Page 1 Autonomous Vehicles Navigation Controller HG G-73650ZD Basics, Setup and Software English, Revision 08 Date: 15.11.2018 Dev. by: ML / LM / TE Author(s): RAD / ML Innovation through Guidance www.goetting-agv.com...
Page 2 Overview © 2018 Götting KG, errors and modifications reserved. The Götting KG in D-31275 Lehrte has  a certified quality management system according to ISO 9001. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 3: Table Of Contents
2.6.3 Automatic Adjustment of Segment Speeds ............37 2.6.4 Steering Angle Calculation ..................38 2.6.5 Guidance of an omnidirectional Vehicle ..............38 2.6.6 Guidance of a non-omnidirectional Vehicle ............39 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 4 GPS Receiver Menu .......................62 4.2.4.1 UTC ..........................62 4.2.4.2 Status ..........................62 4.2.4.3 Position ..........................62 4.2.4.4 Diff. Data Age ......................63 4.2.4.5 Satellites........................63 4.2.4.6 Accuracy........................63 4.2.4.7 Base Vector ........................63 4.2.4.8 Heading .........................63 4.2.5 Error Menu ........................64 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 5 N: Show Segments ......................108 Q: Show Transponder ..................... 109 S: Segment Sequences ....................109 Commissioning ................111 Interfaces usually connected ..................111 Test / Real Operation ...................... 111 Commissioning the communication ................112 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 6 Wheel Reduction Box ....................157 7.3.16 Trailer Box ........................158 7.3.17 Segment Sequence Box .................... 158 Feldbus/Ethernet (UDP) Output ..........160 Tx Transmission Telegram Control Unit –> PLC ............ 160 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 7 List of Tables ................. 199 Index ....................202 Copyright and Terms of Liability ..........205 16.1 Copyright ..........................205 16.2 Exclusion of Liability ....................... 205 16.3 Trade Marks and Company Names ................205 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 8: Introduction
Chapter 1 – Introduction Introduction The subject of this manual is the Navigation Controller HG G-73650ZD that enables AGV (Automated Guided Vehicles) to follow virtual tracks. The following terms are used synonymously throughout this document:  Control Unit (as printed onto the hardware) ...
Page 9: Symbols
Whenever the pressing of letter keys is required for program entries, the   required etter eys are indicated as such (for any programs of Götting KG small and capital letters are equally working). Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 10: Tasks Of The Navigation Controller
1.3 Intended Use DANGER Danger through missing safety measures The navigation controller HG G-73650ZD is not a safe device.  Only use the navigation controller in applications where sufficient additional precautions for the protection of people and the detection of obstacles have been taken.
Page 11: Requirements / Options
If emergency stop functions are to be provided, a vehicle control system is man- datory as the highest possible safety can only be achieved when both steering controller and vehicle control system are installed. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 12: Basic Principles Of Track Guidance
Trucks with semi- e.g. fork-lift suited trailer truck e.g. some heavy e.g. large towing duty vehicles tractors e.g. special vehicles Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 13: System Composition
Gyro is connected via CAN bus as well and is intended to enhance the odo- metry. Since odometric calculations tend to be load-dependent the installation of a Gyro is recommended. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 14: The Odometry
If a wheel is moving faster than 0.1 m/s while the function is activated the con- trol unit triggers a plausibility error (0x0400) since it has to assume that the vehicle in fact moves. Additionally the accuracy of the position is set to 100 m. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 15: Compensation Of Wheel Diameters
RS 232 interface which is de- scribed in the antenna manual. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 16: Single Antenna Evaluation - Calculation Of The Position With One Antenna
(transponders). With the reading of two transponders it is then also possible to determine the direction of the vehicle. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 17: Figure 6 Properties Of A Single Antenna Set-Up
In position 1 the tran- sponder is read in a distance of 3,19 mm from the desired position (center of the antenna), in position two with a reading error of 52,04 mm. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 18: Double Antenna Evaluation
The antennas should be mounted as far apart as possible. This means that small inaccuracies during positioning will only have a slight impact on the angle er- ror. For each transponder crossing only one calculation is performed (posipulse of antenna 1,3). Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 19: The Triple Antenna Evaluation
½ of the antenna width when starting over two transponders. Triple antenna set-up: With this set-up the start position is exactly determined when initializing while the three antennas are placed above three transponders. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 20: The Transponder List
If less than 6 satellites are available for the position calculation or if the satellites are distributed unfavorably over the sky the system becomes less accurate or drops out. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 21: Coordinate Systems
 For non-omnidirectional vehicles the origin has to be placed on a point that is always moving in vehicle direction (e.g. the axis that is not steered). Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 22: The Local Coordinate System
Cylindrical intersection of the earth globe for a flat country coordinate system Figure 11 Artist: Anton (rp) 2005 https://commons.wikimedia.org/wiki/File:Utmzylinderrp.jpg Creative Commons Attribution-Share Alike 3.0 Unported https://creativecommons.org/licenses/by-sa/3.0/deed.en Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 23: Reconstruction Of The Route (Segments)
(for example transponders in the ground). The distance between them depends on the type of the route and the ve- hicle used. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 24: The Segment File
10000 1500 0x00000000 0 9000 10000 1000 0x00000000 0 9000 10000 500 0x00000000 0 9000 10000 0 0x00000002 0 9000 10000 0 0x00000001 0 9000 10000 500 0x00000000 0 9000 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 25: Figure 14 Example For Congruent Segments
188 shows the meaning of those bits. The16 higher bits – except for the two most significant bits – are freely available and are passed to the vehicle control unit, e.g. via CAN Bus, see Table 43 on page 132. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 26: The Segment Search
Register Support Point Segment Support Point Segment Support Point Segment Support Point Segment Segment Segment FIFO Track shifting register Segment Segment Segment Segment Segment Segment Segments to be driven Segment Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 27: Table 4 Example: Shifting Of Segments In The Fifo
