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Gotting HG 73350 Device Description

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Device Description
Interpreter For Inductive
Guidance Of Vehicles
English, Revision 01
Date: 14.04.2009
Götting KG, Celler Str. 5, D-31275 Lehrte - Röddensen (Germany), Tel.: +49 (0) 51 36 / 80 96 -0,
Fax: +49 (0) 51 36 / 80 96 -80, eMail: techdoc@goetting.de, Internet: www.goetting.de
— CAN-OPEN —
G_73350ZA
Dev. by:
Authors.:
W.M.
RAD / L.S.
G_73350ZA

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  • Page 1 Device Description G_73350ZA Interpreter For Inductive Guidance Of Vehicles — CAN-OPEN — G_73350ZA English, Revision 01 Dev. by: W.M. Date: 14.04.2009 Authors.: RAD / L.S. Götting KG, Celler Str. 5, D-31275 Lehrte - Röddensen (Germany), Tel.: +49 (0) 51 36 / 80 96 -0, Fax: +49 (0) 51 36 / 80 96 -80, eMail: techdoc@goetting.de, Internet: www.goetting.de...

  • Page 2: Table Of Contents

    Content G_73350ZA Content Essential Information for Reading this Manual....4 Introduction ...............5 Mounting ................6 Casing ..................6 Connecters ................6 3.2.1 Aerial socket of the interpreter ............6 3.2.2 CAN bus..................7 3.2.3 Power supply and serial interface........... 7 Commissioning..............8 Hardware ................9 Monitoring ................
  • Page 3 Content G_73350ZA 7.4.4.4 Device Name ................25 7.4.4.5 Hardware Version ..............26 7.4.4.6 Software Version ..............26 7.4.4.7 Save Parameter ..............26 7.4.4.8 Restore Default Parameter ............26 7.4.4.9 Producer Heartbeat Time ............27 7.4.4.10 Identity Object ................ 27 7.4.4.11 Receive PDO Parameter ............27 7.4.4.12 Mapping RPDO_1 ..............

  • Page 4: Essential Information For Reading This Manual

    Essential Information for Reading this Manual G-76341-A Essential Information for Reading this Manual In documentations of Götting KG the following symbols and assignments were used at the time of printing this manual: Security advices have the following symbols, depending on the emphasis and the degree of exposure: NOTE! ATTENTION!

  • Page 5: Introduction

    Introduction G_73350ZA Introduction The described interpreter allows to connect two tracking antennas to one device. The interpreter contains two identical channels with an independent setting of the filter frequency. The output of the data is realized with a CAN bus. A CAN open protocol (device profile DS 401) is implemented.

  • Page 6: Mounting

    Mounting G_73350ZA Mounting 3.1 Casing Figure 1 Casing antenna HG 73350 3.2 Connecters All connecters are A-coded M12 panel plugs/jacks. 3.2.1 Aerial socket of the interpreter The antennas and the corresponding 4-pin M12 panel jack are connected with an one- to-one cable.

  • Page 7: Can Bus

    3.2.2 CAN bus The CAN bus is connected to the device with two 5-pin M12 connecters male/female (see „Casing antenna HG 73350“ on page 6.). There they can be found as BUS1 and BUS2, which are allocated as follows: Signal...

  • Page 8: Commissioning

    Commissioning G_73350ZA Commissioning After mounting or changing the antennas, a position calibration is recommended. For further information please see chapter 6.1.2 on page 12 and chapter 7.4.4.18 on page 32. The position calibration has to be carried out for each antenna individually. NOTE! Only by processing this positioalibration the interpreter is able to calculate and display the deviation in mm.

  • Page 9: Hardware

    Hardware G_73350ZA Hardware The casing of the interpreter is made of plastic. All wires etc. can be connected via M12 connecters on the front panel.The input signals (two per antenna) are amplified, filtered with an adjustable band filter (frequency input, see Figure 10 on page 38) and rectified synchronous.

  • Page 10: The Control Led

    Hardware G_73350ZA 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 to ±8000 units is usable.

  • Page 11: Software

    Software G_73350ZA Software 6.1 Monitor program The terminal (PC with Hyperterm) has to be connected to the interpreter using the socket in the middle (power supply and serial interface). The parameters for the serial interface are: 38400,8,e,1,ANSI Terminalemulation. The monitor will start after pressing 6.1.1 Main menu The following menu appears:...

