Related Manuals for Gotting HG G-84300ZD
Summary of Contents for Gotting HG G-84300ZD
- Page 1 Autonomous Vehicles Gyroscope HG G-84300ZD Gyro for AGV English, Revision 10 Date: 01.06.2022 Entw. von: LM Autor(en): RAD Innovation through Guidance www.goetting-agv.com...
- Page 2 • Robust (no moving parts) © 2022 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-84300ZD | English, Revision 10 | Date: 01.06.2022...
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Page 3: Table Of Contents
7.4.3.6 Software Version ........................... 27 7.4.3.7 Producer Heartbeat Time......................27 7.4.3.8 Identity Object..........................27 7.4.3.9 Receive PDO Parameter......................28 7.4.3.10 Mapping RPDO_1.......................... 28 7.4.3.11 Transmit PDO_1 Parameter ..................... 28 Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... - Page 4 Technical Data .....................31 List of Figures ....................32 List of Tables....................33 Index......................34 Copyright and Terms of Liability...............36 12.1 Copyright..............................36 12.2 Exclusion of Liability ..........................36 12.3 Trade Marks and Company Names ....................36 Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022...
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Page 5: 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 NOTICE product or the environment could be dam- aged. Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
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-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 7: Introduction
Introduction – Chapter 2 Introduction The Gyro HG G-84300ZD measures the angle of one rotation axis and permanently outputs this angle via its interface, CAN/CANopen®. This information can be used by a superordinate vehicle controller (not part of the scope of supply) to calculate the current position of all types of vehicles, thus using the Gyro as part of an inertial nav- igation system. -
Page 8: Hardware
On the front plate of the Gyro two cover plates can be removed. Then two mounting drill holes can be reached (see picture above). When the gyro is mounted, the cover plates should be re-attached. Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 9: Pin Assignment
5-pin M12 panel plug socket (A coded) Pin assignment X3 (CAN) Table 4 Signal Description shield (chassis) ground casing +Ub (24V) supply voltage supply ground CAN_H CAN high CAN_L CAN low Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 10: Switch-On Behavior
Communication error (s. Table 6) CANopen® Green / Flashing State: STOP Green / Blinking State: Preoperational Green / Steady light State: Operational Red / Blinking Communication error (s. Table 6) Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 11: Error Messages
– the optional CAN terminator) – Check the communication partners on the CAN bus – If the error can not be eliminated send the Gyro to the Götting ser- vice department Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 12: Drift Compensation / Angle Reset
The user sees it from a LED. The PLC then waits until the Gyro signals via the CAN Status Byte that the drift compensation calculation is completed. Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 13: Angle Reset
1. At the same time the Gyro resets the angle. Then set the CAN bit back to 0 until you want to reset the angle again. The status bit remains set as longs as the trigger bit is set. Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 14: Configuration Via Usb
If the Gyro is not automatically detected as a virtual COM port after establishing the connection the STM32 Virtual COM Port Driver (STSW-STM32102) has to be in- stalled manually. The driver may be downloaded from the following address: http://www.st.com/en/development-tools/stsw-stm32102.html Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 15: Terminal Program
If the status outputs an error code, please make a note of the error code and con- tact the Götting KG service department. To do this, use the contact data given on the back of this device description or visit the following website. www.goetting-agv.com/service Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 16: Terminal Output For Can Standard
Data rate of output (value range: 1 to 100 [x 10ms]) Choose CAN mode (CAN STD / CANopen®) CAN baudrate (125 kbit/s, 250 kbit/s, 500 kbit/s, 1 Mbit/s) CAN identifier for receiver box Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 17: Terminal Output For Canopen
Time with activated drift compensation after turn-on in order to determine a start value Save parameters permanently, necessary after each change Update software, see section 5.5 on page 18 Log data (CSV), see section 5.4 below Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 18: Logging (Csv)
Download DfuSE, install the program and start it. It starts into the Demo GUI Mode which is sufficient to carry out the firmware update. Use Choose to select the .dfu firmware file provided by Götting KG. Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 19: Figure 10 Firmware Update - Choose File