In order to prevent the navigation controller from loading a segment currently being changed by the vehicle PLC, never the next, but always the next but one segment (FIFO- Register number 2) or higher segments may be changed. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 28: Transmission Of Segments
Box, see Table 43 on page 132. This bit is deleted when the data is transferred into the designated memory for the processing of segments. Afterwards the Seg- ment File configuration page (see 4.6 on page 91) the number of loaded segments is shown. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 29: Attributes
The segments should be as short as possible but as long as necessary. Segment 3 is the return from the left offset to the actual course. Segment 4 is the return from the right offset to the actual course. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 30: Figure 16 Offset Segments
Otherwise the vehi- cle heading may jump. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 31: Inverted Steering
If from the same position the control unit is to drive a sharp left turn instead it is ad- visable to set Steer not inverse to make the control unit use the sufficient remaining steering angle when steering left. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 32: Stop Distance
If a greater change in the heading angle is set for a segment but the attribute Spot turn is not set the control unit will try to initiate the new heading with the normal cal- culations which usually leads to the error Deviation. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 33: Creating / Editing Of A Segment File
(s. section 2.5 on page 23). The navigation controller outputs:  Target values Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 34: Figure 21 Example Course With A Driving Job Consisting Of A Combination Of Segments
Using the current vehicle position and angle the relation to the segment is known. Then the steering angle and vehicle velocity can be calculated. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 35: Speed Calculation
Negative effects are the high accelerations for high velocities and the time that is needed for positioning. 2.6.1.1 Ramps in the Navigation Controller The ramps that can be set inside the navigation controller (see section 4.3.7 on page 78) work with constant accelerations. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 36: Speed Ramp
1.4 m/s (1.5 m/s - 0.1 m/s) it accelerates with 0.9 m/ss. From 1.4 m/s onwards it changes the acceleration to 0.3 m/ss. This behavior is intended to reduce overshoot- ing while accelerating. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 37: Stop Ramp
From firmware version 2.57 onwards the navigation controller corrects the sgement speeds. It monitors the points in the point buffer (Pos_Buffer) which consists of the next 40 points of the subsequent segments. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 38: Steering Angle Calculation
Direction Front Vehicle Y Actual Position Vehicle X Forward Dis. Var Forward Dis. Fix Forward Dis. Fix Forward Dis. Var Target Position Deviation Rear Segment Direction Rear Direction Virtual Point Rear Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 39: Guidance Of A Non-Omnidirectional Vehicle
Consequently additional time is required. As shown below it is even possible that the vehicle increases the deviation at its rear axle at first. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 40: Reverse Driving With A Trailer
The king pin itself is considered as the steered wheel. When driving for- wards the control is similar to the control of the towing vehicle. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 41: Measuring Section
 The resolution of the incremental encoders is calculated but not yet automati- cally used. It is advisable to repeat the measuring every time before performing a reverse dock- ing. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 42: Driving Modes
The Modus Remote Control offers six different options to steer the vehicle (see the CAN Box from Table 62 on page 149 and Feldbus Bytes 42-46 from Table 83 on page 166): Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 43: Vector Steering Mode
X and Y direction have to be 0 and the desired change in heading has to be sent via the angle. Follow the same sequence as shown above. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 44: Communication With The Vehicle Control (E.g. Plc)
Four IO channels are available as well. Their configuration depends on the set vehi- cle option. For most vehicle options IO 1 - IO3 stand for the Posi Pulse inputs from the transponder antennas and IO4 for the emergency stop output. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 45: Hardware
Photo of the Control Unit: Basic configuration and version including the Feldbus/Prof- Figure 36 inet extension module HG G-61432ZA and with option GPS Basic configuration With extension module HG G-61432ZA for Profinet (Feldbus) and with option GPS Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 46: Mounting
Press button Format USB stick (Notice: erases all data on the > 10 s stick without extra confirmation) SW 2 Firmware Update via USB interface Normal operation of the control unit Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 47: Display Elements On Front Panel
Incremental encoder 2 / Channel B IO/1 Input/Output 1 signal > programmed threshold IO/2 Input/Output 2 signal > programmed threshold IO/3 Input/Output 3 signal > programmed threshold IO/4 Input/Output 4 signal > programmed threshold Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 48: Connectors
Function: Communication with internal GPS receiver (op- tional) Interface: RS 232 + Spannungsversorgung für externes Funkmodem Plug type: Sub-D 9 pins (DE9) female Pin assignment SIO 1 Table 8 Function Direction +Ub (12-24 V) Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 49: Sio 2
Sketch of connector CAN 1 Figure 43 Function: CAN Bus 1 Interface: CAN Spec. V2.0 part B Plug type: Phoenix-Contact FKCT 2,5/3-STF-5,08 Pin assignment SIO 2 Table 10 Function Direction CAN High CAN Low Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 50: Can 2
Sketch of connector POWER Figure 46 Function: Energieversorgung 12 – 24 V Plug type: Phoenix-Contact FKCT 2,5/2-STF-5,08 Pin assignment SIO 2 Table 13 Function Direction +Ub (12 – 24 V) Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 51: Encoder 1 / Encoder 2
Without option GPS: dummy plug  With option GPS: 2 X TNC plugs for the connection of GPS antennas (s. Figure 36 on page 45) – ANT1: Position – ANT2: Heading Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 52: Extension Module Feldbus
The control unit can be ordered with the following field bus options:  HG G-61432ZA Profinet Dimensions control unit incl. expansion module HG G-61432ZA Figure 50 66 mm 49 mm 208 mm Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 53: Configuration Via Web Sites
Then it is no longer possible to stop the vehicle using the browser. Thus use the mode Test  with extreme caution,  slowly and  with safety devices such as emergency off within reach. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 54: Main Menu
Parameter Test: Test mode for parameters and interfaces, for example during commissioning or troubleshooting. More information in the section entitled 'Transponder Table': Display of the transponders stored in the navigation con- troller. More information in section 4.10 on page 95. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 55: Status Menu
