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Gotting HG G-98830, Operating Manual

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Gotting HG G-98830 Operating Manual Download Page 21

Operating Manual HG G-98830YA | English, Revision 02 | Date: 21.06.2021

21

Operating Principle – Chapter 5

Based on this information and taking into account the technical capabilities of the
vehicle (possible curve radii, wheel diameters, maximum speed, etc.), it calculates
routes and can thus tell the vehicle computer in which direction and at what speed
the vehicle should move.
Information on the navigation controller can be found at:

http://www.goetting-agv.com/components/73650

Summary of Contents for HG G-98830

Page 1: ...830YA 2 dimensional Position Detection Identification Outdoor flat Design English Revision 02 Date 21 06 2021 Dev by WM Author s RAD AF Operating Manual HG G 98830YA Transponder Innovation through Gui...

Page 2: ...1 A when programming transponders typically 300 mA 24 V Connectors 3 x M12 5 pin A coded 1x Power incl serial RS 232 PosiPulse 2x CAN CAN module according to CAN specification V2 0 part B standard ext...

Page 3: ...ransponders 16 4 2 2 Structure of the Transponder Code 17 4 3 Transponder Antenna 17 5 Operating Principle 18 5 1 Position Detection with Transponders 18 5 2 Track Guidance with Transponders 19 5 3 Po...

Page 4: ...Data Objects SDOs 46 9 5 5 Object Directory 47 10 Configuration of the System via the Service Interface 48 10 1 Starting the Monitor Program 48 10 1 1 Procedure Monitor Only 48 10 1 2 Procedure 3964R...

Page 5: ...2 Error Register 92 16 5 3 COB ID SYNC Message 92 16 5 4 Device name 92 16 5 5 Hardware Version 92 16 5 6 Software Version 92 16 5 7 Save Parameters 93 16 5 8 Restore Default Parameters 93 16 5 9 Pro...

Page 6: ...n in another way qualified persons who integrate the transponder antenna into a vehicle or mobile robot put it into operation for the first time or configure it 1 1 2 Additional Applicable Documents T...

Page 7: ...description uses consistent warning notices symbols terms and abbreviations Those are described in the following sections 1 3 1 Warning Notices In these operating instructions warnings are given befo...

Page 8: ...es 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...

Page 9: ...has to point towards the ground Figure 1 Figure 1 Reading and mounting side of the transponder antenna 1 4 2 Coordinate System of the Antenna The signs and coordinates given in this operating manual a...

Page 10: ...ns Table 2 Abbreviations Abbreviation Meaning CAN Controller Area Network CANopen Controller Area Network open EDS Electronic Data Sheet AGV Automated Guided Vehicle PDO Process Data Object RFID Radio...

Page 11: ...ots or electric monorail conveyors i e the transponders move the antenna is located at a fixed posi tion The field of application of the transponder antenna HG G 98830YA is the position detection of A...

Page 12: ...transponder antenna if this is part of their activi ties is in case the CAN bus interface is to be used familiar with the commission ing of and telegram exchange via CAN bus connections knows in the...

Page 13: ...e g splash water from the wheels of the vehicle and cleaned regularly otherwise wear and tear on the antenna will increase 2 5 Obligations of the Operator When using the transponder antenna the operat...

Page 14: ...ee Preparation of Con nection Cables or ordered from G tting see below No G tting cables are available for the Profinet interface Refer to Table 3 for the order numbers of the required accessories Tab...

Page 15: ...Optional accessories Order No Description HG G 81840ZA Transponder programming device for reading and programming of transponder codes The transponders can also be programmed via the antenna but this...

Page 16: ...controller for calculating the paths of the vehicle we recommend the navigation controller from G tting Figure 3 System components excerpt 4 2 Components in the Ground 4 2 1 Transponders Transponders...

Page 17: ...e code telegram is 8 ms 4 3 Transponder Antenna Figure 4 Transponder antenna HG G 98830YA The antenna systems including preamplifier and evaluator are built into one housing All cable connections are...

Page 18: ...moving over a course Alternatively the antenna may be mounted at a fixed position and the plant part with transponder moves relative to it e g an arm of a robot or an electric monorail In the followin...

Page 19: ...From this a downstream navigation system uses the circumfer ence of the wheels and the steering angle to calculate the distance traveled and the orientation of the vehicle Odometry has the advantage...

Page 20: ...k guidance free navigation with transponders For path planning a driving course consisting of segments is stored in the navigation controller This course is subdivided into virtual support points whic...

