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Device Description HG G-7335xZB | English, Revision 06 | Date: 30.04.2020

Chapter 8 – CAN Interface (HG G-73350)

The object directory is divided into the following parts:

8.5.1 Communication specific entries

Table 25

CAN: overview of object directory, communication specific entries between 0x1000
and 0x1FFF (part 1 of 2)

Communication specific entries located from 0x1000 to 0x1FFF

Index

Subindex Access Content

EEProm

0x1000 0

Device Type

0x1001 0

Error Register

0x1005 0

COB ID Sync Message

0x1008 0

Number of Entries of Device Name

Device Name 1

Device Name 2

Device Name 3

0x1009 0

Hardware Version

0x100A 0

Software Version

0x1010 0

Number of entries of Save Parameter

Save all

0x1011 0

Number of entries of Restore Default
Parameter

Restore Default all

Restore Default Communication Param

eter

Restore Default Manufacture Parameter

0x1017 0

Producer Heartbeat Time

0x1018 0

Number of entries of Identity Object

Vendor ID

Product Code

Revision

Serial Number

0x1400 0

Number of Entries of Receive PDO_1

RW*

COB-ID

Transmission Type

0x1600 0

Number of Objects mapped to Receive
PDO_1

Specification of Appl. Object 1

Specification of Appl. Object 2

0x1800 0

Number of entries of Transmit PDO_1

RW*

COB-ID

Transmission Type

Inhibit Time

Event Time

Summary of Contents for HG G-7335 ZB Series

Page 1: ...uidance of Vehicles for the connection of 2 antennas Interfaces CANopen HG G 73350ZB Profibus HG G 73351ZB English Revision 06 Date 30 04 2020 Entw von WM Autor en RAD MN Guide Wire www goetting agv com Innovation through Guidance Device Description HG G 7335xZB ...

Page 2: ...e antennas 2 identical channels with independent filter frequency setting Monitoring of connected antennas for correct operation and wire breakage Interfaces RS 232 service interface all variants CAN CANopen HG G 73350 Profibus HG G 73351 Configuration via terminal program RS 232 or via CAN open SDOs 2020 Götting KG errors and modifications reserved The Götting KG in D 31275 Lehrte has a certified...

Page 3: ...14 4 2 Connectors 14 4 2 1 Antenna Sockets on the Interpreter 14 4 2 2 CAN Bus HG G 73350 15 4 2 3 Profibus HG G 73351 15 4 2 4 Power supply and serial interface 16 5 Commissioning 17 6 Hardware 18 6 1 Monitoring 18 6 2 Presettings 18 6 3 Processing the Signal 18 6 4 The Control LEDs 19 6 4 1 CAN Bus HG G 73350 19 6 4 2 Profibus HG G 73351 19 7 Software 20 7 1 Connection to a PC via the Serial Int...

Page 4: ...meter 39 8 5 4 12 Mapping RPDO_1 39 8 5 4 13 Transmit PDO_1 Parameter 39 8 5 4 14 Transmit PDO_2 Parameter 40 8 5 4 15 Mapping TxPDO_1 40 8 5 4 16 Mapping TxPDO_2 41 8 5 4 17 Manufacture Parameter parameters of the antenna 41 8 5 4 18 Manufacture parameter calibration of the antenna 42 8 5 4 19 Manufacture parameter node parameter 43 8 5 4 20 8 Bit Digital Input transmitted in TxPDO 1 43 8 5 4 21 ...

Page 5: ...facturers or operators of systems or facilities that want to track guide Automated Guided Vehicles AGV It is also intended for qualified personnel who wants to integrate the system into a vehicle wants to carry out the initial commissioning of the system want to configure the system 1 1 2 Other Applicable Documents This device description does not include information on the operation of the higher...

Page 6: ...e description uses consistent warning notices symbols terms and abbreviations Those are described in the following sections 1 3 1 Warning Notices In this device description warning notices appear before sequences of actions that may lead to damage to persons or property The listed actions for the danger preven tion have to be observed Warning notices have the following structure The warning symbol...

Page 7: ... 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 etter eys are indicated as such for any programs of Götting KG small and capital letters are equally working Table 1 Hazard classification according to ANSI Z535 6 2006 Warning Symbol Signal Word Meaning DAN...

