Gotting HG 98860ZA Technical Description

Technical Description HG 98860ZA

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2-dim. Positioning and

Identification Antenna Outdoor

HG 98860ZA

English, Revision 04 Dev. by: WM / MH / DF

Date: 19.01.2015 Author(s): RAD / AF

Götting KG, Celler Str. 5, D-31275 Lehrte - Röddensen (Germany), Tel.: [phone] / 80 96 -0,
Fax: [phone] / 80 96 -80, eMail: [email protected], Internet: www.goetting.de

Contents HG 98860ZA

Contents

1 Introduction.......................................................................5

1.1 System Components............................................................... 6

1.2 Function ................................................................................. 6

1.3 Application Example ............................................................... 7

1.4 Definitions .............................................................................. 7

2 Installation ........................................................................8

2.1 Transponder HG 70653ZA ...................................................... 8

2.2 Antenna HG 98860ZA ............................................................. 8

3 Installation / Commissioning ............................................10

4 Components and Operation .............................................15

4.1 Components in the Ground ................................................... 15

4.1.1 Transponders .............................................................................. 15

4.2 Transmitter-Receiver Antenna HG 98860ZA .......................... 15

4.2.1 Connection .................................................................................. 17

4.2.2 Turn-on characteristics ................................................................ 17

4.2.3 Interfaces .................................................................................... 18

4.2.3.1 Serial (RS 422) ....................................................................... 18

4.2.3.1.1 List of the system data which can be output.............. 18

4.2.3.1.2 List of commands ..................................................... 22

4.2.3.1.3 System Monitor ........................................................ 25

4.2.3.2 CAN Bus................................................................................. 25

4.2.3.2.1 Description of the CAN Protocol ............................... 25

4.2.3.2.2 CAN Bus Infrastructure............................................. 25

4.2.3.2.3 CAN Message Object 1 (Transmission Object).......... 25

4.2.3.2.4 CAN Message Object 2 (Transmission Object).......... 26

4.2.3.2.5 CAN Message Object 3 (Transmission Object).......... 26

4.2.3.2.6 CAN Message Object 4 (Reception Object)............... 27

4.2.3.3 Positioning Pulse .................................................................... 27

4.2.3.4 Analysis Interface ................................................................... 27

4.2.4 Software Download...................................................................... 28

4.2.5 Connection Cable HG 09240DB ................................................... 28

5 Software .........................................................................30

5.1 Terminal Program ................................................................. 30

5.2 Parameter Settings ............................................................... 30

5.3 System Monitor..................................................................... 31

5.3.1 How to start the monitor program ................................................. 31

5.3.2 How to work with the monitor program ......................................... 32

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Contents HG 98860ZA

5.3.2.1 Main menu.............................................................................. 33

5.3.2.2 (S)erial Output ........................................................................ 35

5.3.2.3 (T)ime & Code ........................................................................ 37

5.3.2.4 (F)requency & Antenna Tuning................................................ 38

5.3.2.5 C(A)N-Parameters .................................................................. 39

5.3.2.6 Cs(v) ...................................................................................... 40

5.3.2.7 Display (X)Histogram / (-)........................................................ 41

5.3.2.8 Display (Y)Histogram / (+)....................................................... 42

5.3.2.9 (L)oad values to EEProm ........................................................ 43

5.3.2.10 (U)pdate Firmware .................................................................. 43

5.3.2.11 Import (1) / export (2) User Parameter..................................... 43

5.3.2.12 P(r)int Parameters .................................................................. 43

5.4 Software Update (Antenna Software) .................................... 44

5.4.1 Installation of the ST10-Flasher Program for Software Update ...... 44

5.4.2 Software Update.......................................................................... 44

6 Maintenance ...................................................................46

7 Trouble Shooting.............................................................47

8 Technical Data ................................................................48

8.1 Transmitter-Receiver Antenna............................................... 48

8.2 Connection Cable ................................................................. 49

9 Appendix.........................................................................50

A Procedure 3964R ............................................................................. 50

A.1 Data direction antenna -> SPS.................................................................50

A.2 Data direction SPS -> Antenna ................................................................51

B Procedure „transparent“ ................................................................... 51

B.1 Data direction antenna -> SPS.................................................................51

B.2 Data direction SPS -> antenna.................................................................51

C Influence of a metal plate on the antenna........................................ 52

D Influence of a metal frame on the antenna....................................... 52

E Influence of reinforcement steel mesh below the transponder......... 53

F Accuracy of the deviation calculation ............................................... 54

10 List of Figures .................................................................55

11 List of Tables .................................................................. 56

12 Index ..............................................................................57

13 Handbook Conventions....................................................58

14 Copyright and Terms of Liability ......................................59

14.1 Copyright.............................................................................. 59

14.2 Exclusion of Liability ............................................................. 59

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Contents HG 98860ZA

14.3 Trade Marks and Company Names........................................ 59

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Introduction HG 98860ZA

1 Introduction

The described antenna is designed to be used for positioning and/or trackguiding ve­hicles in rough outdoor environment, as all electronic components are fully sealed as
well as equipped with an extended temperature range. All important parameter set
tings, calibration and updates are carried out via an integrated serial interface.

Figure 1 Examples of automated vehicles using transponder systems

Antenna HG 98860ZA utilizes a completely new antenna concept, which has a large
reading area with a linear transponder positioning function. The antenna is so-called
2-dimensional, meaning that it outputs the Transponder code as well as the linear de
viation rectangular to the direction of travel, in direction of travel and in addition the
information “Crossing of the transponder“.

-

-

NOTE! The accuracy of the measured value for the position X (in direc-

tion of travel) only meets the specified accuracy (see Table 14 on
page 48) for travelling speeds of up to 1 m/s! For higher speeds
the positioning pulse has to be used as the reference which has
an accuracy within the millimeter range.

NOTE! The point at which the positioning pulse is generated is not

exactly the same point at which the position X is equal to zero (X
= 0) since these points are calculated using different procedures.

For the above described antenna, the use of Transponders of the type HG 70653ZA
(Read Write — RW) is mandatory.

The transponder antenna has an output format, which enables the user to configure
additional system information. This additional information, for example, may be used
by an external visualization system (e.g. vehicle control unit with display) and enables
statements regarding the condition and availability of antennas and transponders.

This system description refers to Transponder Positioning Antenna HG 98860ZA with
the firmware 98860MA1.0 or higher (also refer to

Figure 17 on page 33).

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Introduction HG 98860ZA



HG 70653ZA



1.1 System Components

The 2-dimensional Positioning and Identification System using the antenna
HG 98860ZA consists of up to four different components:

Figure 2 System components (optional extras in brackets)

1. Transmitter-receiver antenna HG 98860ZA incl. interpreter

(refer to section 4.2 on page 15)

2. Transponder HG 70653ZA

(within the track; refer to section 4.1.1 on page 15)

3. Connection cable HG 09240DB

(not in this picture; refer to section 4.2.5 on page 28)

4. Washer set for mounting

(not in this picture, refer to section 2.2 on page 8)

5. Optional Read / Write Unit HG_81830YA

(not in this picture; refer to separate data sheet)

1.2 Function

As the antenna passes over the Transponder, it energizes the latter with an energy field

kHz. The transponder transmits its code back at half this frequency.

of 128

The relative Transponder position is measured. This relative position does not provide
the knowledge of the heading of the vehicle, as the field of the Transponder is rotation­symmetric to the longitudinal axis of the Transponder. Via a cable with the max. length
of 20 meters (RS
electronic.

422, CAN) Antenna HG 98860 is connected to the vehicle control

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Introduction HG 98860ZA

-Y <— Deviation —> +Y

-X <— Direction of Travel —> +X

The internal interpreter unit decodes the Transponder code and interpolates the Tran­sponder position rectangular to the direction of travel and in direction of travel from the
measured values.

Each coordinate axis crossing in direction of travel generates a positioning pulse of
adjustable duration.

In addition, various parameters of the antenna, such as current consumption and pow­er supply voltage are measured and may be added to the serial output protocol.

1.3 Application Example

Figure 3 Track guiding a vehicle with one antenna

The figure shows a vehicle with an antenna frame for track guidance.
With the aid of the transponder (T 105) the deviation from the predeter
mined track is determined. With this information, an external computer is
able to determine the new direction required to return to the predeter
mined track as soon as possible (the external computer is not part of the
system). Rotary encoders enable changing the direction of travel when
ever necessary. Thus it is possible to switch tracks at predetermined
points. Again, the vehicle corrects its position independently upon
reaching the next transponder.

