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Preliminary Device Description HG G-19600ZA | English, Revision 02 | Date: 13.03.2018

18

Chapter 4 – Commissioning

4.3 Automatic Calibration of the Track Detection

In order to make it easier to set the thresholds starting with firmware version 0.45 it is pos-
sible to use the automatic configuration. In order to do so place the magnet sensor centered

 

above the magnetic track, then start the calibration (see below). It is still possible to manu-
ally set the parameters or to change the parameters found during the automatic calibration.

Note

If static interferences are compensated (see above) the interferences have to be present 
during the automatic calibration since they are subtracted from the measured field.

Figure 10

Commissioning: Automatic calibration

Take the following steps:

1.

Place the magnet sensor in the desired height centered above a single magnetic 
track.

2.

In menu 

 

Settings

 choose the option 

 

Calibration

.

3.

Use menu entry 

 

calibrate for track detection

.

4.

If the compensation from section 4.2 on page 16 is in use make sure that the interfer-
ences are present.

5.

Confirm with 

 

continue

 that the sensor is placed centered above a single track.

6.

The following parameters are automatically configured: 

sensitivity

, 

sen. two tracks

, 

AOUT2 multiplicator

.

  HG 19600         Serialnumber: 999999           Firmwareversion: V0.45

  calibration settings

   compensated magnetic field:

         system 3            system 2            system 1
          0.000 [mT]          0.000 [mT]          0.000 [mT]
          0.000 [mT]          0.000 [mT]          0.000 [mT]
          0.000 [mT]          0.000 [mT]          0.000 [mT]

     (1) calibrate for track detection
     (2) calibrate for static magnetic field
     (3) delete static magnetic field compensation

    (ESC) QUIT

   HG 19600         Serialnumber: 999999           Firmwareversion: V0.45

  calibration settings

   compensated magnetic field:

         system 3            system 2            system 1
          0.000 [mT]          0.000 [mT]          0.000 [mT]
          0.000 [mT]          0.000 [mT]          0.000 [mT]
          0.000 [mT]          0.000 [mT]          0.000 [mT]

     reading magnetic track...
     please TURN ON static field if static field is compansated
     please PLACE one track under the center of the sensor

     (1) continue
     (ESC) abourt

Key 1

Key 1, to
perform
calibration

Содержание HG G-19600ZA

Страница 1: ...or HG G 19600ZA Track Guidance along Magnetic Tape English Revision 02 Date 13 03 2018 Dev by TE Author s RAD GW Magnet Innovation through Guidance www goetting agv com Preliminary Device Description HG G 19600ZA ...

Страница 2: ...luenced by dirt on the track Display of the system status via 5 LEDs Three independent detection systems for the recognition of turnoffs Turnoffs in the track can be selected via digital inputs Analog outputs Flux density Z 0 10 VDC flux density X 10 10 VDC Digital output Detection of a magnetic tape in the reading area 24 VDC max 20 mA Avoid strong magnetic fields close to the sensor see section ...

Страница 3: ...ration of the Magnet Sensor 14 4 2 Compensation of Permanent Magnetic Interferences 16 4 2 1 Compensation of Static Magnetic Interferences 17 4 2 2 Deleting the Compensation 17 4 3 Automatic Calibration of the Track Detection 18 5 Hardware 19 5 1 LEDs 19 5 2 Pin Assignment 20 5 2 1 ST 1 Service Configuration 20 5 2 2 ST 2 Operation 20 5 2 3 Digital Inputs Turnoff Selection 21 5 3 Turning off from ...

Страница 4: ... G 19600ZA English Revision 02 Date 13 03 2018 4 Table of Contents 8 Technical Data 32 9 List of Figures 33 10 List of Tables 34 11 Index 35 12 Copyright and Terms of Liability 37 12 1 Copyright 37 12 2 Trade Marks and Company Names 37 ...

Страница 5: ... this information consult the doc umentation of the vehicle manufacturer resp the operator of a facility This device description applies to devices with firmware version V0 40 and higher see Fig ure 15 on page 23 on how to detect which firmware version your device has 1 2 Symbols The following symbols and formatting are used in Götting documentations Note Indicates technical information that shoul...

