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Device Description HG G-84300ZC | English, Revision 08 | Date: 28.05.2020

12

Chapter 4 – Drift Compensation / Angle Reset

4

Drift Compensation / Angle Reset

4.1 Drift Compensation

Inherent to the technology of the Gyro is a drift. This drift depends on different vari

-

ables and changes over time. In order to reduce the effect of the drift on the angle
calculation, the Gyro can perform a Drift Compensation whenever the vehicle is not
moving. It then calculates the amount of the current drift and – when the vehicle is
moving again – compensates the influence of this drift.

As the accuracy of the angle measurement improves drastically when the Gyro can
use drift compensation it is advisable to let it perform the compensation calculation
as often as possible.

Figure 4

Drift compensation process

Using the inputs the vehicle controller (e.g. PLC) can tell the Gyro to activate the drift
compensation calculation whenever the vehicle is not moving. The PLC can then
check that drift compensation is active via the corresponding outputs. The user sees
it from a LED. The PLC then waits until the Gyro signals via the CAN Status Byte that
the drift compensation calculation is completed.
The PLC can either turn off drift compensation when the OK signal comes or after a
defined interval. However make sure that it is turned off before the vehicle starts
moving again no matter whether the compensation calculation is finished or not. If
possible, let the vehicle stand still until the compensation calculation is completed.

NOTICE

Incorrect Drift Compensation

If drift compensation is turned on while the vehicle is moving an incorrect drift 
compensation is calculated, thus deteriorating the following angle measurement.

Make sure that drift compensation is turned off whenever the vehicle is 
moving (see below).

Vehicle controller (e.g. PLC)
sets the bit (CAN) „Activate Drift
Compensation“ to

Vehicle has to stand still

Gyro sets the bit (CAN)
„Drift Compensation OK“ to

Gyro sets output (CAN)
„Drift Compensation active“ to

Duration of Drift compensation:

- Right after startup of device: Up to several minutes
   due to self heating of the sensor or
   changes of the surrounding temperature
- During normal operation: < 10 s

Time

0

0

0

1

1

2

1

1

3

Содержание HG G-84300ZC

Страница 1: ...Gyroscope HG G 84300ZC Gyro for AGV English Revision 08 Date 28 05 2020 Entw von LM Autor en RAD Autonomous Vehicles Innovation through Guidance www goetting agv com Device Description HG G 84300ZC...

Страница 2: ...put 1 to 100 Hz Maximum spin rate 300 s Compact light weight IP65 casing Robust no moving parts Wide operating temperature range from 40 to 85 C Long lifetime MTBF 100 000 h maintenance free Interface...

Страница 3: ...2 Terminal Output for CANopen 16 5 4 Logging CSV 17 5 5 Firmware Update 17 6 CAN Bus Interface 20 6 1 Receiving Box 20 6 2 Transmitter Box 21 7 CANopen Interface 22 7 1 Description of the Process Data...

Страница 4: ...9 7 4 3 14 16 Bit Analog Inputs transmitted in TxPDO 1 29 7 4 3 15 32 Bit Analog Inputs transmitted in TxPDO 1 29 7 4 3 16 8 Bit Life Counter transmitted in TxPDO 1 30 8 Technical Data 31 9 List Of Pi...

Страница 5: ...ty of the danger The paragraph kind or source of the danger names the kind or source of the danger The paragraph consequences describes the consequences of not observing the warning notice The paragra...

Страница 6: ...w goetting de yyy Indicates tips for easier operation of the product The check mark lists a requirement The arrow shows an action step The indentation shows the result of an action or an action sequen...

Страница 7: ...e current position of all types of vehicles thus using the Gyro as part of an inertial nav igation system Figure 1 Photo HG G 84300ZC The device is based on the latest generation of the MEMS technolog...

Страница 8: ...ns of the casing in mm Mounting Drill holes 3 3 Mounting On the front plate of the Gyro two cover plates can be removed Then two mounting drill holes can be reached see picture above When the gyro is...

Страница 9: ...24V supply voltage 2 IN1 activate drift compensation 3 D USB 4 D USB 5 GND supply ground If a high level 24 V is applied to this input the Gyro calculates the drift com pensation see section 4 1 on p...

Страница 10: ...or Frequency Meaning SYS Green Steady light Normal operation Red Blinking Parameter error s Table 6 SENS Green Blinking Measuring active Yellow Flickering Drift compensation active Green Flickering Dr...

Страница 11: ...ram Start the monitor program s sec tion 5 3 on page 15 and save the parameters Re start the gyro switch off supply voltage and then turn it on again If the error continues to happen after the re star...

Страница 12: ...rresponding outputs The user sees it from a LED The PLC then waits until the Gyro signals via the CAN Status Byte that the drift compensation calculation is completed The PLC can either turn off drift...

Страница 13: ...be desirable to reset the angle to 0o when the vehicle reaches defined points on the course In order to do so the vehicle controller e g PLC can trigger the Set angle to 0 command CAN Figure 5 Angle...

Страница 14: ...ishing the connection the STM32 Virtual COM Port Driver STSW STM32102 has to be in stalled manually The driver may be downloaded from the following address http www st com en development tools stsw st...