Page 8: ...ger transportation Main area of application is the steering of automated guided vehicles thus this is the application we mainly address from here on The track guidance system may only be operated by qualified personnel at the oper ation place e g vehicle at which it was mounted or initially commissioned by qual ified personnel according to this device description The operating conditions given in ...

Page 9: ...ordinate system e g an automated vehicle is qualified to perform their tasks and is sufficiently trained to mount and con figure the track guidance system if that is part of their tasks is familiar with the commissioning of and the telegram exchange via CAN bus or Profibus connections knows in case the track guidance system is to be used to position automated vehicles the dangers emanating from an...

Page 10: ...itted via chassis parts it is advisable to perform tests when in doubt Cables have to be installed with a minimum distance of 150 mm from the antenna since those cables can interfere with the antenna reception How much they interfere depends on the power and the frequency Again it s import ant that the interferences are not higher than 500 units The system is intended to be used indoors The operat...

Page 11: ... Instructions Chapter 2 the operating conditions specified in section 2 4 on page 9 are observed all components of the track guidance system is in a technically perfect condi tion The operator may not modify or convert Götting systems devices and components without authorization ...

Page 12: ...available in two variants that differ in the interface This manual describes the hardware revision 73350ZA2 starting at firmware 73350A01 14 HG G 73350ZB resp 73350YA2 with firmware 73351A01 00 HG G 73351ZB 3 2 System Components At the time this manual was printed the interpreter can be combined with the fol lowing antennas HG G 19200 HG G 19535 HG G 19536 Technical informations in PDF format abou...

Page 13: ...pin sensor cable female straight connection to BUS1 CAN terminator for M12 connectors e g Götting HW CON00055 male connection to BUS2 HW CON00096 female connection to BUS1 Cable for Profibus Bus cable 2 pin shielded plug 5 pin or socket 5 pin B coded length depend ing on baud rate but max 30 m e g Götting HW CAB00002 male straight connection to BUS2 HW CAB00003 female straight connection to BUS1 H...

Page 14: ...connected to the device GND Pin 5 in Table 6 on page 16 Notes on matching connection cables are given in section 3 3 on page 12 4 2 1 Antenna Sockets on the Interpreter The steering antennas are connected via a 1 1 cable to the corresponding 4 pin A coded M12 panel jack The two panel jacks are shown in Figure 1 labeled ANT1 and ANT2 They are allocated as follows Table 3 Pin allocation antenna sock...

Page 15: ...i e there is no input or output If the interpreter is installed at the end of the bus line a CAN termi nator has to be installed Those terminators can be ordered form different manufac turers and are available for most plugs and jacks The CAN connectors can also be used as power supply 4 2 3 Profibus HG G 73351 Two 5 pin B coded M12 male female indicated as BUS1 and BUS2 in Figure 1 above There th...

Page 16: ...ufac turers and are available for most plugs and jacks 4 2 4 Power supply and serial interface Here a 5 pin A coded M12 panel plug is used in Figure 1 referred to as PWR RS232 This connection serves as the power supply Additionally the serial interface RS 232 can be used for configuration see chapter 7 on page 20 Table 6 Pin allocation of power supply and serial interface connector PWR RS232 PWR R...

Page 17: ...e interpreter is able to calculate and display the deviation scaled to mm For a position calibration the following things are required positioning of the antenna at nominal height The nominal height must corre spond to the one set in the interpreter see section 7 3 2 on page 23 a guide wire with a rated current if possible 10 kHz The calibration can be started by using the serial interface During ...

Page 18: ... the input signals have been scaled An input amplitude of 1 Vpp reaches a full range of 75 between sum channel and the difference channel The Node ID is preset to 1 The maximal incoming signal of all data streams having other frequen cies is 5 Vpp As the parameters of the device reading height wire current can be altered it is no problem that the antennas are having different dimensions or being a...

Page 19: ...CANopen or Profibus 6 4 1 CAN Bus HG G 73350 The green LED BUS flashes after turning on the device It shows the status of the device Node stop LED flashes slowly Node reset communication and node preoperational LED flashes fast Node operational LED is lit continously The red LED ERR starts to flash as soon as a CAN bus error occurs Addi tionally the red flashing LED displays an error in the set of...