-

-

-

1.4 Definitions

The definitions and signatures used for this system and in this user´s
manual are defined according to the following drawing:

Figure 4 Polarity of the deviation

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Installation HG 98860ZA

Antenna body

2 Installation

2.1 Transponder HG 70653ZA

Pay attention to the required minimum distances from metal, as the influence on posi­tioning accuracy and range is dependent upon size and distance of metal parts. For
the same reason, the transponder should be mounted as vertically aligned as possi
ble. Please refer to the data sheet/mounting instructions for the transponder.

2.2 Antenna HG 98860ZA

-

Figure 5 Antenna dimensions

ATT ENTION! When mounting the antenna, the washers that are part of the

scope of supply have to be used on both sides of each mounting
hole (see picture and text below)!

Figure 6 Application of the washers while mounting the antenna

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Installation HG 98860ZA

To preserve the antenna body and especially avoid any dents or cracks in the area of
the mounting holes we would strongly recommend the following steps:

1. Apply the combined rubber / plastic washers with approx. 90 mm diameter to
secure a better distribution of the pressure. Place the rubber side on the
antenna to avoid surface damages.

2. Apply metal washers with approx. 30 - 40 mm diameter under head of screw/
nut.

3. Use self-locking nuts or screw locking varnish to fix screw fittings.

ATT ENTION! Do not exceed maximum torque of 10 NM.

To prevent any adverse effects on the system:

- The Antenna itself may not be mounted directly onto metal, on each side of the

Antenna, a minimum distance of 300
structures must be maintained (essential cabling and special mounting struts
excluded). The influence of metal behind the antenna is shown in the appendices,
see section

C on page 52.

mm to any larger electrically conductive

- For perfect operation of the transponder system, it is essential that there are no

interfering signals in the frequency range of 64 ±4
etc.)!

- Steel reinforcement structures located very close to the surface of the runway may

transform the Antenna energy in the ground to deviating locations in such a way
that the measured Transponder position is a faulty one, see section

kHz (e. g. chopped engines,

E on page 53.

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Installation / Commissioning HG 98860ZA

3 Installation / Commissioning

NOTE! Check the operating voltage before connecting! Although the

RS

422 / CAN interface is largely insensitive to interferences, the

cable should not lie directly next to power supply cables.

Connect the antenna with the vehicle control unit using the delivered cable.

Connect a laptop to the antenna using the serial interfaces of both devices. The aid of
a suitable RS 422 to RS 232 converter may be necessary for this step (the interface
converter is not part of the scope of supply). Then start the monitor program as de
scribed in section 5.3 on page 31.

Default Values The standard setting of the system is „Monitor only“ as listed in

section
need for the user to download a command file. However, please
pay attention to the fact that these may have been altered by a
different user!

1. If the antenna is mounted next to metal, it must be re-calibrated (also refer to
section

5.3.2.3 on page 37), it is useful to record a complete test run over the set track.
The serial interface of antenna HG 98860ZA may be used accordingly (refer to
section
interface (section 4.2.3.4 on page 27).

2.2 on page 8). In order to set the positioning threshold (refer to section

5.3.2.6 on page 40). In addition to this you can use the TxD 232 debug

5.3.1 on page 31 at 38400 bd. Thus it will start without the

-

2. Move a transponder into reception range.
The voltage S should increase considerably. The code must be detected imme­diately and the number of readings must be continuously counted up to 255.

3. Remove the transponder again from the reception range.
While no transponder is located within the antenna field, the voltage S must
decrease to a very small value. The display of the code and the number of read
ings, if applicable, remains identical. If this is not the case, interferences in the
frequency range of 64

As long as no errors have occurred, save any altered parameters and exit the monitor
program. If certain parameters are altered, a system reset is necessary (turn off and
reactivate the antenna) as described in the corresponding section of the monitor pro
gram (section 5.3). Now the system has been correctly put into operation.

kHz are being induced.

-

-

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Installation / Commissioning HG 98860ZA

Low Interference Level

Undisturbed Transponder Decoding

The following diagrams show examples of logged system data:

Figure 7 Diagram: Commissioning Protocol / insignificant interference level; shown is

the sum voltage over the travelled distance

The above diagram shows the sum voltage (in units) over the travelled distance. The
noise is in this case approx. 50 units, the transponder signal approx. 950 units. The
Transponder decoding is perfect, as also shown in the following diagram:

Figure 8 Diagram: Commissioning Protocol / undisturbed Transponder decoding

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Installation / Commissioning HG 98860ZA

High Interference Level

During each Transponder crossing, the sum voltage increases initially. Once the
threshold Threshold for Decoding has been exceeded, the bit
TRANS_IN_FIELD is set. Following 4 x 8
is decoded. The duration depends on the setting for Number of Equal Codes within
the menu Time & Code. In this example, this parameter is = 2, i.
ceived code is compared to 2 already received codes.

Once the center of the Antenna has been crossed, the POSI-Puls is generated. Its
duration is adjustable. The bits TRANS_IN_FIELD and CODE_OK are deleted, when
ever the sum voltage decreases under the value for Threshold for Decoding. In
the shown example there is spare time of 6 x 8
Puls.

The following protocols show the influences of high interference levels on the Antenna
performance.

ms (= 4 data points) the Transponder code

e., the newly re-

-

ms for the generation of the POSI-

Figure 9 Diagram: Commissioning Protocol / high interference level; shown is the

sum voltage over the traveled distance

The interference level reaches up to 300 units. At Transponder 207 the noise is at such
a level that it even influences the Transponder signal. As a result it takes 9 x 8 ms until
the Transponder 207 has been decoded (refer to
crossing speed 9 x 8 ms is still sufficient for generating a POSI-Puls, but at high
speed it would no longer be possible to decode this Transponder.

Figure 10 on page 13). For the slow

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Installation / Commissioning HG 98860ZA

Jammed Decoding (function still ensured)

False POSI Pulse generated by noise and threshol d se t too low

Figure 10 Diagram: Commissioning Protocol / jammed decoding (function still en-

sured)

The following diagram shows a case in which false POSI-Pulses are generated

through wrongly set parameters for Threshold for Decoding and/or
Threshold for Positioning.

Figure 11 Diagram: Commissioning Protocol / false POSI Pulse generated through

noise and threshold set too low

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Installation / Commissioning HG 98860ZA

For this example, the thresholds are set to 100 units. The bit TRANS_IN_FIELD is per­manently set. Following a successful Transponder decoding, initially a correct POSI-
Puls is generated. However, as the software does not realize that the Transponder
leaves the Antenna field (the noise is stronger than the set 100 units for the threshold),
each zero crossing of the difference voltage (not shown in the diagram) will generate
another POSI-Puls.

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Components and Operation HG 98860ZA

4 Components and Operation

4.1 Components in the Ground

4.1.1 Transponders

As reference markers only transponders of the type HG 70653ZA can be used. These
are special high signal types due to the large reading distance possible with this an
tenne. Please refer to the separately available data sheet for HG 70653ZA for further
information about the transponder.

Range and accuracy of positioning are influenced by:

- any large metal pieces (sheets) on 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 be within
the metal-free area.

The following environmental conditions have no effect on the system:

- snow, ice, water.

-

- oil, tar, earth, dirt, etc.

4.2 Transmitter-Receiver Antenna HG 98860ZA

This antenna has RS 422 and CAN interfaces.

Figure 12 Photo Transmitter-Receiver Antenna HG 98860ZA

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Components and Operation HG 98860ZA

The antenna systems and the pre-amplifiers are housed in a casing with the below giv­en dimensions. In order to limit the weight, the casing has been filled with construction
foam, which serves as sealing compound as well as the stabilizing elements. The ca
ble (the connecter) exits at one side of the antenna.

-

Figure 13 Drawing Antenna HG 98860ZA (with casing dimensions)

The interpreter is integrated in the antenna casing. The electronics are varnished. A
thermostat controlled heater is included.

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Components and Operation HG 98860ZA

Socket (pin)
front view

4.2.1 Connection

Figure 14 16-pin Antenna connection socket

The antenna is equipped with a 16 pin connection socket. The pin allocation is as fol­lows:

Contact HG 98860ZA (RS 422)

A +24 V (antenna)

B GND (antenna)

C n.c.

D SL Rx

E Rx 422+ *)

F Rx 422- *)

G Tx 422+ *)

H Tx 422- *)

J +20 mA Positioning Pulse

K -20 mA Positioning Pulse

L CAN_H

M CAN_L

N Signal Ground

P SL TX

R Tx RS 232 output for data logging

S Casing

Casing shield

*) = Rx and Tx are related to the antenna.