  • Page 12: Antenna Menu

    Software G_73350ZA 0x80 S1 has exceeded the set threshold for channel 1 0x40 S2 has exceeded the set threshold for channel 2 0x20 not connected 0x10 calibration in progress 0x08 DC1_OK (difference channel 1 connected galvanically with interpreter) 0x04 DC2_OK (difference channel 2 connected galvanically with interpreter) 0x02 not connected 0x01...
  • Page 13 Software G_73350ZA 1 D1: -10 S2: 10816 D2: -4403 X1:-256 mm X2: -50 mm Status: 0x40 (F)req 1 select [/Hz]: 10000 (D)etect Level 1 [/Smpl]: 1000 (H)eight of Antenna mounting [/mm]: (I)nternal height [/mm]: (C)alibrate (Q)uit Figure 4 Screenshot: Antenna menu By pressing the frequency in the range of 1 to 28 kHz can be modified.

  • Page 14: Can Menu

    Software G_73350ZA Calibration menu The calibration menu (here: antenna 1) is made up as follows: 3780 3617 3133 4590 Status: 0xc0 Us1: 3795 Udl1: Udr1: 3645 shift Antenna 1 from -2*H to +2*H and press any key when ready Figure 5 Screenshot: calibration menu antenna 1 During the calibration the maximum of the voltage S1 is saved in Us1.
  • Page 15 Software G_73350ZA In addition to the above described staus line, the status of the CAN bus is displayed: Bus online changes to Bus offline if e.g. the CAN bus is unplugged or because of lacking a terminator. Besides that the CAN open Node statuses stopped, pre- operational or operational are displayed.

  • Page 16: Changing The Surrounding

    Software G_73350ZA 6.2 Changing the surrounding The interpreter can also be used in combination with tracking systems which have an- other guide wire current or another reading height. Minor changes in the surrounding of the device (e.g. guide wire current between 35mA and 100mA at the same reading height) are compensated by the dynamic range of the device.
  • Page 17 Software G_73350ZA Now wait until the deletion of the flash memory is getting confirmed with <R>. Then choose the menu <Übertragung> ?? <Textdatei senden> in Hyperterminal and enter the name of the software which should be programmed. The progress auf the programmation is displayed by <.>.

  • Page 18: Can Interface

    CAN Interface G_73350ZA CAN Interface The node ID and the transfer rate have to be selected by using the serial monitor (de- scribed in section 6.1 on page 11) 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 19: Receiving Objects

    CAN Interface G_73350ZA The meaning of the status bits is determined as follows: Bit no. Value Meaning 0x80 Us1 exceeded chosen threshold for channel 1 0x40 Us2 exceeded chosen threshold for channel 2 0x20 Toggle-Bit, changes its status after each transmission of PDO_1 0x10 calibration is active 0x08...

  • Page 20: Heartbeat

    CAN Interface G_73350ZA Value Number Value range Annotation Unsigne 1000..28000 frequency of wire channel 1 d 16 Unsigne 1000..28000 frequency of wire channel 2 d 16 Table 8 CAN: displayed numbers for RPDO If values are transmitted which are not situated within the value range, they will be ig- nored.

  • Page 21: Object Directory

    CAN Interface G_73350ZA Name Number Meaning SDO_ABORT_TRANSFER 0x08000020 During saving/loading of parameters the signature “load“ or “save“ has not been used. When calling calibration. signature “cali“ has not been used. SDO_ABORT_PARA_VALUE 0x06090030 parameter value range exceeded SDO_ABORT_PARA_TO_HIGH 0x06090031 parameter value too high Table 10 CAN: SDO error codes NOTE!
  • Page 22 CAN Interface G_73350ZA Communication specific entries located from 0x1000 to 0x1FFF Index Subindex Access Content EEProm 0x1011 Number of entries of Restore Default Parameter Restore Default all Restore Default Communication Parameter Restore Default Manufacture Parameter 0x1017 Producer Heartbeat Time 0x1018 Number of entries of Identity Object Vendor ID Product Code...

  • Page 23: Manufacturer Entries

    CAN Interface G_73350ZA Communication specific entries located from 0x1000 to 0x1FFF Index Subindex Access Content EEProm 0x1A00 Number of Objects mapped to Transmit PDO_1 Specification of Appl. Object 1 Specification of Appl. Object 2 Specification of Appl. Object 3 0x1A01 Number of Objects mapped to Transmit PDO_2 Specification of Appl.

