Chapters
Table of Contents
Related Manuals for Gotting HG G-98810-C
Summary of Contents for Gotting HG G-98810-C
- Page 1 Transponder Transponder Antenna HG G-98810-C 1.5-dimensional positioning and identification outdoor English, Revision 07 Date: 12.05.2017 Dev. by: WM/AK Author(s): RAD/MN Innovation through Guidance www.goetting-agv.com...
- Page 2 HG G-98810-C ® 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-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com...
-
Page 3: Table Of Contents
Heartbeat ..........................27 5.2.3.4.3 Node Guarding........................27 5.2.3.4.4 Description of the Service Data Objects (SDOs) ............27 5.2.3.4.5 Object Directory ........................28 5.2.3.5 Positioning Pulse ........................28 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... - Page 4 Details of the CANopen directory ....................52 Device Type................................52 Error Register................................52 COB-ID SYNC message .............................52 Device Name................................52 Hardware Version ..............................52 Software Version ..............................52 Save Parameters..............................52 Restore Default Parameter..........................53 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com...
- Page 5 13 Index ...................... 64 14 Copyright and Terms of Liability ............65 14.1 Copyright ..........................65 14.2 Exclusion of Liability ......................65 14.3 Trade Marks and Company Names ................65 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com...
-
Page 6: About This Document
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 valid). Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 7: Introduction
Examples of automated vehicles using transponder systems Figure 1 The antenna HG G-98810-C is a so-called 1.5 dimensional, meaning that it outputs the Transponder code as well as the linear deviation rectangular to the direction of travel as well as the information Before transponder, Crossing of the transponder (PosiPulse) and Behind transponder. -
Page 8: System Components
It automatically awakes and uses the transmitted energy to send back its code at half the Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 9: Track Guidance With Transponders
Odometry (from old greek όδός hodós „route“ and μέτρον métron „measure“ — thus „distance mea- surement“) refers to a method to estimate the position and orientation of a mobile system on the basis of its drive system. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 10: Position Determination / Navigation
Navigation point Direction of travel (X direction) Virtual support points on the track for the navigation Sketch: Free navigation with transponders Figure 5 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 11: Definitions
<– Deviation –> Polarity of the deviation Figure 6 For definition of bit Segment see Table 7 on page 22. This bit is set in the half plane -X. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 12: Mounting
50 and during driving below 100 (guideline: For very high or very small Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... - Page 13 Tests with the antenna HG G-98810-C showed that gaps of 300 mm (in longitudinal and lateral direction) had no effect. If the distance between two antennas shrinks to 200 mm the sum volt- age decreases by up to 6 %.
-
Page 14: Commissioning
Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 15: Figure 8 Side Lobes During A Transponder Reading
HG G-98810-C may be used accordingly (refer to section 5.2.4 on page 28). For this function Antenna HG G-98810-C offers the use of the serial interface (refer to section 5.2.3.1 on page 21) or the CAN bus message object 3 (see section Table 10 on page 25). -
Page 16: Figure 9 Undisturbed Decoding Across Two Transponders
Figure 9 Damped Transponder Decoding 1000 C_OK code_count err_count POSI The same driving situations as shown in Figure 9 only with antenna with wrong calibration Figure 10 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 17: Figure 11 The Same Driving Situation As Shown In Figure 9, This Time With High Noise Level
The settings were: Variable Set value Level to Noise Error Number of equal Codes Threshold for Decoding Level for Positioning/Calculation Reference values for the commissioning runs Table 2 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 18: Components And Operation
5.1.2 Code structure The antenna HG G-98810-C is set up to receive only block number two with its 20 bits of user data. Line (for 3 bits each) and column parities are used for data protection. The transmission time for a complete code telegram is 8 ms. -
Page 19: Transponder Antenna
Positioning pulse output 20 mA current limited RS232 data output RS232 data input Ground (supply) M12 5-pin male Power Interface RS 232 Variant HG G-98810YC Table 3 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 20: Power Rs 422 Variant Hg G-99810Zc
Following this period, the actual program starts. If configured accordingly (also refer to Fig- ure 20 on page 38), the transmission coils will be automatically tuned. This procedure takes another 16 seconds. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 21: Interfaces
Table 8 on page 23 (22) 1 Byte unsigned char check sum, only in transparent protocol! Data words in a telegram with 21 byte length Table 6 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 22: List Of Commands
The table below is valid for 'High Byte First'-transmission. For 'Low Byte First'-transmission the order of command and parameter bytes has to be changed. The duration of 'Tune Antenna Once'-command is maximal 10 seconds for 16 tuning steps. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 23: Table 8 List Of The System Commands
Set tuning value to 7 3964R ASCII trans- parent ASCII Set tuning value to 8 3964R ASCII trans- parent ASCII List of the system commands (part 1 of 2) Table 8 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... - Page 24 The transparent telegram is: 3D – Level should be set to 300 (12C ) The transparent telegram is: 3D List of the system commands (part 2 of 2) Table 8 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com...