Tab le 1 Allocation of the 16 pin Antenna Connection Socket

The two positioning pins are lead through separately and internally neither connected
to +24

V nor to GND, as in some applications it is essential that strict potential sepa­ration is maintained. For security reasons, a 20 mA current limitation for these outputs
is implemented within the Antenna. Thus if, e.
possible to connect pin 9 with +24

V and pin 10 via a 1 KOhm resistance with GND.

g., a 24 V voltage output is required it is

4.2.2 Turn-on characteristics

Upon 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
page 44).

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5.4 on

Components and Operation HG 98860ZA

21

Byte

Telegram

------------------------- 11

Bit

Byte

----------- - 38400

Bit

s

------ - 6

ms

Telegram

-------------------------=

Following this period of time, the actual program starts. If configured accordingly (also
refer to
procedure takes another 16 seconds.

4.2.3 Interfaces

4.2.3.1 Serial (RS 422)

The serial output may be configured in various ways. The transmission rate is adjust­able at 19200 or 38400 Bd, the output protocol may be chosen as either „transparent“
or „3964R“. Apart from that, the content of the output telegrams is configurable. From
a parameter list the required parameters may be selected.

4.2.3.1.1 List of the system data which can be output

One Telegram consists of max. 21 user bytes. The minimum update rate at 38400 Bd
is then calculated as follows:

Figure 15 Formula: Minimum update rate

As the transmission is binary, it is possible to add further (DLE) characters to the pro­cedure when using the 3964R-procedure.

Figure 21 on page 38), the transmission coils will be automatically tuned. This

All multiple-byte variables are output either with the highest byte or the lowest byte first
(adjustable)!

The 8 bit check sum is only output when using the transparent protocol and includes
the start pulse. The start pulse, as well as the check sum (protocol transparent), can
not be removed from the data block.

-

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Components and Operation HG 98860ZA

Table of the data words of a telegram with 21 byte length.

Byte # Length Value Type Description

1 1 Byte 0x0000.0001 ASCII-061 : „=“ Start pulse (Default: „=“)

2,3 2 Byte 0x0000.0002 signed short Y-Position: Y [mm] (lateral deviation)

within the range of -750 .. 0 .. +750
In case of an invalid value (no Transponder
detected) = 32767 *)

4,5 2 Byte 0x0000.0004 signed short X-Position: X [mm] (longitudinal deviation)

within the range of -300 .. 0 .. +300
In case of an invalid value (no Transponder
detected) = 32767 *)

6,7 2 Byte 0x0000.0008 unsigned short 16 bit Transponder code

8,9 2 Byte 0x0000.0010 signed short Voltage generated by the transponder in the

reference coils in [units]

10,11 2 Byte 0x0000.0020 unsigned short voltage generated by the Transponder in the

positioning coils in [units]

12 1 Byte 0x0000.0040 unsigned char operational voltage for the Antenna [100 mV]

13 1 Byte 0x0000.0080 unsigned char power consumption [10 mA]

14 1 Byte 0x0000.0100 signed char temperature within the antenna [oC]

15 1 Byte 0x0000.0200 unsigned char number of readings during the latest Transpon-

der crossing

16,17 2 Byte 0x0000.0400 unsigned short receiver frequency [10 Hz]

18,19 2 Byte 0x0000.0800 unsigned short transmitter frequency [10 Hz]

20, 21 2 Byte 0x0000.1000 unsigned short system status in binary encoding

(22) 1 Byte unsigned char check sum, only in transparent protocol!

XOR operation of all bytes including the start
character.

*) = In case that either the position for x or y exceeds its valid range, both values are set to 32767.

Tab le 2 Data words in a telegram with 21 byte length

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Components and Operation HG 98860ZA

In the following table you will find a list of the binary codes used to describe the system
status (for byte # 20 and 21 in

Value Name Description

0x0001 DEC_HW_ERROR code decoder hardware error

0x0002 CODE_PAR_ERR reception of transponder code with parity error or Hi-Nibble

0x0004 RX_NOISE Set whenever TRANS_IN_FIELD was set but no codes

0x0008 NO_SLAVE_COM No communication with slave processor

0x0010 EEPROM_ERROR parameter E²Prom not addressable

0x0020 PARAM_CRC_ER parameter block not safe

0x0040 POT_ERROR IIC-Bus Potis not addressable

0x0080 F_ERROR Transmitting or receiving oscillator not tuned to the set fre-

Table 2 ):

received

were received

quency

0x0100 ESTIMATE If the exact Transponder Position cannot be determined

due to wrong reading distances or e.

g. steel reinforce­ments in the ground, an estimated value with the accuracy
of ±46

mm is determined and this bit is set

0x0200 TRANS_IN_FIELD transponder is being detected *)

0x0400 CODE_OK Code decoded without errors *)

0x0800

0x1000 POSIPULS Transponder has crossed the Antenna center

0x2000

0x4000

0x8000 HEATER_ON Internal heating active

Tab le 3 Possible system status messages

*) These bits are deleted as soon as the Transponder leaves the

Antenna reception range.

Example:

System status 0x0018

Description NO_SLAVE_COM and EEPROM_ERROR.

This status message 0x0002 may also occur during an ordinary transponder cross­ing, if the code transmission is aborted due to decreasing output level.

The connection between „number of readings“ and „system status“ is as follows:

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Components and Operation HG 98860ZA

The antenna approaches a transponder:

- voltages S and D increase

- once the voltages S or D exceed the set „Threshold Decoding/Calculation“

1. the counter „number of readings“ is reset to 0

2. the status bit „TRANS_IN_FIELD“ (0x200) is set

- codes are decoded and the counter „number of readings“ is incremented

1. if the value is larger than „number of equal codes“, the status bit
„CODE_OK“ (0x400) is set and the code output.

2. each decoded code now increases the counter „number of readings“

3. if the value of „number of equal codes“ is = 0, each received code is output

4. if the value of „number of equal codes“ is not = 0, the detected code is not
renewed

The antenna departs from a transponder:

- voltages S and D decrease

- once the voltages S or D fall below the set „Threshold Decoding/Calculation“, the

status bits „CODE_OK“ (0x400) and „TRANS_IN_FIELD“ (0x200) are reset

The counter „code readings“ stops, either whenever the line or column parities of the
code are wrong or no startsyncs were received. However, the bit „CODE_OK“ is
cleared only when the voltages U

Normally, the value for „number of equal codes“ is set to a value > 0. In this case, the
code is only updated once, when the required number of equal codes was success
fully decoded and then output without amendments until a new code is decoded at the
next transponder.

and Ud fall below the defined thresholds.

s

-

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Components and Operation HG 98860ZA

4.2.3.1.2 List of commands

A command telegram always consists of four bytes, including the actual command
and the parameters. When using the procedure „transparent“ it is, in addition, necs
sary to transfer one start character and a check sum (XOR operation of all bytes in­cluding the start character).

There are 19 predefined commands:

NOTE! The table below is valid for 'High Byte First'-transmission. For

'Low Byte First'-transmission the order of command and parame
ter bytes has to be changed.
The duration of 'Tune Antenna Once'-command is maximal 10
seconds for 16 tuning steps.



The monitor mode should not be used 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 alteration of parameters.

-

-

No. Procedure Start

1

HEX 4D164F

3964R

ASCII MO NI

trans­parent

2

HEX 3D

16

ASCII = MO NI 8
HEX 541655

3964R

ASCII TU NE

trans­parent

3

HEX 3D

16

ASCII = TU NE 7
HEX 531654

3964R

ASCII ST 01

trans­parent

4

HEX 3D

16

ASCII = ST 01 8
HEX 531654

3964R

ASCII ST 02

trans­parent

HEX 3D

16

ASCII = ST 02 ;

Command
Bytes

16

4D164F

541655

531654

531654

16

16

16

16

16

16

16

Parameter
Bytes

4E1649

4E1649

4E1645

4E1645

301631

301631

301632

301632

16

16

16

16

16

16

16

16

Check Sum

38

16

37

16

38

16

3B

16

Description

Switch to monitor mode

Tune antenna once

Set tuning value to 1

Set tuning value to 2

Tab le 4 List of the system commands (part 1 of 3)

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Components and Operation HG 98860ZA