Страница 6: ...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 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 valid ...

Страница 7: ...cautions to assess the safe operational state of the system All personnel in the area of influence of the magnetic sensor is instructed regarding the kind of the vehicle and the risks resulting from the driverless operation 2 3 Intended Use The magnet sensor HG G 19600ZA is intended for the track guidance of automated guided vehicles AGV along magnetic tape The sensor detects the magnetic field ab...

Страница 8: ... is based on digital magnetometer technology for the detection of the magnetic field above the magnetic tape Figure 1 Detection of the magnetic field The sensor has three independent detection systems Via two digital inputs one of two tracks can be chosen dynamically Thus the sensor can detect junctions and follow turnoffs also see 5 3 on page 21 N N Magnetic tape roadway roadway Magnet sensor ele...

Страница 9: ...ects the deviation X from the center of the track by measuring the horizontal magnetic flux density The higher the deviation the higher the output analog voltage Figure 3 shows the signals of the outputs AOUT 1 AOUT 2 Detect when moving the sen sor in X direction above the magnetic tape crosswise to the direction of travel Figure 3 Voltage curves of the analog outputs idealized diagram 1 1 2 2 3 3...

Страница 10: ...on of both the magnetic tape and the embedded magnetic bar is specified in a separately available document that you can download at the following address Link http goetting agv com components 19600 Order no Description Notes HW MAT00003 Magnetic tape self adhesive on a roll W x H 50 x approx 1 2 mm Roll length 15 2 m HW MAT00004 Embedded magnetic bar W X H 6 x 10 mm quote length HW MAT00005 Magnet...

Страница 11: ...rromagnetic materials Those divert the magnetic field and distort the readings Similarly an area with a diameter of approximately the nominal reading height around the magnetic tape should be free of ferromagnetic materials Around the sensor and the magnetic tape there may be no additional magnetic fields permanent magnets electromagnets electrical wires etc How much the readings are disturbed by ...

Страница 12: ...distance of 140 mm to each other center of hole center of hole The magnet sensor is to be mounted diagonally to the direction of travel with the connectors facing upwards first sketch in Figure 6 above The recom mended reading height is 60 mm from the bottom edge of the casing to the magnetic tape Note Around the sensor there has to be an area free of ferromagnetic materials Thus the sensor usuall...

Страница 13: ... inverted inside the sensor see 6 4 2 on page 26 3 2 3 Connection Cable assembled on one side Connect the sensor to the vehicle control For this the connectors ST 1 and ST 2 are used The assignment of the pins is shown in section 5 2 on page 20 The following optional cable extensions can be used Order no Description HW CAB00001 Cable PUR 5m with one M12 angle coupling 5 pin A coded one end open HW...

Страница 14: ... program with ANSI emulation see section 6 3 on page 22 Then you can use the service program that runs inside the magnet sensor section 6 4 on page 23 Note For the following explanations we assume that your sensor is running with its default con figuration If needed the default settings can be restored in the settings menu see section 6 4 2 on page 26 4 1 Configuration of the Magnet Sensor The goa...

Страница 15: ... Thresholds for two magnetic tracks with standard magnetic tapes HG19600 Serialnumber 999999 Firmwareversion V0 45 system monitor __ __ HG 19600 O O X O X X next turn STRAIGHT position track 7 500 L left R right S straight error 0x00 D digital input 1 CSV Output 2 settings 3 testmode 4 raw data Status DIN 00 DOUT 0 AOUT1 X 7 5V AOUT2 Z 7 6V HG 19600 Serialnumber 999999 Firmwareversion V0 45 settin...

Страница 16: ...wo tracks is about three times the value for one track If the turnoff function is not needed because there are no junctions in the track sen two tracks should be set to its maximum value of 4 A good starting point for the threshold for detection of two tracks is three times the limit for one track 6 In order to test the threshold for two tracks place two pieces of magnetic tape under neath the sen...

Страница 17: ...Use menu entry delete static magnetic field compensation The parameters for the static compensation are deleted and no longer used HG 19600 Serialnumber 999999 Firmwareversion V calibration settings compensated magnetic field system 3 system 2 system 1 0 001 mT 0 021 mT 0 059 mT 0 046 mT 0 054 mT 0 044 mT 0 013 mT 0 019 mT 0 022 mT 1 calibrate for track detection 2 calibrate for static magnetic fi...