-
Page 25: System Monitor
2 Byte Unsigned int Command (see Table 12 below) 3,4,5,6 4 Byte Unsigned long Parameter (see Table 12 below) Structure of the CAN Message Object 4 Table 11 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 26: Data Interface Canopen
20 bit transponder code (R/W Transponder) Deviation signed 16 0xff83...0x007d Y-deviation, ±250 mm In case of an invalid value (e.g. no transponder detected) = 32767 Variables of PDO_1 Table 13 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 27: Heartbeat
The identifiers for read and write access are: Read access 0x600 + Node address Write access 0x580 + Node address Identifiers for read and write access Table 16 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 28: Object Directory
(e. g. Binder 79-3444-32-05 M12 line 2 m PUR 5 x 025), the standard length is 2 m.. Note If a high interference level is expected shielded cables ought to be used. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 29: Software
Nevertheless, any other terminal program can be utilized, provided that it contains VT52 emulation. If you should use a different program, please read the documentation and adjust it to the values shown below. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 30: Parameter Presettings
For direct PLC communication, see annex B on page 49 Monitor modes Table 20 For changes to the modes and data rates see section 6.3.2.2 on page 34. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 31: How To Start The Monitor Program
Transmon.txt Transfer if the system is adjusted to procedure Transparent with “LowByte first“. The file contains the characters: 0x3D 0x4F 0x4D 0x49 0x4E 0x38in hexa- decimal notation Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 32: How To Work With The Monitor Program
(2) Export User Parameter from Antenna to Host P(r)int Parameters {3} Service Menu (Q)uit Monitor Software Version 98810C11.002 / Nov 02 2016 Serial Number: 128018 Main menu of the monitor program Figure 16 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 33: Table 21 Description Of System Variables (Monitor Program)
The following sections describe the submenus – )erial Output (section 6.3.2.2 on page 34) – )ime & code (section 6.3.2.3 on page 36) Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 34: S)Erial Output
Siemens PLC it is essential, that this parameter is 0 (High Byte first). enables influencing the structure of the output telegram. The telegram length is changed automatically. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 35: Figure 18 Menu: „(D)Isplay Telegram Content
), or output only whenever a Transponder is decoded within the reading range ( Period enables ’freezing’ the serial output for 0 to 10 telegrams, i. e. the value at the time of the positioning pulse output is preserved. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 36: T)Ime & Code
Note, that this procedure reduces the maximum crossing speed, because the necessary transmission time increases accordingly with (n+1) x 8 ms. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... - Page 37 Y direction. Note For the determination of he thresholds see chapter 4 on page 14. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com...
-
Page 38: F)Requency & Antenna Tuning
This procedure takes approx. 16 sec. After that, every 10 sec. the tuning is checked (as long as there is no transponder within the field) and re-tuned if necessary. For correct operation the antenna has to be re-started after activating this function. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 39: C(A)N-Parameters
switches between a permanent output period with ( ) and only generating the output whenever a Transponder is decoded within the field ( Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 40: Canopen
Deviating baudrates and sample points can be configured via the basic CAN menu (see 6.3.2.5 on page 39). Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 41: D)Isplay Systemstatus
6.1 on page 29). To do so, use the function of menu record text ... Transmis- and insert a file name (this file name should have the ending , in order to enable sion .csv Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 42: Display (Y)Histogram
However, first it is necessary to install the update program as de- scribed in section 6.4 on page 43. Then prepare the flash program as follows: Close the COM port connection in HyperTerminal. Open the flash program. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 43: Import (1) / Export (2) User Parameter
Upon request, this program is sent by email. Please address your requests to the email, phone, fax or mailing address given on the cover of this manual. In order to install the program execute the file ST-Flasher2_setup.exe Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 44: Software Update
Figure 26 Once the programming process is completed, the program can be closed ( ). The an- Close tenna is restarted automatically and uses the new program. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 45: Maintenance
If necessary, effect an update of the system software as described above (section 6.3.2.11 on page 42 or 6.4 on page 43). Date and version of the current antenna software can be obtained from the main menu. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 46: Trouble Shooting
Set values not used after Changed values have not been Save all values as described in sectoin antenna reset stored permanently 6.3.2.10 on page 42 Trouble shooting Table 22 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 47: Technical Data
