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Gotting HG G-98820ZA, Technical Description

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Introduction

HG G-98820ZA

English, Revision 09, Date: 13.12.2016

5

1

Introduction

The described antenna is designed to be used for positioning and/or trackguiding ve-
hicles. All important parameter settings, calibration and updates are carried out via an

 

integrated serial interface or CANopen

®

.

Figure 1

Examples of automated vehicles using transponder systems

Antenna HG G-98820ZA utilizes a completely new antenna concept, which has a larg-
er reading area with a linear transponder positioning function. The antenna is so-called

 

1.5 dimensional, meaning that it outputs the Transponder code as well as the linear 
deviation rectangular to the direction of travel as well as the information „Before tran-
sponder“, „Crossing of the transponder“ and „Behind transponder“.

Götting transponder antennas have a consistent output format, that also enables the

 

user to configure additional system information. This additional information, for exam-
ple, may be used by an external visualization system (e.g. vehicle control unit with dis-
play) and enables statements regarding the condition and availability of antennas and

 

transponders.

This system description refers to Transponder Positioning Antenna HG G-98820ZA 
with the firmware 98820A41.07 or higher (also refer to Figure 12 on page 33). 

Summary of Contents for HG G-98820ZA

Page 1: ...nd Identification Antenna HG G 98820ZA English Revision 09 Dev by WM Date 13 12 2016 Author s RAD MN G tting KG Celler Str 5 D 31275 Lehrte R ddensen Germany Tel 49 0 51 36 80 96 0 Fax 49 0 51 36 80 9...

Page 2: ...16 4 2 3 1 Serial RS 232 16 4 2 3 1 1 List of the system data which can be output 17 4 2 3 1 2 List of commands 20 4 2 3 2 System Monitor 23 4 2 3 3 CAN 23 4 2 3 3 1 Description 23 4 2 3 3 2 CAN Mess...

Page 3: ...44 5 2 2 12 U pdate Firmware 44 5 2 2 13 Import 1 export 2 User Parameter 44 5 2 2 14 P r int Parameters 45 5 3 Software Update Antenna Software 45 5 3 1 Installation of the Program for Software Updat...

Page 4: ...62 D 16 Codes for System Configuration 63 D 17 Manufacture Parameter Node Parameter 64 D 18 8 Bit Digital Input transmission in TPDO_2 64 D 19 16 Bit Status transmission in TPDO_1 65 D 20 32 Bit Trans...

Page 5: ...mensional meaning that it outputs the Transponder code as well as the linear deviation rectangular to the direction of travel as well as the information Before tran sponder Crossing of the transponder...

Page 6: ...on As the antenna passes over the Transponder it energizes the latter with an energy field of 128 kHz The transponder transmits its code back at half this frequency The relative Transponder position i...

Page 7: ...computer is not part of the system we recommend the G tting Navigation Controller HG G 73650 Rotary encoders enable changing the direction of travel whenever necessary Thus it is possible to switch tr...

Page 8: ...l mounting struts excluded For perfect operation of the transponder system it is essential that there are no interfering signals in the frequency range of 64 4 kHz e g chopped engines etc Current carr...

Page 9: ...um voltage decreases by up to 6 Placing two antennas only 100 mm apart the sum voltage sways by 5 to 15 Decoding and distance calculation still work under those conditions but there is a risk that set...

Page 10: ...If this is not possible it might be possible to avoid the critical frequency area by changing the side band see section 5 2 2 4 on page 39 3 In order to adjust the antenna to environmental influences...

Page 11: ...holds are explained in chapter 5 on page 29 In order to explain those thresholds and how to find a proper set up below the process of a transponder crossing is described Every 2 ms a check is performe...

Page 12: ...situations as shown in Figure 7 only with antenna with wrong calibration Undisturbed Transponder Decoding 0 100 200 300 400 500 600 700 800 900 1000 0 0 0 0 1632 1632 1632 1632 1632 1632 1632 1632 163...

Page 13: ...ges those two val ues are in fact no voltages but logarithmic derivations of the actual voltages For the test runs two transponders with different signal strengths have been crossed shortly one after...

Page 14: ...the ground proximity of any floor reinforcement inductive loops as they are created e g by steel building mats have a greater influence Individual metal poles have little effect Those may partially b...

