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Gotting HG G-98820ZA, Техническое описание

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Components and Operation

HG G-98820ZA

English, Revision 09, Date: 13.12.2016

28

The SDO telegrams are described in the CiA standard DS-301. The error codes in

 

case of faulty communication are listed in the following table:

4.2.3.4.5

Object Directory

All objects relevant for the device are included in the CANopen Object Directory. Each

 

entry is indicated by a 16 bit index. Sub-components are indicated by a 8 bits subin-
dex. RO indicates only readable entries. The complete object directory is listed in ap-
pendix C on page 53.

4.2.3.5

Positioning Pulse

The digital positioning output indicates the antenna center crossing in direction of trav-
el. Its duration can be set within a millisecond pattern. Furthermore it is possible to limit 
it to one pulse per crossing.

It is possible to ’freeze’ the value of „deviation“ in the serial telegrams at the time of the

 

positioning pulse for an adjustable number of telegrams (refer to section 5.2.2.2

 

„(S)erial Output“ on page 35 and 5.2.2.5 „C(A)N-Parameters“ on page 40).

4.2.4

Software Download

If necessary, the Antennas may be updated via the serial interface. Please refer to sec-
tion 5.3 „Software Update (Antenna Software)“ on page 45.

4.2.5

Connection Cables

Connection cables are not part of the scope of supply. The needed kind of cables are

 

commercially obtainable at many manufacturers (e. g. Binder 79-3444-32-05 M12 line

 

2 m PUR 5 x 025), the standard length is 2 m..

NOTE!

If a high interference level is expected shielded cables ought to 
be used.

Name

Number

Description

SDO_ABORT_UNSUPPORTED

0x06010000

non-supported access to an object

SDO_ABORT_READONLY

0x06010001

write access to a read-only object   

SDO_ABORT_NOT_EXISTS 

0x06020000

object not implemented

SDO_ABORT_PARA_VALUE

0x06090030

Parameter value range exceeded

SDO_ABORT_PARA_TO_HIGH

0x06090031

Parameter value too high

SDO_ABORT_SIGNATURE

0x08000020

The signature ’load’ or ’save’ was not used for load-
ing or saving parameters.

Table 16

Error codes

Содержание HG G-98820ZA

Страница 1: ...nd Identification Antenna HG G 98820ZA English Revision 09 Dev by WM Date 13 12 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: ...16 4 2 3 1 Serial RS 232 16 4 2 3 1 1 List of the system data which can be output 17 4 2 3 1 2 List of commands 20 4 2 3 2 System Monitor 23 4 2 3 3 CAN 23 4 2 3 3 1 Description 23 4 2 3 3 2 CAN Mess...

Страница 3: ...44 5 2 2 12 U pdate Firmware 44 5 2 2 13 Import 1 export 2 User Parameter 44 5 2 2 14 P r int Parameters 45 5 3 Software Update Antenna Software 45 5 3 1 Installation of the Program for Software Updat...

Страница 4: ...62 D 16 Codes for System Configuration 63 D 17 Manufacture Parameter Node Parameter 64 D 18 8 Bit Digital Input transmission in TPDO_2 64 D 19 16 Bit Status transmission in TPDO_1 65 D 20 32 Bit Trans...

Страница 5: ...mensional meaning that it outputs the Transponder code as well as the linear deviation rectangular to the direction of travel as well as the information Before tran sponder Crossing of the transponder...

Страница 6: ...on 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 i...

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: ...l mounting struts excluded 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 carr...

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 39 3 In order to adjust the antenna to environmental influences...

Страница 11: ...holds are explained in chapter 5 on page 29 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: ...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 b...

Страница 15: ...he antenna casing The electronics are varnished For a mechanical drawing please see annex G on page 68 4 2 1 Connection The antenna is equipped with three 5 pin M12 connection sockets The pin allocati...

Страница 16: ...on applying the operating voltage the antenna requires 10 seconds startup time During this period it is possible to start a firmware update also refer to section 4 2 4 on page 28 Following this period...

