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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 08 Date: 28.06.2021 Dev. by: WM/AK Author(s): RAD/MN Innovation through Guidance www.goetting-agv.com...
- Page 2 Overview © 2021 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 08 | Date: 28.06.2021...
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Page 3: Table Of Contents
Description of the Service Data Objects (SDOs).......... 29 5.2.3.4.5 Object Directory ..................... 29 5.2.3.5 Positioning Pulse ......................29 5.2.4 Software Download ....................... 29 5.2.5 Connection Cables ......................30 Software ..................31 Terminal Program ....................... 31 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... - Page 4 10.5.16 Codes for System Configuration ................59 10.5.17 Manufacture Parameter – Node Parameter ............59 10.5.18 8 Bit Digital Input (Transmission in TPDO_2) ............60 10.5.19 16 Bit Status (Transmission in TPDO_1) ..............60 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021...
- Page 5 List of Tables ................... 65 Index ....................67 Copyright and Terms of Liability ........... 69 14.1 Copyright ..........................69 14.2 Exclusion of Liability ......................69 14.3 Trade Marks and Company Names ................69 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021...
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Page 6: About This Document
CAUTION indicates a hazardous situation CAUTION which, if not avoided, could result in minor or moderate injury. NOTICE indicates property damage: The product or the environment could be dam- aged. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 7: Symbols
(source: Wikipedia). The transponder code comprises 16 bits, i.e. four nibbles. Thus four hexadecimal code digits can be represented. 1.4 Abbreviations Automated Guided Vehicle Radio-Frequency Identification RFID Electronic Data Sheet, configuration file for CAN bus systems Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 8: 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 (Po- siPulse) and Behind transponder. -
Page 9: System Components
This means that only certain transponders and antennas can work together that use matching frequen- cies. Furthermore there are different systems for the transmission and decoding of the code. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 10: Track Guidance With Transponders
1. Odometry (from old greek όδός hodós „route“ and μέτρον métron „measure“ — thus „distance measurement“) 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 08 | Date: 28.06.2021... -
Page 11: Position Determination / Navigation
Additionally it manages tracks and converts the positions of the sensors installed on the vehicle into the coordinate system of the site. It also takes into ac- count the technical possibilities of a specific vehicle (possible curve radius, wheel Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 12: Definitions
Figure 6 Bottom View Active area for positioning <– Deviation –> For definition of bit Segment see Table 8 on page 23. This bit is set in the half plane Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 13: Mounting
The sum voltage without a transponder in the reading area should always be smaller than half the sum voltage that is generated by a transponder within the reading area). Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... - Page 14 This can e.g. be observed when the energy consumption of the antenna is not constant or via unsteady reception voltages. Tests with the antenna HG G-98810-C showed that gaps of 300 mm (in longitu- dinal and lateral direction) had no effect. If the distance between two antennas shrinks to 200 mm the sum voltage decreases by up to 6 %.
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Page 15: Commissioning
HG G-98810-C may be used accordingly (refer to sec- tion 5.2.4 on page 29). 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 mes- sage object 3 (see section Table 11 on page 27). -
Page 16: Figure 8 Side Lobes During A Transponder Reading
Level to Noise Error sponder enters the reception range during this period the counter is reset but NOISE the old code is held. The following diagrams show examples of recorded data: Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 17: Figure 9 Undisturbed Decoding Across Two Transponders
POSI The same driving situation as shown in Figure 9, this time with high noise level Figure 11 Transponder decoding with interference voltage 1000 CODE_OK code_count err_count POSI Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 18: Table 3 Reference Values For The Commissioning Runs
The settings were: Reference values for the commissioning runs Table 3 Variable Set value Level to Noise Error Number of equal Codes Threshold for Decoding Level for Positioning/Calculation Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 19: 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 transmis- sion time for a complete code telegram is 8 ms. -
Page 20: Connectors
If supply voltage is applied to pin 4 or 5, other devices connected to the CAN bus may be damaged Never connect the supply voltage to pin 4 or 5 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 21: Turn-On Characteristics
The start pulse, as well as the check sum (protocol transparent), cannot be removed from the data block. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 22: Table 7 Data Words In A Telegram With 21 Byte Length
In the following table you will find a list of the binary codes used to describe the sys- tem status (for byte # 20 and 21 in Table 7): Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 23: List Of Commands
The duration of 'Tune Antenna Once'-command is maximal 10 seconds for 16 tuning steps. The monitor mode should not be used during normal operation (e. g. from a PLC), as Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 24: Table 9 List Of The System Commands
Set tuning value to 5 3964R ASCII trans- parent ASCII Set tuning value to 6 3964R ASCII trans- parent ASCII < Set tuning value to 7 3964R ASCII trans- parent ASCII Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... - Page 25 Set tuning value to 14 3964R ASCII trans- parent ASCII Set tuning value to 15 3964R ASCII trans- parent ASCII > Set tuning value to 16 3964R ASCII trans- parent ASCII Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021...
