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Interpreter for the Inductive Track Guidance of Vehicles

HG G-7335xZA

For the connection of 2 antennas – Interfaces:

CANopen® HG G-73350ZA & Profibus HG G-73351ZA

English, Revision 05

Date: 19.02.2020

Entw. von: WM

Autor(en): RAD / MN

Guide Wire

www.goetting-agv.com

Innovation through Guidance

tio

-7

Содержание HG G-7335xZA Series

Страница 1: ...HG G 7335xZA For the connection of 2 antennas Interfaces CANopen HG G 73350ZA Profibus HG G 73351ZA English Revision 05 Date 19 02 2020 Entw von WM Autor en RAD MN Guide Wire www goetting agv com Inn...

Страница 2: ...ption HG G 7335xZA English Revision 05 Date 19 02 2020 2 Overview 2020 G tting KG errors and modifications reserved The G tting KG in D 31275 Lehrte has a certified quality management system according...

Страница 3: ...4 4 2 Connectors 14 4 2 1 Antenna Sockets on the Interpreter 14 4 2 2 CAN Bus HG G 73350 15 4 2 3 Profibus HG G 73351 15 4 2 4 Power supply and serial interface 16 5 Commissioning 17 6 Hardware 18 6 1...

Страница 4: ...eter 39 8 5 4 12 Mapping RPDO_1 39 8 5 4 13 Transmit PDO_1 Parameter 39 8 5 4 14 Transmit PDO_2 Parameter 40 8 5 4 15 Mapping TxPDO_1 40 8 5 4 16 Mapping TxPDO_2 41 8 5 4 17 Manufacture Parameter para...

Страница 5: ...acturers or operators of systems or facilities that want to track guide Automated Guided Vehicles AGV It is also intended for qualified personnel who wants to integrate the system into a vehicle wants...

Страница 6: ...description uses consistent warning notices symbols terms and abbreviations Those are described in the following sections 1 3 1 Warning Notices In this device description warning notices appear befor...

Страница 7: ...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 ey...

Страница 8: ...er transportation Main area of application is the steering of automated guided vehicles thus this is the application we mainly address from here on The track guidance system may only be operated by qu...

Страница 9: ...rdinate system e g an automated vehicle is qualified to perform their tasks and is sufficiently trained to mount and con figure the track guidance system if that is part of their tasks is familiar wit...

Страница 10: ...tted via chassis parts it is advisable to perform tests when in doubt Cables have to be installed with a minimum distance of 150 mm from the antenna since those cables can interfere with the antenna r...

Страница 11: ...Instructions Chapter 2 the operating conditions specified in section 2 4 on page 9 are observed all components of the track guidance system is in a technically perfect condi tion The operator may not...

Страница 12: ...his manual describes the hardware revision 73350ZA2 starting at firmware 73350A01 14 HG G 73350ZA resp 73350YA2 with firmware 73351A01 00 HG G 73351ZA 3 2 System Components At the time this manual was...

Страница 13: ...tor for M12 connectors e g G tting HW CON00055 male connection to BUS2 HW CON00096 female connection to BUS1 Cable for Profibus Bus cable 2 pin shielded plug 5 pin or socket 5 pin B coded length depen...

Страница 14: ...ors are connected to the device GND Pin 5 in Table 6 on page 16 Notes on matching connection cables are given in section 3 3 on page 12 4 2 1 Antenna Sockets on the Interpreter The steering antennas a...

Страница 15: ...lel i e there is no input or output If the interpreter is installed at the end of the bus line a CAN termi nator has to be installed Those terminators can be ordered form different manufac turers and...

Страница 16: ...t manufac turers and are available for most plugs and jacks 4 2 4 Power supply and serial interface Here a 5 pin A coded M12 panel plug is used in Figure 1 referred to as PWR RS232 This connection ser...

Страница 17: ...interpreter is able to calculate and display the deviation scaled to mm For a position calibration the following things are required positioning of the antenna at nominal height The nominal height mu...

Страница 18: ...the input signals have been scaled An input amplitude of 1 Vpp reaches a full range of 75 between sum channel and the difference channel The Node ID is preset to 1 The maximal incoming signal of all...

Страница 19: ...ANopen or Profibus 6 4 1 CAN Bus HG G 73350 The green LED BUS flashes after turning on the device It shows the status of the device Node stop LED flashes slowly Node reset communication and node preop...

Страница 20: ...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 versions of Micros...

