AGV robot RFID sensor ck-g06a and Siemens 1200plc Application Manual

AGV robot RFID sensor CK-G06A It is a low frequency based on RFID technology RFID Label sensor , The working frequency of the sensor is 125KHZ, And support for EMID,FDX-B Reading of labels in two formats . The RF communication protocol is integrated in the sensor , Users only need to go through RS232 The communication interface can read the label after receiving the data , Without understanding complex RF communication protocols ,CK-G06A The model is RS485 communication interface .

        The sensor comes with Auto-turning Automatic tuning circuit , It can automatically adjust circuit parameters when working in different environments , Minimize the impact of external environment on card reading distance , It further enhances its anti-interference ability , It has high receiving sensitivity 、 Stable performance 、 Strong reliability and other characteristics .

        Sensors can be widely used in logistics , Warehouse management , process control ,AGV Robots in the field of site control .

This article will focus on  AGV robot RFID sensor CK-G06A With Siemens 1200 PLC Application and debugging of ！

 

One 、CK-G06A Communication connection

1、 Wiring instructions

           CK-G06A Wiring instructions :

VCC  -- Card reader 24V Power Supply

GND -- Card reader 0V

A      --  RS485 Communication port A Line

B      --  RS485 Communication port B Line

2、 Communication format

communication interface ：RS485

Start bit ：1 individual

Data bits ：8 individual

Parity bit ： nothing

Stop bit ：1 individual

Baud rate ：9600

Output encoding format ：ASCII code

3、 data format

The sensor also supports EMID and FDX-B Two formats of electronic labels , The format of signal output data is as follows ：

【 Start code 】+【 Tag type code 】+【 Decimal card number 】+【RCC check 】+【 End code 】

【 Start code 】      ：1 Bytes , character ’$’

【 Tag type code 】：1 Bytes ,’E’ by EMID,’F’ by FDX-B

【 Decimal card number 】：15 byte , front 3 Byte is country code , after 12 Byte is the card number （ High in the former ）

【RCC check 】  ：2 Bytes , High in the former , Low in the back , For the former 16 Exclusive or value of bytes ( Does not include the start character ’ $’)

【 End code 】    ：1 A byte , character ’#’

remarks ：EMID by 10 Bit data encoding format ,FDX-B by 15 Bit data encoding format . for example ：

1、   Sensor output ” $E07300123456789070#”, ’E’ Is the tag type code , among ” 073” Is the country code ,” 00” Zero filling data ,” 1234567890” by EMID Format code data ,”70” Is an XOR value

2、   Sensor output “$F91800001234678972#”,’F’ Is the tag type code ,” 918000012346789” Encode data for tags ,” 72” Is an XOR value ;

Two 、 Programming

1、 Hardware selection

PLC： Siemens 1211C AC/DC/RLY（6ES7211-1BE40-0XB0）

Communication module ： Siemens CB 1241 RS485 （6ES7241-1CH30-1XB0）

Card reader ：CK-G06A

2、 Software selection

Programming configuration software ：TIA Portal V14 SP1

PLC Firmware version ：V4.2

Communication module firmware version ：V1.0

3、 configuration

3.1、 PLC The selection

  3.2、 Communication module selection

4、 Parameter configuration  

4.1、 Communication format setting

Select... In the device view CB1241 Communication board Right click to select Properties Click in the general options IO-Link   Adjust its internal attributes to and CK-G06A The properties of are consistent

4.2、 Receive start frame

Expand the messages received by the configuration Click on the message to start   Will start with any character Start with special conditions instead Check start with a single character recognition message   At the beginning of the message ( Hexadecimal ) Fill in 24 ( Hexadecimal 24 stay ASCII The characters represent $ Number )

 4.3、  Receive end frame

In the end of message option box Select message timeout to identify the end of the message Then fill in the message timeout box below 50（ This value can be adjusted according to the actual situation ）

 

Then move to the... Below 5 Character message end sequence   First check the upper part to identify the end of the message through the character sequence Then check the check character 1  fill 23（ Hexadecimal 23 stay ASCII Within the yard is # Number ）

5、 Programming

First, add a FB and DB Block rename it

 

 

Select the newly created... In the project tree DB block Right click to select Properties Select the attribute in the pop-up window Uncheck optimized block access Click ok

 

The main function instructions used in this routine are signal communication → Communication processor → Point to point and Extension instructions → character string + character

 

First place a PORT_CFG Function block , This function block is mainly used to initialize the parameters of the communication module , For specific meaning, select the function block and press F1 see .

 

After writing the initialization function block , You can read , Put one in RCV_PTP Function block .

Here we mainly pay attention to BUFFER Parameters here , Out of commission String Data type of .

 

P#DB3.DBX34.0 BYTE 32 It stands for from DB3 In the program block, the 34 individual Byte Of the 0 Bit start 32BYTE

It's pointing to ReadHex Inside 32Byte To receive BUFFER The cache of

 

Procedures section 3 It is to copy data out for XOR verification , And remove the frame header $ Frame tail #.

ReadNdr by 1 When, it means that the data is successfully read       

 

Procedures section 4 Is to obtain the last two bits in the data frame RCC Verified value

First from 16 It's binary ASCII Code to String character string , And then convert from string type to 16 Base number , So it's up to 0X31,0X37 Into the 0X17

 

Receive completion flag bit =TRUE When

to RccCheck Zero clearing

Again FOR loop 15 Time

RccCheck Exclusive or ReadRCC Array for calculation

Finally, put ReadOK Reset

The last thing to come out RccCheck The value is the last RCC Check value

What will be calculated RCC Value and in frame RCC Value for comparison , If consistent, there is no wrong data in the transmission process .

Then judge the intra frame FDX And EMID Format , Place the flag in a different state , Use the method used above to ASCII Code to 16 Binary output , When the high bit is converted, there is only 7 So I have to move it to the right .

example ： from 1230_0450 Turn into 0123_0045

notes ： In this program EMID The middle two digits of the format 00 No impact on the application , Therefore, it is not removed . You can compensate the two according to your actual situation 00 Get rid of .

 

Use it in the main function as shown in the figure

       REQ ： Enable end

       ID    ： Hardware identifier

       EmidOrFdx    ： Card format judgment SET: EMID Format  RESET: FDX-B Format

       OutDataL      ： Low order of card data

       OutDataH      ： High bit of card data