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Inductive Guidance Sensor, Multifrequency, USB

HG G-193x0-B

Inductive track guidance along a guide wire / energy track, Variants

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HG G-19370: 20/25 kHz Energy Track, ZB: CAN-Bus, YB: Profinet

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HG G-19380: 140 kHz Energy Track, ZB: CAN-Bus, YB: Profinet

English, Revision 02

Date: 07.05.2018

Dev. by: LF

Author(s): RAD

Guide Wire

Innovation through Guidance

www.goetting-agv.com

Device Description HG G-193x0-B

Summary of Contents for HG G-193 0-B Series

Page 1: ...ide wire energy track Variants HG G 19370 20 25 kHz Energy Track ZB CAN Bus YB Profinet HG G 19380 140 kHz Energy Track ZB CAN Bus YB Profinet English Revision 02 Date 07 05 2018 Dev by LF Author s RA...

Page 2: ...9370 20 25 kHz 140 mm wire spacing 85 A HG G 19380 140 kHz 110 mm wire spacing 45 A IP 54 Indoor Reading height 40 200 mm nominal reading height 60 mm customizable via programmable gain Version ZB CAN...

Page 3: ...e Terminating Resistors 13 4 Commissioning 14 5 Hardware 15 5 1 HG G 193x0ZB CAN Bus 15 5 1 1 LEDs 15 5 1 2 Pin Assignment 15 5 1 2 1 ST 1 16 5 1 2 2 ST 2 ST 3 CAN 1 CAN 2 16 5 2 HG G 193x0YB Profinet...

Page 4: ...ms 27 7 2 1 Incoming Telegram IN 27 7 2 2 Outgoing Telegram OUT1 27 8 Profinet Communication HG G 193x0YB 28 8 1 Input Bytes 28 8 2 Status Detect Byte 24 29 9 Maintenance 30 10 Technical Data 31 11 Li...

Page 5: ...d guided vehicle AGV For this information consult the doc umentation of the vehicle manufacturer resp the operator of a facility This device description applies to devices with firmware version 1 01 a...

Page 6: ...homepage www goetting agv com Those links are clickable in the PDF version of this documentation Program texts and variables are indicated through the use of a fixed width font Whenever the pressing o...

Page 7: ...available in two different variants with different bus in terface types The variant is printed on the device s identification label 2 2 Range of Use The inductive guidance sensor is intended for indoo...

Page 8: ...less inductive energy transmission energy track The sensor detects the magnetic field above a guide wire or energy track with active current flowing through it and continually calculates the actual de...

Page 9: ...igure 1 Principle of the guide wire track guidance By evaluating the voltages induced in the two horizontal coils for each frequency a sum and difference signal are calculated Usum and Udiff and outpu...

Page 10: ...n the distance to the guide wire The sum voltage is solely used to detect a guide wire Detect signal For this a detector circuit is implemented The detector sets the Detect signal to 1 for valid fre q...

Page 11: ...inductive introduction 3 2 Energy Track An existing ground installation for the contact less inductive energy transmission is used The inductive guidance sensor is available in different variants for...

Page 12: ...irection of travel with the connectors facing upwards first sketch in Figure 3 above The recommended reading height is 40 to 200 mm from the bottom edge of the casing to the guide wire Nominal reading...

Page 13: ...ns of the sensor If you use the CAN bus version HG G 193x0ZB you can also order cables terminators for ST 2 and ST 3 For the Profinet version HG G 193x0YB there are no pre configured cables for ST 2 a...

Page 14: ...For the commissioning configuration the USB interface is used Connect it to your PC as de scribed in section 6 2 on page 19 Start a compatible terminal program on the PC and open the guidance sensor...

Page 15: ...N 1 and CAN 2 are used for the CAN bus communication The power supply is alternatively pos sible via ST 1 USB 5V configuration only to Ub 24V or the CAN bus plugs Ub 24V Match ing connection cables ar...

Page 16: ...nating resistor terminator has to be plugged into one of the CAN connectors see section 3 3 3 on page 13 ST 1 male A codiert Pin Signal 1 VBUS 5V via USB from the PC up to Ub 24V 2 GND Incremental enc...

Page 17: ...ation The power supply is realized via ST 1 USB 5V configuration only up to Ub 24V LED Function PWR lit when operating voltage is connected ERR lit for errors overmodulation of the amplifiers TD Track...

Page 18: ...ST 1 male A coded Pin Signal 1 VBUS USB 5V via USB from the PC up to Ub 24V 2 GND Incremental encoder signals 3 Track A 4 Track B 5 Index Z 6 D USB 7 D USB 8 GND Table 7 HG G 193x0YB Profinet Pin ass...