No. Procedure Start

5

HEX 531654

3964R

ASCII ST 03

trans­parent

6

HEX 3D

16

ASCII = ST 03 9
HEX 531654

3964R

ASCII ST 04

trans­parent

7

HEX 3D

16

ASCII = ST 04 >
HEX 531654

3964R

ASCII ST 05

trans­parent

8

HEX 3D

16

ASCII = ST 05 ?
HEX 531654

3964R

ASCII ST 06

trans­parent

9

HEX 3D

16

ASCII = ST 06 <
HEX 531654

3964R

ASCII ST 07

Command
Bytes

16

531654

531654

531654

531654

16

16

16

16

16

16

16

16

Parameter
Bytes

301633

301633

301634

301634

301635

301635

301636

301636

301637

16

16

16

16

16

16

16

16

16

Check
Sum

39

16

3E

16

3F

16

3C

16

Description

Set tuning value to 3

Set tuning value to 4

Set tuning value to 5

Set tuning value to 6

Set tuning value to 7

10

trans­parent

3964R

HEX 3D
ASCII = ST 07 =
HEX 531654

16

531654

16

16

ASCII ST 08

11

trans­parent

3964R

HEX 3D
ASCII = ST 08 2
HEX 531654

16

531654

16

16

ASCII ST 09

12

trans­parent

3964R

HEX 3D
ASCII = ST 09 3
HEX 531654

16

531654

16

16

ASCII ST 10

trans­parent

Tab le 4 List of the system commands (part 2 of 3)

HEX 3D
ASCII = ST 10 ;

16

531654

16

301637

301638

301638

301639

301639

311630

311630

16

16

16

16

16

16

16

3D

32

33

3B

16

Set tuning value to 8

16

Set tuning value to 9

16

Set tuning value to 10

16

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Components and Operation HG 98860ZA

No. Procedure Start

13

HEX 531654

3964R

ASCII ST 11

trans­parent

14

HEX 3D

16

ASCII = ST 11 :
HEX 531654

3964R

ASCII ST 12

trans­parent

15

HEX 3D

16

ASCII = ST 12 9
HEX 531654

3964R

ASCII ST 13

trans­parent

16

HEX 3D

16

ASCII = ST 13 8
HEX 531654

3964R

ASCII ST 14

trans­parent

17

HEX 3D

16

ASCII = ST 14 ?
HEX 531654

3964R

ASCII ST 15

Command
Bytes

16

531654

531654

531654

531654

16

16

16

16

16

16

16

16

Parameter
Bytes

311631

311631

311632

311632

311633

311633

311634

311634

311635

16

16

16

16

16

16

16

16

16

Check
Sum

3A

16

39

16

38

16

3F

16

Description

Set tuning value to 11

Set tuning value to 12

Set tuning value to 13

Set tuning value to 14

Set tuning value to 15

18

trans­parent

3964R

HEX 3D
ASCII = ST 15 >
HEX 531654

16

531654

16

16

ASCII ST 16

19

trans­parent

3964R

HEX 3D
ASCII = ST 16 =
HEX 531650

16

531654

16

16

ASCII SP *)

trans­parent

HEX 3D
ASCII = SP *) *)

16

531650

16

*) No ASCII-coded values
**) Depending on the parameters used. Examples:

- Level should be set to 1000 (3E816)
The transparent telegram is: 3D16531650160316E816D5

- Level should be set to 300 (12C16)
The transparent telegram is: 3D165316501601162C1613

Tab le 4 List of the system commands (part 3 of 3)

311635

311636

311636

0 ... 3E8

0 ... 3E8

16

16

16

16

16

3E

3D

**)

16

16

16

Set tuning value to 16

16

Set postioning level
(0 <= level < 1024)

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Components and Operation HG 98860ZA

4.2.3.1.3 System Monitor

The system may be configured via menus in monitor mode. Refer to section 5.3 „Sys­tem Monitor“ on page 31.

4.2.3.2 CAN Bus

4.2.3.2.1 Description of the CAN Protocol

It possible to configure the Basic or the Full-CAN-Mode. The CAN parameters are set
via the system monitor. The internal CAN module is based on the CAN specifications
V2.0 part B. Standard or Extended frames are transmitted (to be configured). It is also
possible to configure the bit timing as well as the identifier within the system monitor.

Different CAN message objects can be output. In addition it is to be set whether tele­grams are to be output permanently at the set update rate or only as long as a Tran­sponder is within range. Remote operation is also possible. Objects are activated
within the CAN menu, through the input of an address unequal 0. Message Object 3
is used for the analysis of the system behavior.

4.2.3.2.2 CAN Bus Infrastructure

Figure 16 CAN Bus Infrastructure (Example)

The terminating resistors (120 Ohm) are integrated within the antennas. The antennas
thus have to be at both ends of the CAN network.

4.2.3.2.3 CAN Message Object 1 (Transmission Object)

Byte # Length Type Description

1,2 2 Byte unsigned short System status information according to

Table 3 on page 20

3,4 2 Byte unsigned short 16 Bit Transponder code

5,6 2 Byte signed short Deviation X [mm] *

7,8 2 Byte signed short Deviation Y [mm] **

* X = Direction of travel
** Y = Lateral deviation

Tab le 5 Structure of the CAN Message Object 1

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Components and Operation HG 98860ZA

4.2.3.2.4 CAN Message Object 2 (Transmission Object)

Byte # Length Type Description

1,2 2 Byte unsigned short Voltage within the sum antenna gener-

ated by the Transponder

3,4 2 Byte signed short Voltage within the difference antenna

generated by the Transponder

5 1 Byte unsigned char Number of code readings during the

last valid Transponder crossing

6 1 Byte unsigned char Operational voltage for the Antenna

[100 mV]

7 1 Byte unsigned char Power consumption [10 mA]

8 1 Byte signed char temperature within the antenna [oC]

Tab le 6 Structure of the CAN Message Object 2

4.2.3.2.5 CAN Message Object 3 (Transmission Object)

Byte # Length Type Description

1,2 2 Byte unsigned short System status information according to

Table 3 on page 20

3,4 2 Byte unsigned short the lower 16 Bit of the Transponder

code

5,6 2 Byte unsigned short Voltage of the frame antenna gener-

ated by the Transponder [in units]

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

Tab le 7 Structure of the CAN Message Object 3

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Components and Operation HG 98860ZA

4.2.3.2.6 CAN Message Object 4 (Reception Object)

It is possible to send commands to the antenna. For this it is necessary to send a Mes­sage Object with the same address as Message Object 1 and a length of 6 bytes.

Byte # Length Type Description

1,2 2 Byte Unsigned short Command (see Table 9 below)

3,4,5,6 4 Byte Unsigned long Parameter (see Table 9 below)

Tab le 8 Structure of the CAN Message Object 4

Command Meaning Parameter

0000

0001

0002

16

16

16

No command —

Tune antenna once —

Set tuning value Tuning value

0000.000116 to

0004

16

0000.0010

Set position level Positioning level

16

0000.000016 to

0000.03E8

Tab le 9 Coding of commands

4.2.3.3 Positioning Pulse

The digital positioning output indicates the antenna center crossing in direction of trav­el. 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 content of the serial telegrams at the time of the positioning
pulse for an adjustable number of telegrams (refer to section
on page 35 and 5.3.2.5 „C(A)N-Parameters“ on page 39).

4.2.3.4 Analysis Interface

This interface (pin „R“ of the connection socket, see Table 1 on page 17) enables re­cording important system data independently of the serial data traffic. The interface
parameters are:

16

5.3.2.2 „(S)erial Output“

57600 Baud, 8 Data bit, no parity

The following values are output as ASCII characters, separated by commas. Each line
is terminated with CR LF.

- Code (decimal)

- Sum voltage (decimal)

- Dif voltage (decimal)

- Deviation X (mm)

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Components and Operation HG 98860ZA

- Deviation Y (mm)

- TRANS_IN_FIELD (Bit)

- ESTIMATE (Bit)

- COILSEL (Bit)

It is, for example, possible to record this data with the terminal program Hyperterm,
save it as *.csv file and interpret it accordingly (refer to section

4.2.4 Software Download

If necessary, the Antennas may be updated via the serial interface. Please refer to sec­tion 5.4 „Software Update (Antenna Software)“ on page 44.

4.2.5 Connection Cable HG 09240DB

The connection cable included in the scope of supply will be fitted with the corre­sponding connector on the antenna side, while the vehicle side will be open. The nec­essary length (max. 20 m) is to be stated in the purchase order. The cable is a
HELUKABEL F-C-PURÖ-JZ grey, 12x 1

www.helukabel.de/). The cable consists of a shield, 11 black wires of 1 mm² (num-

bered 1 through 11) and one green-and-yellow wire. The shield is connected to the
connector housing. The pin allocation is as follows:

mm² (for further information refer to http://

5.3.2.6 on page 40).

Contact Wire no. / Color Allocation

A 1 +24 V (antenna)

B 2 GND (antenna)

C — n. c.

D — n. c.

