1. Manuals
  2. Brands
  3. Gotting Manuals
  4. Antenna
  5. HG G-98830YB
  6. Operating manual

Gotting HG G-98830YB Operating Manual

Transponder antenna
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Transponder Antenna
HG G-98830YB/HG G-98835YB
2-dimensional Position Detection & Identification
Outdoor | Serial | CAN/PROFINET®
Operating Manual
Revision 06 | EN
Date: 24.02.2025
Developed by: WM/LF
Author(s): RAD/LF/AF

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the HG G-98830YB and is the answer not in the manual?

Questions and answers

Related Manuals for Gotting HG G-98830YB

Summary of Contents for Gotting HG G-98830YB

  • Page 1 Operating Manual Transponder Antenna HG G-98830YB/HG G-98835YB 2-dimensional Position Detection & Identification Outdoor | Serial | CAN/PROFINET® Revision 06 | EN Date: 24.02.2025 Developed by: WM/LF Author(s): RAD/LF/AF...
  • Page 2 Overview Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Summary Basic characteristics of the transponder antenna HG G-98830YB/HG G-98835YB: • Transponder antenna for Auto- • Connectors: 3 x M12 5 pin, A coded: mated Guided Vehicles (AGV) 1x Power (incl.
  • Page 3 Table of Contents Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Contents About this Operating Manual ................7 Validity ............................7 1.1.1 Target group..........................7 1.1.2 Additional Applicable Documents ..................7 Declaration of conformity .......................8 Presentation of Information ....................8 1.3.1...
  • Page 4 Table of Contents Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 7.3.7 Antenna Switch-On......................32 Commissioning....................33 Connecting the Antenna to a Computer ................33 Configuring the Terminal Program ..................34 Configuring the Antenna (Monitor Program)..............36 8.3.1...

  • Page 5: Details Of The Canopen® Directory

    Table of Contents Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 10.2.15.2 (1) Import User Parameter from Host to Antenna / (2) Export User Parameter from Antenna to Host ................79 Maintenance....................... 81 Disposal....................... 82 Troubleshooting ....................
  • Page 6 Table of Contents Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Index........................111 Revision History....................114 Copyright and Terms of Liability ..............115 20.1 Copyright........................... 115 20.2 Exclusion of Liability......................115 20.3 Trade Marks and Company Names ..................115...
  • Page 7 About this Operating Manual Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 About this Operating Manual 1.1 Validity This operating manual applies to the transponder antenna HG G-98830YB/HG G- 98835YB. The manual comprises information on correct mounting, electrical installation, commissioning, operation, maintenance and troubleshooting.

  • Page 8: Declaration Of Conformity

    About this Operating Manual Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 1.2 Declaration of conformity This product complies with the relevant European Union harmonization legisla- tion. The relevant harmonized European standards and directives stated in the Declaration of Conformity were used for the compliance assessment.

  • Page 9: Table 1 Hazard Classification According To Ansi Z535.6-2006

    About this Operating Manual Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 The signal words have the following meanings: Hazard classification according to ANSI Z535.6-2006 Table 1 Warning Symbol, Signal Word Meaning DANGER indicates a hazardous situation...

  • Page 10: Figure 1 Reading And Mounting Side Of The Transponder Antenna

    About this Operating Manual Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 1.4 Definitions 1.4.1 Reading and Mounting Side • The large metal side is the mounting side for installing the antenna e.g. on a vehicle.

  • Page 11: Figure 2 Output Polarity (For Sign And Coordinate Output)

    About this Operating Manual Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 1.4.2 Coordinate System of the Antenna The signs and coordinates given in this operating manual are defined as shown in the following figure:...

  • Page 12: Safety Instructions

    Safety Instructions Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Safety Instructions Our product has been designed and manufactured in accordance with the gen- erally recognized rules of technology. Nevertheless, there is a risk of personal in- jury and damage to property if you do not observe this chapter and the safety instructions in this documentation.

  • Page 13: Improper Use

    Safety Instructions Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 2.2 Improper Use Any use other than that described in the intended use is not in accordance with the intended use and is therefore not permitted.

  • Page 14: General Safety Instructions

    Safety Instructions Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 2.4 General Safety Instructions • Ensure that the transponder antenna HG G-98830YB/HG G-98835YB is used only in applications, – where sufficient measures for personal protection and safe detection of obstacles are implemented, –...

