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Gotting HG G-98830ZA Technical Description

2-dim. positioning and identification antenna
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Technical Description
2-dim. Positioning and
Identification Antenna
English, Revision 01
Date: 06.12.2016
Götting KG, Celler Str. 5, D-31275 Lehrte - Röddensen (Germany), Tel.: +49 (0) 51 36 / 80 96 -0,
Fax: +49 (0) 51 36 / 80 96 -80, eMail: techdoc@goetting.de, Internet: www.goetting.de
HG G-98830ZA
Dev. by:
WM
Author(s):
RAD/AF
HG G-98830ZA

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  • Page 1 Technical Description HG G-98830ZA                        2-dim. Positioning and Identification Antenna HG G-98830ZA English, Revision 01 Dev. by: Date: 06.12.2016...
  • Page 2 ............... Commissioning10 Components and Operation ..........14 Components in the Ground ........... 14 4.1.1 Transponders ................14 4.1.2 Code structure ................14 Transmission-Reception Antenna HG G-98830ZA ....15 4.2.1 Connection .................. 15 4.2.1.1 Power ..................15 4.2.1.2 CAN Bus................. 16 4.2.2...
  • Page 3 Contents HG G-98830ZA 4.2.4 Software Download..............28 4.2.5 Connection Cables ..............28 Software ................. 29 Terminal Program ..............29 System Monitor..............30 5.2.1 How to start the monitor program ..........31 5.2.1.1 Procedure Monitor only ............31 5.2.1.2 Procedures 3964R/transparent ..........31 5.2.2...
  • Page 4 Contents HG G-98830ZA Device Type .....................55 Error Register...................55 COB-ID SYNC message ................56 Device Name....................56 Hardware Version ..................56 Software Version..................56 Save Parameters ..................56 Restore Default Parameter ..............57 Producer Heartbeat Time.................57 D.10 Identity Object ..................58 D.11 Transmit PDO_1 Parameter..............58 D.12 Transmit PDO_2 Parameter..............59 D.13...

  • Page 5: Figure 1 Examples Of Automated Vehicles Using Transponder Systems

    Examples of automated vehicles using transponder systems Figure 1 The 2-dimensional Antenna HG G-98830ZA utilizes a concept, which has a large read- ing area with a constant linear transponder positioning function. As soon as a tran- sponder is underneath the active antenna area its code as well as its deviation from the antenna center in X and Y direction is output.

  • Page 6: Figure 2 System Components

      System components Figure 2 Transmitter-receiver antenna HG G-98830ZA incl. interpreter (also refer to section 4.2 on page 15) Transponder within the track; refer to section 4.1.1 on page 14 HW DEV00095/HW DEV00098 HG G-71325XA or other matching types Connection cables...

  • Page 7: Figure 3 Track Guiding A Vehicle With One Antenna

    Introduction HG G-98830ZA positioning pulse of adjustable duration. In addition, various parameters of the anten- na, such as current consumption and power supply voltage are measured and may be added to the serial output protocol or sent via CAN bus.

  • Page 8: Figure 5 Antenna Mounting Holes

    Please observe the data sheets and mounting instructions for the suitable transponders HG G-71325XA and HW DEV000950/HW DEV0098. 2.2 Antenna HG G-98830ZA M6 (4x) Top View Position of Mounting Holes...
  • Page 9 Tests with the antenna HG G-98830ZA 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 voltage decreases by up to 6 %.
  • Page 10 In order to set the positioning threshold correctly (refer to section 5.2.2.3 on page 37), it is useful to record a complete test run over the set track. The serial interface of the antenna HG G-98830ZA may be used accordingly (refer to sec- English, Revision 01, Date: 06.12.2016...

  • Page 11: Figure 6 Side Lobes During A Transponder Reading

    Commissioning HG G-98830ZA tion 4.2.4 on page 28). For this function Antenna HG G-98830ZA offers the use of the serial interface (refer to section 4.2.3.1 on page 16) or the CAN bus mes- sage object 3 (see section Table 9 on page 24). Afterwards adjust the position- ing thresholds so that a safe positioning is possible but that is not triggered by side lobes.

  • Page 12: Figure 7 Undisturbed Decoding Across Two Transponders

    Commissioning HG G-98830ZA This means that if there are high interference voltages in the 64 kHz area the antenna will not read a new transponder code after leaving the reception range of a transpon- der for the period of 2 ms * Level to Noise Error. In case a new transponder enters the reception range during this period the NOISE counter is reset but the old code is held.