E 5 Rx 422+ *

F 3 Rx 422- *

G 7 Tx 422+ *

H 4 Tx 422- *

J 9 +20 mA Positioning connection

K 10 -20 mA Positioning connection

L 6 CAN_H

M 8 CAN_L

N green-yellow signal ground

* = Rx and Tx relative to the antenna.

Table 10 Connection cable pin allocation (part 1 of 2)

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Components and Operation HG 98860ZA

Contact Wire no. / Color Allocation

P — n. c.

R 11 RS 232 TxD for data logging

S Shield

* = Rx and Tx relative to the antenna.

Table 10 Connection cable pin allocation (part 2 of 2)

NOTE! In order to achieve cable lengths of up to 100 m (for RS 422,

CAN), it is essential to use a cable with shielded twisted pairs!

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Software HG 98860ZA

5 Software

The system can be configured via an antenna internal software. To enter the program,
you have to connect the serial interface of an ordinary PC to the serial interface of the
antenna. For the antenna type HG
HW

CAB00113 (see section 5.4.2 on page 44) or an interface converter RS 422 ->
RS 232 is necessary. Once all the connections have been set up, start a terminal pro­gram on the PC.

NOTE! The interface converter is not part of the system´s scope of sup-

ply! However, it is available from several well-known distributors,
as e. g. RS components
refer to the section „Industrial Interface Converters“ of the RS
components catalogue.

5.1 Terminal Program

In the following we will refer to the program HyperTerminal® (Hypertrm.exe), which
was part of the scope of supply of Microsoft® Windows® up until version XP. We prefer
the use of this program because it is easily available for many users and, due to the
supplied configuration files, it is very easy to use.

98860ZA either the Götting adapter cable

http://www.rs-components.com/. Please

Nevertheless, any other terminal program can be utilized, provided that it enables
VT52 emulation. If you should use a different program, please read its documentation
carefully and adjust it to the values given in section

5.2 on page 30.

5.2 Parameter Settings

Depending upon what you want to do (starting the monitor program or the software up­date), different parameters are necessary. If you are using HyperTerminal, you do not
need to enter these settings and can go straight on to section

Terminal settings monitor program (refer to section 5.3)

baud rate 19200 or 38400 Bd

depending on the system configuration
terminal emulation VT52
parity even
data bits 8
stop bits 1
character delay 1 ms
line delay 0 ms
PC interface (port) COM1

can alter depending on the PC (see below)

5.3 on page 31.

Tab le 11 Terminal settings for the monitor program

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Software HG 98860ZA

If you are using a different port than COM1 with HyperTerminal, then adjust the port as
follows:

1. Select Properties from the menu file (or click the Icon ). The following window
appears:

2. Choose the direct connection to the respective port via the submenu direct
connection. Confirm with
while exiting HyperTerminal.

5.3 System Monitor

. Save the altered values if you are asked for it

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.

5.3.1 How to start the monitor program

The command for switching to monitor mode should be input directly via a PC. For the
startup, a set of configuration files is necessary (small text files and HyperTerminal
configuration files). These files are accessible always in the latest version from our in
ternet server at http://www.goetting-agv.com/components/transponderconf for down-
load. On that page you‘ll find the individual text files.

Start your terminal program. If you are using HyperTerminal (section 5.1) it can now be
started directly by double clicking the respective *.ht file (Monitor19200.ht at
19200

Bd and Monitor38400.ht at 38400 Bd). If necessary, adapt the COM-port

(see section

Following the switching on and a minimum period of 10 (respectively 26) seconds, you
may transfer the required *.txt file from the disc using the terminal program. The follow
ing four files are on the disc:

1. Mon3964r.txt
Transfer if the system is adjusted to procedure 3964R with “HighByte first“. The
file contains the characters: 0x02 0x4D 0x4F 0x4E 0x49 0x10 0x03

0x16 in hexa-decimal notation

5.2).

-

-

2. Mon6439r.txt
Transfer if the system is adjusted to procedure 3964R with “LowByte first“. The
file contains the characters: 0x02 0x4F 0x4D 0x49 0x4E 0x10 0x03

0x16in hexa-decimal notation

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Software HG 98860ZA

3. Montrans.txt
Transfer if the system is adjusted to procedure Transparent with “HighByte

first“. The file contains the characters: 0x3D 0x4D 0x4F 0x4E 0x49
0x38 in hexa-decimal notation.

4. Transmon.txt
Transfer if the system is adjusted to procedure Transparent with “LowByte

first“. The file contains the characters: 0x3D 0x4F 0x4D 0x49 0x4E
0x38in hexa-decimal notation

Using HyperTerminal the file is transferred as follows:

1. Select Send Text file in the menu Transfer. The following window will
appear:

2. Switch to disc drive (in our example, the files are located on the hard disc) and
select the respective *.txt file.

3. Click . The file will be transferred and (once the corresponding file has
been selected) the monitor program will be started. The menus will then appear
directly within the HyperTerminal Window. First, the main menu from
on page 33 will appear.

Figure 17

5.3.2 How to work with the monitor program

ATT ENTION! Effect only alterations on values for the system interface as posi-

tioning accuracy will decrease if the calculation coefficients are
altered!

Any change to the interface parameters will be only activated after a system reset (turn
antenna off and on). Afterwards it may be necessary to use a different file from the four
given *.txt documents to start the monitor!

After the transfer of the *.txt file (refer to section 5.3.1) the monitor program starts with
the main menu. If it does not, you have either based your settings on a wrong system
configuration, or you are using a different terminal emulation and did not adjust the
character delay to 1 ms, or you did not wait at least 10
tenna.

s (26 s) after activating the An-

English, Revision 04, Date: 19.01.2015 32

Software HG 98860ZA

S:0005 D:+005 D_Y:+32767 D_X:+32767 Code: 0000 Read: 0: N: 1
Frx[/Hz]:61280 Ftx[/Hz]:127990 CSEL: 1
U[/mV]:24200 I[/mA]: 340 T[Grd.C]:+14 S_MA: 8002 S_SL: 0000 Noise 0

(S)erial Output
(T)ime & Code
(F)requency & Antenna tuning
Basic C(A)N-Parameters
CA(N)-Open-Parameters
(D)isplay Systemstatus
Cs(v) [38,4 KB Code,Us,Ud,X,Y,Tr,Co,Pos,N,E,Cnt<crlf>] (abort with <a>)
display Histogram: (X) AbsValues, (-)SignedValues
display Histogram: (Y) AbsValues, (+)SignedValues

[L]oad Userparameters to EEProm
[U]pdate Firmware
(1) Import User Parameter from Host to Antenna
(2) Export User Parameter from Antenna to Host
P(r)int Parameters
{3} Service Menu

Software Version 98860MA1.02 / 15.NOV.2013 Serial Number: 123456

5.3.2.1 Main menu

Figure 17 Main menu of the monitor program

Each of the monitor menu windows contains important system variables in the upper
four lines (also refer to

Table 12), as they also appear in the output telegram (described
in section 4.2.3.1.1 on page 18). The bottom line on the screen contains possible sta­tus messages, e. g. if allowed values ranges were not obeyed during input.

Description of the system variables

S Measured voltage of the sum coil in units (max. 1023)

D Measured voltage of the positioning coil in units (max. 1023)

D_Y [mm] Transponder position rectangular to the direction of travel in milli-

meters (max. ±750, 32767 when position invalid)

D_X [mm] Transponder position in direction of travel in millimeters

(max.

±300, 32767 when position invalid)

Code The 32 data bits of the Transponder in hexa decimal coding. The

code is recorded as soon as voltage S exceeds the Threshold
for Positioning (refer to

Figure 20 on page 37)

Read The number of code readings per Transponder crossing (max.

N Number of reading errors per Transponder crossing. This value

Table 12 Description of system variables (monitor program) (part 1 of 2)

255). This value is being stored until a new Transponder code
has been detected. May be deleted by noise

is stored until a new Transponder has been detected

English, Revision 04, Date: 19.01.2015 33

Software HG 98860ZA

Description of the system variables

Frx [Hz]
and
Ftx

[Hz]

Display of important system frequencies for transmission and
reception. These frequencies are permanently monitored and
are included in the system status word E (see

below)

CSEL Determins from which channel the code is detected

U [mV] Supply voltage of the processor board measured with an accu-

racy of 100 mV. This voltage is, due to various safety measures,
always a little lower than the connected overall supply voltage

I [mA] Current consumption of the positioning unit measured with an

accuracy of 10

mA

T [Grd.C] Average temperature measured in steps of 5o C

S_MA Hexadecimal system status from master. The description of the

individual bits is included in

Table 4 „List of the system com-

mands“ on page 22

S_SL Hexadecimal system status from slave.