  • Page 15: Scope Of Delivery

    Scope of Delivery Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Scope of Delivery The scope of supply includes: • one transponder antenna HG G-98830YB/HG G-98835YB • protective caps for the M12 connectors • an operation manual 3.1 Variants of the Transponder Antenna...

  • Page 16: Table 4 Required Accessories

    Scope of Delivery Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Required accessories Table 4 Order No. Description HW CAB00001 For connector POWER: Connection cable PUR, 5 m with M12 angular coupling, 5-pin, A-coded HW CAB00064...

  • Page 17: Device Overview

    Device Overview Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Device Overview 4.1 System Components An Automated Guided Vehicle (AGV) requires at least one antenna, connection cables to the vehicle electronics and transponders in the ground. Optionally, you can use a transponder programmer.

  • Page 18: Figure 4 Transponder Antenna Hg G-98830Yb/Hg G-98835Yb

    Device Overview Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 4.2.2 Structure of the Transponder Code The antenna HG G-98830YB/HG G-98835YB evaluates only the data block 2 with its 20 useful bits. The data protection is carried out for the transponders via row (for 3 bits each) and column parities.

  • Page 19: Operating Principle

    Operating Principle Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Operating Principle The transponder antenna detects the position of moving parts by means of pas- sive transponders. Downstream navigation systems (e.g. vehicle PLC, Götting navigation controller HG G-73650ZA), which process the data detected by the an- tennas, can be used to control automated guided vehicles (AGVs) contact-free.

  • Page 20: Figure 6 Sketch: Position Detection With Transponders

    Operating Principle Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Sketch: Position detection with transponders Figure 6 SIDE VIEW TOP VIEW Direction of travel Transponder Transponder Vehicle antenna Transponder ΔY antenne ΔX Center axis PosiPulse...

  • Page 21: Figure 8 Sketch: Track Guidance / Free Navigation With Transponders

    Operating Principle Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 This is where the transponder system comes into play. The transponders in the ground are located at highly accurate positions and are used to determine the actual position of the vehicle at specific points.
  • Page 22 Operating Principle Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 quired steering angles in curves. Whenever it can determine the deviation be- tween the odometrically estimated and the actual position via the localization of a transponder, it also calculates the correction path that brings the navigation point back onto the virtual track.
  • Page 23 Storage Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Storage NOTICE Danger due to improper storage The device can be damaged Observe the storage conditions.  The storage temperature is -20 °C to +60 °C Store the device in closed rooms only.
  • Page 24 Mounting Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Mounting NOTICE Malfunction or detuning of the antenna If you do not comply with the operating conditions, the position detection may be faulty or the antenna may fail completely.

  • Page 25: Table 6 Pin Allocation Power

    Mounting Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 A minimum distance of 500 mm is required between two transponders.  Mount the transponders as horizontally (HW DEV00095/HW DEV00098) or  vertically (HG G-71325) as possible.

  • Page 26: Table 7 Pin Allocations Can1 And Can2

    Mounting Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 7.2.2 Variant HG G-98830: Connecting the CAN bus The CAN bus is connected to the antenna via two connectors. These connections can be used for voltage supply. They are labeled CAN1 and CAN2 and have the fol-...
  • Page 27 Mounting Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 7.3 Mounting the Transponder Antenna 7.3.1 Operating Conditions of the Antenna The transponder antenna HG G-98830YB/HG G-98835YB is approved for indoor and outdoor use. It may be used in a temperature range from 0 to +50° C. The relative humidity at 25°...

  • Page 28: Figure 9 Minimum Distance Between Identical Transponder Antennas

    Mounting Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 7.3.3 Minimum Distance Between Identical Transponder Antennas Minimum distance between identical transponder antennas Figure 9 Several identical an- tennas: minimum distance to each other 200 mm...

  • Page 29: Figure 11 Metal-Free Areas Around The Transponder Antenna

    Mounting Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Metal-free areas around the transponder antenna Figure 11 No metal loops allowed in this area (300 mm) No metal allowed in this area (50 mm) 7.3.5 Connection Example The transponder antenna is shielded on 5 sides.