  • Page 13: Figure 9 The Same Driving Situation As Shown In Figure 7, This Time With High Noi

    Commissioning HG G-98830ZA Transponderdecodierung mit Störspannung 1000 CODE_OK code_count err_count POSI The same driving situation as shown in Figure 7, this time with high noise lev- Figure 9 When comparing the diagrams one can see that the wrong calibration shown in Figure 8 on page 12 makes the sum voltage drop and thus the reception periods for Code_OK and POSI decrease.
  • Page 14 4.1.2 Code structure The antenna HG G-98830ZA 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 15: Figure 10 Photo Transmission-Reception Antenna Hg G-98830Za

    Components and Operation HG G-98830ZA 4.2 Transmission-Reception Antenna HG G-98830ZA Photo Transmission-Reception Antenna HG G-98830ZA Figure 10 The antenna systems and the pre-amplifiers are housed in a casing with the dimen- sions shown in annex G on page 68. The cables (the connectors) exit at one side of the antenna.

  • Page 16: Table 3 Pin Allocations Can1 And Can2

    Components and Operation HG G-98830ZA 4.2.1.2 CAN Bus The CAN bus is connected to the device with two 5-pin M12 connectors male/female. They are named CAN1 and CAN2 and are allocated as follows: ATTENTION! Under no circumstance connect +24V with pin 4 or 5!

  • Page 17: Figure 11 Formula: Minimum Update Rate

    Components and Operation HG G-98830ZA 4.2.3.1.1 List of the system data which can be output One Telegram consists of max. 24 user bytes. The minimum update rate at 19200 Bd is then calculated as follows: Byte   ------------------------ -...

  • Page 18: Table 5 Possible System Status Messages

    Components and Operation HG G-98830ZA In the following table you will find a list of the binary codes used to describe the system status (for byte # 20 and 21 in Table 4): Value Name Description 0x0001 DEC_HW_ERROR code decoder hardware error...

  • Page 19: Table 6 List Of The System Commands

    Components and Operation HG G-98830ZA 4.2.3.1.2 List of commands A command telegram always consists of four bytes, including the actual command and the parameters. When using the procedure „transparent“ it is, in addition, necs- sary to transfer one start character and a check sum (XOR operation of all bytes in- cluding the start character).
  • Page 20 Components and Operation HG G-98830ZA Command Parameter Check Procedure Start Description Bytes Bytes Sum *) Set tuning value to 3 3964R ASCII trans- parent ASCII Set tuning value to 4 3964R ASCII trans- parent ASCII > Set tuning value to 5...
  • Page 21 Components and Operation HG G-98830ZA Command Parameter Check Procedure Start Description Bytes Bytes Sum *) Set tuning value to 10 3964R ASCII trans- parent ASCII Set tuning value to 11 3964R ASCII trans- parent ASCII Set tuning value to 12...
  • Page 22 Components and Operation HG G-98830ZA Command Parameter Check Procedure Start Description Bytes Bytes Sum *) 0 ... 3E8 Set postioning level 3964R (0 <= level < 1024) ASCII 0 ... 3E8 ***) trans- parent ASCII **) No ASCII-coded values ***) Check sum depending on the parameters used. Examples: Level should be set to 1000 (3E8 )...

  • Page 23: Table 7 Structure Of The Can Message Object 1 Y Identifier

    Components and Operation HG G-98830ZA 4.2.3.3 4.2.3.3.1 Description The internal CAN module is based on the CAN specifications V2.0 part B. Standard or Extended frames are transmitted (configurable). It is also possible to configure the bit timing as well as the identifier within the system monitor (refer to section 5.2 on page 30).

  • Page 24: Table 9 Structure Of The Can Message Object 3 D Identifier

    Components and Operation HG G-98830ZA 4.2.3.3.4 CAN Message Object 3 (D Identifier, Transmission Object) Byte # Length Type Description 2 Byte unsigned int Voltage within the sum antenna gener- ated by the Transponder 2 Byte signed int Voltage within the difference antenna...

  • Page 25: Table 12 Variables Of Pdo_1

    Components and Operation HG G-98830ZA The programming is started by sending 0008 in the command bytes of CAN Mes- sage Object 4. The code to be programmed has to be sent in the 4 parameter bytes. All those bytes should be reset after 8 to 100 ms.

