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Components and Operation

HG G-98810-C

English, Revision 05, Date: 28.11.2016

25

4.2.3.4

Data Interface CANopen

®

The node ID and the transmission rate have to be selected either according to the

 

above described serial monitor or the corresponding SDOs. The measured values of 
the system are transmitted via so-called TxPDOs. SDOs are used for parameter set-
ting. The CAN identifiers are derived from the node address (1..127).

4.2.3.4.1

Description of the Process Data Objects (PDO)

Fixed places are allocated within the PDO for the measured values. Dynamical map-
ping is not possible. It is possible to operate the PDO mode either cyclic, synchronous

 

or asynchronous. In order to avoid excessive bus usage due to frequent changes

 

during asynchronous non-cyclic transmission (Event-Time = 0), it is possible to set the

 

so-called 

Inhibit time

 within the CAN menu of the serial monitor. It is, however, 

possible to transmit a PDO cyclically. In this case, it is necessary to select the Event 
Time accordingly and also set the Inhibit Time = 0.

It is possible to permanently deactivate a TxPDO by selecting the asynchronous mode

 

(255) with Inhibt Time = 0, Event time = 0 and storing the parameters. In addition, it is

 

possible to temporarily deactivate/activate the TxPDO by setting/deleting the highest 
ranking bit within the corresponding PDO COB Identifier.

PDO_1 is transmitted with identifier 0x180 + node address. It contains 8 bytes, which

 

include, amongst others, the status indicated in serial monitor. The transmission se-
quence is status, transponder code and deviation of the transponder position.

Command

Meaning

Parameter

0000

16

No command

—

0001

16

Tune antenna once

—

0002

16

Set tuning value

Tuning value
0000.0001

16

 to

0000.0010

16

0004

16

Set positioning level

Positioning level
0000.0000

16

 to

0000.03E8

16

Table 12

Coding of the commands of CAN Message Object 4

Value

Variable

Value range

Comment

Status

unsigned 16

0..0xffff

Status bits according to Table 7 on page 19

Code

unsigned 32

0...ffff.ffff

20 bit transponder code (R/W Transponder)

Deviation

signed 16

0xff83...0x007d

Y-deviation, ±125 mm
In case of an invalid value (e.g. no transponder 
detected) = 32767

Table 13

Variables of PDO_1

Содержание HG G-98810-C

Страница 1: ...nd Identification Antenna HG G 98810 C English Revision 05 Dev by WM Date 28 11 2016 Author s RAD MN G tting KG Celler Str 5 D 31275 Lehrte R ddensen Germany Tel 49 0 51 36 80 96 0 Fax 49 0 51 36 80 9...

Страница 2: ...1 2 Power RS 422 Variant HG G 99810ZC 16 4 2 1 2 CAN Bus 16 4 2 2 Turn on characteristics 17 4 2 3 Interfaces 17 4 2 3 1 Serial RS 232 17 4 2 3 1 1 List of the system data which can be output 17 4 2...

Страница 3: ...r parameters to EEProm 42 5 2 2 11 U pdate Firmware 43 5 2 2 12 Import 1 export 2 User Parameter 43 5 2 2 13 P r int Parameters 43 5 3 Software Update Antenna Software 43 5 3 1 Installation of the Pro...

Страница 4: ...Parameter 60 D 16 Codes for System Configuration 61 D 17 Manufacture Parameter Node Parameter 62 D 18 8 Bit Digital Input transmission in TPDO_2 62 D 19 16 Bit Status transmission in TPDO_1 63 D 20 3...

Страница 5: ...er antennas have an output format which enables the user to con figure additional system information This additional information for example may be used by an external visualization system e g vehicle...

Страница 6: ...As the antenna passes over the Transponder it energizes the latter with an energy field of 128 kHz The transponder transmits its code back at half this frequency The relative Transponder position is m...

Страница 7: ...computer is not part of the system we recommend the G tting Navigation Controller HG G 73650 Rotary encoders enable changing the direction of travel whenever necessary Thus it is possible to switch tr...

Страница 8: ...ded For perfect operation of the transponder system it is essential that there are no interfering signals in the frequency range of 64 4 kHz e g chopped engines etc Current carrying wires have to be f...

Страница 9: ...um voltage decreases by up to 6 Placing two antennas only 100 mm apart the sum voltage sways by 5 to 15 Decoding and distance calculation still work under those conditions but there is a risk that set...

Страница 10: ...If this is not possible it might be possible to avoid the critical frequency area by changing the side band see section 5 2 2 4 on page 38 3 In order to adjust the antenna to environmental influences...