Page 15: ...he antenna casing The electronics are varnished For a mechanical drawing please see annex G on page 68 4 2 1 Connection The antenna is equipped with three 5 pin M12 connection sockets The pin allocati...

Page 16: ...on applying the operating voltage the antenna requires 10 seconds startup time During this period it is possible to start a firmware update also refer to section 4 2 4 on page 28 Following this period...

Page 17: ...As the transmission is binary it is possible to add further DLE characters to the pro cedure when using the 3964R procedure All multiple byte variables are output either with HighByte first or LowByt...

Page 18: ...ponder 10 11 2 Byte 0x 0010 unsigned int voltage generated by the Transponder in the reference coil in units Usum 12 1 Byte 0x 0020 unsigned char operational voltage of the Antenna 100 mV 13 1 Byte 0...

Page 19: ...received 0x0004 RX_NOISE Set whenever TRANS_IN_FIELD was set but no codes were received 0x0008 0x0010 EEPROM_ERROR parameter E Prom not addressable 0x0020 PARAM_CRC_ER parameter block not safe 0x0040...

Page 20: ...during normal operation e g from a PLC as the following signal output is not according to a transparent or 3964R protocol but only suitable for output on a VT52 terminal and used for the manual alter...

Page 21: ...3F16 ASCII ST 05 8 3964R HEX 53165416 30163616 Set tuning value to 6 ASCII ST 06 trans parent HEX 3D16 53165416 30163616 3C16 ASCII ST 06 9 3964R HEX 53165416 30163716 Set tuning value to 7 ASCII ST 0...

Page 22: ...916 ASCII ST 12 9 15 3964R HEX 53165416 31163316 Set tuning value to 13 ASCII ST 13 trans parent HEX 3D16 53165416 31163316 3816 ASCII ST 13 8 16 3964R HEX 53165416 31163416 Set tuning value to 14 ASC...

Page 23: ...vel 1024 ASCII SP trans parent HEX 3D16 53165016 0 3E816 ASCII SP No ASCII coded values Check sum depending on the parameters used Examples Level should be set to 1000 3E816 The transparent telegram i...

Page 24: ...ned int System status information according to Table 5 on page 19 3 4 5 6 4 Byte unsigned long 20 Bit Transponder code R W Trans ponder 7 8 2 Byte signed int Deviation Y mm Table 7 Structure of the CA...

Page 25: ...7 1 Byte unsigned char Number of code readings during the last valid Transponder crossing 8 1 Byte unsigned char Number of code reading errors during the last valid Transponder crossing Table 9 Struc...

Page 26: ...operate the PDO mode either cyclic synchronous or asynchronous In order to avoid excessive bus usage due to frequent changes during asynchronous non cyclic transmission Event Time 0 it is possible to...

Page 27: ...highest bit changes The device does not monitor the timely re ception of RTR Frames 4 2 3 4 4 Description of the Service Data Objects SDOs The service data opject is used to access to the object inde...

Page 28: ...se for an adjustable number of telegrams refer to section 5 2 2 2 S erial Output on page 35 and 5 2 2 5 C A N Parameters on page 40 4 2 4 Software Download If necessary the Antennas may be updated via...

Page 29: ...perTerminal http www hilgraeve com hyperterminal At http www goetting agv com components transponderconf you can download matching configuration files for HyperTerminal Nevertheless any other terminal...

Page 30: ...m can be configured using the corresponding menu To use the monitor mode you need to know which protocol is set in your antenna The possible communication procedures are For changes to the modes and d...

Page 31: ...now be started directly by double clicking the respective ht file Moni tor19200 ht at 19200 Bd and Monitor38400 ht at 38400 Bd If necessary adapt the COM port Following the switching on and a minimum...

Page 32: ...Window First the main menu from Figure 12 on page 33 will appear 5 2 2 How to work with the monitor program Any change to the interface parameters will be only activated after a system reset turn ant...

Page 33: ...e number of code readings per Transponder crossing max 255 This value is being stored until a new Transponder code has been detected May be deleted by noise N Number of reading errors per Transponder...

Page 34: ...r section 5 2 2 13 on page 44 and P int Parameters section 5 2 2 14 on page 45 U mV Supply voltage of the processor board measured with an accuracy of 100 mV This volt age is due to various safety mea...