Page 20: ... Program Every terminal program compatible with the transmission parameters shown above can be used examples are HyperTerminal or Tera Term HyperTerminal has been included in earlier versions of Microsoft Windows Additionally it can be down loaded from the following address https www hilgraeve com hyperterminal 7 3 Monitor Program Connect the PC to the interpreter and start the Terminal program Th...

Page 21: ...alue of the threshold will be 256 if the corresponding voltages of S1 respectively S2 fall below the set threshold Status The hexadecimal output of binary coded system statuses in the same format as out put via the serial telegram PDO_1 CAN or Profibus S1 1 D1 10 S2 10816 D2 4403 X1 256 mm X2 50 mm Status 0x40 1 Select Antenna System 1 2 Select Antenna System 2 C AN Menue L oad Values to EEProm O ...

Page 22: ... 50 44 0 17 9626 3333 256 51 In this example the first number 44 presents the current status of the device here threshold 2 exceeded then Us1 0 and Ud1 17 followed by Us2 9626 and Ud2 3333 The last displayed numbers show the collateral deviations for antenna 1 and antenna 2 If no wire was detected 256 is displayed as distance value By using the protocol function of Hyperterm the data can be logged...

Page 23: ...s tem status are set By using the distance between the guide wire and the bottom of the sensor can be modified With the internal height which is specified for each type of antenna can be entered The sum of the values entered under and are used to calculate the distance starts the calibration of the distance output Now the corresponding antenna has to be moved in an area of 2x height over the guide...

Page 24: ...AN Bus and the corresponding terms in chapter 8 on page 28 The CAN menu is made up as follows Figure 8 Screenshot CAN menu HG G 73350 In addition to the above described staus line the status of the CAN bus is displayed Bus online changes to Bus offline if e g the CAN bus is unplugged or be cause of lacking a terminator Besides that the CAN open Node statuses stopped preoperational or operational a...

Page 25: ...40 the synchronous cyclical mode can be chosen By selecting 255 the asynchronous mode is set The two following modes are only available in the asynchronous mode is the inhibit time of PDO_2 In PDO_2 the four analog antenna voltages are transmitted The inhibt time is the shortest time period between two periods that can be achieved is the time of the cycle of the PDO_2 transmission If both values a...

Page 26: ...f the device e g guide wire current between 35mA and 100mA at the same reading height are compensated by the dynamic range of the device The different guide wire currents distances between the conductors and reading heights are adapted to the antennas by changing the amplification factor To change these factors the monitor program has to be started the displayed voltages Sx and Dx have to get noti...

Page 27: ...er the name of the software which should be programmed The progress of the pro gramming is displayed by points The symbol o shows that the procedure is finished Figure 11 Screenshot Firmware upload Afterwards the new firmware is started immediately If the transmission was not successful neither the old nor the new firmware can be found in the device Yet the flash loader is always available and sta...

Page 28: ...org en standardization technical documents where after a free registration you can download the technical specifications of the CANopen standard For devices that support CANopen Götting offers EDS files Electronic Data Sheet for download from its website see appendix 12 3 on page 52 In those files the complete CAN configuration is defined In order to use those files to e g configure CAN workflows ...

Page 29: ...ce SDO Service Data Objects serves for reading and writing device parameters no size limit Sync Synchronization Telegram bus wide telegram sent by the CANopen Master CAN Identifier the address on which a PDO SDO is sent Node ID CANopen the address of the device that is added to the CAN identifier Table 12 Bit and Byte order Name Meaning Low Byte First Little Endian Format Intel Format the low byte...

Page 30: ...e displayed status on the serial monitor as well as two distance values left aligned are contained The order of the transmission is status X1 X2 The order of the bytes within a 16bit word can be altered using point from within the CAN menu see 7 3 3 on page 24 or the SDO with the index 0x2002 03 Node config The meaning of the status bits is determined as follows The interpreter works internally wi...

Page 31: ...l be returned which equals an internal deviation value of 32768 256 x 128 The millimeter value is generally indicated via the RS232 interface while the internal value is returned by the CAN bus from the interpreter The values sent by CAN bus have to be divided by 128 to obtain the millimeter values The table below shows some example values Table 16 CAN Calculation of negative deviation values exam...