  • Page 30: Figure 13 Mounting On Or In Metal

    Mounting Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 7.3.6 Mounting the Antenna on the Vehicle You can install the transponder antenna with its shielded sides on a metal sur- face or flush with the metal. On the reading side of the antenna you have to ob- serve the free spaces mentioned in chapter 7.3.4 “Minimum Distance to Current-...

  • Page 31: Figure 14 Position Of The Mounting Holes And Dowel Pin Cut-Outs

    Mounting Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Position of the mounting holes and dowel pin cut-outs Figure 14 M5 resp. M6 (4x, s. below) Dowel pin cut-outs (8 x) Mounting side with position of the mounting holes...

  • Page 32: Figure 16 Mounting With M6 Screws

    Mounting Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Four holes are provided in the vehicle floor or a mounting plate 4x M6-Screw: through which M6 screws are screwed into the threads of the antenna holes from the vehicle.
  • Page 33 Commissioning Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Commissioning WARNING Danger due to lack of safety measures The transponder antenna HG G-98830YB/HG G-98835YB does not contain any safety devices. Only use this antenna in applications where sufficient measures for ...

  • Page 34: Figure 18 Connection Example: Connection To The Serial Interface Of A Computer

    Commissioning Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Connection example: Connection to the serial interface of a computer Figure 18 +24 V Computer (e.g. USB-serial Serial POWER or laptop) adapter (optional) interface Transponder antenna All others: –...

  • Page 35: Figure 19 Screenshot: Tera Term

    Commissioning Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Screenshot: Tera Term Figure 19 The following dialog opens:  Screenshot: Tera Term –> Setup –> Serial Port Figure 20 Select the COM port to which the localization sensor is connected and make ...

  • Page 36: Figure 21 Screenshot: Tera Term -> File -> New Connection

    Commissioning Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Screenshot: Tera Term –> File –> New Connection Figure 21 Select Serial and click OK.  The connection to the transponder antenna is established. 8.3 Configuring the Antenna (Monitor Program) 8.3.1 Set Parameters...
  • Page 37 Commissioning Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Further strategies for detecting interference can be found in chapter 13.2 “Re- ducing Interferences” on page 84. In some cases, you can filter out interference by adjusting limits and thresholds. In general, however, you should avoid inter-...

  • Page 38: Figure 22 Connection Options Positioning Pulse

    Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Interfaces 9.1 Alle Variants: PosiPulse The digital positioning pulse at pin 2 of the POWER connector transmits the crossing of the center of the antenna in the direction of movement. Its duration can be set in millisecond increments.

  • Page 39: Figure 23 Equation: Minimum Update Rate

    Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 In the state as delivered, the serial interface is in Monitor only mode. You can then use the serial interface via a computer as a service interface for configura- tion.

  • Page 40: Table 11 Possible System States

    Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Bytes and data words of a telegram with 24 byte length (part 2 of 2) Table 10 Byte-No. Length Value Type Meaning 1 Byte 0x0000.0040 unsigned char Supply voltage applied to the antenna in [100 mV] resolution (e.g.

  • Page 41: Table 12 List Of System Commands

    Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Possible system states (part 2 of 2) Table 11 Value Name Meaning 0x2000 ESTIMATE_X In direction of travel: If the exact transponder position cannot be determined due to incorrect reading distances or e.g.
  • Page 42 Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 List of system commands (part 2 of 4) Table 12 Command Parameter Check- No. Procedure Start Description Bytes Bytes sum *) 3964R Set tuning value to 2...
  • Page 43 Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 List of system commands (part 3 of 4) Table 12 Command Parameter Check- No. Procedure Start Description Bytes Bytes sum *) 3964R Set tuning value to 11...
  • Page 44 Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 List of system commands (part 4 of 4) Table 12 Command Parameter Check- No. Procedure Start Description Bytes Bytes sum *) 3964R Code in the Transmission of the least...

  • Page 45: Table 13 Definitions Can/Canopen

    Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Definitions CAN/CANopen® Table 13 Abbreviation Name Meaning Process data objects Maximum 8 bytes process data TPDO Transmit-PDO The process data sent by a device RPDO Receive-PDO...

  • Page 46: Table 16 Can: Bit And Byte Sequences

    Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 CAN: Bit and byte sequences Table 16 Name Meaning Low Byte First Little-endian format, Intel format The least significant byte of a multibyte value is sent first.

