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Gyroscope

HG G-84300ZD

Gyro for AGV

English, Revision 10

Date: 01.06.2022

Entw. von: LM

Autor(en): RAD

Autonomous Vehicles

Innovation through Guidance

www.goetting-agv.com

Device Description HG G-84300ZD

Summary of Contents for HG G-84300ZD

Page 1: ...Gyroscope HG G 84300ZD Gyro for AGV English Revision 10 Date 01 06 2022 Entw von LM Autor en RAD Autonomous Vehicles Innovation through Guidance www goetting agv com Device Description HG G 84300ZD...

Page 2: ...put 1 to 100 Hz Maximum spin rate 300 s Compact light weight IP65 casing Robust no moving parts Wide operating temperature range from 40 to 85 C Long lifetime MTBF 100 000 h maintenance free Interface...

Page 3: ...3 2 Terminal Output for CANopen 17 5 4 Logging CSV 18 5 5 Firmware Update 18 6 CAN Bus Interface 20 6 1 Receiving Box 20 6 2 Transmitter Box 21 7 CANopen Interface 22 7 1 Description of the Process D...

Page 4: ...29 7 4 3 14 16 Bit Analog Inputs transmitted in TxPDO 1 29 7 4 3 15 32 Bit Analog Inputs transmitted in TxPDO 1 29 7 4 3 16 8 Bit Life Counter transmitted in TxPDO 1 30 8 Technical Data 31 9 List of F...

Page 5: ...aragraph kind or source of the danger names the kind or source of the danger The paragraph consequences describes the consequences of not observing the warning notice The paragraphs for danger prevent...

Page 6: ...and variables 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 re...

Page 7: ...ion of all types of vehicles thus using the Gyro as part of an inertial nav igation system Figure 1 Photo HG G 84300ZD The device is based on the latest generation of the MEMS technology Compared to o...

Page 8: ...asing in mm Mounting Drill holes 3 3 Mounting On the front plate of the Gyro two cover plates can be removed Then two mounting drill holes can be reached see picture above When the gyro is mounted the...

Page 9: ...24V supply voltage 2 IN1 activate drift compensation 3 D USB 4 D USB 5 GND supply ground If a high level 24 V is applied to this input the Gyro calculates the drift compen sation see section 4 1 on p...

Page 10: ...asis of the faulty values uncontrolled driving behavior or even leaving the track may occur Do not move the gyro during the first 10 s after switch on If an increased drift can be detected or if there...

Page 11: ...ram Start the monitor program s sec tion 5 3 on page 15 and save the parameters Re start the gyro switch off supply voltage and then turn it on again If the error continues to happen after the re star...

Page 12: ...pleted Drift Compensation Angle Reset As the accuracy of the angle measurement improves drastically when the Gyro can use drift compensation it is advisable to let it perform the compensation calcula...

Page 13: ...again after some time the absolute angle output will be different from the last time This doesn t influence the validity of the actual angle calculation However it may be desirable to reset the angle...

Page 14: ...Configuration via USB NOTICE Damage to the gyro or other devices connected via USB The USB interface does not have a leading ground contact Plugging or unplugging USB connectors while the voltage sup...

Page 15: ...If another port is to be used then adjust it as follows Hyper Terminal 1 Select Properties from the menu File or lick the icon The following dialog appears 2 Use Connect using to select the respectiv...

Page 16: ...The following screenshot shows the drift compensation process inside the monitor program A percentage value counts up to 100 then the drift is below the set threshold defined by the parameter Drift ma...

Page 17: ...ng line the terminal shows the firmware version and status outputs Below the following functions can be called Reset angle to 0 see 4 2 on page 13 Activate or deactivate drift compensation see 4 1 on...

Page 18: ...ias Bias Counter Bias Timer Bias OK Counter Bias OK flag Temperature Scaling Sensor Status 1 Sensor Status 2 Sensor Status 3 Sensor Status 4 CAN Input Command CAN Output Angle CAN Output Temperature C...

Page 19: ...he update is successful the status bar says Verify successful Then leave DFU mode and quit the program Figure 12 Firmware Update Leave DFU Mode Afterwards the connection in the terminal program can be...

