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Inductive Guidance Sensor, Multifrequency, USB

HG G-19370-B/HG G-19380-B

Inductive track guidance along a guide 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 03

Date: 05.05.2020

Dev. by: LF

Author(s): RAD

Guide Wire

Innovation through Guidance

www.goetting-agv.com

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Summary of Contents for HG G-19370

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 03 Date 05 05 2020 Dev by LF Author s RA...

Page 2: ...140 mm wire spacing 85 A HG G 19380 140 kHz 110 mm wire spacing 45 A Within the zone of influence of an active energy track guide wire signals can not be used IP 54 Indoor Reading height 40 200 mm nom...

Page 3: ...9370ZB HG G 19380ZB 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 19370YB HG G 19380YB Profinet 17 5 2 1 LEDs 17 5 2 2 Pin Assignment 17 5...

Page 4: ...Communication HG G 19370YB HG G 19380YB 29 8 1 Input Bytes 29 8 2 Status Detect Byte 24 30 9 Maintenance 31 10 Technical Data 32 11 List of Figures 33 12 List of Tables 34 13 Index 35 14 Copyright an...

Page 5: ...01 and higher see Figure 10 on page 20 1 2 Presentation of Information For you to be able to use your product simply and safely this device description uses consistent warning notices symbols terms a...

Page 6: ...iables are indicated through the use of a fixed width font Menu items and parameters are shown in cursive characters Whenever the pressing of letter keys is required for program entries the required e...

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

Page 8: ...transmission energy track The sensor detects the magnetic field above a guide wire or energy track with active cur rent flowing through it and continually calculates the actual deviation from the cen...

Page 9: ...ls Figure 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 o...

Page 10: ...depends on the distance to the guide wire The sum voltage is solely used to detect a guide wire De tect signal For this a detector circuit is implemented The detector sets the Detect signal to 1 for v...

Page 11: ...ifferent variants for common energy track installations s Table 2 on page 7 3 3 Inductive Guidance Sensor 3 3 1 Requirements Additional magnetic fields close to the sensor can affect the system charac...

Page 12: ...nue by connecting the sensor to the vehicle control For this you can use the connectors ST 1 ST 2 and ST 3 The pin assignment is shown in section 5 1 2 on page 15 so that you can make matching cables...

Page 13: ...ded M12 8 pin socket A coded straight 19370 80YB ST 2 19370 80ZB HW CON00055 or self tailored CAN bus jack M12 with terminat ing resistor 5 pin A coded if the sensor is the last device on the CAN bus...

Page 14: ...t Node ID assigned For the commissioning configuration the USB interface is used Connect it to your PC as described in section 6 2 on page 19 Start a compatible terminal program on the PC and open the...

Page 15: ...communication The power supply is alternatively possible via ST 1 USB 5V configuration only to Ub 24V or the CAN bus plugs Ub 24V Matching connection cables are listed in section 3 3 3 on page 12 Tab...

Page 16: ...minating resistor terminator has to be plugged into one of the CAN connectors see section 3 3 3 on page 12 Table 5 HG G 19370 80ZB CAN Pin assignment ST 1 8 pin ST 1 male A codiert Pin Signal 1 VBUS 5...

Page 17: ...finet communication The power supply is realized via ST 1 USB 5V configuration only up to Ub 24V Table 7 HG G 19370 80YB Profinet Function of the LEDs LED Function PWR lit when operating voltage is co...

Page 18: ...ge 29 Table 8 HG G 19370 80YB Profinet Pin assignment ST 1 8 pin 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 Ind...

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

Page 20: ...4 1 2 HG G 19370 80YB Profinet Figure 11 HG G 19370 80YB 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 6 4 4 on...

Page 21: ...n only relates to guide wire guidance The induced voltage depends on the current in the guide wire and the dis tance between sensor and guide wire As a guiding value the gain should be set so that the...

Page 22: ...track there s an area where the guidance can not safely be guaranteed Lower unsecure Threshold and upper un secure Threshold define this area for the sum signal of the energy track In this tran sitio...

Page 23: ...re output in mV as shown in Figure 2 on page 9 Figure 15 Example for a CSV output In case you want to have values output at all times you can temporarily set the De tect threshold in the menu Calibrat...

Page 24: ...mode Figure 17 Firmware Update Menu After pressing the connection in the terminal program should be closed until the update in DFU mode is finished You need the dfu firmware file and the software Dfu...

Page 25: ...evice Description HG G 19370 B HG G 19380 B English Revision 03 Date 05 05 2020 25 Configuration Chapter 6 Figure 18 DFU Firmware Update Now you can re establish the connection in the terminal program...

Page 26: ...the HighByte Control 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 inte ger value going from 0 to 65 535 th...

Page 27: ...2 1 Incoming Telegram IN Meaning shown for bit 1 each Table 12 CAN IN telegram structure control bits Control Bit Meaning 0 Track 1 active 1 Track 2 active 2 Track 3 active 3 Track 4 active 4 Track 5...

Page 28: ...e 5 Track 6 active 6 Mute ON 7 Cyclic transmission ON 8 Incremental encoder ON 9 Invert direction of incremental encoder 10 15 16 Track 1 detected 17 Track 2 detected 18 Track 3 detected 19 Track 4 de...

Page 29: ...ency 1 2 High byte difference signal frequency 1 3 Low byte difference signal frequency 1 4 High byte sum signal frequency 2 5 Low byte sum signal frequency 2 6 High byte difference signal frequency 2...

Page 30: ...ch track has been detected 24 Status Detect see section 8 2 below 25 High byte encoder 26 Low byte encoder Table 15 Profinet Status Detect Byte 24 Bit Meaning 0 Detect frequency 1 1 Detect frequency 2...

Page 31: ...The device 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 firmwar...

Page 32: ...programmable guide wire frequencies simultane ously usable 2 20 kHz 100 Hz resolution 1 programmable frequency for an energy track see below Energy track Two possible configurations variants HG G 1937...

Page 33: ...G 19370 80ZB CAN Position of the LEDs 15 Figure 6 HG G 19370 80ZB CAN Position of the connectors 16 Figure 7 HG G 19370 80YB Profinet Position of the LEDs 17 Figure 8 HG G 19370 80YB Profinet Position...

Page 34: ...G 19370 80ZB CAN Pin assignment ST 2 CAN 1 and ST 3 CAN 2 5 pin 16 Table 7 HG G 19370 80YB Profinet Function of the LEDs 17 Table 8 HG G 19370 80YB Profinet Pin assignment ST 1 8 pin 18 Table 9 HG G...

Page 35: ...rent consumption 32 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 32 Exclusion of Liability 37 F Firmware Update...

Page 36: ...Menu 20 ST 1 32 HG G 19370 80YB 18 HG G 19370 80ZB 16 ST 2 32 HG G 19370 80YB 18 HG G 19370 80ZB 16 ST 3 32 HG G 19370 80YB 18 HG G 19370 80ZB 16 sum voltage 9 Supply voltage 32 Symbole 6 T Technical...

Page 37: ...valid if the systems are used according to the description This instruction manual has been drawn up to the best of our knowledge Installa tion setup and operation of the device will be on the custome...

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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