  • Page 24: Standard Device Profile

    CAN Interface G_73350ZA Manufacturer entries from 0x2000 on Index Subindex Access Content EEProm 0x2001 Number of Parameter Start Ant-1 calibration Stop Ant-1 calibration Start Ant-2 calibration Stop Ant-2 calibration 0x2002 Number of Parameter Node Baudrate Node ID Node Config Table 12 CAN: overview of object directory, manufacture specific entries from 0x2000 on 7.4.3...

  • Page 25: Canopen Object Dictionary

    CAN Interface G_73350ZA 7.4.4 CANopen Object Dictionary 7.4.4.1 Device Type Index Sub Index Name Attr. Default Meaning 0x1000 Device Type Unsigned 32 0x00050191 Digital/analog inputs - DS 401 Table 14 CAN: Device Type 7.4.4.2 Error Register Index Sub Index Name Attr.

  • Page 26: Hardware Version

    CAN Interface G_73350ZA 7.4.4.5 Hardware Version Attr Index Subindex Name Default Meaning 0x1009 Hardware Vis.-String „A2“ “version of cir- Version cuit board“ Table 18 CAN: Hardware Version 7.4.4.6 Software Version Attr Index Subindex Name Default Meaning 0x100A Software Vis.-String „1.14“ “version der firm- Version ware“...

  • Page 27: Producer Heartbeat Time

    CAN Interface G_73350ZA By writing the signature load“ in ASCII code (hex code: 0x64616F6C) or “daol“ (hex code: 0x6C6F6164) on sub index 1, 2 respectively 4 the corresponding default param- eters are loaded. A resetbis recommended. 7.4.4.9 Producer Heartbeat Time Index Sub Index Name...

  • Page 28: Mapping Rpdo_1

    CAN Interface G_73350ZA 7.4.4.12 Mapping RPDO_1 Attr Index Subindex Name Default Meaning 0x1600 Number of Unsigned 8 number of sub mapped indexes objects 1st mapped Unsigned 32 0x20000110 Mapped on Index object 0x2000,01 with 16 Bit length (Fre- quency 1) 2nd mapped Unsigned 32 0x20000210...

  • Page 29: Transmit Pdo_2 Parameter

    CAN Interface G_73350ZA 7.4.4.14 Transmit PDO_2 Parameter Index Sub Index Name Attr. Default Meaning 0x1801 TxPDO_2 Unsigned 8 0x04 number of sub Parameter indexes COB ID Unsigned 32 0x40000280 PDO_2 valid, ID + Node-ID = 0x280 + Node- Transmis- Unsigned 8 Asynchronous sion Type event-driven...

  • Page 30: Mapping Txpdo_2

    CAN Interface G_73350ZA 7.4.4.16 Mapping TxPDO_2 Index Sub Index Name Attr. Default Meaning 0x1A01 number of Unsigned 8 0x04 number of sub mapped indexes objects 1st mapped Unsigned 32 0x64010110 mapped on Index object 0x6401,01 with 16 Bit length (Us1) 2nd mapped Unsigned 32 0x64010210...

  • Page 31: Manufacture Parameter - Parameters Of The Antenna

    CAN Interface G_73350ZA 7.4.4.17 Manufacture Parameter - parameters of the antenna Index Sub Index Name Attr Default Meaning 0x2000 number of Unsigned 8 0x08 number of sub parameter indexes Frequency 1 Unsigned 16 10000 Frequency chan- nel 1 in Hz Frequency 2 Unsigned 16 10000...

  • Page 32: Manufacture Parameter - Calibration Of The Antenna

    CAN Interface G_73350ZA 7.4.4.18 Manufacture parameter - calibration of the antenna Index Sub Index Name Attr. Default Meaning 0x2001 number of Unsigned 8 0x02 number of sub parameter indexes Start Ant-1 Unsigned 32 calbration Stop Ant-1 Unsigned 32 0x00000001 calbration Start Ant-2 Unsigned 32 calbration...