  • Page 47: Table 19 Structure Of The Can Message Object - X Identifier

    Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 9.3.2.2 CAN Message Object – X-Identifier, Send Object Structure of the CAN Message Object – X Identifier Table 19 Byte # Length Type Meaning 2 Byte...

  • Page 48: Table 22 Coding Of The Commands Can Message Object Programming

    Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Coding of the commands CAN Message Object Programming Table 22 Command Meaning Parameter 0000 No command – 0001 Tune antenna once – 0002 Set tuning level Tuning value (see 10.2.7 “(F)requency &...

  • Page 49: Table 23 Variables In Pdo_1

    Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Variables in PDO_1 Table 23 Value Variable Value range Comment Status unsigned 16 0 … 0xffff Status bits according to Table 11 on page 40 Code unsigned 32 0 …...

  • Page 50: Table 26 Codes Of The Heartbeat Mode

    Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 9.3.3.2 Heartbeat The device supports the heartbeat mode. If you set a heartbeat time > 0 in the CAN menu, the device state is sent under the identifier 0x700 + node address with each expiration of the heartbeat timer.

  • Page 51: Table 29 Structure Of The Profinet® Input Bytes

    Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 9.3.3.6 CAN EDS Configuration File EDS = Electronic Data Sheet (EDS). You can request the EDS file from Götting KG or download it from the following link. The file name is 98830ZA.EDS...

  • Page 52: Table 31 Addresses For The Profinet® Read/Write Command

    Interfaces Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 The second byte Address determines the address (see Table 31 below) to which writing or reading takes place. Write commands are only possible to the address- es marked RW in the table.

  • Page 53: Table 32 Modes Of The Serial Interface

    Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Configuration of the System via the Service Interface The transponder antenna can be parameterized via the monitor program. To be able to call up the monitor program, a connection to the antenna must be estab- lished via the serial interface.
  • Page 54 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 You can download the configuration files in the latest version from our Internet server at any time: http://www.goetting-agv.com/components/transponderconf Start the monitor program on the PC.

  • Page 55: Using The Monitor Program

    Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 10.2 Using the Monitor Program NOTICE Modifying the antenna parameters may detune the antenna! The changes to the antenna parameters described below can detune the...

  • Page 56: Table 33 Meanings Of The System Variables (Monitor Program)

    Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Meanings of the system variables (monitor program) Table 33 Meanings of the system variables Measured voltage of reference coil in units (max. 1023) Measured voltage of positioning coil in units (max.
  • Page 57 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 To leave the individual menus. Press the key  The main menu is displayed. The following menu items are described one after the other in this chapter: •...

  • Page 58: Figure 25 Menu: (S)Erial Output

    Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 To switch from the main menu to the (S)erial Output menu: Press the key  The following screen will be displayed:...
  • Page 59 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Additionally you can define the acknowledgment delay time for procedure 3964R (see „Setting the acknowledgment delay time“ auf Seite 60).

  • Page 60: Figure 26 Output At (D)Isplay Telegram Content

    Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Output at (D)isplay Telegram Content Figure 26 S:0006 D:+006 D_X:+32767 D_Y:+32767 Code: 00000001 Read: 42: N: Frx[/Hz]:66760 Ftx[/Hz]:127990 U[/mV]:24000 I[/mA]: 260 T[Grd.C]:+33...
  • Page 61 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Selection: • 0 = Output only occurs when a transponder is decoded in the field • 1 = The output is permanent according to the set (S)erial Data Period...

  • Page 62: Figure 27 Menu: (T)Ime & Code

    Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Menu: (T)ime & Code Figure 27 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 63 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Checking the highest four bits for a preset value (0-F) Since code transmission is only secured by simple parity checking, the following...
  • Page 64 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Note that this procedure reduces the maximum possible crossing speed, since the preset number of identical codes must have been read by the middle of the antenna.
  • Page 65 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Selection: • 0 = Several positioning pulses are output when the same transponder is passed over several times. •...

  • Page 66: Figure 28 Menu: (F)Requency & Antenna Tuning

    Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Value range: • 10 … 1023 To set the threshold value for the scan coils: Press the button and enter the desired value.
  • Page 67 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 To set the receive frequency: Press the button and enter the desired value.  Activating Autotuning With the parameter A(u)totune you activate autotuning. After activation, this function is immediately executed once.

