Gotting HG G-73650ZD Manuals

Manuals and User Guides for Gotting HG G-73650ZD. We have 2 Gotting HG G-73650ZD manuals available for free PDF download: Basics, Setup And Software

Gotting HG G-73650ZD Basics, Setup And Software (206 pages)

Navigation Controller

Brand: Gotting | Category: Controller | Size: 11 MB

Overview

3
196 List of Figures

196
- List of Tables
  199
- Index
  202
- Copyright
  205
- Copyright and Terms of Liability
  205
- Exclusion of Liability
  205
- Trade Marks and Company Names
  205

Gotting HG G-73650ZD Basics, Setup And Software (158 pages)

Navigation Controller

Brand: Gotting | Category: Controller | Size: 6 MB

Table of Contents
3
Introduction
8
Symbols
8
Tasks of the Navigation Controller
9
Intended Use
9
Requirements / Options
10
Basic Principles of Track Guidance
11
Suitable and Unsuitable Vehicle Types
11
Figure 1 Example: Suitable Vehicle Types (Selection)
11
Figure 2 Sketch: Suitable Vehicle Types
11
System Composition
12
Position Determination with Sensor Fusion
12
Figure 3 Block Diagram System Structure
12
The Odometry
13
Sensors for Navigation
13
Transponder Antenna
13
Single Antenna Evaluation - Calculation of the Position with One Antenna
14
Figure 4 Determination of Antenna Positions Underneath the Vehicle
14
Figure 5 Single Antenna: Placement
14
Figure 6 Properties of a Single Antenna Set-Up
15
Double Antenna Evaluation
16
Figure 7 Properties of a Double Antenna Set-Up
16
The Triple Antenna Evaluation
17
Initialising the Transponder Sensor Fusion (Placing Vehicle on the Track)
17
Figure 8 Properties of a Triple Antenna Set-Up
17
The Transponder List
18
Gps
18
Table 1 Definition of Transponder List
18
Coordinate Systems
19
The Vehicle Coordinate System
19
The Local Coordinate System
19
Figure 9 Vehicle Coordinate System
19
Characteristics of the Coordinate Systems
20
Figure 10 Cylindrical Intersection of the Earth Globe for a Flat Country Coordinate System
20
Reconstruction of the Route (Segments)
21
Virtual Tracks
21
Figure 11 Example: Virtual Track with Support Points
21
The Segment File
22
Structure of the Segment File
22
Figure 12 Example of a Segment File with Support Points
22
Table 2 Structure of a Segment File with Support Points
22
The Segment Search
23
Figure 13 Example for Congruent Segments
23
Selection of Segments
24
Figure 14 Segment FIFO Shifting Register
24
Transmission of Segmente
25
Table 3 Example: Shifting of Segments in the FIFO
25
Table 4 Example: Adding New Segments to the FIFO
25
Attributes
26
Offset Driving
26
Figure 15 Offset Segments
26
Inverted Steering
27
Figure 16 Example: Offset Driving
27
Figure 17 Example: Inverted Steering
27
Stop Distance
28
Figure 18 Example: Steering Not Inverted
28
Spot Turn
29
Creating / Editing of a Segment File
29
Figure 19 Online Track Editor by Götting
30
Track Guidance
31
Figure 20 Example Course with a Driving Job Consisting of a Combination of Segments
31
Speed Calculation
32
Steering Angle Calculation
32
Guidance of an Omnidirectional Vehicle
32
Figure 21 Guidance of an Omnidirectional Vehicle
32
Figure 22 Guiding an Omnidirectional Vehicle: Control Process
33
Figure 23 Formula: Limitation of Angles
33
Guidance of a Non-Omnidirectional Vehicle
34
Driving Modes
34
Figure 24 Forward Guidance of a Non-Omnidirectional Vehicle
34
Figure 25 Backwards Guidance of a Non-Omnidirectional Vehicle
34
Idle Mode
35
Parameter Test Mode
35
Automatic Mode
35
Remote Control Mode