Page 19: ...er STSW STM32102 installed This driver offers a virtual COM port This COM port serial in terface can be used to establish a connection with a terminal program see below If the STM32 Virtual COM Port D...

Page 20: ...AN Main menu 6 4 1 2 HG G 193x0YB Profinet Figure 11 HG G 193x0YB Profinet Main menu Frequency config s section 6 4 2 on page 21 Calibration config s section 6 4 3 on page 21 Encoder config s section...

Page 21: ...that the sum of all simultaneously occurring sum and difference voltages has to be less than 3 3V Threshold This value in mV regulates the sum voltage threshold If the sum voltage exceeds this thresh...

Page 22: ...key changed gains are permanently stored and used for the evaluation The Threshold defines above which sum level a guide wire is detected At the transition from a guide wire to an energy track there...

Page 23: ...tages are out put in mV as shown in Figure 2 on page 9 Figure 15 Example for a CSV output Tip In case you want to have values output at all times you can temporarily set the Detect threshold in the me...

Page 24: ...te the firmware the device has to be put into DFU Device Firmware Upgrade mode Figure 17 Firmware Update Menu After pressing the connection in the terminal program should be closed until the update in...

Page 25: ...n Chapter 6 1 After starting DfuSe Demo click on Choose to select the dfu file 2 Then start the firmware update by clicking on Upgrade 3 After the successful update click on Leave DFU mode Figure 18 D...

Page 26: ...trol Status Enc and Speed are explained in the tables for IN and OUT1 below Enc is the counter reading for the incremental encoder as a 16 bit integer value going from 0 to 65 535 then it re starts wi...

Page 27: ...structure control bits Bit Type Meaning 0 Status Track 1 active 1 Track 2 active 2 Track 3 active 3 Track 4 active 4 Track 5 active 5 Track 6 active 6 Mute ON 7 Cyclic transmission ON 8 Incremental en...

Page 28: ...fference signal frequency 1 4 High byte sum signal frequency 2 5 Low byte sum signal frequency 2 6 High byte difference signal frequency 2 7 Low byte difference signal frequency 2 8 High byte sum sign...

Page 29: ...been detected 24 Status Detect see section 8 2 below 25 High byte encoder 26 Low byte encoder Bit Meaning 0 Detect frequency 1 1 Detect frequency 2 2 Detect frequency 3 3 Detect frequency 4 4 Detect f...

Page 30: ...vice is mostly maintenance free The maintenance is limited to a visual inspection of the sensor all screws sit tight cables and connectors are attached correctly If necessary update the firmware as sh...

Page 31: ...s simultaneously usable 2 20 kHz 100 Hz resolution 1 programmable frequency for an energy track see below Energy track Two possible configurations variants HG G 19370 B Frequency 25 kHz wire spacing 1...

Page 32: ...ure 5 HG G 19370ZB CAN Position of the LEDs 15 Figure 6 HG G 193x0ZB CAN Position of the connectors 16 Figure 7 HG G 193x0YB Profinet Position of the LEDs 17 Figure 8 HG G 193x0YB Profinet Position of...

Page 33: ...CAN 1 and ST 3 CAN 2 5 pin 16 Table 6 HG G 193x0YB Profinet Function of the LEDs 17 Table 7 HG G 193x0YB Profinet Pin assignment ST 1 8 pin 18 Table 8 HG G 193x0YB Profinet Pin assignment ST 2 ST 3 P...

Page 34: ...CSV 23 Current consumption 31 D Detect signal 10 Device Firmware Upgrade 24 DFU 24 DfuSe 24 difference voltage 9 E encoder 22 Encoder Config 22 energy track 7 8 11 31 Exclusion of Liability 36 F Firm...

Page 35: ...y Config 21 Main Menu 20 ST 1 31 HG G 193x0YB 18 HG G 193x0ZB 16 ST 2 31 HG G 193x0YB 18 HG G 193x0ZB 16 ST 3 31 HG G 193x0YB 18 HG G 193x0ZB 16 sum voltage 9 Supply voltage 31 T Technical Data 31 Tem...

Page 36: ...f the systems are used according to the description This instruction manual has been drawn up to the best of our knowledge Installation setup and operation of the device will be on the customer s own...

Page 37: ...Device Description HG G 193x0 B English Revision 02 Date 07 05 2018 37 Copyright and Terms of Liability Chapter 14...

Page 38: ...Innovation through Guidance G tting 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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