Page 21: ...ng into account the technical capabilities of the vehicle possible curve radii wheel diameters maximum speed etc it calculates routes and can thus tell the vehicle computer in which direction and at w...

Page 22: ...storage temperature is 20 C to 60 C Store the device in closed rooms only Make sure that the storage room is sufficiently ventilated and dry Protect the device from damage caused by dirt dust or mois...

Page 23: ...ating Conditions for Transponders Transponders must not be permanently mounted in standing water The plastic can absorb water over a longer period of time and weaken the transponder signal Reinforceme...

Page 24: ...the positioning pulse is supplied via Ub 24 V and is limited to 20 mA If you want to use the serial interface Please refer to Chapter 10 Configuration of the System via the Service Interface on page...

Page 25: ...r de tails The transponder antenna must be mounted firmly on the vehicle so that its position cannot change during normal operation Otherwise the position data will be incor rectly evaluated by the hi...

Page 26: ...mm If you suspect that magnetic fields are transmitted via the chassis construction If in doubt carry out tests before assembly 7 3 4 Minimum Distance to Current Carrying Wires Around the Transponder...

Page 27: ...on page 28 Figure 12 shows a connection example Figure 12 Connection example No metal allowed in this area 50 mm No metal loops allowed in this area 300 mm POWER CAN 1 CAN 2 Transponder antenna CAN b...

Page 28: ...ngs for dowel pins on the vehicle which can optionally be used to facilitate positioning during installation If you want to use dowel pins Provide at least four dowel pins on diagonally opposite sides...

Page 29: ...vehicle floor or a mounting plate through which M6 screws are screwed into the threads of the antenna holes from the vehicle Figure 16 Mounting with M6 screws 4x M5 Screw The M5 screws are fed throug...

Page 30: ...ntenna software first waits 10 seconds During this time you can start a firmware update see 10 2 15 U pdate Firmware on page 72 After this time the actual antenna program starts If you have configured...

Page 31: ...Antenna Monitor Program on page 33 Saving the values and restarting the system see 8 4 Finish Commissioning on page 33 8 1 Connecting the Antenna to a Computer You can configure the system using a sof...

Page 32: ...in the terminal program If you are using another port than COM1 and you are using HyperTerminal then change the port as follows In the File menu select the Properties subitem or click on the Icon The...

Page 33: ...interference must not exceed 100 units The influence of the interferences strongly depends on the level of the transponder signal The transponder signal must be clearly above the interference signal T...

Page 34: ...Operating Manual HG G 98830YA English Revision 02 Date 21 06 2021 34 Chapter 8 Commissioning If you need a reference file for later settings Archive the file see 10 2 17 P r int Parameters on page 73...

Page 35: ...o potential separa tion For safety reasons a 20 mA current limit is implemented in the antenna for this output If for example a 24 V voltage output is required pin 2 can be connected to GND via a resi...

Page 36: ...ut first or the low byte is output first The 8 bit checksum is only output when using the transparent protocol and includes the start character You cannot remove the start character as well as the che...

Page 37: ...des are read 0x0008 0x0010 EEPROM_ERROR Parameter E Prom not addressable 0x0020 PARAM_CRC_ER Parameter set no longer safe 0x0040 POT_ERROR IIC bus potentiometers not addressable 0x0080 F_ERROR Transmi...

Page 38: ...a PLC as the sub sequent output is no longer in accordance with transparent or 3964R protocol but is only suitable for display on a VT52 terminal and is used to change parameters manually d Table 10...

Page 39: ...16 3D16 ASCII ST 07 10 3964R HEX 53165416 30163816 Set tuning value to 8 ASCII ST 08 transparent HEX 3D16 53165416 30163816 3216 ASCII ST 08 2 11 3964R HEX 53165416 30163916 Set tuning value to 9 ASCI...

Page 40: ...X 53165016 0 3E816 Set positioning level 0 level 1024 ASCII SP transparent HEX 3D16 53165016 0 3E816 ASCII SP Checksum in this case depending on the values used Examples Level should be set to 1000 3E...

Page 41: ...magic com 22 3964R HEX 50164816 Code in the format tt16tt16 For code 1234 e g 12163416 Transmission of the most significant bits of the tran sponder code to be pro grammed and start of programming ASC...

Page 42: ...st Sync telegram Synchronous Data is transmitted after receipt of a sync telegram Asynchronous Data is transmitted event driven RTR Only on request by a remote frame Inhibit Time Minimum time period w...