  • Page 33: Manufacture Parameter - Node Parameter

    CAN Interface G_73350ZA 7.4.4.19 Manufacture parameter - node parameter Index Sub Index Name Attr. Default Meaning 0x2002 Number of Unsigned 8 0x02 number of sub Parameter indexes Node Baud- Unsigned 8 0x02 125 Kbaud *) rate Node ID Unsigned 8 0x01 node address 1 Node Config...

  • Page 34: Bit Digital Input (Transmitted In Txpdo 1)

    CAN Interface G_73350ZA 7.4.4.20 8 Bit Digital Input (transmitted in TxPDO 1) Index Sub Index Name Attr. Default Meaning 0x6000 number of 8 Unsigned 8 0x01 number of 8 bit bit inputs inputs 8 bit digital Unsigned 8 system status / input TxPDO_1 Table 35...

  • Page 35: Troubleshooting

    Troubleshooting G_73350ZA Troubleshooting The following table contains a list of errors that might occur. For each error, a symptom description is given. In the third column you will find a description of how to locate and possibly correct the error. If you should not be able to correct an occurring error, please use the table to locate the source of the error as exactly as possible (nature of malfunction, at which point of time did the error occur, etc.) before consulting us.

  • Page 36: Technical Data

    Technical data G_73350ZA Technical data Interpreter For Inductive Guidance Of Vehicles G_73350ZA Dimensions 160 mm x 90 mm x 50 mm Weight 400 g Protection class IP 64 Realtive humidity at 25 95% (without bedewing) Operating temperature C to 50 Storage temperature C to +70 Operating voltage...

  • Page 37: Appendix

    Appendix G_73350ZA 10 Appendix Block diagram 4-25kHz 40Hz RS 232 µP 200kHz-1,25MHz Figure 9 Blockdiagram English, Revision 01, Date: 14.04.2009...

  • Page 38: Diagrams

    Appendix G_73350ZA Diagrams Figure 10 Frequency response interpreter 73350ZA + antenna 19200Z(Y)C Figure 11 Frequency response output compensated) English, Revision 01, Date: 14.04.2009...
  • Page 39 Appendix G_73350ZA Figure 12 band filter characteristics at 5 kHz (Q=20) Figure 13 band filter characteristics at 10 kHz (Q=22) English, Revision 01, Date: 14.04.2009...
  • Page 40 Appendix G_73350ZA Figure 14 band filter characteristics at 15 kHz (Q=21) Figure 15 band filter characteristics at 20 kHz (Q=22) English, Revision 01, Date: 14.04.2009...

  • Page 41: Electronic Data Sheet (Eds File)

    Appendix G_73350ZA Figure 16 band filter characteristics at 25 kHz (Q=28) Electronic Data Sheet (EDS file) The latest version of the so called EDS file can be downloaded from our homepage. You can easily find it by visiting http://www.goetting.de/en/download/start.html typing 73350 as keyword. English, Revision 01, Date: 14.04.2009...

  • Page 42: List Of Figures

    List of figures G_73350ZA 11 List of figures Figure 1 Casing antenna HG 73350..............6 Figure 2 Postion of the LEDs ................10 Figure 3 Screenshot: Main menu of the monitor program........11 Figure 4 Screenshot: Antenna menu..............13 Figure 5 Screenshot: calibration menu antenna 1 ..........14 Figure 6 Screenshot: CAN menu................

  • Page 43: List Of Tables

    List of tables G_73350ZA 12 List of tables Table 1 Pin allocation aerial socket ............... 6 Table 2 Pin allocation CAN bus ..............7 Table 3 Pin allocation of power supply and serial interface ......7 Table 4 Meaning of the possible values in the status output....... 12 Table 5 CAN: displayed numbers for PDO_1 ..........
  • Page 44 List of tables G_73350ZA Table 34 CAN: Manufacture parameter - node parameter......33 Table 35 CAN: 8 bit digital input (transmitted in TxPDO 1) ......34 Table 36 CAN: 16 bit analog inputs (transmitted in TxPDO 1 und TxPDO 2) 34 Table 37 Troubleshooting ................

  • Page 45: Copyright And Terms Of Liability

    Copyright and Terms of Liability G_73350ZA 13 Copyright and Terms of Liability 13.1 Copyright This manual is protected by copyright. All rights reserved. Violations are subject to pe- nal legislation of the Copyright. 13.2 Exclusion of Liability Any information given is to be understood as system description only, but is not to be taken as guaranteed features.

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