  • Page 68: Figure 30 Menu: C(A)N-Parameters

    Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 10.2.8 Basic C(A)N-Parameters In the Basic C(A)N-Parameters menu you can set the different parameters for the CAN bus. To switch from the main menu to the menu Basic C(A)N-Parameters you have to: Press the key ...
  • Page 69 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Selecting the frame for the telegram With the parameter (E)xtended CAN you can generate telegrams as standard frames according to CAN 2.0A (11 bit value) or as extended frames according to CAN 2.0B (29 bit value).
  • Page 70 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 To select a predefined baud rate: Press the key and enter the desired value.  With the parameters B(R)P Baudrate Prescaler, S(J)W Sync Jump Width, Tseg(1) and Tseg(2) you can adjust the Bit timing.

  • Page 71: Ca(N)-Open-Parameters

    Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Selction: • 0 = Remote operation is switched off • 1 = Enable remote operation To select this function: Press the key ...

  • Page 72: Figure 31 Menu: Ca(N)-Open-Parameters

    Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Menu: CA(N)-Open-Parameters Figure 31 CAN offline / int.Status: 8801 TxBuf: 20 SR = 60: NO ERROR / EWRN /...
  • Page 73 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 To select the node address: Press the key and enter the desired value.  Set CANopen® baud rate With the parameter CAN-(B)aud you can select a pre-defined data rate.
  • Page 74 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 With the parameters (3), (6) and (9) TPDO … Inhibit time you can adjust the inhibit time of the respective PDO. The inhibit time is the shortest time interval between two periods that can be achieved..

  • Page 75: Figure 32 Example Of A Csv Text File

    Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Set byte order With the parameter (O)rder of Data Transfer you select whether the highest byte is to be output first or last.
  • Page 76 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 • (see Table 11 on page 40) CODE_OK • (see Table 11 on page 40) SEGMENT- • (see Table 11 on page 40) POSIPULSE •...

  • Page 77: Figure 33 Importing Csv Data Into A Spreadsheet (Using Excel® As An Example)

    Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Importing CSV data into a spreadsheet (using Excel® as an example) Figure 33 Open the CSV file in Excel by double- clicking or insert it into an empty table via „Data –>...
  • Page 78 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Directly below the axis label, the symbols <<<<|>>>> indicate which values are used for the respective distance calculation. Below this line, the calculated distance with minimum value, instantaneous val- ue, maximum value and the maximum difference between minimum and maxi- mum value is displayed in [mm].

  • Page 79: Figure 35 Screenshot: Bootloader Menu

    Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Screenshot: Bootloader menu Figure 35 Bootloader 1: Upload FW via XMODEM 2: Jump to Application Select (Upload FW via XMODEM).
  • Page 80 Configuration of the System via the Service Interface Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 is displayed the file has been checked and loaded into the parameter RAM. To preserve the loaded values you should transfer them into the EEPROM (see 10.2.14 on page 78).

  • Page 81: Maintenance

    Maintenance Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Maintenance The system is largely maintenance-free. The maintenance is limited to • the visual inspection of the antennas (tight fit of all screws, cables and plugs properly fastened).
  • Page 82 Disposal Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Disposal Dispose of the transponder antenna in accordance with the legal  requirements of your country. For EU countries only: Do not dispose of the transponder antenna in household waste.

  • Page 83: Troubleshooting

    Troubleshooting Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Troubleshooting In the following you will find a tabular list of possible errors. A possible cause is given for each error in the second column. In the third column, you will find in- structions on how to narrow down the error and, ideally, how to correct it.
  • Page 84 Troubleshooting Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 13.2 Reducing Interferences NOTICE Changes of the antenna parameters can detune the antenna! The following modifications to the antenna parameters can detune the antenna to such an extent that a normal function is no longer possible.
  • Page 85 Troubleshooting Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 • An attempt is made to read a code every 8 ms. If the code was read successfully, the NOISE counter is reset and then the sum of codes defined in Number of equal Codes is compared.

  • Page 86: Figure 37 Transponder Reading As Csv-File Imported Into Excel With Comments

    Troubleshooting Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 values. The code display and any display of the number of readings remain. If this is not the case, interference is induced in the frequency range of 64 kHz.