Page 32: ...g the CAN menu see 7 3 3 on page 24 or the SDO with index 0x2003 02 Node config If values are transmitted which are not situated within the value range they will be ignored Frequency changes are carried out as soon as the time mentioned as fre quency switch in the Technical Data chapter 11 on page 47 is reached Table 20 CAN displayed numbers for PDO_2 Channel Format Value range Us1 Unsigned 16 0 6...

Page 33: ... ta ble 8 5 Object Directory In the CANopen object directory all objects being important for the device are en tered Each entry is marked by a 16 bit index Sub components are marked by a 8 bit subindex Read only entries are marked by RO Communication parameters are marked by C in the overview table manufacture pa rameters by M Table 23 CAN Heartbeat device statuses Device status Code stopped 0x04 ...

Page 34: ...ce Name 3 0x1009 0 RO Hardware Version 0x100A 0 RO Software Version 0x1010 0 RO Number of entries of Save Parameter 1 RW Save all 0x1011 0 RO Number of entries of Restore Default Parameter 1 RW Restore Default all 2 RW Restore Default Communication Param eter 4 RW Restore Default Manufacture Parameter 0x1017 0 RW Producer Heartbeat Time C 0x1018 0 RO Number of entries of Identity Object 1 RO Vendo...

Page 35: ...y the highest bit can be changed in order to temporarily disable enable the PDO Table 26 CAN overview of object directory manufacture specific entries from 0x2000 on part 1 of 2 Manufacturer entries from 0x2000 on Index Subindex Access Content EEProm 0x2000 0 RO Number of Parameter 1 RW Frequency 1 M 2 RW Frequency 2 M 3 RW Threshold CD1 LED M 4 RW Threshold CD2 LED M 5 RW Height of Ant 1 M 6 RW H...

Page 36: ...00 on Index Subindex Access Content 0x6000 0 RO Number of 8 Bit Digital Inputs 1 RO System status 0x6401 0 RO Number of 16 Bit analog Inputs 1 RO Analog Input Us1 2 RO Analog Input Ud1 3 RO Analog Input Us2 4 RO Analog Input Ud2 5 RO X1 mm 6 RO X2 mm Table 28 CAN Device Type Index Sub Index Name Format Attr Map Default Meaning 0x1000 00 Device Type Unsigned 32 RO No 0x00050191 Digital analog input...

Page 37: ... SYNC Unsigned 32 RO No 0x80000080 Sync Consumer Sync ID 0x80 Table 31 CAN Device Name Index Subindex Name Format Attr Map Default Meaning 0x1008 00 Device Name Unsigned 8 RO NO 3 number of sub indexes 01 Name 1 Vis String RO NO G_73 device name 02 Name 2 Vis String RO NO 350Z 03 Name 3 Vis String RO NO A Table 32 CAN Hardware Version Index Subindex Name Format Attr Map Default Meaning 0x1009 00 H...

Page 38: ...ned 32 RW No 0x00000001 Restore All is possi ble 02 Restore Com munication Unsigned 32 RW No 0x00000001 Restore Communi cation is possible 04 Restore Man ufacture Unsigned 32 RW No 0x00000001 Restore Manufac ture is possible Table 36 CAN Producer Heartbeat Time Index Sub Index Name Format Attr Map Default Meaning 0x1017 00 Producer Heartbeat Time Unsigned 16 RW No 1000 Heartbeat time in ms ca Tabl...

Page 39: ...Meaning 0x1600 00 Number of mapped objects Unsigned 8 RO NO 2 number of sub indexes 01 1st mapped object Unsigned 32 RO NO 0x20000110 Mapped on Index 0x2000 01 with 16 Bit length Fre quency 1 02 2nd mapped object Unsigned 32 RO NO 0x20000210 Mapped on Index 0x2000 02 with 16 Bit length Fre quency 2 Table 40 CAN Transmit PDO_1 Parameter Index Sub Index Name Format Attr Map Default Meaning 0x1800 00...