Страница 11: ...holds are explained in chapter 5 on page 28 In order to explain those thresholds and how to find a proper set up below the process of a transponder crossing is described Every 2 ms a check is performe...

Страница 12: ...situations as shown in Figure 7 only with antenna with wrong calibration Undisturbed Transponder Decoding 0 100 200 300 400 500 600 700 800 900 1000 0 0 0 0 1632 1632 1632 1632 1632 1632 1632 1632 163...

Страница 13: ...ges those two val ues are in fact no voltages but logarithmic derivations of the actual voltages For the test runs two transponders with different signal strengths have been crossed shortly one after...

Страница 14: ...n the ground proximity of any floor reinforcement inductive loops as they are created e g by steel building mats have a greater influence Individual metal poles have little effect Those may partially...

Страница 15: ...e see annex G on page 67 4 2 1 Connection The antenna is equipped with three M12 connection sockets Both antenna variants have the same two CAN sockets The pin assignment of the Power socket depends o...

Страница 16: ...alled at the end of the bus line a CAN terminator has to be installed Those terminators can be ordered from different manufacturers and are available for most plugs and jacks The CAN connectors can al...

Страница 17: ...be chosen as either Montir only transparent or 3964R the content of the output telegrams is configurable for the last two From a parameter list the required parameters may be selected 4 2 3 1 1 List...

Страница 18: ...ts Usum 10 11 2 Byte 0x 0004 signed int Voltage generated by the transponder in the positioning coil in units Udif 12 1 Byte 0x 0020 unsigned char operational voltage of the Antenna 100 mV 13 1 Byte 0...

Страница 19: ...x0004 RX_NOISE Set whenever TRANS_IN_FIELD was set but no codes were received 0x0008 0x0010 EEPROM_ERROR parameter E Prom not addressable 0x0020 PARAM_CRC_ER parameter block not safe 0x0040 POT_ERROR...

Страница 20: ...during normal operation e g from a PLC as the following signal output is not according to a transparent or 3964R protocol but only suitable for output on a VT52 terminal and used for the manual alter...

Страница 21: ...3F16 ASCII ST 05 8 3964R HEX 53165416 30163616 Set tuning value to 6 ASCII ST 06 trans parent HEX 3D16 53165416 30163616 3C16 ASCII ST 06 9 3964R HEX 53165416 30163716 Set tuning value to 7 ASCII ST 0...

Страница 22: ...916 ASCII ST 12 9 15 3964R HEX 53165416 31163316 Set tuning value to 13 ASCII ST 13 trans parent HEX 3D16 53165416 31163316 3816 ASCII ST 13 8 16 3964R HEX 53165416 31163416 Set tuning value to 14 ASC...

Страница 23: ...addition it is configurable whether telegrams are to be output permanently at the set update rate or only as long as a Tran sponder is within range Remote operation is also possible Objects are activ...

Страница 24: ...bject 1 Byte Length Type Description 1 2 2 Byte unsigned int Voltage within the sum antenna gener ated by the Transponder 3 4 2 Byte signed int Voltage within the difference antenna generated by the T...

Страница 25: ...ordingly and also set the Inhibit Time 0 It is possible to permanently deactivate a TxPDO by selecting the asynchronous mode 255 with Inhibt Time 0 Event time 0 and storing the parameters In addition...

Страница 26: ...highest bit changes The device does not monitor the timely re ception of RTR Frames 4 2 3 4 4 Description of the Service Data Objects SDOs The service data opject is used to access to the object inde...

Страница 27: ...se for an adjustable number of telegrams refer to section 5 2 2 2 S erial Output on page 34 and 5 2 2 5 C A N Parameters on page 39 4 2 4 Software Download If necessary the Antennas may be updated via...

Страница 28: ...y be directly connected to a PC For the variant ZC a proper additional interface converter from RS 422 to RS 232 is needed The pin assignment of the antenna s RS 422 interface is shown in Table 4 on p...

Страница 29: ...while exiting HyperTerminal 5 2 System Monitor In monitor mode the system can be configured using the corresponding menu To use the monitor mode you need to know which protocol is set in your antenna...

Страница 30: ...nf for download Start your terminal program If you are using HyperTerminal see section 5 1 on page 28 it can now be started directly by double clicking the respective ht file Moni tor19200 ht at 19200...

Страница 31: ...t file 3 Click The file will be transferred and if the correct file has been selected the monitor program will be started The menus will then appear directly within the HyperTerminal Window First the...