  • Page 26: Table 13 Variables Of Pdo_2

    Components and Operation HG G-98830ZA PDO_2 is transmitted with identifier 0x280 + node address. It contains 8 bytes, which include, amongst others, the status indicated in serial monitor. The transmission se- quence is status, transponder code and deviation of the transponder position.

  • Page 27: Table 16 Identifiers For Read And Write Access

    Components and Operation HG G-98830ZA 4.2.3.4.3 Node Guarding Whenever the Heartbeat time is set to 0, the device replies to a Remote Transmission Request of the Identifier (0x700 + Node address) with the device status (refer to Table 15 above), while the highest bit changes. The device does not monitor the timely re- ception of RTR Frames.
  • Page 28 Components and Operation HG G-98830ZA 4.2.4 Software Download If necessary, the Antennas may be updated via the serial interface. Please refer to sec- tion 5.3 „Software Update (Antenna Software)“ on page 45. 4.2.5 Connection Cables Connection cables are not part of the scope of supply. The needed kind of cables are commercially obtainable at many manufacturers (e.

  • Page 29: Table 18 Power Interface

    Software HG G-98830ZA Software The system can be configured via an antenna internal software. To enter the program, you have to connect the serial interface of an ordinary PC to the serial interface of the antenna. Once all the connections have been set up, start a terminal program on the For the connection to be established the serial interface of the PC has to be connected to the serial interface of the antenna.

  • Page 30: Table 19 Terminal Settings For The Monitor Program

    Software HG G-98830ZA Terminal settings monitor program (refer to section 5.2) character delay 1 ms line delay 0 ms PC interface (port) COM1 can vary depending on the PC (see below) Terminal settings for the monitor program (part 2 of 2)
  • Page 31 Software HG G-98830ZA 5.2.1 How to start the monitor program Depending on the currently active procedure, the monitor program is started different- 5.2.1.1 Procedure Monitor only If the antenna is set to the procedure „Monitor only“, the monitor mode is started 10 s after switch on.
  • Page 32 Software HG G-98830ZA Using HyperTerminal the file is transferred as follows: Select Send Text file in the menu Transfer. The following window will appear: Switch to disc drive (in our example, the files are located on the hard disc) and select the respective *.txt file.

  • Page 33: Figure 12 Main Menu Of The Monitor Program

    Software HG G-98830ZA 5.2.2.1 Main menu S:0006 D:+006 D_X:+32767 D_Y:+32767 Code: 00000001 Read: 42: N: Frx[/Hz]:66800 Ftx[/Hz]:127990 U[/mV]:24000 I[/mA]: 270 T[Grd.C]:+33 E: 0002 Noise (S)erial Output (T)ime & Code (F)requency & Antenna tuning Basic C(A)N-Parameters CA(N)-Open-Parameters (D)isplay Systemstatus Cs(v) [38,4 KB Code,Us,X,Y,Tr,Co,S-,Pos,N,E,Cnt<crlf>] (abort with <a>)
  • Page 34 Software HG G-98830ZA Description of the system variables U [mV] Supply voltage of the processor board measured with an accuracy of 100 mV. This volt- age is, due to various safety measures, always a little lower than the connected overall...

  • Page 35: Figure 13 Menu: (S)Erial Output

    Software HG G-98830ZA 5.2.2.2 (S)erial Output Any changes within this sub menu are activated only after a system reset (switching the antenna off and on again). Depending on the alterations made, it may become necessary to use a different baud rate / different text document for the startup of the monitor (section 5.2.1 on page 31).

  • Page 36: Figure 14 Menu: (D)Isplay Telegram Content

    Software HG G-98830ZA  Using “( )isplay Telegram Content“ it is possible to review the generated telegram (see Figure 14 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.

  • Page 37: Figure 15 Menu: (T)Ime & Code

    Software HG G-98830ZA 5.2.2.3 (T)ime & Code This menu enables setting the values for the Transponder decoding, the position cal- culation and the positioning pulse. S:0006 D:+006 D_X:+32767 D_Y:+32767 Code: 00000001 Read: 73: N: Frx[/Hz]:66800 Ftx[/Hz]:127980 U[/mV]:24000 I[/mA]: 270 T[Grd.C]:+33...
  • Page 38 Software HG G-98830ZA  enables setting the voltage value S which is the threshold for releasing the position- ing pulse output in order to eliminate false calculations due to antenna side lobes (see Figure 6 on page 11).  releases the output of a positioning pulse only after the decoding of a Transponder.