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Page 26: System Monitor
System status information according to Table 8 on page 23 3,4,5,6 4 Byte unsigned long 20 Bit Transponder code (R/W Trans- ponder) 2 Byte signed int Deviation Y [mm] Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 27: Can Message Object 2 (Transmission Object)
It is possible to operate the PDO mode either cyclic, synchro- nous or asynchronous. In order to avoid excessive bus usage due to frequent chang- es during asynchronous non-cyclic transmission (Event-Time = 0), it is possible to set Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 28: Heartbeat
The guard time is set to 0 afterwards. Coding of the Node status Table 16 Node status Code stopped 0x04 preoperational 0x7f operational 0x05 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 29: Node Guarding
„(S)erial Output“ on page 36 and 6.3.2.5 „C(A)N-Parameters“ on page 40). 5.2.4 Software Download If necessary, the Antennas may be updated via the serial interface. Please refer to section 6.4 „Software Update (Antenna Software)“ on page 44. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 30: Connection Cables
(e. g. Binder 79-3444-32-05 M12 line 2 m PUR 5 x 025), the standard length is 2 m.. If a high interference level is expected shielded cables ought to be used. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 31: 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 documenta- tion and adjust it to the values shown below. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 32: Parameter Presettings
Default mode, see section 6.3.2 on page 34 3964R For direct PLC communication, see annex 10.1 on page 49 Transparent For direct PLC communication, see annex 10.2 on page 50 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 33: 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 08 | Date: 28.06.2021... -
Page 34: How To Work With The Monitor Program
5.2.3.1.1 on page 21). The bottom line of the screen contains pos- sible status messages, e. g. if allowed values ranges were not obeyed during input. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 35: Table 22 Description Of System Variables (Monitor Program)
)ime & code (section 6.3.2.3 on page 37) )requency & Antenna tuning (section 6.3.2.4 on page 39) )N Parameters (section 6.3.2.5 on page 40) )open Parameters (section 6.3.2.6 on page 41) Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 36: S)Erial Output
(see Figure 18 below). The shown case has a mask value of 0x0000.0fff and the tele- gram length is 21. Pressing any key generates the return to menu Serial Output Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 37: T)Ime & Code
Usually this will be the S-channel (sum channel). It is, however, possible to select the difference channel for reasons of interference minimization. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... - Page 38 Y direction. For the determination of the thresholds see chapter 4 on page 15. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021...
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Page 39: F)Requency & Antenna Tuning
(as long as there is no transponder within the field) and re-tuned if neces- sary. For correct operation the antenna has to be re-started after activating this func- tion. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 40: C(A)N-Parameters
The CAN status register is displayed in the uppermost line of the menu. This infor- mation may be used for simple diagnosis. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 41: Canopen
1 and 240 the synchronous, cyclical mode can be chosen. By selecting 255 the asynchronous mode is set. The two following modes are only available in the asynchronous mode: Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 42: D)Isplay Systemstatus
When opening the file, the spreadsheet program prompts various options. Select the option that indicates that this file consists of comma separated values. Then the data may be processed as diagrams or recorded as native spreadsheet file. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 43: Display (Y)Histogram
Once the programming is completed, return to Hyperterm, wait 10 sec., re-con- nect the COM-Port (e. g. via the icon ) and then re-start the monitor mode (as explained in section 6.3.1 on page 33). Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 44: Import (1) / Export (2) User Parameter
In order to install the program execute the file ST-Flasher2_setup.exe In order to use the flash program afterwards, start ST10-Flasher.exe Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 45: Software Update
ProgramFlash: Ok CloseCom: Ok Once the programming process is completed, the program can be closed ( Close The antenna is restarted automatically and uses the new program. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 46: Maintenance
If necessary, effect an update of the system software as described above (section 6.3.2.11 on page 43 or 6.4 on page 44). Date and version of the current antenna soft- ware can be obtained from the main menu. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 47: 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 43 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 48: Technical Data
According to ISO/DIS 11898 Identifier, Data rate, Basic/Extended CAN; configurable via serial inter- face CANopen® CANopen®, Device Profil DS 401 Node ID and transmission rate configurable via serial interface or SDOs Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 49: Appendix
5.2.3.1.2 page 23). In order to be visible between the frequent cyclical data output of the antenna, the 3964R of the antenna has a lower priority (see Figure 27). Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 50: Procedure „Transparent