Angle 1: Steering angle of wheel 1  Angle 2: Steering angle of wheel 2  Angle 3: Steering angle of wheel 3  Angle 4: Steering angle of wheel 4 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 56: Deviation
If the vehicle is located in the segment, the value is between 1 and 2. – If the vehicle is located between the last and penultimate point, the value is between 2 and 3. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 57: Plc
Status: The vehicle status transferred by the vehicle to the vehicle control sys- tem, see 7.2.1 on page 132, 'Byte 1'.  Command: The command transferred by the vehicle control system to the vehi- cle, see 7.3.1 on page 146, 'Byte 1'. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 58: Transponder Menu
Should not rise to more than 400 if there is a transponder under the antenna.  Current: Current of the antenna (not so important, see antenna documentation)  Reading: Correct reading of the antenna (is limited at 255 per transponder) Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 59: Result
X Pos: X position of the vehicle in the global co-ordinate system.  Y Pos: Y position of the vehicle in the global co-ordinate system.  Distance: Distance driven since the last position calculation. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 60: Gps Menu
4.2.3.2 ONS The table has three columns: 1. column: Shows which value is involved. 2nd column: Output of the value 3. column: Unit of the value The following values are displayed: Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 61: Controller Deviation
1. column: Shows which value is involved. 2nd column: Output of the value 3. column: Unit of the value The following values are displayed:  GPS Accuracy Accuracy of the GPS receiver Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 62: Gps Receiver Menu
State of the navigation solution 4.2.4.3 Position The table has two columns: 1st column: Shows which value is involved. 2nd column: Output of the value The following values are displayed: Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 63: Diff. Data Age
Measured angle  MSEP Distance between the two GPS antennas  State State of the angle calculation  Tilt Inclination  Shift Tilt Shift of the position due to the inclination Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 64: Error Menu
For the error messages tooltips are available. Move the mouse cursor over one of the error fields and halt it there. Then a tooltip appears with the error definitions, see screenshot above. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 65: Tcp Menu
Cancel button aborts the operation and restores the orig- inal values. To ensure that the parameters are adopted, the navigation controller should be restarted after changes. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 66: Configuration -> Main
If this parameter is set, after reaching the segment end once, the navigation controller always outputs that the vehicle is at the segment end and ignores the rolling back. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 67 Day: Specified day for the log file.  Hour: Specified hour for the log file.  Minute: Specified minute for the log file.  Second: Specified second for the log file. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 68: Configuration -> Guidance
Segment Search from the navigation controller to the vehicle control sys- tem.  Transmit Items - CAN ID Status: Identifier for transferring the navigation control- ler state to the vehicle control system. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 69: Wheels
4.3.3.1 What type of vehicle is involved?  If the vehicle has an axle that cannot be steered independently, it is not an omnidirectional vehicle. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 70: The Non-Omnidirectional Vehicle
(wheel of the type Fix. Angle so that the nav- igation controller applies the corresponding controller). The vehicle zero point must be located on the virtual rigid axle. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 71: The Omnidirectional Vehicle
The angles in X direction are 0 and become more positive with rotation to the left. Specification of the position data to be determined for a vehicle Figure 64 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 72: Configuration -> Wheels
Contelec 1 Inv., for the event that the sensor is on its head, i.e. is inverted – Contelec 2, absolute angle sensor made by Contelec, address 418 (0x1A2), node number 22, always bus 2 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 73 Speed CAN: See CAN bus description Message Wheel Rx in Table 63 on page 150. – Speed Profibus (not yet available) – Speed Ethernet (not yet available) – ME (customer-specific interface) – -------- (no actual speed is available) Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 74: Configuration -> Antenna
2.3.4.1 on page 15. Screenshot: Configuration –> Antenna Figure 66 Setting the antennas. The table has six columns: Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 75: Configuration -> Accuracy
This is described in section 2.3 on page 13 and Table 72 on page 155. If a GPS is used, the GPS issues an accuracy estimate for every position. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 76: Configuration -> Steer Controller
Direction Front Vehicle Y Actual Position Vehicle X Forward Dis. Var Forward Dis. Fix Forward Dis. Fix Forward Dis. Var Target Position Deviation Rear Segment Direction Rear Direction Virtual Point Rear Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 77: Figure 69 Screenshot: Configuration -> Steer Controller
Regulation Angle Ramp: This ramp limits the steering angle during the remote control mode and input in the 'Parameter Test' menu.  Speed Spot Turn: Speed of the fastest wheel during a spot turn. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 78: Configuration -> Speed Controller
For non-omnidirectional vehicles this works well (reasonable range depending on the steering: 0.2 to 1). For omnidirectional vehicles the value should be very small or zero. 4.3.7 Configuration –> Speed Controller Screenshot: Configuration –> Speed Controller Figure 71 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 79 To make the vehicle travel slower during commissioning, values below one can also be entered. In this way, the vehicle now travels with 0.1 only 1/10 as fast as with 1. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 80: Configuration -> Sensor Fusion Transponder
(see section 4.3.10 on page 83). For the first averaging it is advisable to wait until the Gyro has thermally tuned itself (approx. 2 min after the Gyro is turned on). Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 81: Configuration -> Sensor Fusion Gps
Over long distances, however, the GPS is better. Screenshot: Configuration –> Sensor Fusion GPS Figure 73 Two tables, each with three columns: Item: Shows which value is involved. Setting: Input of the values Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 82 Limit P2 X Co-ordinate: X co-ordinate from point 2 in the global co-ordinate sys- tem.  Limit P2 Y Co-ordinate: Y co-ordinate from point 2 in the global co-ordinate sys- tem. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 83: Configuration -> Gyro
Screenshot: Configuration –> Gyro Figure 74 Setting of the gyro. The table has three columns: Item: Shows which value is involved. Setting: Input of the values Unit: Unit of the value Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 84: Configuration -> Servo