  • Page 39: Figure 16 Menu: (F)Requency & Antenna Tuning

    Software HG G-98830ZA 5.2.2.4 (F)requency & Antenna Tuning S:0006 D:+006 D_X:+32767 D_Y:+32767 Code: 00000001 Read: 73: N: Frx[/Hz]:66800 Ftx[/Hz]:128000 Csel:1 U[/mV]:23100 I[/mA]: 530 T[Grd.C]:+24 E: 0002 Noise (R)x_Frequency [/Hz]: 1553000 ( 66750 Hz) A(u)to-Tune (A)ntenna-Tuning [0..15,+,-]: switch (T)ransmitter: (Q)uit Menue Menu: (F)requency &...

  • Page 40: Figure 18 Menu: C(A)N-Parameters

    Software HG G-98830ZA 5.2.2.5 C(A)N-Parameters This menu enables setting the various CAN Bus parameters. In order to be able to use  the CAN bus interface it is necessary to activate it by pressing SR = 63: ACK ERROR / EWRN /...

  • Page 41: Figure 19 Screenshot: Canopen® Menu

    Software HG G-98830ZA  activates the remote operation. In this case (independent of the settings of Con- tinuos Telegrams) telegrams are no longer generated, but only remote frames with the corresponding address are answered.  allows to ’freeze’ the output for 0 to 20 telegrams, i. e. the values at the time of the positioning pulse output are preserved.
  • Page 42 Software HG G-98830ZA  by using key the PDO_1 operational mode can be selected. Choosing a value between 1 and 240 the synchronous, cyclical mode can be picked. By selecting 255 the asynchronous mode is set. The two following modes are only available in the asynchronous mode: ...

  • Page 43: Figure 20 Menu: (Y) Display Histogram

    Software HG G-98830ZA 5.2.2.7 (D)isplay Systemstatus Here the status bit is output (see. Table 5 on page 18). All status values that are set are shown. As soon as a value is reset it is immediately removed from the output.
  • Page 44 Software HG G-98830ZA Directly underneath the histograms, the values used for the respective position calcu- lations are marked as <<<<M>>>>. Below this row, the calculated positions with minimum, actual, and maximum values are displayed. Pressing any key returns to the main menu.
  • Page 45 Software HG G-98830ZA  With you can export user parameters to a host. After pressing that key you should start an XMODEM file transfer. When using Hyperterm go to Transfer > Receive file > XMODEM > Folder and then specify a file name. The file is trans- ferred and the message Success should be displayed.

  • Page 46: Figure 21 Update Program: Operating Elements

    Software HG G-98830ZA 5.3.2 Software Update While the software update is carried out, no other programs may occupy the used se- rial interface (COM-Port). Thus, terminate any such connections in your Terminal pro- gram (e. g. Hyperterm). Connect the antenna with your PC. Start the update program on your PC as described in section 5.3.1 on page 45.
  • Page 47 Maintenance HG G-98830ZA Maintenance The system is largely maintenance free. Any maintenance is limited to: visual examination of the antennae (ensuring all screws, cables and plugs are correctly fastened). Document regularly the power consumption and power supply of each antenna. These values can be obtained from any menu in the monitor program.

  • Page 48: Table 22 Trouble Shooting

    Trouble Shooting HG G-98830ZA Trouble Shooting The following table contains a list of errors that might occur. For each error, a symptom description is given. In the third column you will find a description of how to locate and possibly correct the error.

  • Page 49: Table 23 Technical Data Antenna Hg G-98830Za

    According to ISO/DIS 11898 Identifier, Data rate, Basic/Extended CAN; configurable via serial interface ® CANopen CANopen, Device Profil DS 401 Node ID and transmission rate via serial interface or SDOs can be config- ured Technical Data Antenna HG G-98830ZA Table 23 English, Revision 01, Date: 06.12.2016...

  • Page 50: Figure 23 Diagram Procedure 3964R; Antenna -> Plc

    Annex HG G-98830ZA Annex Procedure 3964R For the computer interconnection between antenna <—> SPS a 3964R-Protocol may be used. As the antenna outputs data cyclical, this results in some simplifications during implementation of the 3964R. The following diagrams describe the procedure.

