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- Page 1 Guide Wire Interpreter for the Inductive Track Guidance of Vehicles HG G-7335xZA For the connection of 2 antennas Interfaces: CANopen® HG G-73350ZA & Profibus HG G-73351ZA English, Revision 04 Date: 24.04.2017 Dev. by: WM Author(s): RAD / MN Innovation through Guidance www.goetting-agv.com...
- Page 2 Overview HG G-7335xZA ® 2017 Götting KG, errors and modifications reserved. The Götting KG in D-31275 Lehrte has a certified quality management system according to ISO 9001. Device Description HG G-7335xZA | English, Revision 04 | Date: 24.04.2017 | www.goetting-agv.com...
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Page 3: Table Of Contents
Table of Contents HG G-7335xZA Content 1 About this Document ................5 Function ..........................5 Symbols ..........................5 2 Introduction..................... 7 Variant Overview......................... 7 Components ......................... 7 3 Mounting ....................8 Casing............................. 8 Connectors..........................8 3.2.1 Antenna Sockets on the Interpreter ..................8 3.2.2 CAN Bus (HG G-73350)........................ - Page 4 Table of Contents HG G-7335xZA Heartbeat ..........................27 Writing on service data objects (SDOs) ..............27 Object directory ........................ 27 7.5.1 Communication specific entries....................28 7.5.2 Manufacturer entries ........................29 7.5.3 Standard device profile ........................30 7.5.4 CANopen Object Dictionary......................30 7.5.4.1 Device Type..........................30 7.5.4.2 Error Register ..........................30 7.5.4.3...
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Page 5: About This Document
Chapter 1: About this Document HG G-7335xZA About this Document 1.1 Function This device description contains information regarding the correct mounting, electric instal- lation, commissioning and maintenance of the interpreter HG G-7335xZA for the technical personnel of a manufacturer who wants to integrate a guide wire track guidance system into an automated guided vehicle (AGV). - Page 6 Chapter 1: About this Document HG G-7335xZA Link Indicates additional information in the internet, e.g. on our homepage www.goetting- agv.com. Those links are clickable in the PDF version of this documentation. Program texts and variables are indicated through the use of a fixed width font ...
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Page 7: Introduction
Chapter 2: Introduction HG G-7335xZA Introduction The described interpreter allows to connect two tracking antennas to one device. The inter- preter contains two identical channels with an independent setting of the filter frequency. The data output is carried out either via CAN Bus or Profibus, this depends on the Variant (see below). -
Page 8: Mounting
Chapter 3: Mounting HG G-7335xZA Mounting 3.1 Casing Casing interpreter HG G-73350/HG G-73351 Figure 1 3.2 Connectors All connectors are A-coded M12 panel plugs/jacks. 3.2.1 Antenna Sockets on the Interpreter The steering antennas are connected via a 1:1 cable to the corresponding 4-pin A-coded M12 panel jack. -
Page 9: Can Bus (Hg G-73350)
Chapter 3: Mounting HG G-7335xZA These panel jacks provide connection to the antennas. It is irrelevant whether one or two antennas are connected. When using only one antenna, ANT1 or ANT2 can be chosen. The displaying of CD1/CD2 on the front panel (Siehe „Position of the LEDs“ auf Seite 13.) refers to the corresponding antenna input. -
Page 10: Power Supply And Serial Interface
Chapter 3: Mounting HG G-7335xZA 3.2.4 Power supply and serial interface Here a 5-pin A-coded M12 panel plug is used, in Figure 1 referred to as PWR RS232. PWR / RS232 (male) Pin Signal Annotation +24 V — n.c. Serial RS 232 data output Serial RS 232 data input Pin allocation of power supply and serial interface, connector PWR / RS232 Table 5... -
Page 11: Commissioning
Chapter 4: Commissioning HG G-7335xZA Commissioning After mounting or changing the antennas, a position calibration is recommended. Please see chapter 6.3.2 on page 17 and 7.5.4.18 on page 35. The position calibration has to be carried out for each antenna individually. Note Only by processing this position calibration the interpreter is able to calculate and display the deviation scaled to mm. -
Page 12: Hardware
Chapter 5: Hardware HG G-7335xZA Hardware The casing of the interpreter is made of plastic. All wires etc. can be connected via M12 con- nectors on the front panel. The input signals (two per antenna) are amplified, filtered with an adjustable band filter (frequency input, see Figure 14 on page 42) and rectified synchro- nously. -
