RFID Base Station Revision: 1.3 July 24, 2014 RFID Base Station version date author 1.0 1.1 1.2 1.3 25/05/2014 06/06/2014 09/06/2014 24/07/2014 Marco Trentarossi Marco Trentarossi Marco Trentarossi Francesco Trentarossi description rst delivery added OBD and messages added two error messages FCC / Industrial Canada statements+ RFID specs fw version RFID-03.00_b#
RFID-03.00_b#
RFID-03.00_b#
RFID-03.00_b#
Table 1: revision history 2 Sirius Electronic Systems s.r.l. Contents 1 General information 1.1 Introduction . 1.2 Operational description . 1.3 Product images . 5 5 5 6 2 Hardware 7 7 2.1 Conguration . 7 2.2 Specications . 7 2.2.1 Power Supply . 7 2.2.2 RFID Feature . 7 2.2.3 Command Inputs . 9 2.2.4 Digital Inputs . 10 2.2.5 Digital Outputs
. 11 2.2.6 UART Port 2.2.7 CAN Port . 11
. 11 2.2.8 Status Indicators 2.2.9 Mechanical & Environmental
. 11 2.2.10 Agency Conformance . 12 2.3 Connections . 13 2.3.1 CON1 - Power supply . 14 2.3.2 CON2 - CANopen . 14 2.3.3 CON4 - RFID 0 . 14 2.3.4 CON5 - RFID 1 . 15 2.3.5 CON6 - I/O 1 . 15 2.3.6 CON3 - I/O 2 . 16 3 Logic 18 3.1 Enque version state machine . 18 3.1.1 Queuing pallet
. 18 3.1.2 Pallet photocell reading . 18 3 RFID Base Station 3.1.3 Logic of start motor
. 19 3.1.4 Reading photocell tube . 20 3.1.5 Gate Management
. 20
. 20 3.1.6 Engine Management 4 Sirius Electronic Systems s.r.l. Chapter 1 General information 1.1 Introduction RFID data management solution:
Hardware MOL Specialized rmware Winloader - Application updater Oscilloscope - Setup and diagnostic software 1.2 Operational description Sirius MOL is a compact transponder base station, used to read and write RFID codes on moving objects on the y. It supports 125k RFID tag reading via CANOpen protocol and has a serial port for readind and writing purpose. MOL features 7 digital output and 5 digital inputs and can be powered from 20 to 55 Vdc. 5 1.3 Product images RFID Base Station Figure 1.1: MOL-A 6 Sirius Electronic Systems s.r.l. Chapter 2 Hardware 2.1 Conguration CAN BASE-STATION VDC 2.2 Specications 2.2.1 Power Supply Input Voltage min-max Current 2.2.2 RFID Feature RFID frequency Modulation Modulation Voltage Output current Output power 2.2.3 Command Inputs U.M.
-
-
V U.M. V A U.M. Hz
-
Vpp mA Wpp MOL-A 2 20-55 MOL-A 20-55 0.1 MOL-A 125k amplitude 10 200 2 7 RFID Base Station CANopen Serial TTL MOL-A tag reading tag reading, writing 8 Sirius Electronic Systems s.r.l. RFID Base Station 2.2.4 Digital Inputs Number, type All inputs Logic levels
[IN0..4]
Current rating MOL-A 5, non-insulated operating from 24V with RC lter Vin-LO < 5.6V, Vin-HI > 13V 2 Medium Speed inputs with 22us RC 10mA @ 24V Figure 2.1: MS Inputs Sirius Electronic Systems s.r.l. 9 RFID Base Station 2.2.5 Digital Outputs Number, type
[OUT0..6]
Current rating MOL-A 7, non-insulated Current-sourcing MOSFET at 24V (PNP) 200mA with PTC protection Figure 2.2: Output 10 Sirius Electronic Systems s.r.l. RFID Base Station 2.2.6 UART Port Signals Mode Protocol 2.2.7 CAN Port Signals Isolation Format Data Address selection Stub 2.2.8 Status Indicators CAN status RFID status channel 0 RFID status channel 1 Size (L x W) Height Weight Ambient temperature Humidity Cooling MOL-A RX, TX, GND full-duplex, serial communication port for drive setup and control, 115200 - 1250000 baud rate Binary MOL-A CANH, CANL, GND CAN interface circuit and +5 Vdc supply for CAN is optically insulated from drive circuits CAN V2.0b physical layer for high-speed connection compliant in according CANopen CIA DS301 determined by dip-switch 121 ohm selectable green and red leds, in according with CAN indicator specication DR303-3 MOL-A 2.2.9 Mechanical & Environmental blue blue MOL-A 79 x 57 mm 21 mm 45 g 0 to +45 C operating, -40 to +85 C storage 0 to 95%, non condensing conduction through heatplate on driver chassis, or convection Sirius Electronic Systems s.r.l. 11 RFID Base Station 2.2.10 Agency Conformance CE 61000_6_4 61000_6_2 ROHS MOL-A CE compliant Generic standards - Emission Standard for industrial environments Generic standards - Immunity for industrial environments ROHS Compliant 12 Sirius Electronic Systems s.r.l. RFID Base Station 2.3 Connections Figure 2.3: MOL-A Connectors Sirius Electronic Systems s.r.l. 13 2.3.1 CON1 - Power supply RFID Base Station Figure 2.4: MICROFIT 3.0 430451000 pin 1-6 2-7 3-8 4-9 5-10 name comune 24V Ground NC NC type IN IN IN