  • Page 51: Figure 24 Diagram Procedure 3964R; Plc -> Antenna

    Annex HG G-98830ZA Data direction PLC -> Antenna In this direction commands are transmitted only when required (by now the command for starting the monitor program is implemented; see section 4.2.3.1.2 page 19). In or- der to be visible between the frequent cyclical data output of the antenna, the 3964R of the antenna has a lower priority (see Figure 23).

  • Page 52: Table 24 Overview Object Index I

    Annex HG G-98830ZA Data direction PLC -> antenna Commands are transmitted into this direction if necessary. Each command must start with a „=“-character (hex 0x3d). The format of the commands is described in 4.2.3.1.2 on page 19. The telegram is to be finished with a 8 bit check sum over all characters.
  • Page 53 Annex HG G-98830ZA Index Subindex Access Content EEProm 0x1018 Number of entries of Identity Object Vendor ID Product Code Revision Serial Number 0x1800 Number of entries of Transmit PDO_1 COB-ID Transmission Type Inhibit Time Event Time 0x1801 Number of entries of Transmit PDO_2...

  • Page 54: Table 25 Overview Object Index Ii

    Annex HG G-98830ZA Index Subindex Access Content EEProm 0x1A02 Number of Objects mapped to Transmit PDO_2 Specification of Appl. Object 1 Specification of Appl. Object 2 Specification of Appl. Object 3 Specification of Appl. Object 4 Specification of Appl. Object 5 Specification of Appl.

  • Page 55: Table 26 Overview Object Index Iii

    Annex HG G-98830ZA Standardized Device Profile higher than 0x6000 Index subindex Access Content Refer to 0x6000 Number of 8 Bit Digital Inputs Number of codes read Table 21 page 33 0x6100 Number of 16 Bit Digital Inputs System Status Table 21 page 33...

  • Page 56: Table 29 Canopen® Directory: Cob-Id Sync Message

    Annex HG G-98830ZA NOTE! The error register is not used, thus the value 0 is transmitted. COB-ID SYNC message Index Sub Index Name Type Attr. Default Description 0x1005 COB-ID Unsigned 32 0x80000080 Sync Consumer, SYNC Sync ID = 0x80 CANopen® Directory: COB-ID SYNC message...

  • Page 57: Table 34 Canopen® Directory: Restore Default Parameter

    Annex HG G-98830ZA By writing the signature ’save’ in ASCII Code (hex-Code: 0x65766173) onto subindex 1, the currently set parameters are permanently saved. A successful recording proce- dure is acknowledged by a TxSDO (1. Byte = 0x60). The saving process is performed after that acknowledgement.
  • Page 58 Annex HG G-98830ZA D.10 Identity Object Index Sub Index Name Type Attr. Default Description 0x1018 Identity Object Unsigned 8 0x04 Number of sub- indexes Vendor ID Unsigned 32 0x00000202 Manufacturer number given by CiA Product Code Unsigned 32 0x00098830 HG Number...
  • Page 59 Annex HG G-98830ZA D.12 Transmit PDO_2 Parameter Index Sub Index Name Type Attr. Default Description 0x1801 TxPDO_2 Unsigned 8 0x05 Number of sub- Parameter indexes COB ID Unsigned 32 0x40000280 + PDO_2 valid, Node-ID ID = 0x280 + Node ID...
  • Page 60 Annex HG G-98830ZA D.14 Mapping TPDO_1 Index Sub Index Name Type Attr. Default Description 1A00 Number of Unsigned 8 0x03 Number of subin- mapped dexes objects 1st mapped Unsigned 32 0x61000110 mapped on index object 0x6100,01 with 16 bit length (sta-...
  • Page 61 Annex HG G-98830ZA D.16 Mapping TPDO_3 Index Sub Index Name Type Attr. Default Description 1A01 Number of Unsigned 8 0x06 Number of subin- mapped dexes objects 1st mapped Unsigned 32 0x64010310 mapped on index object 0x6401,03 with 16 bit length...
  • Page 62 Annex HG G-98830ZA D.17 Device Parameter Index Sub Index Name Type Attr. Default Description 2000 Number of Unsigned 8 Number of subin- parameters dexes Prog trans- Unsigned 32 Write transpon- ponder code der *) Threshold Unsigned 16 5.2.2.3 page 37...
  • Page 63 Annex HG G-98830ZA D.18 Codes for System Configuration Value Name Description 0x0001 HILOW Change order of bytes within multi-byte values 0x0002 CODE_SELECT Select code channel, see 5.2.2.3 on page 37 0x0004 0x0008 0x0010 POSI_TIMED Timed or level driven positioning pulse, see 5.2.2.3 on...
  • Page 64 Annex HG G-98830ZA D.19 Manufacture Parameter - Node Parameter Index Sub Index Name Type Attr. Default Description 0x2001 number of Unsigned 8 0x02 number of subindexes parameter Node Bau- Unsigned 8 0x04 125 kbaud according drate to Table 46 below *)
  • Page 65 Annex HG G-98830ZA D.21 16 Bit Status (transmission in TPDO_1) Index Sub Index Name Type Attr. Default Description 0x6100 number of 16 Unsigned 8 0x01 number of 16 bit bit inputs inputs 16 bit digital Unsigned 16 System status / TxP- input DO_1 accord.