 CAN ID Rx: Identifier with which the gyroscope transmits on the CAN bus to the navigation controller (decimal value). 4.3.11 Configuration –> Servo Screenshot: Configuration –> Servo Figure 75 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 85 The D portion will soon be gone. The P portion will be reduced while the speed increases. The integral portion (I) will rise. At last the full Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 86: Figure 76 Servo: Diagram Control Value And Controller Difference
Kd: Factor for the differential portion of the controller  Tv: Specifies the number of cycles of 10 ms in which the D component is dis- torted over time. The following formula applies: Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 87: Configuration -> Trailer
 King Pin Y Truck: Position of the king pin in Y direction on the towing vehicle in the coordinate system of the towing vehicle. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 88 P con- troller for the steering angle.  CAN ID Trailer Angle: ID of the CAN message of the trailer (decimal). Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 89: Network Menu
LAN Net Mask - Net Mask of the Control Unit‘s Ethernet interface. Usually the default setting fits.  Default Gateway / Primary DNS Server / Secondary DNS Server - these settings arr for future applications and are not yet used. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 90: Config File Menu
As the navigation controller only loads a number of parameters once during start-up, not all the parameters of the uploaded file are active right away. If the uploaded file is to be used completely, the navigation controller must be restarted. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 91: Download
If very large CSV files are transferred (27000 support points e.g. result in a file size of approx. 14 MB) the transmission can take several minutes. After the file is transmit- ted (Uploaded 100%) the point in th e7 segment display stops blinking for some Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 92: Download Segment File
4.7 Segment Table Menu Screenshot: Segment Table Figure 82 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 93: Transponder File Menu
(see section 4.4 on page 89). In the case of short files such as with the test segments, the first message can become un- necessary. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 94: Download Transponder File
4.9 Transponder Table Menu Screenshot: Transponder Table Figure 84 The transponder list stored in the navigation controller is shown on this page.  No.: Serial number of the list Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 95: Parameter Test Menu
Here...  the simulation of a run can be carried out  the vehicle can be moved by hand in the 'Test' mode and  positions can be specified. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 96: Requirements For Switching Into The Different Modes
Specifying segments for the navigation controller  Setting the vehicle position  Switching into the 'Test' mode  Switching into the 'Auto' mode  Switching into one of the 'Vector' modes Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 97: Possibilities In The 'Test' Mode
If the navigation controller is in the Idle mode, the current position can be set to an- other position. The corresponding values must be entered in the table set Pos. Click- ing the 'OK' button adopts then these into the current actual position. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 98: Configuration Via Terminal Program
Port number: 5005 – Connect using: TCP/IP – Terminal Emulation: ANSI – Terminal Setup: - Row: 24 - Columns: 80 – ASCII Setup: - Line delay: 0 - Character delay: 0 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 99: Main Menu
The Parameter Test menu can only be opened after entering the password 314159. To do so type the password while the main menu is shown. An extra prompt/input field is not shown. This also unlocks the web sites. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 100: A: Main Monitor Navigation
Target vehicle heading [Degrees] Pos X X component of the position [Meter] Pos Y Y component of the position [Meter] Speed Target speed of the vehicle [Meter/Second] Steer Target steering angle [Degrees] Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 101: Table 19 Main Monitor Navigation: Section Deviation
3 since here no new support points are available. Attrib. Current attribute in hexadecimal presentation. The lower 16 bits are pre-configured internal bits, the upper 16 bits can be freely pro- grammed, s. section 2.5.3 on page 29. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 102: Input Possibilities
Modus outputs the state of the navigation. The current driving mode is shown, see section 2.6.9 on page 42. System shows, whether driving is performed using GPS or Transponders. 5.3.2 Input Possibilities With ESC you can return to the main menu. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 103: B: Main Monitor Sensorfusion
Cu/Read Current consumption of the transmitter Pos. X X position of the transponder, taken from transponder [Meter] table Pos. Y Y position of the transponder, taken from transponder [Meter] table Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 104: Input Possibilities
Angle measured between the last two transponders [Grad] Ang Glo Angle measured between the last two transponders [Grad] converted to global coordinate system 5.4.2 Input Possibilities With ESC you can return to the main menu. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 105: D: Data Logging
Stop the logging in the terminal program. For e.g. HyperTerminal® use the menu Transfer, subitem Stop Capture Text. Then press the ESC key to make the control unit stop the data output. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 106: E: Parameter Test
Description Unit Angle Vehicle angle (mathematically positive) [Degrees] Pos X X position of the vehicle [Meter] Pos Y Y position of the vehicle [Meter] Accur Accuracy of the position [Meter] Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 107: Input Possibilities
Target steering angle + 5 [Degrees] Target steering angle + 10 [Degrees] Steer sideways - 0,5 [Degrees] Steer sideways - 5 [Degrees] Steer sideways + 0,5 [Degrees] Steer sideways + 5 [Degrees] Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 108: N: Show Segments
10 segments. This works until the last segment is shown. Use ESC to return to the main menu. Terminal program: Menu Segment Directory Figure 92 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 109: Q: Show Transponder
Exclusively use the CAN bus OR the terminal program In order to minimize this risk the terminal program internally has a higher priority. If segment sequences are started via the terminal program, the CAN bus is ignored. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 110: Figure 94 Terminal Program: Segment Sequences
= CAN bus / terminal program = N If the segment sequence is taken from the transponder list, antenna 3 has to be used. The transponders read by this antenna is used to determine the sequences. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 111: Commissioning
Real operation: The vehicle is subsequently put into operation. DANGER Danger through missing safety measures The navigation controller HG G-73650ZD is not a safe device.  Only use the navigation controller in applications where sufficient additional precautions for the protection of people and the detection of obstacles have been taken.