16 bit index. Sub-components are indicated by a 8 bits subindex. RO indicates read only entries. Communication parameters are indicated by a C in the corresponding tables. Manufacture parameters are indicated by a M in the corresponding tables. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 51: Communication Specific Entries Within The Range Of 0X1000 To 0X1Fff
Transmission Type Inhibit Time Event Time 0x1A00 0 Number of Objects mapped to Transmit PDO_1 Specification of Appl. Object 1 Specification of Appl. Object 2 Specification of Appl. Object 3 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 52: Manufacturer Specific Entries Starting At 0X2000
Refer to 0x6000 Number of 8 Bit Digital Inputs Number of codes read Table 22 page 35 0x6100 Number of 16 Bit Digital Inputs System Status Table 22 page 35 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 53: Details Of The Canopen® Directory
CANopen® Directory: COB-ID SYNC message Table 30 Index Sub Index Name Type Attr. Map Default Description 0x1005 00 COB-ID SYNC Unsigned 32 RO 0x80000080 Sync Consumer, Sync ID = 0x80 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 54: Device Name
1, 2 or 3, the corresponding default parameters are loaded. A reset should be carried out afterwards. With ’Restore All’, the Node ID is also set to 1 and the baud rate to 125 Kbaud. Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 55: Producer Heartbeat Time
Unsigned 8 RW No Asynchronous Type event-driven Inhibit Time Unsigned 16 RW No shortest time bet- ween transmissi- ons [μs] Event Time Unsigned 16 RW No Cycle time [ms] Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 56: Transmit Pdo_2 Parameter
Unsigned 32 RO 0x61200120 mapped on index object 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) Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 57: Mapping Tpdo_2
0x64000208 mapped on index object 0x6400,02 with 8 bit length (Supply cur- rent) 6th mapped Unsigned 32 RO 0x64000308 mapped on index object 0x6400,03 with 8 bit length (Board tempe- rature) Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 58: Device Parameter
Unsigned 8 6.3.2.4 page 39 Freeze values Unsigned 8 6.3.2.6 page 41 Threshold max Unsigned 16 RW 6.3.2.3 page 37 detection Y Config Unsigned 32 RW Table 43 page 59 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 59: Codes For System Configuration
*) After changing these values, they have to be saved with <save all> and a node reset has to be pro- ceeded CANopen® Dir.: Manufacture Parameter – Node Parameter / Coding of baud rates Table 45 Input / Output Value Baud rate / kBaud 4 (Default) 1000 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 60: Bit Digital Input (Transmission In Tpdo_2)
16 analog inputs bit inputs Y deviation Integer 16 Y deviation [mm] Sum voltage Unsigned 16 RO Sum voltage [units] Dif voltage Integer 16 Dif voltage [units] Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 61: Eds Configuration File
Signal strength with Transponder HW DEV00095 Figure 30 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 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 62: Figure 31 Typical Accuracy With Transponder Hg G-71325Xa
Signal strength with Transponder HG G-71325XA Figure 32 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 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 63: Mechanical Drawing With Antenna Dimensions
Appendix – Chapter 10 10.8 Mechanical Drawing with Antenna Dimensions Mechanical Drawing with Antenna Dimensions Figure 33 Mounting side Reading side Active area for positioning Mounting side Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 64: List Of Figures
Figure 30 Signal strength with Transponder HW DEV00095............61 Figure 31 Typical accuracy with Transponder HG G-71325XA............62 Figure 32 Signal strength with Transponder HG G-71325XA............62 Figure 33 Mechanical Drawing with Antenna Dimensions ...............63 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... -
Page 65: List Of Tables
Table 37 CANopen® Directory: Identity Object ..................55 Table 38 CANopen® Directory: Transmit PDO_1 Parameter............55 Table 39 CANopen® Directory: Transmit PDO_2 Parameter............56 Table 40 CANopen® Directory: Mapping TPDO_1................56 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... - Page 66 CANopen® Directory: 16 Bit Status (Transmission in TPDO_1) ........60 Table 48 CANopen® Directory: 32 Bit Transponder Code...............60 Table 49 CANopen® Directory: 8 Bit Analog Inputs ................60 Table 50 CANopen® Directory: 16 Bit Analog Inputs.................60 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021...
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Page 67: Index
98810..................8, 9 RS 422....................20 HW DEV00095..............9, 19 HW DEV00098..............9, 19 Software.................... 31 Software Update ..............44, 45 Installation..................15 Symbols....................7 Interfaces System Commands..............24 CAN..................... 26 System Components..............9 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021... - Page 68 Technical Data................48 Telegram ................... 21, 22 Terminal Program .................31 Variants ....................8 trade marks ..................69 transparent..................50 Transponder..............7, 9, 13, 19 Warning Notices ................6 programmer ................9 Trouble Shooting................47 turn-on characteristics..............21 Device Description HG G-98810-C | English, Revision 08 | Date: 28.06.2021...
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Page 69: 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-98810-C | English, Revision 08 | Date: 28.06.2021... - Page 70 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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