Страница 32: ...r of code readings per Transponder crossing max 255 This value is being stored until a new Transponder code has been detected May be deleted by noise N Number of reading errors per Transponder crossin...

Страница 33: ...age 43 and P int Parameters section 5 2 2 13 on page 43 U mV Supply voltage of the processor board measured with an accuracy of 100 mV This volt age is due to various safety measures always a little l...

Страница 34: ...output telegram The telegram length is changed automatically According to the values given in Table 6 Data words in a telegram with 21 byte length on page 18 it is possible to set the customized cont...

Страница 35: ...les choosing between the permanent output according to the set erial Data Period 1 or output only whenever a Transponder is decoded within the read ing range 0 enables freezing the serial output for 0...

Страница 36: ...t is possible to verify the four highest bits via a preset value 0 F enables setting this value which then has to be pro grammed into the transponders together with the code For entries larger F this...

Страница 37: ...ing within a 1 ms pat tern With it is possible to set whether with each crossing of the center axis of the Antenna a positioning pulse is to be generated e g during a back and forth move ment directly...

Страница 38: ...or with the or keys you may tune the transmitting antenna by switching the power consumption to max resulting in the largest reception range enables switching the transmitter on 1 or off 0 for contro...

Страница 39: ...under refers to the Message Object 2 Table 10 on page 24 Input of 0 deactivates the corresponding Message Object CAN audrate You can either select a predefined data rate or configure the bit timing wi...

Страница 40: ...inator Besides that the CAN open Node states stopped preoperational or operational are displayed NOTE Before being able to use the CANopen interface it must be acti vated by pressing The basic CAN wil...

Страница 41: ...rol message is sent If the time equals 0 no message is sent and the node guarding is active see 4 2 3 4 3 on page 26 with the autostart is de activated if autostart is deactivated only the Heartbeat m...

Страница 42: ...he data may be processed as diagrams or recorded as native spreadsheet file 5 2 2 9 Display Y Histogram This menu displays the voltages induced by a Transponder into the individual scan coils Figure 2...

Страница 43: ...le to store or load all user parameters on or from a host PC via XMODEM file transfer protocol With you can import a parameter file from a host After pressing that key you should start an XMODEM file...

Страница 44: ...e Update The program for the antenna software update is a 32 bit application for Microsoft Windows Upon request this program is sent by email Please address your re quests to the email phone fax or ma...

Страница 45: ...evice reset follows and after a short period of time the file is being transmitted Figure 22 Update program programming procedure Once the programming process is completed the program can be closed cl...

Страница 46: ...ll screws cables and plugs are correctly fastened Document regularly the power consumption and power supply of each antenna These values can be obtained from any menu in the monitor program If necessa...

Страница 47: ...the M12 plugs No contact is possible only unintelligible char acters are sent 1 Wrong setting of transfer param eters 2 Wrong procedure 1 Check the connections 2 Connect signal ground 3 Choose only 1...

Страница 48: ...that is generated by a transponder within the reading area The only exception to this rule is the connection cable of the antenna itself Protection class IP 65 Max pass over speed 3 m s Reading dista...

Страница 49: ...38400 Bd default or 19200 Bd A 1 Data direction Antenna PLC In this direction the antenna data is transmitted cyclically The data sentence always starts with an character hex 0x3d The cycle time is pa...

Страница 50: ...for the data transmission 1 start bit 8 data bit parity even 1 stop bit Baudrate 38400 Bd default or 19200 Bd B 1 Data direction antenna PLC In this direction cyclical antenna data is transmitted The...

Страница 51: ...its subindex RO indicates read only entries Communication parameters are indicated by a C in the corresponding tables Manufacture parameters are indicated by a M in the corresponding tables The object...

Страница 52: ...vent Time 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 Obj...

Страница 53: ...7 RW Level to noise error M 5 2 2 3 page 36 8 RW Rx frequency M 5 2 2 4 page 38 9 RW Antenna tuning M 5 2 2 4 page 38 a RW Freeze values for n tele grams M 5 2 2 6 page 40 b RW Threshold max detection...

Страница 54: ...O Sum voltage Table 21 page 32 3 RO Dif voltage Table 21 page 32 Index Sub Index Name Type Attr Map Default Description 0x1000 00 Device Type Unsigned 32 RO No 0x00050191 Digital analog Inputs DS 401...

Страница 55: ...Device Name Visible string RO No 9881 Device name G98810 C Table 30 CANopen Directory Device Name Index Sub Index Name Type Attr Map Default Description 0x1009 00 Hardware Version Visible_String R0 N...