35
Vector Steering Mode
36
Communication with the Vehicle Control (E.g. PLC)
36
Hardware
38
Figure 26 Photo of the Control Unit: Basic Configuration and Version Including the Feldbus/Profinet Extension Module and with Option GPS
38
Mounting
39
Front Panel
39
Control Elements on Front Panel
39
Figure 27 Dimensions of the Control Unit Hardware HG G-61430ZD
39
Figure 28 Led's and Connectors
39
Table 5 Control Elements of the Control Unit
39
Display Elements on Front Panel
40
Connectors
40
Eth
40
Figure 29 Sketch of Connector ETH
40
Table 6 Display Elements
40
Usb
41
SIO 1 (GPS Receiver)
41
Sio 2
41
Figure 30 Sketch USB Connectors Type a and Type B
41
Figure 31 Sketch of Connector SIO 1
41
Figure 32 Sketch of Connector SIO 2
41
Table 7 Pin Assignment SIO 1
41
Table 8 Pin Assignment SIO 2
41
Can 1
42
Can 2
42
Sio 3
42
Figure 33 Sketch of Connector CAN 1
42
Figure 34 Sketch of Connector CAN 2
42
Figure 35 Sketch of Connector SIO 3
42
Table 9 Pin Assignment SIO 2
42
Table 10 Pin Assignment SIO 2
42
Table 11 Pin Assignment SIO 2
42
Power
43
Encoder 1 / Encoder 2
43
Figure 36 Sketch of Connector POWER
43
Figure 37 Sketch of Connector IO
43
Figure 38 Sketch of Connectors ENCODER 1 / ENCODER 2
43
Table 12 Pin Assignment SIO 2
43
Table 13 Pin Assignment SIO 2
43
Table 14 Pin Assignment ENCODER 1 / ENCODER 2
43
Prog
44
Ant1 / Ant2
44
Extension Module Feldbus
44
Figure 39 Sketch of Connector PROG
44
Figure 40 Dimensions Control Unit Incl. Expansion Module
44
Software
45
Main Menu
46
Figure 41 Screenshot: Main Menu
46
Status Menu
47
Navigation Menu
47
Status
47
Figure 42 Screenshot: Status -> Navigation
47
Deviation
48
Seg. Table
48
Segment
48
Plc
49
Transponder Menu
50
Antenna
50
Figure 43 Screenshot: Status -> Transponder
50
Result
51
Odometry
51
Gps
52
Figure 44 Screenshot: Status -> GPS
52
Ons
53
Controller Deviation
53
Controller Correction
53
Status
54
GPS Receiver
55
Utc
55
Status
55
Position
55
Diff. Data Age
55
Satellites
55
Accuracy
55
Figure 45 Screenshot: Status -> GPS Receiver
55
Base Vector
56
Heading
56
Error
57
Figure 46 Screenshot: Status -> Error
57
Tcp
58
Configuration Menu
58
Figure 47 Screenshot: Status -> TCP
58
Configuration -> Main
59
Figure 48 Screenshot: Configuration -> Main
59
Configuration -> Guidance
61
Wheels
61
Figure 49 Screenshot: Configuration -> Guidance
61
What Type of Vehicle Is Involved
62
The Non-Omnidirectional Vehicle
62
Figure 50 Example: Non-Omnidirectional Vehicle
62
Figure 51 Example: Symmetrically Steerable Axles (Non-Omnidirectional Vehicle)
62
The Omnidirectional Vehicle
63
Which Wheels Should be Used for the Odometry
63
How Are the Positions Specified on the Vehicle
63
Figure 52 Example: Omnidirectional Vehicle
63
Figure 53 Specification of the Position Data to be Determined for a Vehicle
63
Configuration -> Wheels
64
Figure 54 Screenshot: Configuration -> Wheels
64
Configuration -> Antennas
66
Figure 55 Screenshot: Configuration -> Antenna
66
Configuration -> Accuracy
67
Figure 56 Screenshot: Configuration -> Accuracy
67
Configuration -> Steer Controller
68
Figure 57 Control of an Omnidirectional Vehicle
68
Figure 58 Screenshot: Configuration -> Steer Controller
69
Figure 59 Formula: Limitation of Angles
69
Configuration -> Speed Controller
70
Figure 60 Screenshot: Configuration -> Speed Controller
70
Configuration -> Sensor Fusion Transponder
71
Figure 61 Screenshot: Configuration -> Sensor Fusion Transponder
71
Configuration -> Sensor Fusion GPS