Страница 18: ...he option Calibration 3 Use menu entry calibrate for track detection 4 If the compensation from section 4 2 on page 16 is in use make sure that the interfer ences are present 5 Confirm with continue that the sensor is placed centered above a single track 6 The following parameters are automatically configured sensitivity sen two tracks AOUT2 multiplicator HG 19600 Serialnumber 999999 Firmwareversi...

Страница 19: ...d TR 2 Threshold center system exceeded TR 3 Threshold right system exceeded Table 4 Meaning of the LEDs TR3 TR2 TR1 Error code Error description Possible correction off off on 0x01 sensor overloaded magnetic field too strong remove magnetic interference source sensor mounted too low off on off 0x02 System error Please contact the Götting service department on off off 0x04 Errors can occur simulta...

Страница 20: ...e at once the supply voltage has to come from the same source Figure 12 Positions of the connectors 5 2 1 ST 1 Service Configuration 5 pin M 12 panel connector A coded 5 2 2 ST 2 Operation 8 pin M 12 panel connector A coded ST 1 Pin Signal Annotation 1 Ub 24V supply voltage plated through to ST 2 Pin 1 2 n c 3 TxD RS232 data output 4 RxD RS232 data input 5 GND supply GND plated through to ST 2 Pin...

Страница 21: ...ensor receives the turnoff commands via its digital inputs see above or via the main menu of the service program for testing purposes see 6 4 on page 23 The command has to be sent before the sensor detects the second track It should be reset shortly after the turnoff Due to optimized algorithms the magnet sensor stays centered over the chosen track during turnoffs ATTENTION If at a junction the di...

Страница 22: ...ion example Connection with the serial interface of a computer The sensor s serial interface has the following communication settings Those have to be configured in the terminal program on the PS see below 6 3 Terminal 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...

Страница 23: ...ows that shows the position of detected magnetic tapes Status display position track position of the chosen track next turn selected turnoff direction for testing purposes this can be manually overwritten with L R and S reset with D afterwards also see following page output output position equal to the value for position track however a different value can be calculated if the default values for A...

Страница 24: ...m e g HyperTerminal menu transmission record save text Set the file extension of the file to be written to csv and start saving before you start the output in the service program You have two output options default The values are output as a continuous stream A new line is output whenever the space bar is pressed on the PC s keyboard In order to end the recording end the transmission in the termin...

Страница 25: ... 0 0 1 0 5 0 244 0 001 0 079 0 031 0 008 0 278 0 180 0 021 0 025 0 720 0 512 0 512 0 514 5 568 1 0 0 1 0 6 0 244 0 001 0 079 0 031 0 008 0 278 0 180 0 021 0 025 0 720 0 512 0 512 0 512 5 568 1 0 0 1 0 7 0 244 0 001 0 079 0 031 0 008 0 278 0 180 0 021 0 025 0 720 0 514 0 514 0 510 5 568 1 0 0 1 0 8 0 244 0 001 0 079 0 032 0 008 0 279 0 181 0 021 0 025 0 720 0 514 0 514 0 516 5 564 1 0 0 1 0 9 0 243...

Страница 26: ...rt output voltage AOUT1 if the sensor has to be mounted side inverted analog output voltage is retained in case the detect signal disappears maximum amplitude of the output voltage AOUT2 scaling factor for the output voltage AOUT2 calibration settings see section 6 4 3 on page 27 reset parameters to factory settings software update see section 6 4 6 on page 30 HG 19600 Serialnumber 999999 Firmware...

Страница 27: ...racted from the actual detected values calibration of the track detection see section 4 3 on page 18 calibration for a static magnetic field see section 4 2 on page 16 deletion of a calibration for a static magnetic field see section 4 2 on page 16 HG19600 Serialnumber 999999 Firmwareversion V0 45 calibration settings compensated magnetic field system 3 system 2 system1 0 000 mT 0 000 mT 0 000 mT ...