Page 40: ...55 Asynchronous event driven 03 Inhibit Time Unsigned 16 RW No 100 shortest time period between to transmissions in a multiple from 100 µs 05 Event Time Unsigned 16 RW No 10 cycle time in ms Table 42 CAN Mapping TxPDO_1 Index Sub Index Name Format Attr Map Default Meaning 0x1A00 00 Number of mapped objects Unsigned 8 RO No 0x03 number of sub indexes 01 1st mapped object Unsigned 32 RO No 0x6000010...

Page 41: ...04 4th mapped object Unsigned 32 RO No 0x64010410 mapped on Index 0x6401 04 with 16 Bit length Ud2 Table 44 CAN Manufacture Parameter parameters of the antenna Index Sub Index Name Format Attr Map Default Meaning 0x2000 00 number of parameter Unsigned 8 RO No 0x08 number of sub indexes 01 Frequency 1 Unsigned 16 RW Yes 10000 Frequency channel 1 in Hz 02 Frequency 2 Unsigned 16 RW Yes 10000 Frequen...

Page 42: ...pensation is also referred to this frequency Table 45 CAN Manufacture Parameter calibration of the antenna Index Sub Index Name Format Attr Map Default Meaning 0x2001 00 number of parameter Unsigned 8 RO No 0x02 number of sub indexes 01 Start Ant 1 cali bration Unsigned 32 W No Stop Ant 1 cali bration Unsigned 32 R No 0x00000001 02 Start Ant 2 cali bration Unsigned 32 W No Stop Ant 2 cali bration ...

Page 43: ...01 node address 1 03 Node Config Unsigned 8 RW No 0x01 Start in mode operational Highbyte first see Table 48 Table 49 CAN 8 bit digital input transmitted in TxPDO 1 Index Sub Index Name Format Attr Map Default Meaning 0x6000 00 number of 8 bit inputs Unsigned 8 RO No 0x01 number of 8 bit inputs 01 8 bit digital input Unsigned 8 RO Yes system status TxPDO_1 Table 47 CAN coding of the node baudrate ...

Page 44: ...transmitted in TxPDO 1 und TxPDO 2 Index Sub Index Name Format Attr Map Default Meaning 0x6401 00 number of 16 bit analog inputs Unsigned 8 RO No 0x06 number of 16 bit ana log inputs 01 SUM_1 Unsigned 16 RO Yes Us1 TxPDO_2 02 DIF_1 Signed 16 RO Yes Ud1 TxPDO_2 03 SUM_2 Unsigned 16 RO Yes Us2 TxPDO_2 04 DIF_2 Signed 16 RO Yes Ud2 TxPDO_2 05 X1 Signed 16 RO Yes X1 TxPDO_1 06 X2 Signed 16 RO Yes X2 T...

Page 45: ... range are transmitted they will be ignored Fre quency changes are carried out with the frequency switch time specified in the Technical Data Table 51 Format of the 5 Profibus Input Bytes Value Format Range Description Status unsigned 8 0 0xff Status bits according to Table 52 below X1 signed 16 255 255 255 mm 255 mm X2 signed 16 255 255 255 mm 255 mm Table 52 Profibus Meaning of the Profibus Stat...

Page 46: ...nce between inter preter and receiver being too high 3 Wrong transmission parameters set 4 No terminator 1 Control the connections 2 Connect the signal grounds 3 Choose the right parameter using the monitor program see section 7 2 on page 20 No connection can be established Profibus 1 Bus A and Bus B inverted 2 Signal ground not connected potential difference between inter preter and receiver bein...

Page 47: ...of all frequencies Output CAN Bus HG G 73350 not electrically insulated CANopen Device Profil DS 401 Node ID and baud rate can be con figured via the serial interface A terminating resistor terminator is not integrated Profibus HG G 73351 not electrically insulated DP V0 according to IEC61158 EN50170 node ID and transmission rate can be configured via the serial inter face A terminating resistor t...

Page 48: ...r 12 Appendix 12 Appendix 12 1 Block Diagrams Figure 12 Block diagram HG G 73350 CAN Bus Figure 13 Block diagram HG G 73351 Profibus µP RS 232 CAN S1 D1 S2 D2 CAN RS 232 BP TP 4 25kHz 40Hz 200kHz 1 25MHz µP RS 232 PB S1 D1 S2 D2 Profibus RS 232 BP TP 4 25kHz 40Hz 200kHz 1 25MHz ...