Page 13: The Control Leds
Chapter 5: Hardware HG G-7335xZA The 16x oversampling and the use of a 10bit A/D converter lead to a value range of the sum voltage of 16384, of the difference voltage of ±8192. As in this range the DC offsets of the channels have to be compensated, a range of about 16000 resp. -
Page 14: Software
Chapter 6: Software HG G-7335xZA Software 6.1 Connection to a PC via the Serial Interface The interpreter has a serial interface included in the 5 pin PWR RS232. This interface can be used for its diagnosis, configuration or a software update. A PC with a serial RS 232 in- terface is needed. -
Page 15: Monitor Program
Chapter 6: Software HG G-7335xZA 6.3 Monitor Program Connect the PC to the interpreter and start the Terminal program.The monitor will start after pressing ‘m‘ or 6.3.1 Main menu Depending to the variant the following menu appears: 1 D1: -10 S2: 10816 D2: -4403 X1:-256 mm X2: -50 mm Status: 0x40 (1) Select Antenna System 1 (2) Select Antenna System 2... -
Page 16: Table 7 Meaning Of The Possible Values In The Status Output
Chapter 6: Software HG G-7335xZA Status The hexadecimal output of binary coded system statuses in the same format as output via the serial telegram, PDO_1 (CAN) or Profibus. Hex value Meaning 0x80 S1 has exceeded the set threshold for channel 1 0x40 S2 has exceeded the set threshold for channel 2 0x20... -
Page 17: Antenna Menu
Chapter 6: Software HG G-7335xZA 6.3.2 Antenna menu In this chapter the sub menu for antenna 1 will be explained. The sub menu for antenna 2 is identical. 1 D1: -10 S2: 10816 D2: -4403 X1:-256 mm X2: -50 mm Status: 0x40 (F)req 1 select [/Hz]:... -
Page 18: Can Menu (Hg G-73350)
Chapter 6: Software HG G-7335xZA Calibration menu The calibration menu (here: antenna 1) is made up as follows: S1: 3780 D1: 3617 S2: 3133 D2: 4590 X1: +62 X2: +99 Status: 0xc0 Us1: 3795 Udl1: Udr1: 3645 shift Antenna 1 from -2*H to +2*H and press any key when ready Screenshot: Calibration menu antenna 1 Figure 7 During the calibration the maximum of the voltage... -
Page 19: Profibus-Menu (Hg G-73351)
Chapter 6: Software HG G-7335xZA In addition to the above described staus line, the status of the CAN bus is displayed: changes to if e.g. the CAN bus is unplugged or because of lacking online Bus offline a terminator. Besides that the statuses CAN open Node stopped... -
Page 20: Switching To Different Environment Parameters
Chapter 6: Software HG G-7335xZA S1: 6453 D1: 65 S2: 0 D2: -13 X1: +0 X2: -256 Status: 0x80 Byte # Master-Input Profibus-Status: NO_ERROR (N)ode ID [0..126]: (L)owbyte first (Q)uit Byte # Master-Output Screenshot: Profibus-Menu (HG G-73351) Figure 9 In this menu the following keys have a specific function: ... -
Page 21: Figure 10 Screenshot: Firmware Update
Chapter 6: Software HG G-7335xZA Note The XON/XOFF flow control has to be activated! Start the interpreter‘s main menu (description see above) and choose for (U)pdate firmware. Then enter the password On the screen the following image appears: Please wait for 'R' and transfer Intel-Hex file as ASCII upload -------------- Flash Loader T89C51CC03... -
Page 22: Can Interface (Hg G-73350)
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA CAN Interface (HG G-73350) The node ID and the transfer rate have to be selected by using the serial monitor (described in section 6.2 on page 14) or the corresponding SDOs. The measured values of the system are transmitted via two so called TxPDOs. They can be parametrized using the SDOs. -
Page 23: Table 9 Pdo Operation Modes
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA Please observe that not each device supports all operation modes. Devices by Götting usu- ally support the modes 1 to 240 and 255. Operation Mode Explanation Cyclic every n‘th Sync telegram data is transmitted Acyclic transmits if an event has occurred since the last Sync telegram Synchronous... -
Page 24: Description Of The Process Data Objects (Pdos)
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA 7.2 Description of the process data objects (PDOs) 7.2.1 Transmission objects The measured data are allocated to particular places in the PDO, a dynamical mapping is not provided. The PDO mode can be set to cyclical, synchronous or a asynchronous. In order to prevent high bus load during the non-cyclical transmission (asynchronous mode) the in- hibit time in the CAN menu can be adjusted using the serial monitor (see 6.3.3 on page 18). -