Страница 17: ...As the transmission is binary it is possible to add further DLE characters to the pro cedure when using the 3964R procedure All multiple byte variables are output either with HighByte first or LowByt...

Страница 18: ...ponder 10 11 2 Byte 0x 0010 unsigned int voltage generated by the Transponder in the reference coil in units Usum 12 1 Byte 0x 0020 unsigned char operational voltage of the Antenna 100 mV 13 1 Byte 0...

Страница 19: ...received 0x0004 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...

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: ...vel 1024 ASCII SP trans parent HEX 3D16 53165016 0 3E816 ASCII SP No ASCII coded values Check sum depending on the parameters used Examples Level should be set to 1000 3E816 The transparent telegram i...

Страница 24: ...ned int System status information according to Table 5 on page 19 3 4 5 6 4 Byte unsigned long 20 Bit Transponder code R W Trans ponder 7 8 2 Byte signed int Deviation Y mm Table 7 Structure of the CA...

Страница 25: ...7 1 Byte unsigned char Number of code readings during the last valid Transponder crossing 8 1 Byte unsigned char Number of code reading errors during the last valid Transponder crossing Table 9 Struc...

Страница 26: ...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...

Страница 27: ...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 28: ...se for an adjustable number of telegrams refer to section 5 2 2 2 S erial Output on page 35 and 5 2 2 5 C A N Parameters on page 40 4 2 4 Software Download If necessary the Antennas may be updated via...

Страница 29: ...perTerminal http www hilgraeve com hyperterminal At http www goetting agv com components transponderconf you can download matching configuration files for HyperTerminal Nevertheless any other terminal...

Страница 30: ...m can be configured using the corresponding menu To use the monitor mode you need to know which protocol is set in your antenna The possible communication procedures are For changes to the modes and d...

Страница 31: ...now be started directly by double clicking the respective ht file Moni tor19200 ht at 19200 Bd and Monitor38400 ht at 38400 Bd If necessary adapt the COM port Following the switching on and a minimum...

Страница 32: ...Window First the main menu from Figure 12 on page 33 will appear 5 2 2 How to work with the monitor program Any change to the interface parameters will be only activated after a system reset turn ant...

Страница 33: ...e number 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...

Страница 34: ...r section 5 2 2 13 on page 44 and P int Parameters section 5 2 2 14 on page 45 U mV Supply voltage of the processor board measured with an accuracy of 100 mV This volt age is due to various safety mea...

Страница 35: ...output telegram The telegram length is changed automatically According to the values given in Table 4 Data words in a telegram with 21 byte length on page 18 it is possible to set the customized cont...

Страница 36: ...bles 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...

Страница 37: ...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 38: ...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 39: ...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 40: ...0 deactivates the corresponding Message Object CAN audrate You can either select a predefined data rate or configure the bit timing with The resulting baudrate and sample point are displayed immediate...

Страница 41: ...s 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 will automatically be dis abled The following...

Страница 42: ...essage 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 27 with the autostart is de activated if autostart is deactivated only the Heartbeat messag...

Страница 43: ...mpts various options Select the option that indicates that this file consists of comma separated values Then the data may be processed as diagrams or recorded as native spreadsheet file 5 2 2 9 Displa...

Страница 44: ...w return to Hyperterm and open the COM port again Then press within the main menu The password to be entered is the same as listed in section 5 2 2 11 Explanatory text is shown Within the next 20 sec...

Страница 45: ...is not generated the unit will return to the normal operating program Data received during this period of 10 seconds are examined for their validity NOTE Only the update program described below may b...

Страница 46: ...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 47: ...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 48: ...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 49: ...d during driving below 100 guideline For very high or very small reading distances those values may be higher lower The sum voltage without a transponder in the reading area should always be smaller t...

Страница 50: ...ator not integrated Full CAN Basic CAN According to ISO DIS 11898 Identifier Data rate Basic Extended CAN configurable via serial interface CANopen CANopen Device Profil DS 401 Node ID and transmissio...