Page 43: ...re of the CAN Message Object Y Identifier Byte Length Type Meaning 1 2 2 Byte unsigned int System status notes according to Table 9 on page 37 3 4 5 6 4 Byte unsigned long 20 bit transponder code R W...

Page 44: ...d one time programming process takes 100 to maximum 200 ms Afterwards the new code can be read out in the corresponding message object If the programming process was not successful you must repeat the...

Page 45: ...ant bit in the associated PDO COB identifier PDO_1 is transmitted with identifier 0x180 node address It contains 8 bytes which include the status from the monitor program The transmission order is sta...

Page 46: ...oes not monitor the reg ular input of RTR frames 9 5 4 Description of Service Data Objects SDOs The service data object is used for accesses to the object directory An SDO is trans mitted acknowledged...

Page 47: ...ed in section 16 4 Overview of the CANopen Directory on page 89 Table 26 Possible error codes SDO telegram Name Number Meaning SDO_ABORT_UNSUPPORTED 0x06010000 Unsupported access to a Object SDO_ABORT...

Page 48: ...10 1 1 Procedure Monitor Only If the antenna is set to the procedure Monitor only the monitor mode will be started 10 s after the system is activated In this case you do not need to transfer any file...

Page 49: ...ed to procedure 3964R with LowByte first The file contains the following characters in hexadecimal notation 0x02 0x4F 0x4D 0x49 0x4E 0x10 0x03 0x16 3 Montrans txt Transfer this if the system is switch...

Page 50: ...the serial interface switches back to the configured 3964R or transparent output NOTICE Modifying the antenna parameters may detune the antenna The changes to the antenna parameters described below c...

Page 51: ...he number of code readings per transponder crossing max 255 The value is held until a new transponder is detected Is also deleted by Noise N The number of reading errors per transponder crossing The v...

Page 52: ...om see 10 2 14 on page 71 pdate Firmware see 10 2 15 on page 72 Import Export User Parameter see 10 2 16 on page 72 P int Parameters see 10 2 17 on page 73 10 2 4 Setting and Permanently Saving Parame...

Page 53: ...19200 Baud 38400 Baud To switch the baud rate Press the key and enter the desired value Setting the procedure for telegram transmission The parameter P rocedure is used to set the procedure for the m...

Page 54: ...ddition The sequence of the parameters cannot be influenced It always corresponds to the sequence in Table 8 on page 36 Value range 0 1FFF see column Value Table 8 on page 36 The length of the telegra...

Page 55: ...time Value range 1 1680 ms To adjust the acknowledgment delay time Press the key and enter the desired value Setting the output type With the parameter Conti n ous Telegrams you determine whether data...

Page 56: ...can be transmitted at the selected baud rate in the set time see Figure 21 on page 36 Press the key and enter the desired value Freezing the telegram output With the parameter F reeze Values for n Te...

Page 57: ...minimize inter ference If you use the positioning channel the code is dropped in the middle at x 0 in a narrowly defined area The error counter N and the noise counter increase the bit Noise and wrong...

Page 58: ...ossing speed as the re quired transmission time will increase with n 1 x 8 ms Value range 0 15 To define the number of codes to be compared Press the key and enter the desired value Setting the voltag...

Page 59: ...Value range n 1 ms To determine the duration of the positioning pulse Press the key and enter the desired value Setting the number of positioning pulses With the parameter O ne Positioning Pulse per C...

Page 60: ...0 The CODE_OK Bit is switched to the output 1 The positioning pulse is switched to the output To select this function Press the key To switch this function off again Press the key again Setting the th...

Page 61: ...r internal test purposes In practice 1553000 Hz or 1575000 Hz have proven to be optimal To set the receive frequency Press the button and enter the desired value Activating Autotuning With the paramet...

Page 62: ...The transmitter is switched on for control purposes To switch the transmitter on or off for control purposes Press the key and enter the desired value 10 2 8 Basic C A N Parameters In the Basic C A N...

Page 63: ...rameter E xtended CAN you can generate telegrams as standard frames according to CAN 2 0A 11 bit value or as extended frames according to CAN 2 0B 29 bit value Selection STANDARD EXTENDED IDs To selec...

Page 64: ...idth Tseg 1 and Tseg 2 you can adjust the Bit timing Value ranges B R P Baudrate Prescaler 0 63 S J W Sync Jump Width 0 3 Tseg 1 2 15 Tseg 2 1 7 To adjust the Bit Timing Press the keys or and enter th...

Page 65: ...To select this function Press the key To switch this function off again Press the key again Freeze telegram output With the parameter F reeze Values for n Telegrams you can freeze the output of the Y...

