YELLOW blinking c. CAN BUS WAITING ON MASTER OR ERRORS: MAGENTA LED blinking d. HW FAULT: RED LED blinking 9. Intended use / application policy:

a. The suitability and functionality of a Baumer product and its performance under different applications and / or end-use cases can only be verified by testing, and shall ultimately be the responsibility of the customer. b. The product shall not be used:

- For functional safety applications and in potentially explosive atmospheres.

- In the direct control and modification of the state of function of the machine. c. Possible malfunctions and failed measurements of the sensor must be intercepted at the system level and shall not lead to unsafe situations in the system. d. The customer shall perform its own safety assessment to account for sensor behavior in particular situations (e.g. distance fluctuations in static situations, operator caused distance manipulation by hand or other objects). e. Safety relevant information must be communicated to the end-user. 10. Recommended free space around radar lens Rotational cone with an angle of 30 around sensor center axis Sensitivity and detection of objects near the blind range can be influenced by disturbing objects

(e.g. metal boom structures or water hose) within this free space. Moving objects up to 60 outside of free space should be avoided. Further testing is recommended to define a smaller free space. B C D E F 3/4 42,5 0,5 42 0,5 (Lens) 1 1 x x x x x x

. R 6 0 0 V D A E O

1 1 x x x x x x

. S N x x x 1 0 X

x x x x

x x x x F C C I

D x x x x x x I C I

D x x x x x x H V I

N x x x x x x 32 0,5 Qty Mod y a m d n a Y T R E P O R P R U O s i i g n w a r d s h T i l e b a l i a v a e d a m t r o d e a e r c e r

, i d e p o c e b t o n i i n o s s m r e p r o i r p t u o h t i w y t r a p d r i h t y n a o t Laser marked 97 0,5 1 / 2 Item Pos. Material Rev Drawn a 13.01.2021 cg Approved rma 13.01.2021 Rev Drawn Approved deburred Project Remarks 10714028 Off Highway Radar Mod Replaced by Replacement for R600V.DAE0-11209335 /-11228779 Ground & Crop (Spray drift suppression) Scale Drawn 1:1 Checked Approved Baumer Electric AG Postfach Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 (0)52 728 11 22 Fax +41 (0)52 728 11 44 11209335 28.03.2019 28.03.2019 15.04.2019 RZ.00016 cg rma wemi A 2 1 4 3 82 0,3 62 0,5

, 5 8 1 0,2 6,8

, 5 0 1 1

, 5 0 2 4 1 2 3 4 5 6 7 8 11. Compliance Statements:

a. 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 installed and used in accordance with the instruction manual, may cau se 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. b. Canada Compliance Statement This device complies with Industry Canada licence-exempt RSS standard(s). 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. This equipment complies with IC 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. Le prsent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorise aux deux conditions suivantes:

(1) l'appareil ne doit pas produire de brouillage, et

(2) l'appareil doit accepter tout brouillage radiolectrique subi, mme si le brouillage est susceptible d'en compromettre le fonctionnement. Cet quipement est conforme aux limites d'exposition aux rayonnements IC tablies pour un environnement non contrl. Cet quipement doit tre install et utilis avec un minimum de 20 cm de distance entre la source de rayonnement et votre corps. Ce transmetteur ne doit pas tre place au mme endroit ou utilise simultanment avec un autre transmetteur ou antenne.

7 1 0 1 1 2 0 2 n a J 3 1

. A B C D E F 2 / 2 Qty Mod y a m d n a Y T R E P O R P R U O s i i g n w a r d s h T i l e b a l i a v a e d a m t r o d e a e r c e r

, i d e p o c e b t o n i i n o s s m r e p r o i r p t u o h t i w y t r a p d r i h t y n a o t Item Pos. Material Rev Drawn a 13.01.2021 cg Approved rma 13.01.2021 Rev Drawn Approved deburred Project Remarks 10714028 Off Highway Radar Mod Replaced by Replacement for R600V.DAE0-11209335 /-11228779 Ground & Crop (Spray drift suppression) Scale Drawn 1:1 Checked Approved Baumer Electric AG Postfach Hummelstrasse 17 CH-8501 Frauenfeld Phone +41 (0)52 728 11 22 Fax +41 (0)52 728 11 44 11209335 28.03.2019 28.03.2019 15.04.2019 RZ.00016 cg rma wemi A 4/4

Label / Label Location Info Following pages shows the label location and label content for six R600V radar sensors from Baumer Electric AG:

- R600V.DAH5-11205779

- R600V.DAE0-11188367

- R600V.DAE0-11209335

- R600V.DAE0-11228779

- R600V.DAH5-11221283

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PGP-R600V 24812-R600V 11225384 B_Label_R600V.RAH5-11225384.docx 20.01.21/rma 1/1 Baumer Frauenfeld, Switzerland

LONG-TERM CONFIDENTIALITY REQUEST for Certification Service in the USA Federal Communication Commission Equipment Authorization Division, Application Processing Branch 7435 Oakland Mills Road Columbia, MD 21048 TO WHOM IT MAY CONCERN Pursuant to Paragraphs 0.457 and 0.459 of the Commissions Rules (47 C.F.R.) and Section 552(b)(4) of the Freedom of Information Act, we request Long-Term Confidentiality for the following product:

Grantee Code Equipment Product Code Check your GC here. Click Grantee Search. FCC ID:

For the product stated above, we request Long-Term Confidentiality for exhibits which contain Block Diagram, Operational Description, Parts List/Tune Up Info, Schematics, SDR Software/Security Info. The above exhibits contain our benefit to our competitors. This information will not be publicly available. trade secrets and proprietary information that could be of If you have any questions, please feel free to contact us at the address shown below. Sincerely, Company Name:

Company Address:

Contact Name:

Signature:

Phone:

Fax:

E-mail:

Signature Date:

Document Version 1.1 2020-10-30