Noise Output of one counter:

- Whenever the sum voltage S exceeds the Threshold for
Decoding the counter is increase every 8

ms until it has

reached the value 1.000.

- Whenever S falls under this threshold, the counter counts
backwards until it has reached 0 again. When a code is
decoded, the counter is immediately set to 0.

This mechanism checks whether a Transponder or a foreign sig­nal is received. Every time this counter exceed an adjustable
value (refer to section

5.3.2.3 „(T)ime & Code“ on page 37), the

system status bit RX_NOISE is set.

Table 12 Description of system variables (monitor program) (part 2 of 2)

Further menus are activated via input of the (characters in brackets). Before altered
values are transferred into the permanent memory, the pass word 815 has to be en
tered by first entering . This prevents unwanted alterations of values. With  the val-
ues are saved after alteration and input of the password.

Input of  enables reading the description of a possibly occurring system status mes­sage. If the procedure is „transparent or „3964r“ input of  will exit this menu.

The following section describes the submenus

- ()erial Output (section 5.3.2.2 on page 35)

- ()ime & code (section 5.3.2.3 on page 37)

- ()requency & Antenna tuning (section 5.3.2.4 on page 38)

- Basic C()N Parameters (section 5.3.2.5 on page 39)

- CA()-Open-Parameters. This interface is part of another documentation.

-

English, Revision 04, Date: 19.01.2015 34

Software HG 98860ZA

S:0007 D:-007 D_Y:+32767 Code: 00000000 Read: 0: N: 1
Frx[/Hz]:66760 Ftx[/Hz]:127990 Csel:1
U[/mV]:23100 I[/mA]: 530 T[Grd.C]:+24 E: 0002 Noise 0

(B)audrate: 19200
(O)rder of Data Transfer (0= HiByte first): 0

(T)elegram Content Mask [0..1FFF]: 00001fff
(D)isplay Telegram Content
(C)har-Delaytime [1..220ms]: 220
(P)rocedure Transparent

Co(n)tinous Telegrams 1
(S)erial Data Period [4.500mS]: 8
(F)reeze Values for n Telegrams:[0..10]: 0

(Q)uit Menue

- Cs() (section 5.3.2.6 on page 40)

- display Histogram (/) (section 5.3.2.7 on page 41)

- display Histogram (/) (section 5.3.2.8 on page 42)

- ()oad Userparameters to EEProm (section 5.3.2.9 on page 43)

- () Import / () Export User Parameter (section 5.3.2.11 on page 43) and

- ()pdate Firmware (section 5.3.2.10 on page 43) and

- P()int Parameters (section 5.3.2.12 on page 43).

5.3.2.2 (S)erial Output

Any changes effected to this sub menu are activated only after a system reset (switch­ing the antenna off and on again). Depending on the alterations made, it may become
necessary to use a different baud rate / different text document for the startup of the
monitor (section

5.3.1 on page 31).

Figure 18 Menu: (S)erial Output

Pressing  switches between 19200 and 38400 Bd. Pressing  selects between
high byte first and high byte last. When using this system together with a Siemens PLC
it is essential, that this parameter is 0 (High Byte first).

 enables influencing the structure of the output telegram. The telegram length is set

automatically.

According to the values given in Table 2 „Data words in a telegram with 21 byte length“
on page 19, it is possible to set the customized contents of the telegram  using
hexadecimal addition. The parameter sequence cannot be influenced. It is always the
same sequence as shown in the table!

English, Revision 04, Date: 19.01.2015 35

Software HG 98860ZA

S:0005 D:+005 D_Y:+32767 D_X:+32767 Code: 0000 Read: 0: N: 1
Frx[/Hz]:61280 Ftx[/Hz]:127990 CSEL: 1
U[/mV]:24200 I[/mA]: 340 T[Grd.C]:+19 S_MA: 8000 S_SL: 0000 Noise 0

STX 1 Bytes from Position: 1
Delta_Y 2 Bytes from Position: 2
Delta_X 2 Bytes from Position: 4
CODE 2 Bytes from Position: 6
Usum 2 Bytes from Position: 8
Udif 2 Bytes from Position: 10
Vcc 1 Bytes from Position: 12
Current 1 Bytes from Position: 13
Temp. 1 Bytes from Position: 14
CodesRd 1 Bytes from Position: 15
Rx-Freq 2 Bytes from Position: 16
Tx-Freq 2 Bytes from Position: 18
STATUS 2 Bytes from Position: 20

(esc) to quit

Example Only the Displacements X and Y, the Code and the System

Status are to be output.

Add, according to the table the values 0x0000.0001,
0x0000.0002, 0x0000.0004, 0x0000.0008 and 0x0000.1000. The
result is 0x0000.100F. Therefore the input for the “(
Content Mask“ is 0x100F.

Using “()isplay Telegram Content“ it is possible to check the review telegram (also
refer to

Figure 19). The shown case has a mask value of 0x0000.1fff. Pressing any key

generates the return to menu Serial Output.



)elegram

Figure 19 Menu: „(D)isplay Telegram Content“

Parameter „()har Delaytime“ is the so-called Character Delay Time for procedure
3964R (refer to appendix, section

A „Procedure 3964R“ on page 50) and the timeout
time for incoming characters transparent mode (refer to appendix, section B „Proce­dure „transparent““ on page 51).

Pressing  generates the selection of the corresponding telegram procedure — 3964R
or transparent. For procedure 3964R it is also possible to set the acknowledgement
delay time.

 enables 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 to 10 telegrams, i. e. the values at the time

of the positioning pulse output are preserved.

English, Revision 04, Date: 19.01.2015 36

-

Software HG 98860ZA

S:0006 D:+005 D_Y:+32767 D_X:+32767 Code: 0000 Read: 0: N: 1
Frx[/Hz]:61280 Ftx[/Hz]:127990 CSEL: 1
U[/mV]:24200 I[/mA]: 350 T[Grd.C]:+19 S_MA: 8002 S_SL: 0000 Noise 0

(B)Level to Noise Error [0..1000]: 1000
(H)igh-Nibble of RW-Code [0..F,>F]: 10
(N)umber of equal Codes [0..15]: 1
(T)hreshold Decoding-X/Calculation [20.1023]: 256
Thr(e)shold /Calculation-Y [20.1023]: 400

PosiPulse (a)fter Decoding 1
(L)evel for Positioning [20.1023]: 500
(P)osi-Pulse Time [n*1ms]: 100
(O)ne Positioning Pulse per Crossing 0
(X) Timed Positioning Pulse 1

Th(r)eshold MAX-Detection-X [10.1023]: 400
Thre(s)hold MAX-Detection-Y [10.1023]: 400

(esc)to quit

5.3.2.3 (T)ime & Code

This menu offers the option setting the values for the Transponder decoding, the posi­tion calculation and the positioning pulse.

Figure 20 Menu: (T)ime & Code

 enables setting the threshold for generating the bit RX_NOISE of the system status

word as described in

As the Trovan technology secures the code transmission only via a simple parity
check, two additional security strategies were implemented:

1. It is possible to verify the four highest bits via a preset value (0-F).  enables

setting this value, which then has to be programmed into the transponders
together with the code. For entries larger F, this verification is switched off.

2. It is possible to choose the number of codes to be compared between 0 and 15

by pressing
input of 1 generates the comparison of the received code with the very last code
received just before this one, etc. Note, that this procedure reduces the maxi
mum crossing speed, because the necessary transmission time increases
accordingly with (n+1) x 8

With  it is possible to determine the voltage threshold S at which the decoding is
started, in order to suppress decoding cycles with a too weak signal, and the X-posi
tion calculation generated.

With  it is possible to determine the voltage threshold S at which the Y-position cal­culation is generated.

 releases the output of a positioning pulse only after the decoding of a Transponder.

In an interference laden environment this will avoid false positioning pulses. For high
speed crossing this item should be set to 0.

English, Revision 04, Date: 19.01.2015 37

Table 12 on page 33 under ’Noise’.

. Input of 0 generates the immediate output of the received code,

ms.