Page 112: Commissioning The Communication
If after an update the error message SErr 0100 blinks on the 7 segment display this doesn‘t necessarily mean that the file was defect. It could also be that there is a new- er Software Version in the control unit already. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 113: Configuration -> Main
When using the UDP interface: Own port number Remote Port When using the UDP interface: port number of the other device Year Current year (without 2000). The date is important for recording data on a USB stick Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 114: Configuration -> Guidance
(freely definable, is entered in decimal form) CAN ID Tx Steering CAN identifier under which the control unit sends the velocity pole to the vehicle control Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 115: Configuration -> Wheels
Scaling Steering Source of Dist. / Speed Encoder 1 The terminal Encoder 1 is used to determine the path covered by the wheel. Increments / metre 1000.000 1000 increments per metre Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 116: Table 33 Example Commissioning Parameters In Config. Wheels: Wheel 2
Inc. / metre 0.000 Is not used Clearance ---------- Is not used Tolerance Angle 0.000 Tolerance of the steering angle Tolerance Speed 0.000 Tolerance Speed CAN ID Tx Is not used Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 117: Configuration -> Antenna
Other settings directly in the transponder antenna:  Threshold value for decoding: at least 300  Threshold value for positioning: Threshold value for decoding + at least 30 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 118: Configuration -> Accuracy
(a compromise). The vehicle regulates backwards faster onto the track and therefore significantly more "nervous". Time Forward 0,000 still has to be determined. At low speed, this parameter does not have a very strong effect. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 119: Configuration -> Speed Controller
6.4.9 Configuration –> Sensorfusion GPS In this example, the GPS is not configured, as no GPS is installed in the commission- ing example. All parameters can therefore be set at zero. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 120: Configuration -> Gyro
(1: Symmetric steering forward, 2: Symmetric steering sideward, 3: Dog tracking forward 4: Dog tracking sideward, 5: Spot turn, 6: specification of a velocity pole). Or the vehicle is controlled via the website 'Parameter Test'. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 121: Simulation Without Vehicle And Vehicle Controller
To do so, take a look at the corresponding parameter pages and the Segment Table page. Now, on one of the parameter pages enter the password, log in and switch to the Parameter Test page: Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 122: Simulation Without Vehicle And With Vehicle Controller
6.8 Commissioning a vehicle DANGER Danger through missing safety measures The navigation controller HG G-73650ZD is not a safe device.  Carry out the commissioning of a (new) vehicle carefully and with caution. ...
Page 123: Testing And Optimizing The Parameters
Test' menu (do not forget the password). Measure a track of approx. 5 m straight ahead in front of the vehicle and then drive the vehicle manually along this track. It is not important to drive exactly 5 metres, but the distance Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 124: Figure 96 Formula: Correction Of 'Increment / Meters
20dez, the following should be vis- ible in the 'Status Transponder' menu (the transponder antenna must have read both transponders for this test): Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 125: Figure 97 Test Run 1 At Two Transponders
The odometry only makes relative measurements. If two transponders are driven over, the absolute position can be calculated and the odometry set (referenced) to this position. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 126: Other Optimisations
0.02 seconds before the value is to apply. This reduces the error in the curve. The steering of the test vehicle that is used is very fast. Usually, the time difference will be even higher. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 127: Optimizing The Steering Controller
As can be seen in the diagram, a considerable portion of the area arises due to the dead time from the jump of the target elbow to the first reaction of the steering. This time arises due to the necessary communication of the individual components, ac- Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 128: Optimizing The Speed Ramps
(curves, straight-ahead driving). Start with really slow speeds, then gradually drive faster.  Adjust the speed ramps to match the speeds Example:  Support point clearance = 0.5 m Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 129 0.5 m / 0.2 m/s = 2.5 s. This results in a neces- sary acceleration of approx. 0.2 m/s / 2.5 s = 0.08 m/ss. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 130: Can Bus Protocol
Tx Buffer according to the state machine shown below. After index 7 of the Tx Buffer is sent, it copies the PLC Tx buffer into the Tx buffer. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 131: Figure 102 State Machine Segment Transmission Via Can Buffers
If Increment Index of Tx Buffer is 7 goto Step 5 Step  Else goto Step 2 Increment Index of Tx Buffer = 7?  Copy PLC Tx Buffer into Tx Buffer Step  Go to Step 1 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 132: Transmission Telegrams From Control Unit To Plc, The Wheels And The Gyro
CAN Tx Telegram: Path data (actual) (part 1 of 2) Table 44 Message Path data (actual) Transmitter Vehicle Guidance Controller (VGC) Receiver PLC / Vehicle Period 20 ms Parameter (305h / 773d) Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 133 (not during segmentsearch) – Index number of table (0-max 39) during seg- mentsearch byte 7 Mirrored Request Count of Segments *) = Output limited to 0 – 32000 mm Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 134: Segment Search Box
Highbyte of third segment (table) byte 6 Index of the First Segment in the List byte 7 Message-Counter The Message-Counter will be increased with each transmission as sign of operation. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 135: Error Box