Страница 21: ...lue of the threshold will be 256 if the corresponding voltages of S1 respectively S2 fall below the set threshold Status The hexadecimal output of binary coded system statuses in the same format as ou...

Страница 22: ...50 44 0 17 9626 3333 256 51 In this example the first number 44 presents the current status of the device here threshold 2 exceeded then Us1 0 and Ud1 17 followed by Us2 9626 and Ud2 3333 The last dis...

Страница 23: ...tem status are set By using the distance between the guide wire and the bottom of the sensor can be modified With the internal height which is specified for each type of antenna can be entered The su...

Страница 24: ...N Bus and the corresponding terms in chapter 8 on page 28 The CAN menu is made up as follows Figure 8 Screenshot CAN menu HG G 73350 In addition to the above described staus line the status of the CAN...

Страница 25: ...0 the synchronous cyclical mode can be chosen By selecting 255 the asynchronous mode is set The two following modes are only available in the asynchronous mode is the inhibit time of PDO_2 In PDO_2 th...

Страница 26: ...the device e g guide wire current between 35mA and 100mA at the same reading height are compensated by the dynamic range of the device The different guide wire currents distances between the conducto...

Страница 27: ...r the name of the software which should be programmed The progress of the pro gramming is displayed by points The symbol o shows that the procedure is finished Figure 11 Screenshot Firmware upload Aft...

Страница 28: ...rg en standardization technical documents where after a free registration you can download the technical specifications of the CANopen standard For devices that support CANopen G tting offers EDS file...

Страница 29: ...e SDO Service Data Objects serves for reading and writing device parameters no size limit Sync Synchronization Telegram bus wide telegram sent by the CANopen Master CAN Identifier the address on which...

Страница 30: ...displayed status on the serial monitor as well as two distance values left aligned are contained The order of the transmission is status X1 X2 The order of the bytes within a 16bit word can be altere...

Страница 31: ...be returned which equals an internal deviation value of 32768 256 x 128 The millimeter value is generally indicated via the RS232 interface while the internal value is returned by the CAN bus from th...

Страница 32: ...the CAN menu see 7 3 3 on page 24 or the SDO with index 0x2003 02 Node config If values are transmitted which are not situated within the value range they will be ignored Frequency changes are carrie...

Страница 33: ...ta ble 8 5 Object Directory In the CANopen object directory all objects being important for the device are en tered Each entry is marked by a 16 bit index Sub components are marked by a 8 bit subindex...

Страница 34: ...e Name 3 0x1009 0 RO Hardware Version 0x100A 0 RO Software Version 0x1010 0 RO Number of entries of Save Parameter 1 RW Save all 0x1011 0 RO Number of entries of Restore Default Parameter 1 RW Restore...

Страница 35: ...the highest bit can be changed in order to temporarily disable enable the PDO Table 26 CAN overview of object directory manufacture specific entries from 0x2000 on part 1 of 2 Manufacturer entries fr...

Страница 36: ...0 on Index Subindex Access Content 0x6000 0 RO Number of 8 Bit Digital Inputs 1 RO System status 0x6401 0 RO Number of 16 Bit analog Inputs 1 RO Analog Input Us1 2 RO Analog Input Ud1 3 RO Analog Inpu...

Страница 37: ...SYNC Unsigned 32 RO No 0x80000080 Sync Consumer Sync ID 0x80 Table 31 CAN Device Name Index Subindex Name Format Attr Map Default Meaning 0x1008 00 Device Name Unsigned 8 RO NO 3 number of sub indexes...

Страница 38: ...ed 32 RW No 0x00000001 Restore All is possi ble 02 Restore Com munication Unsigned 32 RW No 0x00000001 Restore Communi cation is possible 04 Restore Man ufacture Unsigned 32 RW No 0x00000001 Restore M...

Страница 39: ...eaning 0x1600 00 Number of mapped objects Unsigned 8 RO NO 2 number of sub indexes 01 1st mapped object Unsigned 32 RO NO 0x20000110 Mapped on Index 0x2000 01 with 16 Bit length Fre quency 1 02 2nd ma...

Страница 40: ...55 Asynchronous event driven 03 Inhibit Time Unsigned 16 RW No 100 shortest time period between to transmissions in a multiple from 100 s 05 Event Time Unsigned 16 RW No 10 cycle time in ms Table 42 C...