Page 35: ...output telegram The telegram length is changed automatically According to the values given in Table 4 Data words in a telegram with 21 byte length on page 18 it is possible to set the customized cont...

Page 36: ...bles choosing between the permanent output according to the set erial Data Period 1 or output only whenever a Transponder is decoded within the read ing range 0 enables freezing the serial output for...

Page 37: ...t is possible to verify the four highest bits via a preset value 0 F enables setting this value which then has to be pro grammed into the transponders together with the code For entries larger F this...

Page 38: ...ing within a 1 ms pat tern With it is possible to set whether with each crossing of the center axis of the Antenna a positioning pulse is to be generated e g during a back and forth move ment directly...

Page 39: ...or with the or keys you may tune the transmitting antenna by switching the power consumption to max resulting in the largest reception range enables switching the transmitter on 1 or off 0 for contro...

Page 40: ...0 deactivates the corresponding Message Object CAN audrate You can either select a predefined data rate or configure the bit timing with The resulting baudrate and sample point are displayed immediate...

Page 41: ...s stopped preoperational or operational are displayed NOTE Before being able to use the CANopen interface it must be acti vated by pressing The basic CAN will automatically be dis abled The following...

Page 42: ...essage is sent If the time equals 0 no message is sent and the node guarding is active see 4 2 3 4 3 on page 27 with the autostart is de activated if autostart is deactivated only the Heartbeat messag...

Page 43: ...mpts various options Select the option that indicates that this file consists of comma separated values Then the data may be processed as diagrams or recorded as native spreadsheet file 5 2 2 9 Displa...

Page 44: ...w return to Hyperterm and open the COM port again Then press within the main menu The password to be entered is the same as listed in section 5 2 2 11 Explanatory text is shown Within the next 20 sec...

Page 45: ...is not generated the unit will return to the normal operating program Data received during this period of 10 seconds are examined for their validity NOTE Only the update program described below may b...

Page 46: ...evice reset follows and after a short period of time the file is being transmitted Figure 22 Update program programming procedure Once the programming process is completed the program can be closed cl...

Page 47: ...ll screws cables and plugs are correctly fastened Document regularly the power consumption and power supply of each antenna These values can be obtained from any menu in the monitor program If necessa...

Page 48: ...the M12 plugs No contact is possible only unintelligible char acters are sent 1 Wrong setting of transfer param eters 2 Wrong procedure 1 Check the connections 2 Connect signal ground 3 Choose only 1...

Page 49: ...d during driving below 100 guideline For very high or very small reading distances those values may be higher lower The sum voltage without a transponder in the reading area should always be smaller t...

Page 50: ...ator not integrated Full CAN Basic CAN According to ISO DIS 11898 Identifier Data rate Basic Extended CAN configurable via serial interface CANopen CANopen Device Profil DS 401 Node ID and transmissio...

Page 51: ...38400 Bd default or 19200 Bd A 1 Data direction Antenna PLC In this direction the antenna data is transmitted cyclically The data sentence always starts with an character hex 0x3d The cycle time is pa...

Page 52: ...for the data transmission 1 start bit 8 data bit parity even 1 stop bit Baudrate 38400 Bd default or 19200 Bd B 1 Data direction antenna PLC In this direction cyclical antenna data is transmitted The...

Page 53: ...its subindex RO indicates read only entries Communication parameters are indicated by a C in the corresponding tables Manufacture parameters are indicated by a M in the corresponding tables The object...

Page 54: ...vent Time C 0x1A00 0 RO Number of Objects mapped to Transmit PDO_1 1 RO Specification of Appl Object 1 2 RO Specification of Appl Object 2 3 RO Specification of Appl Object 3 0x1A01 0 RO Number of Obj...

Page 55: ...es M 5 2 2 3 page 37 7 RW Level to noise error M 5 2 2 3 page 37 8 RW Rx frequency M 5 2 2 4 page 39 9 RW Antenna tuning M 5 2 2 4 page 39 a RW Freeze values for n tele grams M 5 2 2 6 page 41 b RW Th...

Page 56: ...e 20 page 33 2 RO Sum voltage Table 20 page 33 3 RO Dif voltage Table 20 page 33 Index Sub Index Name Type Attr Map Default Description 0x1000 00 Device Type Unsigned 32 RO No 0x00050191 Digital analo...