Page 66: ...nterface is not connected or no CAN termination is installed Furthermore the CAN open node states stopped preoperational or operational are displayed The information can be used for simple diagnostics...

Page 67: ...oltages are transmitted Value range 1 240 255 To select the synchronous cyclic mode Press the keys or and enter a value between 1 and 240 To select the asynchronous mode Press the keys or and enter th...

Page 68: ...the heartbeat message will be transmitted if it is activated The antenna changes to mode preoperational 1 Autostart is activated After power on the heartbeat message if it is acti vated and the PDOs w...

Page 69: ...mstatus Press the key To exit the display Press the key The main menu is shown 10 2 11 Cs v Figure 31 Example of a CSV text file For diagnostic purposes you can output the following values in CSV form...

Page 70: ...sed under HyperTerminal Open the CSV file in a spreadsheet e g Microsoft Excel OpenOffice Calc You can now format the data in chart form see Figure 32 or save them as native spreadsheet file for furth...

Page 71: ...splayed in mm To exit the menu Press any key The main menu is shown 10 2 13 W rite Transponder The W rite Transponder menu allows you to program transponders in the antenna field at nominal reading di...

Page 72: ...open Open the Flash program In the flash program select the COM port with which the antenna is currently connected to your PC Choose the HEX file you want to program Now go back to HyperTerminal and...

Page 73: ...starts Alternatively you can export the data using the HyperTerminal monitor program as follows Choose Transfer Receive file XMODEM Select folder from the menu and enter a file name After a successfu...

Page 74: ...ogram described below We will send this to you by e mail on request Send your request by e mail phone fax or letter to the address mentioned on the title page The program for updating the antenna soft...

Page 75: ...e file will be transferred If an error occurs during the transfer status messages colored red are output As long as only green messages appear 5 the software update is proceeding correctly The last 2...

Page 76: ...check the functionality of the antennas you must regularly check the current con sumption and the voltage supply To do so please use the values in the menus of the monitor program For keeping the ant...

Page 77: ...with the legal requirements of your country For EU countries only Do not dispose of the transponder antenna in household waste Collect used electrical equipment separately in compliance with European...

Page 78: ...if necessary Wrong transmission procedure selected Wrong transmission parameters set Select only 19200 or 38400 Baud 8 Bit even parity Wrong transmission parameters set Set the correct procedure etc...

Page 79: ...transponders correctly but is not af fected by interference on the entire driving course as far as possible we recommend adjusting the following values Level to Noise Error Threshold for Decoding Leve...

Page 80: ...ntire driving course you must log a complete drive over the facility For setting the positioning thresholds you can use the serial interface of the antenna see 9 2 Serial Interface RS232 on page 35 or...

Page 81: ...hreshold once If the positioning thresholds are set too low the antenna may receive new transponder signals but not output them Set the positioning thresholds on the basis of the recorded values in su...

Page 82: ...est drive over several transponders Antenna width Side lobes before the transponder is under the antenna Threshold position detection e g 500 units Uref Transponder Code Recommended threshold in this...

Page 83: ...with HW DEV00095 HW DEV00098 40 to 80 mm with HG G 71325XA Nominal reading distance 50 mm Static positioning accuracy 1 2 mm at nominal reading distance within 90 mm around antenna centre with HG G 7...

Page 84: ...ting resistor Terminator not integrated Full CAN Basic CAN according to ISO DIS 11898 Identifier Data rate Standard Extended Frames adjustable via serial interface CANopen CANopen Device Profil DS 401...

Page 85: ...of the antenna with dimensions 2 1 G TTING K G S ensortechnik D 31275 L e h r t e Zng Prj Teil von Gez SZ 21 11 13 NameDatum 12546 Rev 01 Toleranz wenn nicht anders vermerkt DIN ISO 2768 m 98830 Geh...

Page 86: ...racy of the distance calculation in X direction driving direction with Transponder HW DEV00095 0 100 200 300 400 500 600 700 800 900 1000 130 110 90 70 50 30 10 10 30 50 70 90 110 130 Antenna HG G 988...

Page 87: ...stop bit baud rate 38400 baud default or 19200 baud 16 2 1 Data Direction Antenna PLC Antenna data are transmitted cyclically from the antenna to the PLC The data record always starts with an characte...

Page 88: ...e 43 State diagram procedure 3964R PLC Antenna 16 3 Procedure transparent For the connection antenna PLC you can also us the transparent protocol You must observe the following settings for data trans...