72
Figure 62 Screenshot: Configuration -> Sensor Fusion GPS
73
Configuration -> Gyro
75
Figure 63 Screenshot: Configuration -> Gyro
75
Configuration -> Servo
76
Figure 64 Screenshot: Configuration -> Servo
76
Figure 65 Formula: Actuating Variable Calculation with Controller Boost
77
Network Menu
78
Figure 66 Screenshot: Network - Settings
78
Config File Menu
79
Upload Configuration -> Load Parameters from a File on the PC into the Navigation Controller
79
Figure 67 Screenshot: Config File - Upload/Download
79
Download -> Transfer Parameters from Navigation Controller into a File on the PC
80
Segment File Menu
80
Upload Segment File -> Transfer a Segment File from the PC into the Navigation Con- Troller
80
Figure 68 Screenshot: Segment File - Upload/Download
80
Download Segment File -> Transfer Segment File from the Navigation Controller into a File on the PC
81
Segment Table Menu
82
Figure 69 Screenshot: Segment Table
82
Transponder File Menu
83
Upload Transponder File -> Transfer a Transponder File from the PC into the Navigation Controller
83
Figure 70 Screenshot: Transponder File - Upload/Download
83
Download Segment File -> Transfer Transponder File from the Navigation Controller into a File on the PC
84
Transponder Table Menu
84
Figure 71 Screenshot: Transponder Table
84
Parameter Test' Menu
85
Requirements for Switching into the Different Modes
85
Figure 72 Screenshot: Parameter Test
85
Possibilities in the 'Idle' Mode
86
Possibilities in the 'Test' Mode
86
Possibilities in the 'Auto' Mode
86
Specification of Segments
86
Setting a Starting Position
87
Commissioning
88
Interfaces Usually Connected
88
Test / Real Operation
88
Commissioning the Communication
89
Setting the Parameters
89
Configuration -> Main
90
Table 15 Example Commissioning Parameters in Config. Main
90
Configuration -> Guidance
91
Configuration -> Wheels
91
Figure 73 Schematic Diagram of a Forklift Truck
91
Table 16 Example Commissioning Parameters in Config. Guidance
91
Table 17 Example Commissioning Parameters in Config. Wheels: Wheel 1
92
Table 18 Example Commissioning Parameters in Config. Wheels: Wheel 2
92
Configuration -> Antenna
93
Table 19 Example Commissioning Parameters in Config. Wheels: CAN Interface
93
Table 20 Example Commissioning Parameters in Config. Antenna
93
Configuration -> Accuracy
94
Configuration -> Steer Controller
94
Configuration -> Speed Controller
94
Table 21 Example Commissioning Parameters in Config. Accuracy
94
Table 22 Example Commissioning Parameters in Config. Steer Controller
94
Table 23 Example Commissioning Parameters in Config. Speed Controller
94
Configuration -> Sensor Fusion
95
Configuration -> Gyro
95
Table 24 Example Commissioning Parameters in Config. Sensor Fusion
95
Table 25 Example Commissioning Parameters in Config. Gyro
95
Configuration -> GPS
96
Creating the Segments
96
Simulation Without Vehicle and Vehicle Controller
97
Simulation Without Vehicle and with Vehicle Controller
98
Commissioning a Vehicle
98
Testing and Optimizing the Parameters
98
Figure 74 Formula: Correction of 'Increment / Metres
99
Figure 75 Test Run 1 at Two Transponders
100
Figure 76 Test Run 2 at Two Transponders
100
Other Optimisations
102
Figure 77 the Actual and Target Steering Angle over Time Are Shown in 10 Ms Steps
102
Optimising the Steering Controller
103
Figure 78 Characteristics of Differently Adj. Steering Controllers over Time
103
Optimising the Speed Ramps