Page 57: ...Device Name Visible string RO No 9882 Device name G98820ZA Table 29 CANopen Directory Device Name Index Sub Index Name Type Attr Map Default Description 0x1009 00 Hardware Version Visible_String R0 N...

Page 58: ...x Name Type Attr Map Default Description 0x1011 00 Restore Parameter Unsigned 8 RO No 0x03 Number of sub indexes 01 Restore All Parameter Unsigned 32 RW No 0x00000001 Restore All is possible 02 Restor...

Page 59: ...ned 32 RO No 0x00000100 Version 1 00 04 Serial Number Unsigned 32 RO No 9999999 Serial number Table 35 CANopen Directory Identity Object Index Sub Index Name Type Attr Map Default Description 0x1800 0...

Page 60: ...ortest time between trans missions s 05 Event Time Unsigned 16 RW No 10 Cycle time ms Table 37 CANopen Directory Transmit PDO_2 Parameter Index Sub Index Name Type Attr Map Default Description 1A00 00...

Page 61: ...No 0x64010310 mapped on index 0x6401 03 with 16 bit length DIF voltage 03 3rd mapped object Unsigned 32 RO No 0x60000108 mapped on index 0x6000 01 with 8 bit length Codes read 04 4th mapped object Un...

Page 62: ...00 5 2 2 3 page 37 05 High nibble of RW code Unsigned 8 RW No 16 5 2 2 3 page 37 06 Number of equal codes Unsigned 8 RW No 1 5 2 2 3 page 37 07 Level to noise error Unsigned 16 RW No 1000 5 2 2 3 page...

Page 63: ...POSI_TIMED Timed or level driven positioning pulse see 5 2 2 3 on page 37 0x0020 0x0040 0x0080 0x0100 0x0200 POSI_MASK One positioning pulse per crossing see 5 2 2 3 on page 37 0x0400 AUTO_TUNE see 5...

Page 64: ...er changing these values they have to be saved with save all and a node reset has to be pro ceeded Table 42 CANopen Directory Manufacture Parameter Node Parameter Input Output Value Baud rate kBaud 7...

Page 65: ...ransmission in TPDO_1 Index Sub Index Name Type Attr Map Default Description 0x6120 00 number of 8 bit inputs Unsigned 8 RO No 0x01 number of 32 Bit inputs 01 Transponder code Unsigned 32 RO Yes 32 bi...

Page 66: ...n Figure 25 Typical accuracy of the calculation of the deviation with transponder HW DEV00095 Index Sub Index Name Type Attr Map Default Description 0x6401 00 number of 16 bit analog inputs Unsigned 8...

Page 67: ...Annex HG G 98820ZA English Revision 09 Date 13 12 2016 67 Figure 26 Typical accuracy of the calculation of the deviation with transponder HG G 71325XA...

Page 68: ...Annex HG G 98820ZA English Revision 09 Date 13 12 2016 68 G Mechanical Drawing with Antenna Dimensions Figure 27 Mechanical Drawing with Antenna Dimensions...

Page 69: ...on Antenna HG G 98820ZA 15 Figure 11 Formula minimum update rate 17 Figure 12 Main menu of the monitor program 33 Figure 13 Menu S erial Output 35 Figure 14 Menu D isplay Telegram Content 36 Figure 15...

Page 70: ...able 15 Identifiers for read and write access 27 Table 16 Error codes 28 Table 17 Power Interface 29 Table 18 Terminal settings for the monitor program 29 Table 19 Monitor modes 30 Table 20 Descriptio...

Page 71: ...Table 41 CANopen Directory Codes for System Configuration 63 Table 42 CANopen Directory Manufacture Parameter Node Parameter 64 Table 43 CANopen Directory Manufacture Parameter Node Parameter Co ding...

Page 72: ...15 HW DEV00095 6 14 HW DEV00098 6 14 I Installation 10 Interfaces CAN 23 CANopen 26 Serial 16 M Maintenance 47 Monitor Program 30 Parameter Settings 29 Usage 32 P Positioning Pulse 28 Procedure transp...

Page 73: ...ion each document has an index listed behind the front page including pages and whenever the document has more than 10 pages following the actual system description a figure and table index in the bac...

Page 74: ...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 risk Liability...

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