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Gotting HG G-19370-B Instruction Manual

Inductive guidance sensor, multifrequency, usb, inductive track guidance along a guide wire/energy track, 20/25 / 140 khz energy track, zb: can-bus, yb: profinet
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Guide Wire
Inductive Guidance Sensor, Multifrequency, USB
HG G-19370-B/HG G-19380-B
Inductive track guidance along a guide wire / energy track, Variants
HG G-19370: 20/25 kHz Energy Track, ZB: CAN-Bus, YB: Profinet
HG G-19380: 140 kHz Energy Track, ZB: CAN-Bus, YB: Profinet
English, Revision 03
Date: 05.05.2020
Dev. by: LF
Author(s): RAD
Innovation through Guidance
www.goetting-agv.com

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Summary of Contents for Gotting HG G-19370-B

  • Page 1 Guide Wire Inductive Guidance Sensor, Multifrequency, USB HG G-19370-B/HG G-19380-B Inductive track guidance along a guide wire / energy track, Variants HG G-19370: 20/25 kHz Energy Track, ZB: CAN-Bus, YB: Profinet HG G-19380: 140 kHz Energy Track, ZB: CAN-Bus, YB: Profinet English, Revision 03 Date: 05.05.2020...
  • Page 2 © 2020 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-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 3: Table Of Contents

    CAN Bus Communication (HG G-19370ZB/HG G-19380ZB) ..26 Telegrams..........................26 Control and Status Telegrams ..................27 7.2.1 Incoming Telegram (IN) ....................27 7.2.2 Outgoing Telegram OUT1 .................... 28 Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...
  • Page 4 List of Tables ...................34 Index ....................35 Copyright and Terms of Liability............ 37 14.1 Copyright ..........................37 14.2 Exclusion of Liability ......................37 14.3 Trade Marks and Company Names ................37 Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 5: About This Document

     danger. consequences The paragraph describes the consequences of not observing  the warning notice. The paragraphs for danger prevention explain, how to avoid the danger.  Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 6: 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). Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 7: Introduction

    Introduction – Chapter 2 Introduction The inductive guidance sensor HG G-19370-B/HG G-19380-B is used for the induc- tive track guidance of Automated Guided Vehicles (AGV). Up to 5 different guide wire frequencies may be detected and evaluated simultaneously. If there is an existing ground installation for the contact-less inductive energy transmission with two wires (from here on also energy track) this can also be used for the track guidance.

  • Page 8: Qualification Of The Users

    The sensor is only used according to section 2.2 on page 7. The sensor is only mounted, configured, commissioned, operated, maintained and dismounted by per- sonnel according to section 2.3 on page 8. Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 9: Functional Principle

    Voltage curves guide wire track guidance: Sum / difference signal and Detect Figure 2 Usum, signal strength decides when to set Detect to 1 Detect 0/1 (output via bus) diff ‐150 ‐100 ‐50 ‐100 ‐200 Udiff, vehicle control ‐300 Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...
  • Page 10 1 for valid frequencies if the sum voltage exceeds a defined threshold. Vehicle manufacturers may use the Detect signal as an aid to detect whether the ve- hicle leaves the track. Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 11: Mounting

    Lower edge of the device M12 circular connector BUS 1 8 in -p (male) A-coded depending on the bus type M12 circular connector BUS 2 depending on the bus type Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 12: Connection Cables (Assembled On One Side) / Terminating Resistors

    HG G-19380ZB you can also order cables/terminators for ST 2 and ST 3. For the Profinet version HG G-19370ZB/HG G-19380ZB there are no pre-configured cables for ST 2 and ST 3 available. Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 13: Table 3 Accessories / Connection Cables / Terminators

    19370/80YB self-tailored Profinet Connection cable CAN bus, 10 m, 5- 19370/80ZB HW CAB00064 pol., with shielding, one-sided M12 ST 3 socket straight, A coded 19370/80YB self-tailored Profinet Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 14: Commissioning

    Node IDs, so at least one of them need to be re-configured) CAN-BUS Baudrate (for adapting the CAN bus speed used in the vehicle) Incremental encoder mode (if an incremental encoder is to be connected) Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 15: Hardware

    3.3.3 on page 12. NOTICE Interferences of the CAN bus communication Unshielded cables do not offer sufficient interference resistance. For CAN shielded cables have to be used.  Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 16: St 2 / St 3 (Can 1 / Can 2)

    Typically the inductive guidance sensor is the last device in the device chain on the CAN bus. In this case a CAN terminating resistor (terminator) has to be plugged into one of the CAN connectors (see section 3.3.3 on page 12). Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 17: Hg G-19370Yb/Hg G-19380Yb (Profinet)