  • Page 87: Figure 38 Positioning Threshold For A Normal Transponder Reading With Side Lobes

    Troubleshooting Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 NOTICE Transponder signal is not output! A new transponder is only read if the reference voltage falls below the set threshold once! If the positioning thresholds are set too low, the antenna may receive new transponder signals but not output them.

  • Page 88: Table 35 General Technical Data Antenna Hg G-98830Yb/Hg G-98835Yb

    Technical Data Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Technical Data 14.1 General Technical Data General Technical Data Antenna HG G-98830YB/HG G-98835YB (part 1 of 2) Table 35 Antenna HG G-98830YB/HG G-98835YB Work safety...
  • Page 89 Technical Data Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 General Technical Data Antenna HG G-98830YB/HG G-98835YB (part 2 of 2) Table 35 Antenna HG G-98830YB/HG G-98835YB Output positioning pulse 24 V / 20-mA-current source, not potentially separated Variant HG G-98830: –...

  • Page 90: Figure 40 Scale Drawing Of The Antenna With Dimensions

    Technical Data Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 14.2 Scale Drawing of the Antenna with Dimensions Scale drawing of the antenna with dimensions Figure 40 M6 (4x) Mounting side Position of the mounting holes...

  • Page 91: Figure 41 Signal Strength Of Reference Voltage In X And Y Direction With Transponder Hw Dev00095 On The Respective Center Axes

    Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Appendix 15.1 Signal Strength and Accuracy of Position Calculation Signal strength of reference voltage in X and Y direction with Transponder Figure 41 HW DEV00095 on the respective center axes...

  • Page 92: Figure 43 Typical Accuracy Of The Deviation Calculation In Y Direction (Trans- Verse To The Direction Of Travel) With Transponder Hw Dev00095

    Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Typical accuracy of the deviation calculation in Y direction (transverse to the di- Figure 43 rection of travel) with Transponder HW DEV00095 Antenna HG G-98830 Y axis: with Transponder HW DEV00095 15.2 Procedure 3964R...

  • Page 93: Figure 44 State Diagram Procedure 3964R; Antenna -> Plc

    Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 State diagram procedure 3964R; Antenna –> PLC Figure 44 Interpreter Program including determination of Position and Decoding niedrige Priorität Data available t>T_QVZ transmitting NAK transmitting STX...

  • Page 94: Device Type

    Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 15.3.1 Data Direction Antenna –> PLC Antenna data is transmitted cyclically from the antenna to the PLC. The cycle time can be parameterized, it must last an integer part – or a multiple of it – of the transponder code transmission.
  • Page 95 Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Overview CANopen® object directory I (part 2 of 2) Table 36 Index Subindex Access Content EEProm 0x1017 Producer Heartbeat Time 0x1018 Number of entries of Identity Object...

  • Page 96: Table 37

    Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 15.4.2 Manufacturer Specific Entries Starting at 0x2000 Overview CANopen® object directory II Table 37 Index Subindex Access Content EEProm Refer to 0x2000 Number of parameters Prog. Transponder Threshold for decoding 10.2.6, page 61...

  • Page 97: Table Of Contents

    Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 15.5 Details of the CANopen® directory 15.5.1 Device type CANopen® directory: Device type Table 39 Index Subindex Name Type Attr. Map Default Description 0x1000 00 Device Type Unsigned 32 RO...

  • Page 98: Type Attr. Map Default

    Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 15.5.7 Save Parameters CANopen® directory: Save parameters Table 45 Index Subindex Name Type Attr. Map Default Description 0x1010 00 Save Parame- Unsigned 8 0x01 number of subin-...

  • Page 99: Table 48 Canopen® Directory: Identity Object

    Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 15.5.10 Identity Object CANopen® directory: Identity object Table 48 Index Subindex Name Type Attr. Map Default Descritpion 0x1018 00 Identity Unsigned 8 RO 0x04 Number of subindexes...

  • Page 100: Table 51 Canopen® Directory: Transmit Pdo_3 Parameter

    Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 15.5.13 Transmit PDO_3 Parameter CANopen® directory: Transmit PDO_3 parameter Table 51 Index Subindex Name Type Attr. Map Default Description 0x1802 00 TxPDO_3 Unsigned 8 0x05 Number of subin-...

  • Page 101: Table 53 Canopen® Directory: Mapping Tpdo_2

    Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 15.5.15 Mapping TPDO_2 CANopen® directory: Mapping TPDO_2 Table 53 Index Subindex Name Type Attr. Map Default Description 1A01 Number of Unsigned 8 0x03 Number of subindexes...

