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Inductive Guidance Sensor

HG G-19370ZA

Inductive track guidance along a guide wire



Multifrequency, USB, CAN, incremental encoder input

English, Revision 01

Date: 17.05.2017

Dev. by: LF

Author(s): RAD

Device Description HG G

-19370ZA

Guide Wire

Innovation through Guidance

www.goetting-agv.com

Содержание HG G-19370ZA

Страница 1: ...ductive track guidance along a guide wire Multifrequency USB CAN incremental encoder input English Revision 01 Date 17 05 2017 Dev by LF Author s RAD Device Description HG G 19370ZA Guide Wire Innovat...

Страница 2: ...HG G 19370ZA 6 programmierbare gleichzeitig nutz bare Frequenzen Programmierbare Verst rkung Indoor Anschluss f r Inkrementalgeber CAN Bus Schnittstelle USB Schnittstelle Serielle Schnittstelle ber U...

Страница 3: ...ection Cables assembled on one side CAN Terminating Resistor 12 4 Commissioning 13 5 CAN Bus Communication 14 5 1 Telegrams 14 5 2 Control and Status Telegrams 15 5 2 1 Incoming Telegram IN 15 5 2 2 O...

Страница 4: ...e 17 05 2017 www goetting agv com 4 Table of Contents HG G 19370ZA 9 Technical Data 25 10 List of Figures 26 11 List of Tables 27 12 Copyright and Terms of Liability 28 12 1 Copyright 28 12 2 Exclusio...

Страница 5: ...m e g the automated guided vehicle AGV For this information consult the doc umentation of the vehicle manufacturer resp the operator of a facility This device description applies to devices with firmw...

Страница 6: ...ernet e g on our homepage www goetting agv com Those links are clickable in the PDF version of this documentation Program texts and variables are indicated through the use of a fixed width font Whenev...

Страница 7: ...put via the CAN bus 2 1 Range of Use The inductive guidance sensor is intended for indoor usage Inside the track a guide wire is layed that is operated in the frequency range 2 to 20 kHz The magnetic...

Страница 8: ...1 on page 10 may lead to inaccurate outputs whereby the vehicle may leave the track The vehicle manufacturer has to include function ality to detect this and stop the vehicle if needed As an aid the D...

Страница 9: ...nd difference signal and Detect Due to the two coils the sum voltage may show to maxima This depends on the distance to the guide wire The sum voltage is solely used to detect a guide wire Detect sign...

Страница 10: ...wnload the PDF file from the following address section Application Ex amples and Downloads Link http www goetting agv com components inductive introduction 3 2 Inductive Guidance Sensor 3 2 1 Requirem...

Страница 11: ...nsor is to be mounted diagonally to the direction of travel with the connectors facing upwards first sketch in Figure 3 above The recommended reading height is 60 to 200 mm from the bot tom edge of th...

Страница 12: ...de The other side is a cable tail Typically the sensor is the last device on the CAN bus then CAN 1 receives a terminating resistor CAN terminator This case is shown in the table below Alternatively t...

Страница 13: ...ning configuration the USB interface is used Connect it to your PC as de scribed in section 7 2 on page 18 Start a compatible terminal program on the PC and open the guidance sensor s service program...

Страница 14: ...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 integer value going from 0 to 65 535 then it re start...

Страница 15: ...able 3 CAN IN telegram structure control bits Bit Type Meaning 0 Status Track 1 active 1 Track 2 active 2 Track 3 active 3 Track 4 active 4 Track 5 active 5 Track 6 active 6 Reverse driving ON 7 8 Inc...

Страница 16: ...the sensor see section 7 4 on page 19 The 5 pin connectors CAN 1 and CAN 2 are used for the CAN bus communication Matching connection cables are listed in section 3 2 3 on page 12 ATTENTION For CAN sh...

Страница 17: ...vice chain on the CAN bus In this case a CAN terminating resistor terminator has to be plugged into one of the CAN connectors see section 3 2 3 on page 12 ST 1 Pin Signal 1 VBUS USB 5V via USB from th...

Страница 18: ...The PC with Microsoft Windows needs to have the STM32 Virtual COM Port Driver STSW STM32102 installed This driver offers a virtual COM port This COM port serial in terface can be used to establish a...

Страница 19: ...e 8 Main menu Frequency config s section 7 4 1 on page 20 CAN config s section 7 4 2 on page 20 Calibration config s section 7 4 3 on page 21 Encoder config s section 7 4 4 on page 22 Serial Data Stre...

Страница 20: ...and Baudrate The sub menu CAN Status lists the reception and transmission counters as well as possible errors Additionally CAN statistics are shown RX packet counter TX packet counter error counter Fi...

Страница 21: ...distance to the guide wire ATTENTION In order to avoid overmodulation the gain should not be too high This means that the sum of all simultaneously occurring sum and difference voltages has to be less...

Страница 22: ...you want to have values output at all times you can temporarily set the Detect threshold in the menu Calibration Config to 0 ATTENTION This is only useful for testing purposes A threshold of 0 means t...

Страница 23: ...file via the terminal program use the YModem protocol Afterwards press any key to return to the Bootloader menu Figure 15 Men Load New Firmware Bootloader 2 Execute The New Program Execute the upload...

Страница 24: ...Maintenance 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...

Страница 25: ...onsumption 60 mA 24 V Reading height 60 200 mm Nominal reading height 60 mm preset Higher reading distances via programmable gain Frequencies 6 programmable Frequencies simultaneously usable 2 20 kHz...

Страница 26: ...s 11 Figure 4 Possible mounting position for the inductive guidance sensor 11 Figure 5 Position of the LEDs 16 Figure 6 Position of the connectors 17 Figure 7 Connection example Connection to the USB...

Страница 27: ...CAN terminator 12 Table 2 CAN telegrams 14 Table 3 CAN IN telegram structure control bits 15 Table 4 CAN OUT1 telegram structure status incremental encoder 15 Table 5 Function of the LEDs 16 Table 6...

Страница 28: ...are only valid if the systems 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 th...

Страница 29: ...Device Description HG G 19370ZA English Revision 01 Date 17 05 2017 www goetting agv com 29 Chapter 12 Copyright and Terms of Liability HG G 19370ZA...

Страница 30: ...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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