Page 89: ...The telegram must be terminated with an 8 bit check character over all characters incl start character The charac ters must be received within the parameterizable character delay time Otherwise the t...

Page 90: ...ime 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 Objects m...

Page 91: ...page 60 a RW Freeze values for n telegrams M 10 2 9 page 65 b RW Threshold max detection X Y M 10 2 6 page 56 c RW Config M Table 52 page 98 0x2001 0 RO Number of Parameter 1 RW Node Baudrate C 2 RW N...

Page 92: ...ame Type Attr Map Default Description 0x1001 00 Error Register Unsigned 8 RO No 0x00 Error Register Table 37 CANopen directory COB ID SYNC message Index Subindex Name Type Attr Map Default Description...

Page 93: ...me With 0 this function is switched off Table 41 CANopen directory Save parameters Index Subindex Name Type Attr Map Default Description 0x1010 00 Save Parameter Unsigned 8 RO No 0x01 number of subin...

Page 94: ...r Index Subindex Name Type Attr Map Default Beschreibung 0x1800 00 TxPDO_1 Parameter Unsigned 8 RO No 0x05 Number of subindexes 01 COB ID Unsigned 32 RW No 0x40000180 Node ID PDO_1 valid ID 0x180 Node...

Page 95: ...p Default Description 1A00 00 Number of mapped objects Unsigned 8 RO No 0x03 Number of subindexes 01 1st mapped object Unsigned 32 RO No 0x61000110 mapped on index 0x6100 01 with 16 bit length status...

Page 96: ...bit length SUM voltage 02 2nd mapped object Unsigned 32 RO No 0x64010410 mapped on index 0x6401 04 with 16 bit length DIF voltage 03 3rd mapped object Unsigned 32 RO No 0x60000108 mapped on index 0x6...

Page 97: ...6 page 56 04 Poispulse time Unsigned 16 RW No 100 10 2 6 page 56 05 High nibble of RW code Unsigned 8 RW No 16 10 2 6 page 56 06 Number of equal codes Unsigned 8 RW No 1 10 2 6 page 56 07 Level to no...

Page 98: ...e positioning pulse per transponder crossing see 10 2 6 T ime Code on page 56 0x0400 AUTO_TUNE see 10 2 7 F requency Antenna Tuning on page 60 0x0800 0x1000 0x2000 POSI_TRNSP Positioning pulse after d...

Page 99: ...Nopen directory 16 bit status transmission in TPDO_1 Index Subindex Name Type Attr Map Default Description 0x6100 00 number of 16 bit inputs Unsigned 8 RO No 0x01 number of 16 bit inputs 01 16 bit dig...

Page 100: ...s without any time delay Positioning coil Coil for receiving the transponder signal arranged in such a way that the signal at the center axis of the antenna has a characteristic course in the directio...

Page 101: ...Figure 17 Mounting with M5 Screws 29 Figure 18 Example of connection Connection to the serial interface of a computer 31 Figure 19 Setting the COM port in HyperTerminal 32 Figure 20 Connection option...

Page 102: ...ical accuracy of the distance calculation in X direction driving direc tion with Transponder HW DEV00095 86 Figure 41 Typical accuracy of the deviation calculation in Y direction transverse to the dir...

Page 103: ...Structure of the CAN Message Object D Identifier 43 Table 19 Structure of the CAN Message Object Programming 44 Table 20 Coding of the commands CAN Message Object Programming 44 Table 21 Variables in...

Page 104: ...ectory Mapping TPDO_1 95 Table 49 CANopen directory Mapping TPDO_2 95 Table 50 CANopen directory Mapping TPDO_3 96 Table 51 CANopen directory Device parameters 97 Table 52 CANopen directory Relevant c...

Page 105: ...ntifier 43 CAN1 25 CAN2 25 CANopen 44 66 directory 89 setting the baud rate 67 checking the generated telegram 54 checking the highest four bits for a preset value 0 F 58 commissioning 31 company name...

Page 106: ...15 20 navigation system 20 nibble 100 Node Guarding 46 nominal reading distance 25 O object directory 89 object index 89 obligations of the operator 13 odometry 19 100 operating conditions antenna 25...

Page 107: ...g the threshold for generating the RX_NOISE bit 57 setting the threshold for the scan coils 60 setting the timeout time transparent 55 setting the voltage for code decoding and position calculation 58...

Page 108: ...f 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...

Page 109: ...Operating Manual HG G 98830YA English Revision 02 Date 21 06 2021 109 Copyright and Terms of Liability Chapter 20...

Page 110: ...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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