Page 20: ...is the telegram that is sent from the vehicle controller e g PLC to the Gyro Annotations for Command CAN Bus Interface Table 7 CAN Structure of the CAN receiving box Byte Data 1 Command see Table 8 be...

Page 21: ...54 see Figure 13 below Unit radian 2 Byte 2 Angle 3 Byte 3 Angle 4 Byte 4 Angle 5 Lowbyte Temperature Temperature in o C 6 Highbyte Temperature 7 System status see Table 10 below 8 Cycle counter Table...

Page 22: ...with non cyclical transmission Event time 0 the so called Inhibit time can be set in the CAN menu of the serial monitor see 5 3 on page 15 A PDO can also be transmitted cyclically therefore the event...

Page 23: ...ure of the system status Bit Meaning 1 Value 1 Drift compensation activated 2 Value 1 Acknowledgment Angle set to 0o 3 4 5 Value 1 Drift compensation ok this function can be influenced via Drift Margi...

Page 24: ...ided in the following sections 7 4 1 Communication Specific Entries Table 16 CANopen SDO error codes Name Number Meaning SDO_ABORT_UNSUPPORTED 0x06010000 Non supported access to an object SDO_ABORT_RE...

Page 25: ...ture Parame ter 0x1017 0 RW Producer Heartbeat Time 0x1018 0 RO Number of entries of Identity Object 1 RO Vendor ID 2 RO Product Code 3 RO Revision 4 RO Serial Number 0x1400 0 RO Number of Entries of...

Page 26: ...tandardized Device Profile Range from 0x6000 Index Subindex Access Content 0x6000 0 RO Number of 8 bit digital inputs 1 RO System status 0x6200 0 RO Number of 8 bit digital outputs 1 RW Command 0x6401...

Page 27: ...e Attr Map Default Meaning 0x1009 00 Hardware Version Vis String RO NO A2 Version of the controller board Table 24 CANopen Software Version Index Subindex Name Type Attr Map Default Meaning 0x100A 00...

Page 28: ...Index Subindex Name Type Attr Map Default Meaning 0x1600 00 Number of mapped objects Unsigned 8 RO NO 1 Number of sub indexes 01 1st mapped object Unsigned 32 RO NO 0x62000108 Mapped to Index 0x6200...

Page 29: ...dex 0x6000 01 with 8 Bit length Status 04 4th mapped object Unsigned 32 RO No 0x6F200108 mapped to Index 0x6F20 01 with 8 Bit length transmission counter Table 31 CANopen 8 Bit Digital Input transmitt...

Page 30: ...3 16 8 Bit Life Counter transmitted in TxPDO 1 Table 34 CANopen 8 Bit Life Counter transmitted in TxPDO 1 Index Sub Index Name Type Attr Map Default Meaning 0x6F20 00 number of 8 bit Life Counter Uns...

Page 31: ...ounting 2x mounting drill holes in the casing for M4 screws Weight approx 430 g Protection class IP65 Relative humidity 95 25o C without bedewing Temperature range operation 40 to 85 C Temperature ran...

Page 32: ...igure 5 Angle reset process 13 Figure 6 Connection example USB connection with a PC 14 Figure 7 Screenshot Terminal output in monitor mode CAN Standard 16 Figure 8 Screenshot Drift compensation via mo...

Page 33: ...ble 16 CANopen SDO error codes 24 Table 17 CANopen Overview of the object dir communication specific entries in the range 0x1000 to 0x1FFF 24 Table 18 CANopen Overview of the object dir stand device p...

Page 34: ...nsmission Objects 22 casing 8 COM Port 15 Comma Separated Values 18 Company names 36 Connection Box 14 Copyright 36 cover plates 8 CSV 18 D Data rate 31 DfuSE 18 Dimensions 8 31 drift 12 Drift Compens...

Page 35: ...84300ZD English Revision 10 Date 01 06 2022 35 Index Chapter 11 terminating resistor 9 terminator 9 trade marks 36 U USB 14 V vehicle controller 12 virtual COM Port driver 14 W Warning Notices 5 Weigh...

Page 36: ...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 d...

Page 37: ...Device Description HG G 84300ZD English Revision 10 Date 01 06 2022 37 Copyright and Terms of Liability Chapter 12...

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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