Страница 15: ...inal Output for CAN Standard Figure 7 Screenshot Terminal output in monitor mode CAN Standard Up to the dividing line the terminal shows the firmware version and status outputs Below the following fun...

Страница 16: ...compensation after turn on in order to determine a start value Save parameters permanently necessary after each change Update software see section 5 5 on page 17 Log data CSV see section 5 4 on page 1...

Страница 17: ...re of the file conforms to the CSV format Comma Separated Values which can be imported into and analyzed in spreadsheet applica tions like Microsoft Excel The data is output as ASCII characters The li...

Страница 18: ...he Demo GUI Mode which is sufficient to carry out the firmware update 4 Use Choose to select the dfu firmware file provided by G tting KG Figure 10 Firmware Update Choose file 5 If the status bar says...

Страница 19: ...essful the status bar says Verify successful Then leave DFU mode and quit the program Figure 12 Firmware Update Leave DFU Mode Afterwards the connection in the terminal program can be re established T...

Страница 20: ...Length 8 byte This is the telegram that is sent from the vehicle controller e g PLC to the Gyro Annotations for Command Table 7 CAN Structure of the CAN receiving box Byte Data 1 Command see Table 8...

Страница 21: ...54 see Figure 13 below Unit radian 2 Byte 2 Angle 3 Byte 3 Angle 4 Byte 4 Angle 5 Lowbyte Temperature Temperature in o C 6 Highbyte Temperature 7 System status see Table 10 below 8 Cycle counter Table...

Страница 22: ...onstant changes during asynchronous mode with non cyclical transmission Event time 0 the so called Inhibit time can be set in the CAN menu of the serial monitor see 5 3 on page 15 A PDO can also be tr...

Страница 23: ...ructure of the system status Bit Meaning 1 Value 1 Drift compensation activated 2 Value 1 Acknowledgment Angle set to 0o 3 4 5 Value 1 Drift compensation ok this function can be influenced via Drift M...

Страница 24: ...e marked with C manufacture parameters with M The object directory is divided in the following sections 7 4 1 Communication Specific Entries Table 16 CANopen SDO error codes Name Number Meaning SDO_AB...

Страница 25: ...ture Param eter 0x1017 0 RW Producer Heartbeat Time 0x1018 0 RO Number of entries of Identity Object 1 RO Vendor ID 2 RO Product Code 3 RO Revision 4 RO Serial Number 0x1400 0 RO Number of Entries of...

Страница 26: ...file range from 0x6000 Standardized Device Profile Range from 0x6000 Index Subindex Access Content 0x6000 0 RO Number of 8 bit digital inputs 1 RO System status 0x6200 0 RO Number of 8 bit digital out...

Страница 27: ...dex Name Type Attr Map Default Meaning 0x1009 00 Hardware Version Vis String RO NO A2 Version of the controller board Table 24 CANopen Software Version Index Subindex Name Type Attr Map Default Meanin...

Страница 28: ...Index Subindex Name Type Attr Map Default Meaning 0x1600 00 Number of mapped objects Unsigned 8 RO NO 1 Number of sub indexes 01 1st mapped object Unsigned 32 RO NO 0x62000108 Mapped to Index 0x6200...

Страница 29: ...dex 0x6000 01 with 8 Bit length Status 04 4th mapped object Unsigned 32 RO No 0x6F200108 mapped to Index 0x6F20 01 with 8 Bit length transmission counter Table 31 CANopen 8 Bit Digital Input transmitt...

Страница 30: ...3 16 8 Bit Life Counter transmitted in TxPDO 1 Table 34 CANopen 8 Bit Life Counter transmitted in TxPDO 1 Index Sub Index Name Type Attr Map Default Meaning 0x6F20 00 number of 8 bit Life Counter Uns...

Страница 31: ...casing for screws M4 Protection class IP65 Temperature range operation 40 to 85 C Temperature range storage 55 to 125 C Relative air humidity at 25o C 95 without bedewing MTBF 100 000 h Voltage suppl...

Страница 32: ...n process 12 Figure 5 Angle reset process 13 Figure 6 Connection example USB connection with a PC 14 Figure 7 Screenshot Terminal output in monitor mode CAN Standard 15 Figure 8 Screenshot Drift compe...

Страница 33: ...CANopen SDO error codes 24 Table 17 CANopen Overview of the object dir communication specific entries in the range 0x1000 to 0x1FFF 24 Table 18 CANopen Overview of the object dir stand device profile...

Страница 34: ...Device Profile Range 26 STOP 10 system status 23 Transmission Objects 22 casing 8 COM Port 14 Comma Separated Values 17 Company names 36 Connection Box 14 Copyright 36 cover plates 8 CSV 17 D Data rat...

Страница 35: ...ption HG G 84300ZC English Revision 08 Date 28 05 2020 35 Index Chapter 11 terminator 9 trade marks 36 U USB 14 V vehicle controller 12 virtual COM Port driver 14 W Warning Notices 5 Weight 31 X X1 9...

Страница 36: ...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 37: ...Device Description HG G 84300ZC English Revision 08 Date 28 05 2020 37 Copyright and Terms of Liability Chapter 12...

Страница 38: ...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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