  • Page 102: Table 55 Canopen® Directory: Device Parameters

    Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 15.5.17 Device Parameters CANopen® directory: Device parameters Table 55 Index Subindex Name Type Attr. Map Default Description 2000 00 Number of Unsigned 8 Number of subindexes...

  • Page 103: Table 56 Canopen® Directory: Relevant Codes For The System Configuration

    Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 15.5.18 Codes Relevant in CANopen® for System Configuration CANopen® directory: Relevant codes for the system configuration Table 56 Value Name Description 0x0001 HILOW Changes the sequence within multi-byte values...

  • Page 104: Table 58 Canopen® Directory: Manufacturer Parameters - Node Parameters

    Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 CANopen® directory: Manufacturer parameters – node parameters / baud rates Table 58 Value Baud rate [kBaud] 4 (Default) 1000 15.5.20 Bit Digital Input (Transmission in TPDO_2) CANopen®...

  • Page 105: Table 62 Canopen® Directory: 8 Bit Analog Inputs

    Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 15.5.23 8-Bit Analog Inputs CANopen® directory: 8 bit analog inputs Table 62 Index Subindex Name Type Attr. Map Default Description 0x6400 00 number of 16 bit...
  • Page 106 Appendix Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 • Transponder RFID tag (marker) mounted in the ground or on moving part, which is induc- tively energized by the antenna and then uses this energy to transmit its...
  • Page 107 List of Figures Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 List of Figures Figure 1 Reading and mounting side of the transponder antenna.......10 Figure 2 Output polarity (for sign and coordinate output) ..........11 Figure 3 System components (excerpt) ................
  • Page 108 List of Figures Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Figure 36 Screenshot: Tera Term –> Transfer –> XMODEM –> SEND........ 79 Figure 37 Transponder reading as CSV-file imported into Excel with comments ..86 Figure 38 Positioning threshold for a normal transponder reading with side lobes.........................
  • Page 109 List of Tables Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 List of Tables Table 1 Hazard classification according to ANSI Z535.6-2006 ........9 Table 2 Abbreviations......................11 Table 3 Variant Overview ....................15 Table 4 Required accessories.....................16...
  • Page 110 List of Tables Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Table 39 CANopen® directory: Device type................ 97 Table 40 CANopen® directory: Error register ..............97 Table 41 CANopen® directory: COB-ID SYNC message............. 97 Table 42 CANopen®...
  • Page 111 Index Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Index Symbols CAN1 ..................26 CAN2 ..................26 (de)activate autostart ............74 CANopen®..............48, 72, Numbers directory................94 setting the baud rate........... 3964R................39, 53, checking the generated telegram ........59 character delay time ...........60 checking the highest four bits for a preset value (0-F) ..................63...
  • Page 112 Index Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Node-Guarding..............nominal reading distance ..........27 firmware, update..............freeze output of telegrams ..........71 freeze telegram output ............object directory..............freezing the telegram output ........... object index................(F)requency & Antenna Tuning ........66 obligations of the operator ..........14...
  • Page 113 Index Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 reducing interferences............specialist ................reference coil..............status messages ..............55 RS232 ..................storage ..................RS232 interface..............switch transmitter on/off for control purposes ..symbols..................system commands ...............

  • Page 114: Table 64 Document Revision History

    Revision History Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Revision History The following table lists the revisions of this device description that have been published so far with the most important changes in each case.

  • Page 115: Exclusion Of Liability

    Copyright and Terms of Liability Operating Manual HG G-98830YB/HG G-98835YB | Revision 06 | EN | Date: 24.02.2025 Copyright and Terms of Liability 20.1 Copyright This manual is protected by copyright. All rights reserved. Violations are subject to penal legislation of the Copyright.
  • Page 116 We automate vehicles GÖTTING KG, founded in 1965, is an innovative, globally active company based in Lehrte near Hannover, Germany. The company develops and produces radio data transmission systems and sensors for the guidance and navigation of automated guided vehicles (AGVs). Another focus is on automated guided trans- port systems based on series commercial ve- hicles, in particular for outdoor applications...

This manual is also suitable for:

Hg g-98835ybHg g-98830Hg g-98835

Table of Contents