Page 49: ...ption HG G 7335xZB English Revision 06 Date 30 04 2020 49 Appendix Chapter 12 12 2 Diagrams Figure 14 Frequency response interpreter HG G 73350 antenna HG G 19200Z Y C Figure 15 Frequency response output compensated ...

Page 50: ...Device Description HG G 7335xZB English Revision 06 Date 30 04 2020 50 Chapter 12 Appendix Figure 16 Band filter characteristics at 5 kHz Q 20 Figure 17 Band filter characteristics at 10 kHz Q 22 ...

Page 51: ...7335xZB English Revision 06 Date 30 04 2020 51 Appendix Chapter 12 Figure 18 Band filter characteristics at 15 kHz Q 21 Figure 19 Band filter characteristics at 20 kHz Q 22 Figure 20 Band filter characteristics at 25 kHz Q 28 ...

Page 52: ...atest version of the ESD file for the CAN configuration for download from our homepage http www goetting agv com components 7335x 12 4 GSD File HG G 73351 You can find the latest version of the GSD file for the Profibus configuration for download from our homepage In addition we provide a Bitmap file on that page http www goetting agv com components 7335x ...

Page 53: ...ot Calibration menu antenna 1 24 Figure 8 Screenshot CAN menu HG G 73350 24 Figure 9 Screenshot Profibus Menu HG G 73351 26 Figure 10 Screenshot Firmware update 27 Figure 11 Screenshot Firmware upload 27 Figure 12 Block diagram HG G 73350 CAN Bus 48 Figure 13 Block diagram HG G 73351 Profibus 48 Figure 14 Frequency response interpreter HG G 73350 antenna HG G 19200Z Y C 49 Figure 15 Frequency resp...

Page 54: ...e 16 CAN Calculation of negative deviation values example maximum 31 Table 17 CAN Calculation of positive deviation values example maximum 31 Table 18 CAN Deviation value output for loss of wire 31 Table 19 CAN Example values for the deviation value output 31 Table 20 CAN displayed numbers for PDO_2 32 Table 21 Examples for the conversion in PDO_2 32 Table 22 CAN displayed numbers for RPDO 32 Tabl...

Page 55: ...1 Table 45 CAN Manufacture Parameter calibration of the antenna 42 Table 47 CAN coding of the node baudrate 43 Table 48 CAN coding of the node config byte 43 Table 46 CAN Manufacture parameter node parameter 43 Table 49 CAN 8 bit digital input transmitted in TxPDO 1 43 Table 50 CAN 16 bit analog inputs transmitted in TxPDO 1 und TxPDO 2 44 Table 51 Format of the 5 Profibus Input Bytes 45 Table 52 ...

Page 56: ...a PC 20 Connectors 14 ANT1 14 ANT2 14 CAN BUS1 15 BUS2 15 Profibus BUS1 15 BUS2 15 PWR 16 RS232 16 Copyright 58 D Declaration of Conformity 6 Device Description Other Applicable Documents 5 Target Group 5 Validity 5 E EDS 52 Environment Parameters 26 EU Declaration of Conformity 6 Exclusion of Liability 58 F Firmware Update 26 Frequency response 49 G General Safety Instructions 10 H Hardware 18 Ha...

Page 57: ...2 16 S Safety Instructions 8 General Safety Instructions 10 Improper Use 8 Intended Use 8 Obligations of the Operator 10 Operating Conditions 9 Qualification of the Users 9 Serial Interface 20 Transmission Parameters 20 Software 20 Symbols 7 System Components 12 T Target Group 5 Technical Data 47 Terminal Program 20 trade marks 58 Transmission parameters 20 Troubleshooting 46 V Validity 5 Variant ...

Page 58: ... 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 customer s own risk Liability for consequential defects is excluded We reserve the right for changes encouraging technical improvements We also reserve the right to change the contents of this manual without havi...

Page 59: ...Device Description HG G 7335xZB English Revision 06 Date 30 04 2020 59 Copyright and Terms of Liability Chapter 16 ...

Page 60: ...Innovation through Guidance Götting 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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