1. Scope of Application

This document describes the configuration method for a series of laser sensors, specifically the Pepper R2000.

Second, Debugging Resources

The debugging software is divided into two parts: software package and driver package.

• PF_PACTware - Download link for PF_PACTware software.

• R2000_DTM - Download link for R2000_DTM software.

Two, connection of wiring harness

Laser Signal Cable and Laser Power Cable

1. Screw the M12 connector of the laser signal cable into the LAN port of the laser sensor, and connect the RJ45 connector to any of the six switches on the core controller.

2. Screw the M12 connector of the laser POWER cable into the power port of the sensor, and connect the other end to a suitable power supply. Please note that the brown cable (or white cable) is 24+, and the blue cable (or black cable) is GND.

Four, Parameter Configuration

Pepperl Plus provides three Ethernet connections (AutoIP, DHCP, Static).
Robokit comes with a default doubly plus Fu positioning navigation laser for static IP, with an address of 192.168.192.100. (The dual laser robot also has another laser sensor with an IP address of 192.168.192.101).

Before debugging, adjust the Pujiafu laser sensor from its factory default state to our company's intended use state (IP: 192.168.192.100, subnet mask: 255.255.255.0, gateway: 192.168.192.1).

Here are two methods to modify the parameters of the Pepperl + Fuchs laser sensor.

4.1 Using Peplus Laser Sensor Debugging Software

Before utilizing this technique, you must download the Pepperl + Fuchs debugging software and configure the Ethernet port connected to the laptop and laser to obtain an IP address automatically.

1. Once the debugging software and driver have been installed, launch PACTware. The interface will appear as shown in the image below:

2. Select the host PC on the left, right-click and choose "Add Device". Then, open the R2000 IP Communication option box and select "OK".

3. Right-click on the R2000 IP communication on the left and select "Add Device". The available R2000 model options will be displayed. Choose the desired model (commonly used by our company) OMDxxx-R2000 HD.

4. To establish a connection with the left laser (OMDxxx-R2000 HD) icon, right-click on it and select "Establish Connection" from the options that appear. Then, double-click on the laser (OMDxxx-R2000 HD) icon to access all laser configuration options, as shown below:

5. Select the Ethernet Setup option and enable the update of IP configuration by checking the box located at the front of the box. This will result in the appearance of New Settings as shown in the figure below:

6. Click the "Write Device" button on the toolbar to upload the newly configured parameters to the Beplus sensor, and then reset the sensor [Reboot Device] to complete the configuration, as illustrated in the image below.

7. Once the laser device has been configured, restart it. After the restart, use the command-line interface (CLI) to ping the laser device. If the test is successful, the IP address of the laser device has been configured correctly.

4.2 Adjusting Sensor Parameters using Buttons

1. As depicted in the image below, the button on the left is labeled as "Select," while the button on the right is labeled as "Menu/OK," as illustrated in the image below:

2. Press the Menu/OK button and the Select button respectively to navigate to the Ethernet Setup section. Choose static for the Address Mode.

3. Press the Menu/OK button and the Select button respectively to navigate to the Ethernet Setup section. Adjust the IP Address to 192.168.192.100.

4. Press the Menu/OK button and the Select button respectively to navigate to the Ethernet Setup section. Adjust the Subnet mask to 255.255.255.0.

5. Press the Menu/OK button and the Select button respectively to navigate to the Ethernet Setup section. Adjust the Gateway to 192.168.192.1.

6. Power off and restart the laser sensor to complete the setting.

7. After configuring the laser device, restart it and run the command-line interface (CLI) to ping the device. If the test succeeds, the IP address of the laser device is correctly configured.

V. Usage of PACTware Software

5.1 Viewing and Configuring Other Sensor Parameters

1. Configurable items include: Sensor Information, Ethernet Setup, Measurement Setup, Display/HMI Setup, Live View, Service/Diagnosis, and About Sensor Information. These mainly cover basic information for the laser model.

2. Measurement Setup: This section primarily covers angular velocity resolution and scanning frequency.

3. Display/HMI Setup This section primarily involves creating and configuring the display on the glass panel.

5.2 Operations for Modifying the Logo

1. Prepare a monochrome bitmap that is 252 pixels in length and 24 pixels in height, which can be edited using the drawing tool included with Windows. The size can be referenced in the figure below:

2. Connect the software to the laser as usual and open the Display/HMI Setup interface, as depicted in the image below:

3. Click on [Load Bitmap] to insert the bitmap, then click the "Write Device" button in the menu bar to make modifications.

4. The [Write device] function will upload the newly configured parameters to the laser device. Click [Reboot Device] to restart the device.

Six, Model Configuration

The robot is equipped with a solitary laser, and its configuration is as follows:

Vii. Troubleshooting and error codes