Mirrored Request Count of Error changes there is only 1 error.  When there are several Errors they are sent in ascending order. As soon as the Error Number decreases in between two telegrams a new sequence begins, Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 136: Figure 103 Can Error Telegram Transmission/Synchronization Sequence
0x83 Req. Count & Obj. Request Count 3 (11) & Object No. (Rad 3) answered with 0x10 Error Number 16 Wheels Request Count Error Number decreases = new sequence starts Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 137: Table 46 Can Telegram: Error
Mirrored Request Count of Error – Error Number byte 7 (0-31) from the bytes 0-3 above / vehicle stops – Warning Numbers (> 31, s. Table 47) / vehi- cle continues operation Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 138: Table 47 Can Error Codes
0x0010 Error initialising flash drive 0x0020 Error testing flash drive 0x0040 Error defragmenting flash drive 0x0080 USB error 0x0100 No parameter file 0x0200 No segment file 0x0400 No transponder file Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 139 0x0040 Error Mode B – error regarding the Servo mode 0x0080 Error Reset – Control Unit resets the Servo after an error 0x0100 Error Reference – error regarding the Servo angle transmitter Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 140: Sensorfusion Boxes
Main in section 4.3.1 on page 66), the sensor fusion boxes can alternatively be trans- mitted from the control unit to the PLC via Fusion Transmit via CAN. The structure of the boxes is shown in section 7.3.8 on page 153. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 141: Wheel Boxes
7 Highbyte Command (s. Table 49 unten) Wheel Tx Command Bits Table 49 Command Bit 0..12 not used Bit 13 Steering enable Bit 14 Driving enable Bit 15 Toggle Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 142: Can Open Start / Stop Box
CAN Tx Telegram: CAN Open Start / Stop Table 52 Message CAN Open Start / Stop Transmitter Vehicle Guidance Controller (VGC) Receiver Vehicle Period As needed 0x000 Data byte 0 command byte 1 Node Address Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 143: Servo Box
0 Command Bit 0: Driftcompensation Bit 1: Angle reset byte 1 – byte 2 – byte 3 – byte 4 – byte 5 – byte 6 – byte 7 – Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 144: Angle And Speed Box
Direction Low Byte byte 1 Direction High Byte byte 2 Radius Low Byte byte 3 Radius byte 4 Radius byte 5 Radius High Byte byte 6 Info byte 7 Counter Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 145: Me2 Box
Pol X byte 3 Pol X High Byte byte 4 Pol Y Low Byte signed long [mm] byte 5 Pol Y byte 6 Pol Y byte 7 Pol Y High Byte Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 146: Polar Can 1 / Can 2 / Can 1+2 Box
1 bit-0 Freeze ONS *) bit-1 – bit-2 Offset right bit-3 Offset left bit-4 – bit-5 Error Acknowledge **) bit-6 Emergency Stop active ***) bit-7 Emergency Stop Acknowledge **) Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 147 GPS. It is strongly recom- mended to re-position the vehicle onto the track after emergency stops. Each emergency stop means that the wheels might have blocked which leads to a less accurate position calculation! Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 148: Path Data (Target) Box
Highbyte of Stop Distance of the last segment byte 4 Lowbyte of segment (table) byte 5 Highbyte of segment (table) byte 6 Index number of table (0-7) in normal mode byte 7 Request Count of Segments Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 149: Remote Control Box
Value range: -30000 mm/s ... +30000 mm/s Offset: 0 See 2.6.9.4 on page 42 byte 6 Highbyte Remote Z byte 7 Message-Counter The Message-Counter will be increased with each transmission as sign of operation. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 150: Wheel Box
7 Highbyte Status (s. Table 64 below) Wheel Rx Status Bits Table 64 Command Bit 0..12: not used Bit 13: Steering enable Bit 14: Driving enable Bit 15: Toggle Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 151: Servo Box
Table 67 Message Antenna Info Transmitter Transponder Antenna Receiver Vehicle Guidance Controller, (VGC) Period 8 ms Parameter CAN ID 2 for the respective antenna, see section 4.3.4 on page 74 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 152: Gyro Box
Gyro Temp. High byte 6 Gyro Status Bit 0: Driftcompensation Bit 1: Acknowledge Angle Reset byte 7 Message-Counter The Message-Counter will be increased by 1 with each transmission as sign of operation. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 153: Sensor Fusion Boxes
Transponder bit-1 GPS bit-2 Laser bit-3 – bit-4 – bit-5 – bit-6 – bit-7 – byte 7 Message-Counter The Message-Counter will be increased with each transmission as sign of operation. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 154: Table 70 Can Rx Telegram: Sensorfusion Position Y, Heading, Status Of Navigation
The Message-Counter will be increased by 1 with each transmission as sign of operation. CAN Sensorfusion Status Byte Table 71 Meaning Unit – – – – 4 - 7 Accuracy table, see Table 72 below Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 155: Vector Box
3 Pos Y Low Byte signed 1mm byte 4 Pos Y byte 5 Pos Y High Byte byte 6 Heading unsigned char 2° byte 7 Speed unsigned char 1cm/s Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 156: Steering Encoder Box
Steering Angle Wheel 2 High Byte byte 4 Distance Wheel 1 Low Byte byte 5 Distance Wheel 1 High Byte byte 6 Distance Wheel 2 Low Byte Byte 7 Distance Wheel 2 High Byte Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 157: Me Pdo 2 Box
CAN Rx Telegram: Wheel Reduction (part 1 of 2) Table 79 Message Wheel reduction Transmitter Receiver Vehicle Guidance Controller (VGC) Period 10ms Parameter: U32_WHEEL_REDUCTION_ID, see section 2.3.3 on page 15 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 158: Trailer Box
CAN bus are used to transmit segment sequences there is a risk of segments being mixed up. Thus the vehcile might choose other segments than the user expects.  Exclusively use the CAN bus OR the terminal program Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 159: Table 81 Can Rx Telegram: Segment Sequences
CAN message or terminal program 1: Number of segment sequence is read from the transponder list byte 1 Number of the segment sequence byte 2 - 7 No function Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 160: Feldbus/Ethernet (Udp) Output