Extended CAN; configurable via serial interface CANopen® CANopen®, Device Profil DS 401 Node ID and transmission rate configurable via serial interface or SDOs Technical Data Antenna HG G-98810-C Table 23 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 48: Appendix
In the diagram T_ZVZ stands for the programmable character delay time and T_QVZ for the programmable acknowledgement delay time. (Figure 28) Diagram procedure 3964R; antenna –> PLC Figure 27 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 49: Data Direction Plc -> Antenna
22. The telegram is to be finished with a 8 bit check sum over all characters. The characters have be received within the parameterizeable character delaytime. Otherwise the telegram will be rejected. Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 50: C Overview Of The Canopen ® Directory
Number of Objects mapped to Transmit PDO_1 Specification of Appl. Object 1 Specification of Appl. Object 2 Specification of Appl. Object 3 Overview object index I (part 1 of 2) Table 24 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 51: Manufacturer Specific Entries Starting At 0X2000
Number of 16 Bit analog Inputs Y deviation Table 21 page 33 Sum voltage Table 21 page 33 Dif voltage Table 21 page 33 Overview object index III Table 26 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 52: D Details Of The Canopen ® Directory
0x1010 00 Save Unsigned 8 0x01 number of sub indexes Parameter Save All Unsigned 32 RW 0x00000001 Save All is possible CANopen® Directory: Save Parameters Table 33 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 53: Restore Default Parameter
Unsigned 32 RO 0x00098810 HG Number 98810 Revision Unsigned 32 RO 0x00000100 Version 1.00 Serial Number Unsigned 32 RO 9999999 Serial number CANopen® Directory: Identity Object Table 36 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 54: Transmit Pdo_1 Parameter
0x6102,01 with 32 bit length (Code) 3rd mapped Unsigned 32 RO 0x64010110 mapped on index object 0x6401,01 with 16 bit length (Y deviation) CANopen® Directory: Mapping TPDO_1 Table 39 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 55: Mapping Tpdo_2
6.3.2.6 page 40 Threshold max Unsigned 16 RW 6.3.2.3 page 36 detection Y Config Unsigned 32 RW Table 42 page 56 CANopen® Directory: Device Parameter Table 41 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 56: Codes For System Configuration
Table 43 Input / Output Value Baud rate / kBaud 4 (Default) 1000 CANopen® Dir.: Manufacture Parameter - Node Parameter / Coding of baud rates Table 44 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 57: Bit Digital Input (Transmission In Tpdo_2)
Integer 16 Y deviation [mm] Sum voltage Unsigned 16 RO Sum voltage [units] Dif voltage Integer 16 Dif voltage [units] CANopen® Directory: 16 Bit Analog Inputs Table 49 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 58: Eeds Configuration File
Antenna HG G-98810-C with Transponder HW DEV00095 1000 -250 -200 -150 -100 y /mm Distance: 30 mm Distance: 60 mm Distance: 90 mm Signal strength with Transponder HW DEV00095 Figure 30 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 59: Figure 31 Typical Accuracy With Transponder Hg G-71325Xa
Antenna HG G-98810-C with Transponder HG G-73125 1000 -250 -200 -150 -100 y /mm Distance: 50 mm Distance: 100 mm Distance: 150 mm Signal strength with Transponder HG G-71325XA Figure 32 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 60: G Mechanical Drawing With Antenna Dimensions
Chapter 10: Appendix HG G-98810-C G Mechanical Drawing with Antenna Dimensions Mounting side Reading side Active area for positioning Mounting side Mechanical Drawing with Antenna Dimensions Figure 33 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 61: List Of Figures
Figure 31 Typical accuracy with Transponder HG G-71325XA ...............59 Figure 32 Signal strength with Transponder HG G-71325XA ................59 Figure 33 Mechanical Drawing with Antenna Dimensions................60 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 62: List Of Tables
CANopen® Directory: Save Parameters ....................52 Table 34 CANopen® Directory: Restore Default Parameter ................53 Table 35 CANopen® Directory: Producer Heartbeat Time ................53 Table 36 CANopen® Directory: Identity Object .....................53 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... - Page 63 Table 47 CANopen® Directory: 32 Bit Transponder Code ................57 Table 48 CANopen® Directory: 8 Bit Analog Inputs.................... 57 Table 49 CANopen® Directory: 16 Bit Analog Inputs ..................57 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com...
-
Page 64: Index
Telegram ...................21 Terminal Program .................29 trade marks ..................65 Installation ..................14 transparent ..................49 Interfaces Transponder..................12 CAN .....................25 Trouble Shooting ................46 CANopen...................26 Serial...................21 Update Interface ................28 Update Rate ..................21 Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... -
Page 65: Copyright And Terms Of Liability
Unless stated otherwise, the herein mentioned logos and product names are legally protect- ed 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-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com... - Page 66 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...
Need help?
Do you have a question about the HG G-98810-C and is the answer not in the manual?
Questions and answers