Verify successful shows that the update was successful Leave DFU mode and Quit the program Afterwards the connection in the terminal program can be re-established. Then start the monitor program again. Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 20: Can Bus Interface
Annotations for Command: CAN: Structure of the command byte Table 8 Description De-/Activate drift compensation (see 4.1 on page 12) Set angle to 0 (see 4.2 on page 13) – Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 21: Transmitter Box
Drift compensation ok (this function can be influenced via Drift Margin, see 5.3 on page 15) – Value 1 Parameter error, see section 3.7 on page 11 Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 22: Canopen® Interface
754, see Figure 13 on page 21 Byte 2 angle Unit: radian Byte 3 angle Byte 4 angle Lowbyte temperature Highbyte temperature System status, see Table 12 on page 23 Transmission counter Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 23: Reception Object
CAN menu with each end of the heartbeat timer, the device mode is transmitted via the identifier 0x700 + node address. CANopen®: Heartbeat device mode Table 15 Device mode Code stopped 0x04 preoperational 0x7f operational 0x05 Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 24: Description Of The Service Data Objects (Sdos)
0x1000 to 0x1FFF (part 1 of 3) Communication specific entries in the range 0x1000 to 0x1FFF Index Sub index Access Content EEProm 0x1000 Device Type 0x1001 Error Register 0x1005 COB ID Sync Message Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... - Page 25 Transmission Type 0x1600 Number of Objects mapped to Receive PDO_1 Specification of Appl. Object 1 0x1800 Number of entries of Transmit PDO_1 COB-ID Transmission Type Inhibit Time Event Time Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022...
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Page 26: Standardized Device Profile Range
7.4.3.2 Error Register CANopen®: Error Register Table 20 Index Sub Index Name Type Attr. Default Meaning 0x1001 Error Register Unsigned 8 0x00 Error Register Always sends 0 (no error). Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 27: Cob-Id Sync Message
Product Code Unsigned 32 RO 0x00084300 Name of the device Revision Unsigned 32 RO 0x00000001 Revision of the device Serial Number Unsigned 32 RO 84..7 digit serial number of the device Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 28: Receive Pdo Parameter
Inhibit Time Unsigned 16 RW shortest period between transmis- sions, in multiples of 100 µs Compatibility Unsigned 8 Entry Event Time Unsigned 16 RW Cycle time in ms Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 29: Mapping Txpdo_1
Attr. Map Default Meaning 0x6403 00 number of 32 Unsigned 8 RO 0x01 number of 32 bit analog inputs bit analog inputs 32 bit analog Real 32 Angle input Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 30: Bit Life Counter (Transmitted In Txpdo 1)
Attr. Map Default Meaning 0x6F20 00 number of 8 bit Unsigned 8 RO 0x01 number of 8 bit inputs Life Counter 8 bit Life Unsigned 8 RO Transmission counter Counter Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 31: Technical Data
Whole temperature range: < 0.1 °/s Short term bias Constant temeprature: < 0.01 °/s Non-linearity scaling factor < ± 0,3 % (covering complete measuring range) Angular random walk Typ. 0.4 °/ Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 32: List Of Figures
Figure 10 Firmware Update – Choose file....................19 Figure 11 Firmware Update – Start update....................19 Figure 12 Firmware Update – Leave DFU Mode..................19 Figure 13 Format of the angle output bytes.....................21 Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 33: List Of Tables
Table 33 CANopen®: 32 Bit Analog Inputs (transmitted in TxPDO 1)........29 Table 34 CANopen®: 8 Bit Life Counter (transmitted in TxPDO 1) ..........30 Table 35 Technical data........................... 31 Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... -
Page 34: Index
Dimensions .................8, 31 Symbols ....................6 drift.......................12 SYS.......................10 Drift Compensation .............. 10, 12 drift compensation ...............10 initialization................10 Technical Data ................31 telegram.....................21 Temperature range...............31 Exclusion of Liability ..............36 terminal program................15 Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022... - Page 35 Index – Chapter 11 terminating resistor.................9 terminator....................9 Warning Notices................5 trade marks..................36 Weight....................31 USB ..................... 14 X1 ....................9, 14 X2 ......................9 X3 ......................9 vehicle controller................12 virtual COM Port driver............... 14 Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022...
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Page 36: 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-84300ZD | English, Revision 10 | Date: 01.06.2022... - Page 37 Copyright and Terms of Liability – Chapter 12 Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022...
- 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...
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