-

-

Software HG 98860ZA

S:0006 D:+005 D_Y:+32767 D_X:+32767 Code: 0000 Read: 0: N: 1
Frx[/Hz]:61280 Ftx[/Hz]:127990 CSEL: 1
U[/mV]:24200 I[/mA]: 270 T[Grd.C]:+19 S_MA: 0002 S_SL: 0000 Noise 0

(R)x_Frequency [/Hz]: 1575000 ( 61250 Hz)

A(u)to-Tune 0
(A)ntenna-Tuning [0..15,+,-]: 15
switch (T)ransmitter: 1

(esc)to quit

F

rx

4FZF64 kHz– +-

B

2

--- -





=

 enables setting the voltage value S which is the threshold for releasing the position-

ing pulse output in order eliminate false statements due to antenna side lopes.
The duration of the positioning pulse is adjustable by pressing  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.
ment directly above a Transponder). If not, only one pulse per Transponder crossing
is output. For a re-newed triggering it would then be essential that the voltage S falls
again under the Threshold for Calculation-Positioning (refer to section

5.3.2.3 on page 37).

With  you can choose whether the Posi Pulse and its corresponding bit are turned
off in the system status after the time persiod set with
below the threshold set with

.

 enables setting the the threshold value which has to be succeeded in order to ac-

tivate the use of the measured voltages in X direction for the calculation.  does the
same for the Y direction. The actual threshold value is determined by the maximum of
a scan cycle minus the input value.

5.3.2.4 (F)requency & Antenna Tuning

g. during a back-and-forth move-

 or after the voltage S has fallen

Figure 21 Menu: (F)requency & Antenna Tuning

The receiver frequency „()x“ is calculated with FZF = 455 kHz and the bandwidth
B = 5.5

Figure 22 Formula: Calculation of the receiver frequency

As this is a SSB-reception, according to the above mentioned formula the upper side­band should be set to 1553000 Hz and the lower sideband to 1575000 Hz.

English, Revision 04, Date: 19.01.2015 38

kHz according to the following formula:

Software HG 98860ZA

S:0006 D:+005 D_Y:+32767 D_X:+32767 Code: 0000 Read: 0: N: 1
Frx[/Hz]:61280 Ftx[/Hz]:127990 CSEL: 1
U[/mV]:24200 I[/mA]: 270 T[Grd.C]:+19 S_MA: 0000 S_SL: 0000 Noise 0

SR = 00: NO ERROR / / / /

(C)AN active NO
E(X)tended CAN STANDARD
(I)dentifier: TX [0..2047]: 10
(A)-Identifier: TX [0..2047]: 0
(D)-Identifier: TX [0..2047]: 0
CAN-(B)aud [20,50,125,250,500,1000 kB]: 1000.0
or
B(R)P Baudrate Prescaler [0..63]: 0
(S)JW Sync Jump Width [0..3]: 0
Tseg(1) [2..15]: 6
Tseg(2) [1..7]: 1
resulting sample point: 70 %
(P)eriod [4.500mS]: 8
Co(n)tinous Telegrams 1
CAN on Re(m)ote Request 0
(F)reeze Values for n Telegrams [0..20]: 0

(esc) to quit

With  or with the  or  keys you may tune the transmitting antenna by switching
the power consumption to max. (resulting in the largest reception range).
switching the transmitter on (1) or off (0) for control reasons.

 is automatically set to

1 upon leaving the monitor.

 enables activating auto tuning. Following each system switch on, the transmitter cy-

cle is retuned. This procedure takes approx. 16 sec. After that, every 10 sec. the tun­ing is re-checked (as long as there is no transponder within the field) and re-tuned if
necessary.

5.3.2.5 C(A)N-Parameters

This menu enables setting the various CAN Bus parameters. Before being able to use
the CAN bus interface it is essential to activate it by pressing

.

 enables

Figure 23 Menu: C(A)N-Parameters

Entering  enables the generation of telegrams either as standard frames according
to CAN2.0A or as extended frames according to CAN2.0B. Correspondingly it is pos
sible to either set the Identifier  (CAN address) as 11 bit value (0-2047) or as 29 bit
value (0-536870911).

The identifier selectable under  corresponds to the transmitted frames for the Mes­sage Object 1 (refer to Table 5 on page 25). The identifier selectable under  refers
to the Message Object 2 (refer to Table 6 on page 26),  refers to the Message Object
3 (refer to Table 7 on page 26). Input of 0 deactivates the corresponding Message Ob­ject.

With  it is possible to change the CAN baudrate.

 enables either the activation of a permanent output of the Clock for Sampling

which can be set by pressing
ated whenever a Transponder is within the reception range (0).

English, Revision 04, Date: 19.01.2015 39

 (1), or the activation of an output that is only gener-

-

Software HG 98860ZA

 activates the remote operation. In this case (independent of the settings of Con-

tinuos Telegrams) telegrams are no longer generated, but only remote frames with

the corresponding address are answered.

 offers the option to ’freeze’ the output for 0 to 20 telegrams, i. e. the values at the

time of the positioning pulse output are preserved.

The CAN status register is displayed in the uppermost line of the menu. This informa­tion may be used for simple diagnosis.

5.3.2.6 Cs(v)

For diagnosis, it is possible to start the output of the values Code, U
X-Pos, the states Transponder within range, Code OK, Positioning pulse

(also refer to
reading failures (N) and in addition a telegram counter in CSV format (Comma Sepa­rated Values; especially for processing text files with programs for table calculation).
Data output is carried out with 38.400
pressing any key. Following the pressing of a key, a reset is generated and the Antenna
is re-set to its original condition (not monitor mode) including the saved parameters.

The CSV output could e. g. be saved using the program HyperTerminal® (also refer to
section
Transmission and insert a file name (this file name should have the ending .csv, in
order to enable the table calculation program to automatically detect this file later).
Once the file has been recorded and closed under HyperTerminal®, it may be loaded
into a table calculation program (e.

Table 3 on page 20), number of code readings (Read), number of code

Bd, 8 bit and even parity, until it is terminated by

5.1 on page 30). To do so, use the function record text ... of menu

g. Microsoft® Excel®, Sun® StarCalc®, ...).

Sum

, U

, Y-Pos,

Dif

When opening the file, the table calculation program prompts 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 table calculation file for
transmission.

English, Revision 04, Date: 19.01.2015 40

Software HG 98860ZA

X_Histogram, press any key to return

> 1000.....................

> 900:.....................

> 800:.....................

> 700:.........OoOoo.......

> 600:.......oOOOOOOo......

> 500:o.....oOOOOOOOOOoo..O

> 400:OooOoOOOOOOOOOOOOO.OO
> 300:OOOOOOOOOOOOOOOOOOOOO
> 200:OOOOOOOOOOOOOOOOOOOOO
> 100:OOOOOOOOOOOOOOOOOOOOO

---+---+---+---+---+­ 1 4 8 12 16 20
<<<<<<<M>>>>>
55 57 60
5

X_Histogram, press any key to return

> 900:.....................

> 800:.....................

> 700:..................... (M)ux [0..3,END = 9]

> 600:.....................

> 500:O...................O

> 400:O................O..O

> 300:OOOO.............OO.O

> 200:OOOO.............OO.O

> 100:OOOO.............OO.O

> 0:OOOO.............OO.O

>-100:....OOOOOOOOOOOOO..O.

>-200:....OOOOOOOOOOOOO..O.

>-300:....OOOOOOOOOOOOO..O.

>-400:.....OOOOOOOOOOOO..O.

>-500:.......OOOOOOOOO.....

>-600:........OOOOOO.......

>-700:.........O.O.........

>-800:.....................

>-900:.....................

<<<<<M>>>>>>>
55 59 59
4

5.3.2.7 Display (X)Histogram / (-)

This submenu displays the voltages induced by a Transponder in X-direction as abso­lute or signed values.

Figure 24 Menu: display (X)Histogram

Each column represents a location. A voltage value is represented by a row of Os.

Directly underneath the histogram, the values used for the respective position calcu­lation are marked as <<<<M>>>>. Below this row, the calculated position with mini­mum, actual, and maximum values is displayed. Pressing any key returns to the main
menu.

NOTE! The (M)ux item is for test purposes only.

English, Revision 04, Date: 19.01.2015 41

Software HG 98860ZA

Y_Histogram, press any key to return

> 1000........................................

> 900:........................................

> 800:...................oOOOo................

> 700:..................OOOOOOOo..............

> 600:.................OOOOOOOOOO.............

> 500:................OOOOOOOOOOOo............

> 400:..........o.o...OOOOOOOOOOOO....o.......

> 300:O..oooOOOOOOOO.OOOOOOOOOOOOOO.oOOOOoOo.O
> 200:OOOOOOOOOOOOOOoOOOOOOOOOOOOOO.OOOOOOOOoO
> 100:OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO

---+---+---+---+---+---+---+---+---+---+
1 4 8 12 16 20 24 28 32 36 40
<<<<<<M>>>>>
101 103 105
4

Y_Histogram, press any key to return

> 900:........................................

> 800:........................................