Page 25: Table 15 Can: Calculation Of Negative Deviation Values (Example: Maximum)
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA Directly after the MSB the 8-Bit representation of the deviation value (marked green in the below tables) does follow, while the remaining Bits of lower value are filled with 0. The internal deviation value in fact is a signed 9-bit number which has been shifted by 7 digits to the left, which equals a multiplication by 128 (2^7). -
Page 26: Pdo_2
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA 7.2.1.2 PDO_2 PDO_2 is sent with identifier 0x280 + node address. It contains exactly four 16bit words (left-aligned) in the order Us1, Ud1, Us2, Ud2. The synchronous identifier which is up to be received is 0x80. -
Page 27: Heartbeat
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA 7.3 Heartbeat The device supports the heartbeat mode. If a heartbeat time > 0 is set in the CAN menu the status of the device is sent to the identifier 0x700 + node address after the heartbeat timer has expired. -
Page 28: Communication Specific Entries
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA 7.5.1 Communication specific entries Communication specific entries located from 0x1000 to 0x1FFF Index Subindex Access Content EEProm 0x1000 0 Device Type 0x1001 0 Error Register 0x1005 0 COB ID Sync Message 0x1008 0 Number of Entries of Device Name Device Name 1 Device Name 2... -
Page 29: Manufacturer Entries
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA Communication specific entries located from 0x1000 to 0x1FFF Index Subindex Access Content EEProm 0x1801 0 Number of entries of Transmit PDO_2 COB-ID Transmission Type Inhibit Time Event Time 0x1A00 0 Number of Objects mapped to Transmit PDO_1 Specification of Appl. -
Page 30: Standard Device Profile
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA Manufacturer entries from 0x2000 on Index Subindex Access Content EEProm 0x2002 Number of Parameter Node Baudrate Node ID Node Config CAN: overview of object directory, manufacture specific entries from 0x2000 on (part 2 of 2) Table 25 7.5.3 Standard device profile When applying “Restore All“... -
Page 31: Device Name
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA 7.5.4.4 Device Name Index Subindex Name Format Attr. Map Default Meaning 0x1008 00 Device Name Unsigned 8 number of sub- indexes Name 1 Vis.-String „G_73“ “device name“ Name 2 Vis.-String „350Z“ Name 3 Vis.-String „A “... -
Page 32: Producer Heartbeat Time
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA 7.5.4.9 Producer Heartbeat Time Index Sub Index Name Format Attr. Map Default Meaning 0x1017 00 Producer Unsigned 16 1000 Heartbeat time in Heartbeat ms (ca.) Time CAN: Producer Heartbeat Time Table 35 When entering 0 as time, this function is deactivated. -
Page 33: Transmit Pdo_1 Parameter
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA 7.5.4.13 Transmit PDO_1 Parameter Index Sub Index Name Format Attr. Map Default Meaning 0x1800 00 TxPDO_1 Unsigned 8 0x04 number of sub Parameter indexes COB ID Unsigned 32 0x40000180 PDO_1 valid, ID = + Node-ID 0x180 + Node-ID Transmission... -
Page 34: Mapping Txpdo_2
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA 7.5.4.16 Mapping TxPDO_2 Index Sub Index Name Format Attr. Map Default Meaning 0x1A01 00 number of Unsigned 8 0x04 number of sub indexes mapped objects 1st mapped Unsigned 32 RO 0x64010110 mapped on Index object 0x6401,01 with 16 Bit length (Us1) -
Page 35: Manufacture Parameter - Calibration Of The Antenna
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA 7.5.4.18 Manufacture parameter - calibration of the antenna Index Sub Index Name Format Attr. Map Default Meaning 0x2001 00 number of Unsigned 8 0x02 number of sub parameter indexes Start Ant-1 cali- Unsigned 32 W bration Stop Ant-1 cali-... -
Page 36: Manufacture Parameter - Node Parameter
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA 7.5.4.19 Manufacture parameter - node parameter Index Sub Index Name Format Attr. Map Default Meaning 0x2002 00 Number of Unsigned 8 RO 0x02 number of sub indexes Parameter Node Baud-rate Unsigned 8 RW 0x02 125 Kbaud, *) see Table 45 Node ID... -
Page 37: Bit Analog Inputs (Transmitted In Txpdo 1 Und Txpdo 2)
Chapter 7: CAN Interface (HG G-73350) HG G-7335xZA 7.5.4.21 16 Bit Analog Inputs (transmitted in TxPDO 1 und TxPDO 2) Index Sub Index Name Format Attr. Map Default Meaning 0x6401 00 number of 16 Unsigned 8 0x06 number of 16 bit ana- bit analog log inputs inputs... -
Page 38: Profibus Interface (Hg G-73351)