Страница 51: ...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 52: ...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 53: ...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 54: ...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 55: ...es M 5 2 2 3 page 37 7 RW Level to noise error M 5 2 2 3 page 37 8 RW Rx frequency M 5 2 2 4 page 39 9 RW Antenna tuning M 5 2 2 4 page 39 a RW Freeze values for n tele grams M 5 2 2 6 page 41 b RW Th...

Страница 56: ...e 20 page 33 2 RO Sum voltage Table 20 page 33 3 RO Dif voltage Table 20 page 33 Index Sub Index Name Type Attr Map Default Description 0x1000 00 Device Type Unsigned 32 RO No 0x00050191 Digital analo...

Страница 57: ...Device Name Visible string RO No 9882 Device name G98820ZA Table 29 CANopen Directory Device Name Index Sub Index Name Type Attr Map Default Description 0x1009 00 Hardware Version Visible_String R0 N...

Страница 58: ...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 59: ...ned 32 RO No 0x00000100 Version 1 00 04 Serial Number Unsigned 32 RO No 9999999 Serial number Table 35 CANopen Directory Identity Object Index Sub Index Name Type Attr Map Default Description 0x1800 0...

Страница 60: ...ortest time between trans missions s 05 Event Time Unsigned 16 RW No 10 Cycle time ms Table 37 CANopen Directory Transmit PDO_2 Parameter Index Sub Index Name Type Attr Map Default Description 1A00 00...

Страница 61: ...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 62: ...00 5 2 2 3 page 37 05 High nibble of RW code Unsigned 8 RW No 16 5 2 2 3 page 37 06 Number of equal codes Unsigned 8 RW No 1 5 2 2 3 page 37 07 Level to noise error Unsigned 16 RW No 1000 5 2 2 3 page...

Страница 63: ...POSI_TIMED Timed or level driven positioning pulse see 5 2 2 3 on page 37 0x0020 0x0040 0x0080 0x0100 0x0200 POSI_MASK One positioning pulse per crossing see 5 2 2 3 on page 37 0x0400 AUTO_TUNE see 5...

Страница 64: ...er changing these values they have to be saved with save all and a node reset has to be pro ceeded Table 42 CANopen Directory Manufacture Parameter Node Parameter Input Output Value Baud rate kBaud 7...

Страница 65: ...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 66: ...n Figure 25 Typical accuracy of the calculation of the deviation with transponder HW DEV00095 Index Sub Index Name Type Attr Map Default Description 0x6401 00 number of 16 bit analog inputs Unsigned 8...

Страница 67: ...Annex HG G 98820ZA English Revision 09 Date 13 12 2016 67 Figure 26 Typical accuracy of the calculation of the deviation with transponder HG G 71325XA...

Страница 68: ...Annex HG G 98820ZA English Revision 09 Date 13 12 2016 68 G Mechanical Drawing with Antenna Dimensions Figure 27 Mechanical Drawing with Antenna Dimensions...

Страница 69: ...on Antenna HG G 98820ZA 15 Figure 11 Formula minimum update rate 17 Figure 12 Main menu of the monitor program 33 Figure 13 Menu S erial Output 35 Figure 14 Menu D isplay Telegram Content 36 Figure 15...

Страница 70: ...able 15 Identifiers for read and write access 27 Table 16 Error codes 28 Table 17 Power Interface 29 Table 18 Terminal settings for the monitor program 29 Table 19 Monitor modes 30 Table 20 Descriptio...

Страница 71: ...Table 41 CANopen Directory Codes for System Configuration 63 Table 42 CANopen Directory Manufacture Parameter Node Parameter 64 Table 43 CANopen Directory Manufacture Parameter Node Parameter Co ding...

Страница 72: ...15 HW DEV00095 6 14 HW DEV00098 6 14 I Installation 10 Interfaces CAN 23 CANopen 26 Serial 16 M Maintenance 47 Monitor Program 30 Parameter Settings 29 Usage 32 P Positioning Pulse 28 Procedure transp...

Страница 73: ...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 74: ...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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