Automatic mode: Actual Point Number of the actual segment Word Actual Point Number Vector modes: Distance travelled so far in mm *) *) = Output limited to 0 – 32000 mm Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 161 Segment Table 4 Word Segment Table 5 Word Segment Table 6 Word Segment Table 7 – Byte Segment Page During Segment Search 0-4 else 0 Segment Search – Byte Page Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 162 – bit-18 Camera – bit-19 Wire – bit-20 Gyro – bit-21 PLC – bit-22 GPS – bit-23 Extern 23 – bit-24 Steering Servo – bit-25 Driving Servo – bit-26 Trailer Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 163 Wheel 1 Radius see section 12.3 on page 190 in the appendix – bit-0 ..12 not used – bit-13 Steering enable word Wheel 1 Command – bit-14 Driving enable – bit-15 Toggle Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 164 Wheel 4 Radius see section 12.3 on page 190 in the appendix bit-0 ..12 not used bit-13 Steering enable word Wheel 4 Command bit-14 Driving enable bit-15 Toggle Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 165 Spare – – – Spare – – – Spare – – – Spare – – – Spare – – – Spare – – – Spare – – – life counter Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 166: Rx Reception Telegram Plc -> Control Unit
Segment Command – bit-9 Segment search request Format: 16-bit Resolution: 1 mm Word Stop Distance Value range: 1..65535mm Value 0: Stop Distance not used Offset: 0 – – – spare Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 167: Table 83 Feldbus Protocol Rx Telegram Plc -> Control Unit
... 360 Offset: 0 Format: 16-bit complement to two Resolution: 0.001 m/sec Target Speed for vector signed short Value range: 0 m/sec ... +30 m/sec mode (0 ..+30000) Offset: 0 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 168 Steering enable word Wheel 1 Command – bit-14 Driving enable – bit-15 Toggle Format: 16-bit complement to two Resolution: 0.01 signed short Wheel 2 Angle Value range: -180.00 ...+180.00 Offset: 0 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 169 Steering enable word Wheel 4 Command – bit-14 Driving enable – bit-15 Toggle signed short Extern Servo Revolutions / Min -10000 bis 10000 – – – spare – – – spare Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 170 – – – spare – – – spare – – – spare – – – spare – – – spare – – – spare – – – Life counter Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 171: Usb Data Logging: Scope Of The Data
Use File –> Open and navigate to the stick. Set the file types to be shown to Text files (*.prn; *.txt; *.csv). All log files should appear. Double click on one to open it. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 172: List Of Logged Parameters
Target speed for the segment with the set speed ramp in [m/s] (valid for the fastest wheel) Error Heading Error vehicle orientation in [ Error Center Error of the vehicle zero point vertical to the direction of movement in the seg- ment in [m] Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 173 Steering angle at the position estimated with the parameter Time Forward resulting from the segment‘s curvature at that point in [ F Point No. Segment point number at the position estimated with the parameter Time For- ward Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 174 It means that the vehicle will stop in test segment 1. The following six 1 indicate the non-existent invalid segments. I_Start Start index of the point buffer Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 175 Wheels, s. Table 47 on page 138 E_WHEEL 3 Wheels, s. Table 47 on page 138 E_WHEEL 4 Wheels, s. Table 47 on page 138 E_ANT 1 Antenna, s. Table 47 on page 138 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 176 Target S.A. 3 Target steering angle wheel 3 Target S.A. 4 Target steering angle wheel 4 Actual Speed 1 Current speed wheel 1 Actual Speed 2 Current speed wheel 2 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 177 Length between the point around which the vehicle turns and wheel 4 in Y direction Speed direction Direction of the speed Dist. Forward Distance for which the control system looks ahead Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 178 Lim. Approach A Restriction of the angle of the segment approach Dir. Rotation Pol. Sign of the rotation direction of the pole of the regulation (used for automatic driving) Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 179 OdoTr Y Pos Y position of the odometry of the sensor fusion with transponders OdoTr Dist Distance since last referencing of the odometry of the sensor fusion with tran- sponders Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 180 Trans. X 1 Transponder antenna 1: X position from the transponder table Trans. Y 1 Transponder antenna 1: Y position from the transponder table State 2 Transponder antenna 2: Status Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 181 X X component of the longitudinal correction in the global coordinate system lgtd. corr glob. Y Y component of the longitudinal correction in the global coordinate system Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 182 Vehicle heading of the sensor fusion GPS GPS X Pos. X position of sensor fusion GPS GPS Y Pos. Y position of sensor fusion GPS GPS Dist. Distance traveled since last referencing Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 183 Flags 2 GPS Travel dir. ok Indicates that the moving angle is valid Travel dir Moving angle GPS system. Calculated from the traveled distance (should only be used on straight sections) Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 184 Counts how often all GPS telegrams have been received State SF Shows whether transponder or GPS are active Actual State State of the sensor fusion (sent in the CAN bus telegram) Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 185: Trouble Shooting
Deactivated instead of Var Angle & 3. Use P CAN View or a Profinet tool to check, whether the steering angle of the wheel and the steering clearance are transmitted at all. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 186 - Check whether the orientation of the segments fits (Exception: When the Attri- bute Spot Turn is set for a segment) Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 187: Technical Data