Chapter 8: Profibus Interface (HG G-73351) HG G-7335xZA Profibus Interface (HG G-73351) The Node-ID has to be selected via the serial monitor described in section 6.2 on page 14. Using the GSD file 73351A0.GSD (see section D on page 45 in the appendix) two differ- ent configurations can be displayed, see below. -
Page 39: Troubleshooting
Chapter 9: Troubleshooting HG G-7335xZA Troubleshooting The following table contains a list of errors that might occur. For each error, a symptom de- scription is given. In the third column you will find a description of how to locate and possi- bly correct the error. -
Page 40: Technical Data
Chapter 10: Technical Data HG G-7335xZA Technical Data Technical Data HG G-7335xZA Dimensions 160 mm x 90 mm x 50 mm Weight 400 g Protection class IP 64 Relative humidity at 25 C 95% (without bedewing) Operating temperature C to +50 Storage temperature C to +70 Operating voltage... -
Page 41: Appendix
Chapter 11: Appendix HG G-7335xZA Appendix A Block Diagrams 4-25kHz 40Hz RS 232 µP 200kHz-1,25MHz Block diagram HG G-73350 (CAN-Bus) Figure 12 4-25kHz 40Hz RS 232 µP Profibus 200kHz-1,25MHz Block diagram HG G-73351 (Profibus) Figure 13 Device Description HG G-7335xZA | English, Revision 04 | Date: 24.04.2017 | www.goetting-agv.com... -
Page 42: B Diagrams
Chapter 11: Appendix HG G-7335xZA B Diagrams Frequency response interpreter HG G-73350ZA + antenna HG G-19200Z(Y)C Figure 14 Frequency response output compensated) Figure 15 Device Description HG G-7335xZA | English, Revision 04 | Date: 24.04.2017 | www.goetting-agv.com... -
Page 43: Figure 16 Band Filter Characteristics At 5 Khz (Q=20)
Chapter 11: Appendix HG G-7335xZA Band filter characteristics at 5 kHz (Q=20) Figure 16 Band filter characteristics at 10 kHz (Q=22) Figure 17 Device Description HG G-7335xZA | English, Revision 04 | Date: 24.04.2017 | www.goetting-agv.com... -
Page 44: Figure 18 Band Filter Characteristics At 15 Khz (Q=21)
Chapter 11: Appendix HG G-7335xZA Band filter characteristics at 15 kHz (Q=21) Figure 18 Band filter characteristics at 20 kHz (Q=22) Figure 19 Device Description HG G-7335xZA | English, Revision 04 | Date: 24.04.2017 | www.goetting-agv.com... -
Page 45: C Electronic Data Sheet (Esd File, Hg G-73350)
Chapter 11: Appendix HG G-7335xZA Band filter characteristics at 25 kHz (Q=28) Figure 20 C Electronic Data Sheet (ESD File, HG G-73350) You can find the latest version of the ESD file for the CAN configuration for download from our homepage. Link http://www.goetting-agv.com/components/7335x D GSD File (HG G-73351) -
Page 46: List Of Figures
Chapter 12: List of Figures HG G-7335xZA List of Figures Figure 1 Casing interpreter HG G-73350/HG G-73351 ..................8 Figure 2 Position of the LEDs ............................13 Figure 3 Connection example: Connection to the serial interface of a PC..........14 Figure 4 Screenshot: Main menu of the monitor program (HG G-73350 with CAN Bus) ....15 Figure 5 Screenshot: Main menu of the monitor program (HG G-73351 with Profibus)....15... -
Page 47: List Of Tables
Chapter 13: List of Tables HG G-7335xZA List of Tables Table 1 Variant Overview ..............................7 Table 2 Pin allocation antenna sockets, connectors ANT1 and ANT2 ............8 Table 3 Pin allocation CAN bus, connectors BUS1 and BUS2................9 Table 4 Pin allocation Profibus, connectors BUS1 and BUS2.................9 Table 5 Pin allocation of power supply and serial interface, connector PWR / RS232 ....10 Table 6... - Page 48 Chapter 13: List of Tables HG G-7335xZA Table 36 CAN: Identity Object............................32 Table 37 CAN: Receive PDO Parameter........................32 Table 38 CAN: Mapping RPDO_1..........................32 Table 39 CAN: Transmit PDO_1 Parameter ......................33 Table 40 CAN: Transmit PDO_2 Parameter ......................33 Table 41 CAN: Mapping TxPDO_1..........................33 Table 42 CAN: Mapping TxPDO_2..........................34 Table 43...
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Page 49: Copyright And Terms Of Liability
Chapter 14: Copyright and Terms of Liability HG G-7335xZA Copyright and Terms of Liability 14.1 Copyright This manual is protected by copyright. All rights reserved. Violations are subject to penal leg- islation of the Copyright. 14.2 Exclusion of Liability Any information given is to be understood as system description only, but is not to be taken as guaranteed features. - Page 50 Innovation through Guidance Götting KG Celler Str. 5 | D-31275 Lehrte Tel. +49 (0) 5136 / 8096 -0 Fax +49(0) 5136 / 8096 -80 info@goetting-agv.com www.goetting-agv.com www.goetting-agv.com...
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