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Summary of Contents for Gotting HG G-19370ZA
- Page 1 Guide Wire Inductive Guidance Sensor HG G-19370ZA Inductive track guidance along a guide wire Multifrequency, USB, CAN, incremental encoder input English, Revision 01 Date: 17.05.2017 Dev. by: LF Author(s): RAD Innovation through Guidance www.goetting-agv.com...
- Page 2 • Anschluss für Inkrementalgeber ® 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-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com...
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Page 3: Table Of Contents
(2) CAN Config ..........................20 7.4.3 (3) Calibration Config ........................21 7.4.4 (4) Encoder Config ........................22 7.4.5 (6) Serial Data-Stream........................22 7.4.6 Firmware Update ........................... 23 8 Maintenance..................24 Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... - Page 4 11 List of Tables ..................27 12 Copyright and Terms of Liability ............28 12.1 Copyright ..........................28 12.2 Exclusion of Liability ....................... 28 12.3 Trade Marks and Company Names ................28 Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com...
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Page 5: About This Document
WARNING! Indicates dangers that may lead to injuries, potentially with loss of life, or severe damage of property. Indicates information that makes handling of the device easier. Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... - Page 6 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-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com...
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Page 7: Introduction
HG G-19370ZA Introduction The inductive guidance sensor HG G-19370ZA is used for the inductive track guidance of Automated Guided Vehicles (AGV). Up to 6 different guide wire frequencies may be detect- ed and evaluated simultaneously. The frequencies may be chosen from the range 2 to 20 kHz and are configured via the USB interface. -
Page 8: Intended Use
HG G-19370ZA 2.3 Intended Use The inductive guidance sensor HG G-19370ZA is intended for the track guidance of auto- mated guided vehicles (AGV) along guide wires. The sensor uses two horizontal coils to de- tect the magnetic field above a guide wire with active current flowing through it and thus continually calculates the actual deviation from the center of the track. -
Page 9: Figure 2 Voltage Curves Sum And Difference Signal And Detect
The Detect signal for all frequen- cies is output via the CAN bus. Note Vehicle manufacturers may use the Detect signal as an aid to detect whether the verhicle leaves the track. Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 10: Mounting
Additional magnetic fields close to the sensor can affect the system characteristics. There- fore: – The limit value for the magnetic field of e.g. transverters/engines/wire connections at the position of the inductive guidance sensor is circa 0,01 A/m. Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 11: Mounting On The Vehicle
Reading height above guide wire Direction of travel Guide wire Road surface Possible mounting position for the inductive guidance sensor Figure 4 Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 12: Connection Cables (Assembled On One Side) / Can Terminating Resistor
CAN 2 HW CAB00064 Connection cable CAN bus, 10 m, 5-pol., with shielding, one-sided M12 socket straight, A coded Accessories / connection cables / CAN terminator Table 1 Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 13: Commissioning
Node IDs, so at least one of them need to be re-config- ured) 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-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 14: Can Bus Communication
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-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 15: Control And Status Telegrams
48 - 63 Speed Difference between current incremental encoder counter reading and the counter reading from 10 ms ago CAN OUT1 telegram structure (status, incremental encoder) Table 4 Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 16: Hardware
CAN 2 are used for the CAN bus communication. Matching connection cables are listed in section 3.2.3 on page 12. ATTENTION! For CAN shielded cables have to be used! Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 17: 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 3.2.3 on page 12). Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 18: Configuration
Every terminal program compatible with the ANSI emulation can be used, examples are Hy- perTerminal® or Tera Term®. HyperTerminal has been included in earlier versions of Micro- soft® Windows®. Additionally it can be downloaded from the following address: Link https://www.hilgraeve.com/hyperterminal/ Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 19: Service Program
Firmware Info, output of the firmware version currently running in the sensor • Firmware Update, s. section 7.4.5 on page 22 • Reboot, triggers a re-start of the inductive guidance sensor Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 20: 1) Frequency Config
HG19370 CAN config Goetting KG NodeID: Baudrate: 250 kBit/s Edit Node ID Edit Baudrate CAN Status Press any other key to quit Menu CAN config Figure 10 Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 21: 3) Calibration Config
HG19370 Calibration Goetting KG Poti1: Poti2: Threshold: Edit Poti 1 Edit Poti 2 Edit Threshold Adjustment Press any other key to quit Menu Calibration Figure 11 Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 22: 4) Encoder Config
This is only useful for testing purposes. A threshold of 0 means that the sensor permanently detects a track. Then this information can no longer be used as an aid to detect whether the vehicle leaves the track! Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 23: Firmware Update
Execute The New Program: Execute the uploaded firmware update program by pressing the key Once the Bootloader has been started the USB interface has to be disconnected and reconnected again. Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 24: Maintenance
If necessary update the firmware as shown in section 7.4.6 on page 23). Date and version of the firmware are shown in the main menu (Figure 8 on page 19). Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 25: Technical Data
All incremental encoders can be used that have a switching threshold > 10 V between high level and low level (typically 24V incremental encoders). Output via CAN.< Technical Data Table 9 Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 26: List Of Figures
Figure 12 Menu Encoder................................22 Figure 13 Example for an output in the menu Serial Data-Stream ..............22 Figure 14 Menu Bootloader (Firmware Update)......................23 Figure 15 Menü Load New Firmware (Bootloader)....................23 Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 27: List Of Tables
Pin assignment CAN 1 (female) and CAN 2 (male) 5 pin............17 Table 8 Meaning of the values output in the menu Serial Data-Stream..........22 Table 9 Technical Data...............................25 Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... -
Page 28: 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-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com... - Page 29 Chapter 12: Copyright and Terms of Liability HG G-19370ZA Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com...
- Page 30 Innovation through Guidance Götting KG Celler Str. 5 | D-31275 Lehrte Tel. +49 (0) 5136 / 8096 -0 Fax +49(0) 5136 / 8096 -80 info@goetting-agv.com www.goetting-agv.com www.goetting-agv.com...
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