    ST 2 and ST 3 are used for the Profinet communication. The power supply is realized via ST 1 (USB 5V configuration only up to Ub 24V). Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 18: St 2 / St 3 (Bus 1 / Bus 2)

    HG G-19370/80YB (Profinet): Pin assignment ST 2 & ST 3 (Profinet, female) 4 pin Table 9 ST 2 & ST 3, female, D coded Pin Signal For information about the Profinet communication see chapter 8 on page 29. Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 19: Configuration

    Microsoft® Windows®. Additionally it can be downloaded from the follow- ing address: https://www.hilgraeve.com/hyperterminal/ Start the terminal program on the PC. The COM port has to be set to the port con- figured by the virtual port driver. Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 20: Service Program

      CAN config, s. section 6.4.6 on page 24 (only visible for version HG G- 19370ZB/HG G-19380ZB)   Firmware Update, s. section 6.4.5 on page 23 Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 21: 1) Frequency Config

    As a guiding value the gain should be set so that the sum signal goes up to a maxi- mum value of about 300. Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 22: 3) Encoder Config

    HG 19370 xB V1.01 Encoder Config Goetting KG Encoder max. Value: 65535 Encoder mode: A Encoder polarity: Normal Edit max. Value Edit mode Edit polarity Press any other key to quit Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 23: 4) Csv

    Signal can no longer be used as an aid to detect whether the vehicle leaves the track. Only ever set this threshold to 0 for testing purposes.  Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 24: Hg G-19370Zb/Hg G-19380Zb: (5) Can Config

    After starting DfuSe Demo click on Choose to select the .dfu file. Then start the firmware update by clicking on Upgrade. After the successful update click on Leave DFU mode. Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 25: Figure 18 Dfu Firmware Update

    Configuration – Chapter 6 DFU Firmware Update Figure 18    Now you can re-establish the connection in the terminal program. Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 26: Can Bus Communication (Hg G-19370Zb/Hg G-19380Zb)

    16 bit integer value. The difference voltage is a signed 16 bit integer value. The values are from the range as shown in Figure 2 on page 9. Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 27: Control And Status Telegrams

    Track 6 active Mute ON Cyclic transmission ON (the sensor sends a CAN telegram every 101szms) Incremental encoder ON Invert direction of incremental encoder 10 - 15 — Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 28: Outgoing Telegram Out1

    32 - 47 Enc Incremental encoder counter reading 48 - 63 Speed Difference between current incremental encoder counter read- ing and the counter reading from 10 ms ago Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 29: Profinet Communication (Hg G-19370Yb/Hg G-19380Yb)

    Low byte difference signal frequency 5 High byte sum signal frequency 6 Low byte sum signal frequency 6 High byte difference signal frequency 6 Low byte difference signal frequency 6 Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 30: Status/Detect (Byte 24)

    Detect frequency 1 Detect frequency 2 Detect frequency 3 Detect frequency 4 Detect frequency 5 Detect frequency 6 – Frequency insecure: Frequency 6 detected, signal weak resp. insecure Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 31: Maintenance

    If necessary update the firmware as shown in section 6.4.7 on page 24). Date and version of the firmware are shown in the main menu (Figure 10 on page 20). Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 32: Technical Data

    Incremental encoder Input for the processing of an incremental encoder. All incremental encoders can be used that have a switching threshold > 10 V between high level and low level (typically 24V incremental encoders). Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 33: List Of Figures

    Figure 14 Menu Encoder Config........................22 Figure 15 Example for a CSV output......................23 Figure 16 Menu CAN config ..........................24 Figure 17 Firmware Update Menu .......................24 Figure 18 DFU Firmware Update ........................25 Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 34: List Of Tables

    CAN IN telegram structure (control bits)................27 Table 13 CAN OUT1 telegram structure (status, incremental encoder) ........28 Table 14 Profinet Input Bytes........................29 Table 15 Profinet Status/Detect (Byte 24)....................30 Table 16 Technical Data ..........................32 Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 35: Index

    DfuSe....................24 status/detect byte..............30 difference voltage................9 switch..................29 Protection Class................32 encoder....................22 Encoder Config ................22 Qualification ..................8 energy track..............7, 8, 11, 32 Exclusion of Liability..............37 Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...
  • Page 36 9 HG G-19370/80ZB..............16 Versions ....................7 ST 3......................32 HG G-19370/80YB ...............18 HG G-19370/80ZB..............16 Warning Notices ................5 sum voltage ..................9 Weight ....................32 Supply voltage ................32 Symbole....................6 Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...

  • Page 37: 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. Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020...
  • Page 38 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...

This manual is also suitable for:

Hg g-19380-bHg g-19370Hg g-19380

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