-
-
2.3.2 CON2 - CANopen description 0V power supply reference 24V power supply ground
-
-
Figure 2.5: MICROFIT 3.0 430450800 pin 1-5 2-6 3-7 4-8 name CH+
CH-
CAN reference CAN reference type IN IN IN IN 2.3.3 CON4 - RFID 0 description CAN high CAN low 0V CAN reference 0V CAN reference Figure 2.6: TE CONNECTIVITY 0103634-02 14 Sirius Electronic Systems s.r.l. 1234567891012345678123 RFID Base Station pin 1 2 3 name TX1 TX2 reference type IN-OUT IN-OUT
-
2.3.4 CON5 - RFID 1 description transmitter 1 transmitter 2 0V RFID reference Figure 2.7: TE CONNECTIVITY 0103634-02 pin 1 2 3 name TX1 TX2 reference type IN-OUT IN-OUT
-
2.3.5 CON6 - I/O 1 description transmitter 1 transmitter 2 0V RFID reference Figure 2.8: MICROFIT 3.0 430451400 pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 name NC
+24V DI_2 GND
+24V DI_1 GND GND DO_1 DO_0 GND
+24V DI_0 GND type
-
OUT IN
-
OUT IN
-
-
OUT OUT
-
OUT IN
-
description Not connected Inputs power supply digital input 2 I/Os reference Inputs power supply digital input 1 I/Os reference I/Os reference digital output 1 digital output 0 I/Os reference Inputs power supply digital input 0 I/Os reference Sirius Electronic Systems s.r.l. 15 1231234567891011121314 2.3.6 CON3 - I/O 2 RFID Base Station Figure 2.9: MICROFIT 3.0 430451600 pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 name
+24V DI_3 GND
+24V DI_4 GND GND DO_6 GND DO_2 GND DO_3 GND DO_4 GND DO_5 type OUT IN
-
OUT IN
-
-
OUT
-
OUT
-
OUT
-
OUT
-
OUT description Inputs power supply digital input 3 I/Os reference Inputs power supply digital input 4 I/Os reference I/Os reference digital output 6 I/Os reference digital output 2 I/Os reference digital output 3 I/Os reference digital output 4 I/Os reference digital output 5 16 Sirius Electronic Systems s.r.l. 12345678910111213141516 RFID Base Station FCC Statement Note: This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense. Changes or modications not expressly approved by the party responsible for compliance could void the users authority to operate the equipment. Industry Canada 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 interference, and 2. this device must accept any interference, including interference that may cause undesired operation of the device. Le prsent appareil est conforme aux CNR dIndustrie Canada applicables aux appareils radio ex-
empts de licence. Lexploitation est autorise aux deux conditions suivantes :
1. lappareil ne doit pas produire de brouillage, et 2. lutilisateur de lappareil doit accepter tout brouillage radiolectrique subi, mme si le brouil-
lage est susceptible den compromettre le fonctionnement. CAN ICES-3 (A)/NMB-3(A) Sirius Electronic Systems s.r.l. 17 Chapter 3 Logic 3.1 Enque version state machine 3.1.1 Queuing pallet Setting the variable enqueue = 1 activates the insertion of the read pallet in a queue, before being disposed of by the deviation. The tail is 4 pallets deep. Just read a pallet on the antenna inserts into the queue, if it is not already present. Otherwise it could be the same pallet, moving in front of the antenna, recurs periodically. When an ID is read, the related rdCnt timer is preset. 3.1.2 Pallet photocell reading The photocell of the pallet is read constantly, generating events of rising/falling edge. Rising edge On the rising edge following actions take place:
1. the rst ID is picked up in this queue 2. Whether the rdCnt timer is still countdown means that you have just read, then the ID is deleted from the list to be processed. In this phase the value of rdCnt is compared to determine if the antenna is too close / far. 3. Whether the rdCnt timer has nished the countdown means that it was a long time between the antenna and the photocell. Since we are in mode enque delete the ID from the list and however process the pallet. 4. we reset the variable Temp_coll that will serve to determine the speed of the pallet 18 RFID Base Station Falling edge The falling edge always occurs when the gateEv is off, that is, a pallet is passing. Whenever gateEv is activated the pallets are locked, then the passing time can not be calculated. To achieve this, the variable blankTempoColl is set to true. On the falling edge of the following actions take:
1. if the variable BlankTempoColl is not true, then the on time of the photocell pallet is count to cal-
culate the speed of passage to determine if the pallet is fast / slow (PALLET_FAST, PALLET_SLOW) or too fast / slow (PALLET_TOO_FAST, PALLET_TOO_SLOW ). It will still reset the variable blankTem-
poColl to allow the calculation to the next falling edge. 2. based on the speed, is calculated the delay for the generation of the deviation signal 3. whether the pallet was in the list runs the action associated with it:
(a) the command was ADD_EMPTY_PALLET i. the state is PASSEMPTY (you did not enable the photocell of the tube while the pallet passed) then is sent the message DIVERTED ii. the state is PASSFULL (you have activated the photocell of the tube while the pallet passed) then is sent the error TUBE_PRESENT_WHEN_NOT_EXPECTED iii. the skipCnt counter is not exhausted, then is sent the error PALLET_TOO_SLOW
(b) the command was ADD_FULL_PALLET i. the state is PASSEMPTY (you did not enable the photocell of the tube while the pallet passed) then is sent the error TUBE_ABSENT_WHEN_NOT_EXPECTED ii. the state is PASSFULL (you have activated the photocell of the tube while the pallet passed) then is sent the message DIVERTED iii. skipCnt the counter is not exhausted, then is sent the error PALLET_TOO_SLOW 4. whether the pallet was on the list but there is no room for divert, then is sent the error NO_ROOM_TO_DIVERT 5. whether the pallet was on the list but the node is ofine, then is sent the error NODE_STATUS_OFFLINE 6. whether the pallet was not on the list, and has not been detected an error in the previous stages, then it is diverted and the message of presence or absence of the tube (PASSEMPTY / PASSFULL) without error is sent The calculation of the delay to divert is calculated with the following proportion:
palletDimension palletT ime
=
gateP hotocellDistance delay 3.1.3 Logic of start motor The activation of startMot signal occurs after the counter PulseDelayCnt has exhausted its value, and holds for a xed time of 10 ms. PulseDelayCnt is preset by the deviation delay calculated above, or by the xed value of 2s when the divert command it is received via CANopen. Sirius Electronic Systems s.r.l. 19 RFID Base Station 3.1.4 Reading photocell tube The photocell tube is read constantly and prepares the ag to conrm the presence of the tube on the pallet (PASSFULL). If the signal of the photocell tube is active but photocell of the pallet is off, then it sends a rst message of unexpected tube (UNEXPECTED_TUBE). If by the time fotTubeFlt you have repeated signals, then the message of light interference on the photocell (TOO_MUCH_UNXP_TUBE) is sent. 3.1.5 Gate Management The gates electrovalve is activated in case of:
1. homeMot signal = 0 (the engine is performing the homing) 2. receiving a command of EMERGENCY_GATE_OUT 3. receiving a command of HOME_GATE (2s ahead of the start homing) The solenoid valve is turned off:
1. homeMot signal = 1 (is not performing a homing) 2. receiving a command of EMERGENCY_GATE_IN Throughout the time of gate EV activation the timer skipCnt is preset with the skipTmr value. The timer begins to countdown when the solenoid is off. This timer prevents any deviation that would produce the error PALLET_TOO_SLOW . 3.1.6 Engine Management The motor board MOH When the board motor turn on, it runs automatically the homing research and resulting in a position aligned to the track. In this phase the signal homeMot is held at 0. Just nished zeroing, the homeMot goes to 1. The RFID board MOL When the RFID is turn on it sets the state variable homeMotStt to HM_BOOTUP, starts the verication process of homing and then goes into HM_WF_BOOTUP. In this state, it waits for the reset of the card by toggling the motor signal startMot, every homeMotTmo. After 10 inversions (5 attempts homing) without receiving answers from the card engine, says that the communication between the two boards is not working by sending the error message COMM_MOT_FAULT. In the state HM_READY the system observes the signal homeMot = 0 to send the error HOMING. Then it goes into the HM_WF_TMO state waiting for homing (homeMot = 1). If this does not happen within the time homeMotTmo the error HOMING_TIMEOUT is sent. If the homing nish properly it send a null message (all 0). 20 Sirius Electronic Systems s.r.l.