  • Page 66: Figure 25 Signal Strength In X And Y Direction With Transponder Hw Dev00095

    Annex HG G-98830ZA D.24 16 Bit Analog Inputs Index Sub Index Name Type Attr. Default Description 0x6401 number of 16 bit Unsigned 8 0x03 number of the ana- analog inputs log 16 bit inputs Y deviation Integer 16 Y deviation [mm]...

  • Page 67: Figure 26 Typical Accuracy Of The Deviation Calculation In X Direction (Direction Of Travel) With Transponder Hw Dev00095

    Annex HG G-98830ZA Antenna HG G-98830 X axis: with Transponder HW DEV00095 -130 -110 X / mm Distance: 40 mm Distance: 50 mm Distance: 60 mm Typical accuracy of the deviation calculation in X direction (direction of trav- Figure 26...

  • Page 68: Figure 28 Mechanical Drawing With Antenna Dimensions

    Annex HG G-98830ZA Mechanical Drawing with Antenna Dimensions M6 (4x) Top View Position of the mounting holes 114,5 Active are for positioning Mechanical Drawing with Antenna Dimensions Figure 28 English, Revision 01, Date: 06.12.2016...

  • Page 69: Table Of Contents

    The same driving situation as shown in Figure 7, this time with high noi- se level....................13 Figure 10 Photo Transmission-Reception Antenna HG G-98830ZA ....15 Figure 11 Formula: minimum update rate............17 Figure 12 Main menu of the monitor program ........... 33 Figure 13 Menu: (S)erial Output.................
  • Page 70 Table 21 Description of system variables (monitor program) ......33 Table 22 Trouble shooting ................48 Table 23 Technical Data Antenna HG G-98830ZA .......... 49 Table 24 Overview object index I ..............52 Table 25 Overview object index II ..............54 Table 26 Overview object index III ..............
  • Page 71 List of Tables HG G-98830ZA Table 36 CANopen® Directory: Identity Object ..........58 Table 37 CANopen® Directory: Transmit PDO_1 Parameter......58 Table 38 CANopen® Directory: Transmit PDO_2 Parameter......59 Table 39 CANopen® Directory: Transmit PDO_3 Parameter......59 Table 40 CANopen® Directory: Mapping TPDO_1.......... 60 Table 41 CANopen®...
  • Page 72 Index HG G-98830ZA 12 Index Numbers 3964R 50 Maintenance 47 Monitor Program 30 Parameter Settings 29 Usage 32 Analyis Interface 28 Antenna Interfaces 16 Mounting 8 Positioning Pulse 27 Technical Data 49 Procedure „transparent“ 51 Procedure 3964R 50 Company names 74...
  • Page 73 Handbook Conventions HG G-98830ZA 13 Handbook Conventions In documentations of Götting KG the following symbols were used at the time of print- ing this manual: • Safety notes have the following symbols, depending on the emphasis and the degree of exposure:...
  • Page 74 Copyright and Terms of Liability HG G-98830ZA 14 Copyright and Terms of Liability 14.1 Copyright This manual is protected by copyright. All rights reserved. Violations are subject to pe- nal legislation of the Copyright. 14.2 Exclusion of Liability Any information given is to be understood as system description only, but is not to be taken as guaranteed features.

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