Nominal: 12 – 24 Volt (Maximum range 10 – 30 Volt) Current consumption Basic configuration: 200 mA @ 24 Volt With expansion module HG 61431: approx. 300 mA @ 24 V Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 188: Appendix
2.5.3.1 on page 29 0x00000400 Offset left 0x00000800 Steer not inverse s. section 2.5.3.2 on page 31 0x00001000 Steer inverse 0x00002000 Stop distance s. section 2.5.3.3 on page 32 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 189: Steering Via Segment Sequences
These parameters can be changed directly within the parameter file using a text ed- itor. Afterwards the file can be re-uploaded into the control unit (see section 4.5.1 on page 90). Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 190: Starting Segment Sequences
R is the radius that is to be driven in millimetre. When s16 is set to 0, straight-ahead driving is the result (R = ). Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 191: Configuration Of The Ethernet Interface Parameters Via Sio 2
Use a cable matching your computer‘s hardware to connect a serial port of the computer to the RS 232 interface SIO 2. Unpack the downloaded ZIP archive and start the EXE. The following screen comes up: Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 192: Firmware-Update Via The Usb Interface
SIO 2. Connect your computer with the Ethernet interface of the navigation controller. Now you have all the configuration options shown in chapter 4 on page 53. 12.5 Firmware-Update via the USB Interface You can download the Firmware-Update Software from: http://goetting-agv.com/components/73650 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 193: Figure 108 Firmware Update Software: Start Screen
Disable the option Verify after download in the section Upgrade or Verify Action. Click Choose in the section Upgrade or Verify Action. Firmware Update Software: Adjust options Figure 109 Disable this option Click this button Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 194: Figure 110 Firmware Update Software: Choose Firmware File
Figure 111 File correctly loaded Start the Update The following dialog appears. Confirm by clicking Yes. Firmware Update Software: Confirmation dialog Figure 112 Afterwards the deletion and programming process starts. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 195: Figure 113 Firmware Update Software: Update In Progress
If this error message appeared check all parameters in case the parameter file was defect after all. In that case upload a correct parameter file, see section 4.5.1 „Upload Configuration“ on page 90. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 196: List Of Figures
Figure 36 Photo of the Control Unit: Basic configuration and version including the Feldbus/Profinet extension module HG G-61432ZA and with option GPS ..45 Figure 37 Dimensions of the control unit Hardware HG G-61430ZD...........46 Figure 38 LEDs and connectors........................46 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 197 Figure 79 Screenshot: Network - Settings....................89 Figure 80 Screenshot: Config File - Upload/Download...............90 Figure 81 Screenshot: Segment File - Upload/Download ..............91 Figure 82 Screenshot: Segment Table ....................... 92 Figure 83 Screenshot: Transponder File - Upload/Download............93 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 198 Figure 110 Firmware Update Software: Choose firmware file............194 Figure 111 Firmware Update Software: Start the update ..............194 Figure 112 Firmware Update Software: Confirmation dialog............194 Figure 113 Firmware Update Software: Update in progress............195 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 199: List Of Tables
Table 38 Example commissioning parameters in Config. Accuracy........118 Table 39 Example commissioning parameters in Config. Steer Controller ......118 Table 40 Example commissioning parameters in Config. Speed Controller ......119 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 200 Feldbus Protocol Tx Telegram Control Unit –> PLC.............160 Table 83 Feldbus Protocol Rx Telegram PLC –> Control Unit.............166 Table 84 List of the parameters logged on a USB memory stick ..........172 Table 85 Trouble Shooting...........................185 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 201 List of Tables – Chapter 14 Table 86 Technical Data Hardware HG G-61430ZD................ 187 Table 87 Attributes............................188 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 202: Index
ENCODER 2 ..................51 Transmission Telegrams..........132 encoders....................11 Vector Box................155 ETH.......................48 Wheel Box................150 Ethernet ..............26, 98, 160, 191 Wheel Boxes ................ 141 Exclusion of Liability..............205 Wheel Reduction Box ............157 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 203 ................40 Malz ++ Kassner®................. 33 Malz++Kassner® ................23 ME1 ....................144 Satellites.................... 63 ME2 ....................145 Segment.................... 56 Measuring Section................ 41 Segment File ...................24 memory stick ................171 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 204 VGC......................8 Stop Distance..................32 Virtual Tracks...................23 Stop Ramp................37, 79 Suitable vehicle types..............12 support points.................23 Warning Notices ................8 Symbole....................9 Wheels................69, 115, 141 Symmetric steering forward ............43 Symmetric steering sideward..........43 Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 205: Copyright And Terms Of Liability
Unless stated otherwise, the herein mentioned logos and product names are legally protected trade marks of Götting KG. All third party product or company names may be trade marks or registered trade marks of the corresponding companies. Documentation HG G-73650ZD | English, Revision 08 | Date: 15.11.2018...
Page 206 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...

Gotting HG G-73650ZD Basics, Setup And Software

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Chapter 13 - List of Figures

Chapter 14 - List of Tables

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