Страница 56: ...x Name Type Attr Map Default Description 0x1011 00 Restore Parameter Unsigned 8 RO No 0x03 Number of sub indexes 01 Restore All Parameter Unsigned 32 RW No 0x00000001 Restore All is possible 02 Restor...

Страница 57: ...ned 32 RO No 0x00000100 Version 1 00 04 Serial Number Unsigned 32 RO No 9999999 Serial number Table 36 CANopen Directory Identity Object Index Sub Index Name Type Attr Map Default Description 0x1800 0...

Страница 58: ...ortest time between trans missions s 05 Event Time Unsigned 16 RW No 10 Cycle time ms Table 38 CANopen Directory Transmit PDO_2 Parameter Index Sub Index Name Type Attr Map Default Description 1A00 00...

Страница 59: ...No 0x64010310 mapped on index 0x6401 03 with 16 bit length DIF voltage 03 3rd mapped object Unsigned 32 RO No 0x60000108 mapped on index 0x6000 01 with 8 bit length Codes read 04 4th mapped object Un...

Страница 60: ...6 04 Poispulse time Unsigned 16 RW No 100 5 2 2 3 page 36 05 High nibble of RW code Unsigned 8 RW No 16 5 2 2 3 page 36 06 Number of equal codes Unsigned 8 RW No 1 5 2 2 3 page 36 07 Level to noise er...

Страница 61: ...POSI_TIMED Timed or level driven positioning pulse see 5 2 2 3 on page 36 0x0020 0x0040 0x0080 0x0100 0x0200 POSI_MASK One positioning pulse per crossing see 5 2 2 3 on page 36 0x0400 AUTO_TUNE see 5...

Страница 62: ...er changing these values they have to be saved with save all and a node reset has to be pro ceeded Table 43 CANopen Directory Manufacture Parameter Node Parameter Input Output Value Baud rate kBaud 7...

Страница 63: ...ransmission in TPDO_1 Index Sub Index Name Type Attr Map Default Description 0x6120 00 number of 8 bit inputs Unsigned 8 RO No 0x01 number of 32 Bit inputs 01 Transponder code Unsigned 32 RO Yes 32 bi...

Страница 64: ...ing agv com components 98810 The file name is 98810 C EDS Index Sub Index Name Type Attr Map Default Description 0x6401 00 number of 16 bit analog inputs Unsigned 8 RO No 0x03 number of the ana log 16...

Страница 65: ...nder HW DEV00095 25 20 15 10 5 0 5 10 15 20 25 250 200 150 100 50 0 50 100 150 200 250 y mm Antenna HG G 98810 C with Transponder HW DEV00095 AbsErr Y mm Distance 30 mm Distance 60 mm Distance 90 mm 0...

Страница 66: ...0 15 10 5 0 5 10 15 20 25 250 200 150 100 50 0 50 100 150 200 250 y mm Antenna HG G 98810 C with Transponder HG G 73125ZA AbsErr Y mm Distance 50 mm Distance 100 mm Distance 150 mm 0 100 200 300 400 5...

Страница 67: ...s Figure 29 Mechanical Drawing with Antenna Dimensions G TTING KG Sensortechnik D 31275 L e h r t e Zng Prj Teil von Gez Rev G_98810 A2 000 Doku 0 3 0 1 0 3 0 1 G_98810 A2 000 Doku XX 500 175 264 5 25...

Страница 68: ...C 15 Figure 11 Formula minimum update rate 17 Figure 12 Main menu of the monitor program 32 Figure 13 Menu S erial Output 34 Figure 14 Menu D isplay Telegram Content 35 Figure 15 Menu T ime Code 36 Fi...

Страница 69: ...es of PDO_2 26 Table 15 Coding of the Node status 26 Table 16 Identifiers for read and write access 26 Table 17 Error codes 27 Table 18 Power Interface 28 Table 19 Terminal settings for the monitor pr...

Страница 70: ...ory Device Parameter 60 Table 42 CANopen Directory Codes for System Configuration 61 Table 43 CANopen Directory Manufacture Parameter Node Parameter 62 Table 44 CANopen Directory Manufacture Parameter...

Страница 71: ...98 6 14 I Installation 10 Interfaces CAN 23 CANopen 25 Serial 17 M Maintenance 46 Monitor Program 29 Parameter Settings 29 Usage 31 P Positioning Pulse 27 Procedure transparent 50 Procedure 3964R 49 R...

Страница 72: ...ion each document has an index listed behind the front page including pages and whenever the document has more than 10 pages following the actual system description a figure and table index in the bac...

Страница 73: ...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 the customer s own risk Liability...

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