Страница 28: ...output voltage AOUT 1 X to 10V sets the output voltage AOUT 1 X to a self chosen value between 10 and 10 V sets the output voltage AOUT 2 Z to 0V sets the output voltage AOUT 2 Z to 10V sets the output voltage AOUT 2 Z to a self chosen value between 0 and 10 V HG19600 Serialnumber 999999 Firmwareversion V0 45 test monitor 1 toggle digital output detect 2 Set AOUT1 X 0V 3 Set AOUT1 X 10V 4 Set AOUT...

Страница 29: ...output In the RAW data monitor the internal value for Y is also shown Figure 22 Menu RAW data monitor Note If the compensation for a static magnetic field is activated the raw data shown in this menu is already calculated with the compensation included see section 4 2 on page 16 HG 19600 Serialnumber 999999 Firmwareversion V0 45 RAW data monitor __ __ HG 19600 O O O O X system 3 system 2 system 1 ...

Страница 30: ... has to be Y Modem If the transmission is successful the following message appears Press any key to quit afterwards the sensor switches to normal operation mode Figure 25 Finishing a software update HG 19600 Bootloader V1 1 Serialnumber 999999 Press F to Upload new Firmware HG 19600 Bootloader V1 1 Serialnumber 999999 Press F to Upload new Firmware Waiting for the file to be sent YModem press a to...

Страница 31: ... 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 the firmware as shown in section 6 4 6 on page 30 Date and version of the firmware are shown in the main menu Figure 15 on page 23 ...

Страница 32: ...eight might be needed Casing dimensions 156 x 31 x 53 mm W x D x H Casing material Polycarbonate Weight 150 g Protection class IP 54 Relative humidity at 25 C 95 without condensation Operating temperature range 20 C to 50 C Storage temperature range 20 C to 70 C Supply voltage 24VDC Current consumption 100 mA Connector 2 Stecker M12 1x 5 pol 1x 8 pol Analog outputs AOUT 1 X 10 to 10 VDC AOUT 2 Z 0...

Страница 33: ...n optional distance piece 13 Figure 8 Commissioning Menus of the service program 15 Figure 9 Commissioning Compensation of static magnetic interferences 17 Figure 10 Commissioning Automatic calibration 18 Figure 11 Positions of the LEDs 19 Figure 12 Positions of the connectors 20 Figure 13 Layout of turnoffs 21 Figure 14 Connection example Connection with the serial interface of a computer 22 Figu...

Страница 34: ...ks with standard magnetic tapes 15 Table 4 Meaning of the LEDs 19 Table 5 Output of error codes via the LEDs possible correction 19 Table 6 Pin assignment ST 1 5 pin 20 Table 7 Pin assignment ST 2 8 pin 20 Table 8 Turnoff selection via digital inputs DIN 1 and DIN 2 21 Table 9 Transmission parameters of the serial RS 232 interface 22 Table 10 Status displays in the main menu 23 Table 11 Status lin...

Страница 35: ...0 Flux density 15 Function 5 Functional Principle 8 H Hardware 19 HyperTerminal 22 I inputs digital 8 21 Intended Use 7 interferences 11 magnetic 17 static 16 L LEDs 19 M Magnet Sensor 11 magnetic bar 10 magnetic field 8 magnetic fields 11 magnetic flux density 9 Magnetic Tape 10 Order numbers 10 Magnetic Tape Types 10 magnetometer 8 Main menu 23 Main Track 21 maintenance 31 maintenance free 31 me...

Страница 36: ... 13 03 2018 36 Chapter 11 Index ST 2 20 Status displays 23 Status line 24 Symbols 5 T Technical Data 32 Tera Term 22 terminal program 22 test monitor 28 Thresholds 15 track 14 Track Detection 18 tracks 8 trade marks 37 turnoff 21 turnoff selection 21 V Voltage curves 9 ...

Страница 37: ...manual is protected by copyright All rights reserved Violations are subject to penal leg islation of the Copyright 12 2 Trade Marks and Company Names Unless stated otherwise the herein mentioned logos and product names are legally protect ed trade marks of Götting KG All third party product or company names may be trade marks or registered trade marks of the corresponding companies ...

Страница 38: ...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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