Страница 41: ...4 4th mapped object Unsigned 32 RO No 0x64010410 mapped on Index 0x6401 04 with 16 Bit length Ud2 Table 44 CAN Manufacture Parameter parameters of the antenna Index Sub Index Name Format Attr Map Defa...

Страница 42: ...ensation is also referred to this frequency Table 45 CAN Manufacture Parameter calibration of the antenna Index Sub Index Name Format Attr Map Default Meaning 0x2001 00 number of parameter Unsigned 8...

Страница 43: ...1 node address 1 03 Node Config Unsigned 8 RW No 0x01 Start in mode operational Highbyte first see Table 48 Table 49 CAN 8 bit digital input transmitted in TxPDO 1 Index Sub Index Name Format Attr Map...

Страница 44: ...ransmitted in TxPDO 1 und TxPDO 2 Index Sub Index Name Format Attr Map Default Meaning 0x6401 00 number of 16 bit analog inputs Unsigned 8 RO No 0x06 number of 16 bit ana log inputs 01 SUM_1 Unsigned...

Страница 45: ...range are transmitted they will be ignored Fre quency changes are carried out with the frequency switch time specified in the Technical Data Table 51 Format of the 5 Profibus Input Bytes Value Format...

Страница 46: ...ce between inter preter and receiver being too high 3 Wrong transmission parameters set 4 No terminator 1 Control the connections 2 Connect the signal grounds 3 Choose the right parameter using the mo...

Страница 47: ...put voltage 5 Vpp sum of all frequencies Output CAN Bus HG G 73350 not electrically insulated CANopen Device Profil DS 401 Node ID and baud rate can be config ured via the serial interface Terminating...

Страница 48: ...r 12 Appendix 12 Appendix 12 1 Block Diagrams Figure 12 Block diagram HG G 73350 CAN Bus Figure 13 Block diagram HG G 73351 Profibus P RS 232 CAN S1 D1 S2 D2 CAN RS 232 BP TP 4 25kHz 40Hz 200kHz 1 25M...

Страница 49: ...ion HG G 7335xZA English Revision 05 Date 19 02 2020 49 Appendix Chapter 12 12 2 Diagrams Figure 14 Frequency response interpreter HG G 73350ZA antenna HG G 19200Z Y C Figure 15 Frequency response out...

Страница 50: ...Device Description HG G 7335xZA English Revision 05 Date 19 02 2020 50 Chapter 12 Appendix Figure 16 Band filter characteristics at 5 kHz Q 20 Figure 17 Band filter characteristics at 10 kHz Q 22...

Страница 51: ...335xZA English Revision 05 Date 19 02 2020 51 Appendix Chapter 12 Figure 18 Band filter characteristics at 15 kHz Q 21 Figure 19 Band filter characteristics at 20 kHz Q 22 Figure 20 Band filter charac...

Страница 52: ...test version of the ESD file for the CAN configuration for download from our homepage http www goetting agv com components 7335x 12 4 GSD File HG G 73351 You can find the latest version of the GSD fil...

Страница 53: ...Calibration menu antenna 1 24 Figure 8 Screenshot CAN menu HG G 73350 24 Figure 9 Screenshot Profibus Menu HG G 73351 26 Figure 10 Screenshot Firmware update 27 Figure 11 Screenshot Firmware upload 2...

Страница 54: ...16 CAN Calculation of negative deviation values example maximum 31 Table 17 CAN Calculation of positive deviation values example maximum 31 Table 18 CAN Deviation value output for loss of wire 31 Tab...

Страница 55: ...Table 45 CAN Manufacture Parameter calibration of the antenna 42 Table 47 CAN coding of the node baudrate 43 Table 48 CAN coding of the node config byte 43 Table 46 CAN Manufacture parameter node par...

Страница 56: ...PC 20 Connectors 14 ANT1 14 ANT2 14 CAN BUS1 15 BUS2 15 Profibus BUS1 15 BUS2 15 PWR 16 RS232 16 Copyright 58 D Declaration of Conformity 6 Device Description Other Applicable Documents 5 Target Grou...

Страница 57: ...16 S Safety Instructions 8 General Safety Instructions 10 Improper Use 8 Intended Use 8 Obligations of the Operator 10 Operating Conditions 9 Qualification of the Users 9 Serial Interface 20 Transmis...

Страница 58: ...if 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 ow...

Страница 59: ...Device Description HG G 7335xZA English Revision 05 Date 19 02 2020 59 Copyright and Terms of Liability Chapter 16...

Страница 60: ...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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