104
CAN Bus Protocol
105
How to Send Segments to the Control Unit Via the CAN Bus
105
Figure 79 CAN Synchronization Via Counters
105
Figure 80 State Machine Segment Transmission Via CAN Buffers
106
Transmission Telegrams from Control Unit to PLC, the Wheels and the Gyro
107
Path Data Box
107
Table 26 CAN Tx Telegram: Path Data (Actual)
107
Segment Search Box
108
Status Box
108
Table 27 CAN Tx Telegram: Segment Search
108
Table 28 CAN Rx Telegram: Status Box
108
Error Box
109
Figure 81 CAN Error Telegram Transmission/Synchronization Sequence
110
Table 29 CAN Telegram: Error
111
Table 30 CAN Error Codes
112
Wheel Boxes
113
Table 31 CAN Tx Telegram: Wheel Tx
113
Table 32 Wheel Tx Command Bits
113
Table 33 CAN Tx Telegram: Wheel Tx Virtual
114
Table 34 Wheel Tx Virtual Command Bits
114
Gyro Box
115
Table 35 CAN Tx Telegram: Gyro
115
Reception Telegrams from PLC, Wheels, Antennas, Gyro and Sensor Fusion to the Control Unit
116
Path Data (Target) Box
116
Table 36 CAN Rx Telegram: Path Data (Target)
116
SPS Control Box
117
Table 37 CAN Rx Telegram: Control Box
117
Remote Control Box
118
Table 38 CAN Rx Telegram: Remote Control
118
Wheel Box
119
Antenna Boxes
119
Table 39 CAN Rx Telegram: Wheel Rx
119
Table 40 Wheel Rx Status Bits
119
Table 41 CAN Rx Telegram: Antenna 1 Status, Code and Deviation
119
Gyro Box
120
Table 42 CAN Rx Telegram: Antenna 1 Info
120
Table 43 CAN Rx Telegram: Gyro
120
Sensorfusion Boxes
121
Table 44 CAN Rx Telegram: Sensorfusion Position X, Heading, Aerea Nr
121
Table 45 CAN Rx Telegram: Sensorfusion Position Y, Heading, Status of Navigation
122
Table 46 CAN Sensorfusion Status Byte
122
Table 47 CAN Sensorfusion Coding of the Accuracy
123
Feldbus Protocol
124
Tx Transmission Telegram Control Unit -> PLC
124
Table 48 Feldbus Protocoll Tx Telegram Control Unit -> PLC
124
Rx Reception Telegram PLC -> Control Unit
128
Table 49 Feldbus Protocol Rx Telegram PLC -> Control Unit
130
USB Data Logging: Scope of the Data
132
Opening Logged Data in Excel
133
List of Logged Parameters
133
Table 50 List of the Parameters Logged on a USB Memory Stick
133
Trouble Shooting
143
Table 51 Trouble Shooting
143
Technical Data
145
Table 52 Technical Data Hardware HG G-61430ZD
145
Appendix
146
A Attributes
146
Table 53 Attributes
146
B Radius Calculation with 16 Bit Resolution
147
Figure 82 Formula: Equation for the Calculation of 16 Bit Radii
147
Figure 83 Increased Radius Range through Transformation
147
Figure 84 Resolution of the Radius after Transformation
147
C Configuration of the Ethernet Interface Parameters Via SIO 2
148
Figure 85 Screenshot: Software for Setting T. Parameters of T. Ethernet Interface Via SIO 2
148
D Firmware-Update Via the USB Interface
149
Figure 86 Firmware Update Software: Start Screen
149
Figure 87 Firmware Update Software: Adjust Options
150
Figure 88 Firmware Update Software: Choose Firmware File
150
Figure 89 Firmware Update Software: Start the Update
151
Figure 90 Firmware Update Software: Confirmation Dialog
151
Figure 91 Firmware Update Software: Update Läuft
151
List of Figures
152

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Gotting HG G-73650ZD Basics, Setup And Software (206 pages)

Table of Contents

Overview

Chapter 13 - List of Figures

Chapter 14 - List of Tables

Appendix

196 List of Figures

Gotting HG G-73650ZD Basics, Setup And Software (158 pages)

Table of Contents

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