> 700:........................................

> 600:........................................

> 500:........................................

> 400:........................................

> 300:....O.OOOOOOO..................OOOO..O.O

> 200:O.OOOOOOOOOOOO................OOOOOOOO.O

> 100:O.OOOOOOOOOOOO...............OOOOOOOOO.O

> 0:O.OOOOOOOOOOOO...............OOOOOOOOO.O

>-100:.O............OOOOOOOOOOOOOOO.........O.

>-200:...............OOOOOOOOOOOOOO...........

>-300:...............OOOOOOOOOOOOO............

>-400:................OOOOOOOOOOOO............

>-500:................OOOOOOOOOOO.............

>-600:.................OOOOOOOOOO.............

>-700:..................OOOOOOO...............

>-800:.....................OO.................

>-900:........................................

<<<<<<M>>>>>
101 103 105
4

5.3.2.8 Display (Y)Histogram / (+)

This submenu displays the voltages induced by a Transponder in Y-direction as abso­lute or signed values.

Figure 25 Menu: display (Y)Histogram

Each column represents a location. A voltage value is represented by a row of Os.

Directly underneath the histogram, the values used for the respective position calcu­lation are marked as <<<<M>>>>.

Below this row, the calculated position with minimum, actual, and maximum values is
displayed. Pressing any key returns to the main menu.

English, Revision 04, Date: 19.01.2015 42

Software HG 98860ZA

5.3.2.9 (L)oad values to EEProm

This submenu enables saving the parameters within a non-volatile memory once the
corresponding pass word has been entered. This is necessary in order to accept the
current changes as permanent settings.

5.3.2.10 (U)pdate Firmware

This submenu offers the option of a software update without having to disconnect and
re-connect the power supply. However, first it is necessary to install the update pro
gram as described in section 5.4 on page 44.

Then press  within the main menu. A display with the following instructions will ap­pear:

1. Close the COM-Port in Hyperterm using the icon .

2. Open the flash program ST10-Flasher 2.exe on your PC.

3. In ST10-Flasher 2.exe select the COM-Port, via which the antenna is cur-

rently connected to your PC.

4. Select the hex file to be programmed in ST10-Flasher 2.exe.

5. Now return to Hyperterm, re-connect the COM-Port via the icon and press

any key.

-

6. Within the next 20 sec. close the COM-Port using the icon , in Hyperterm,

switch back to ST10-Flasher 2.exe and start programming.

Once the programming is completed, return to Hyperterm, wait 10 sec. and re-con­nect the COM-Port (e. g. via the icon ). Then re-start the monitor mode (also refer
to section 5.3.1 on page 31).

5.3.2.11 Import (1) / export (2) User Parameter

It is possible to store or load all user parameters on or from a host 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 transfer within 50 seconds. When using Hyperterm
go to Transfer > Send file > XMODEM > File name. If the message Success is
displayed the file has been checked and loaded in the parameter RAM. To pre
serve the loaded values you should transfer them into the EEPROM (see 5.3.2.9
on page 43).

- With  you can export user parameters to a host. After pressing that key you

should start an XMODEM file transfer. When using Hyperterm go to Transfer >
Receive file > XMODEM > Folder and then specify a file name. The file is trans
ferred and the message Success should be displayed.

5.3.2.12 P(r)int Parameters

Enables writing the system parameters into terminal program file (e. g. Hyperterm).

-

-

English, Revision 04, Date: 19.01.2015 43

Software HG 98860ZA

5.4 Software Update (Antenna Software)

It is possible to update the software of the integrated interpreters via the serial inter­faces using a portable PC. Following switching-on, the integrated download unit will
check for approx. 10 seconds whether a download is to be carried out. In case a
download is not generated, the units 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 be used for the

software update!

5.4.1 Installation of the ST10-Flasher Program for Software 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 mailing address given on the cover of this manual.

In order to install the program follow these steps:

1. Save the file ST10-Flasher2_setup.exe from the email to your hard disk,

then open the Windows Explorer and navigate to the file.

-

2. Double click ST10-Flasher2_setup.exe in order to start the installation pro-

cess. The installation routine allows you to adjust the installation path but usually
the defaults should work.

3. In order to start the software update program, use the Windows start menu,

where you can find
update of the antenna software as follows.

ST10-Flasher 2.exe. Then you can proceed with the

5.4.2 Software Update

While the software update is carried out, no other programs may occupy the used se­rial interface (COM-Port). Thus, terminate any such connections in your Terminal pro­gram (e. g. Hyperterm). Then connect the antenna to your PC. Unless you use the
Götting Adapter HW CAB00113 (see below) you have to use an appropriate interface
converter (not included in the antenna scope of supply; refer to the note on the top of
page 30). Then start the update program on your PC as described above.

The antenna HG 98860ZA contains 2 microprocessors. The master processor is pro­grammed via the serial interface (see section 4.2.3.1 on page 18). The slave processor
can be controlled with the same program ST10-Flasher 2.exe. The connection to
this processor however is to be made via the slave interface (RS 232, see pins D and
P in

Table 1 on page 17). The connection parameters can be chosen in ST10-Flas-

her 2.exe. The Baudrate should not be set to values above 57600 Baud.

NOTE! The Programming-/Service-Adapter HW CAB00113 by Götting

can be used to connect the antenna socket to the PC. The
adapter cable is fitted with two DE9 sockets that are used alter
nately for the master and slave connection.

-

English, Revision 04, Date: 19.01.2015 44

Software HG 98860ZA

2 Selection of the serial interface

1 Selection of the Hex file to be

5 Status messages

4 Start the programming procedure

6 Exit the program

transmitted

3 This option must always be
activated

and baud rate (max 57600 Baud)

If an error occurs during the transmis­sion, red colored status messages are
shown. As long as green colored mes­sages are output, the software update
is correct.

The last 2 messages of a normal up­date procedure are: ProgramFlash:
Ok and CloseCom: Ok

Figure 26 Update program: Operating Elements

Start the programming process by switching on the antenna and then click Program
within a period of 10 seconds afterwards. A device reset follows and after a short pe­riod of time, the file is being transmitted.

Figure 27 Update program: programming procedure

Once the programming process is completed, the program can be closed (close).
The interpreter is restarted automatically and uses the new program.

English, Revision 04, Date: 19.01.2015 45

Maintenance HG 98860ZA

6 Maintenance

The system is largely maintenance free. Any maintenance is limited to:

- visual examination of the antennae (ensuring all 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 necessary, effect an update of the system software as described above (section

5.3.2.10 on page 43 or 5.4 on page 44). Date and version of the current antenna soft­ware can be obtained from the main menu.

English, Revision 04, Date: 19.01.2015 46

Trouble Shooting HG 98860ZA

7 Trouble Shooting

The following table contains a list of errors that might occur. For each error, a symptom
description is given. In the third column you will find a description of how to locate and
possibly correct the error.

If you should not be able to correct an occurring error, please use the table to locate
the source of the error as exactly as possible (nature of malfunction, at which point of
time did the error occur, etc.) before consulting us.

Error Possible cause Diagnosis/Correction

No system function

Even though a transpon­der is located within
reception range, all out
puts remain inactive

No contact is possible,
only unintelligible char
acters are sent.

Inaccurate values at low
temperature.

Output values are not
reproducible, lack of
accuracy

-

Power supply is not sufficient Measure the voltage at the respec-

tively labeled clamps.

-

1. RS 422 T+ (R+) exchanged with
RS 422 T- (R-) by mistake

2. Signal ground not connected, a
too high potential difference
between antenna and receiver.

3. Wrong setting of transfer param­eters

4. Wrong procedure.

System needs a certain warm-up
time in order to operate at sufficient
accuracy in low ambient tempera
ture.

Radio interference Check value for S in the monitor

1. Check the connections

2. Connect signal ground

3. Choose only 19200 or
38400

Bd, 8 bit, even parity.

4. Choose the correct procedure
with the PC and the system
monitor.

Wait until the system has warmed
up (approx. 5 minutes at -20

-

mode. If these are over ca. 50,
there could be interference in the
range of 64

kHz.

o

C).

Transponders are
detected unreliably / no
reliable positioning
pulses

Table 13 Trouble shooting

English, Revision 04, Date: 19.01.2015 47

1. Interfering frequencies

2. The corresponding thresholds
(refer to
are not correctly set

Figure 20 on page 37)

1. refer to above paragraph

2. Carry out the commissioning as
described in section
10

3 on page

Technical Data HG 98860ZA

8 Technical Data

8.1 Transmitter-Receiver Antenna

Antenna HG 98860ZA

Casing see Figure 13 on page 16

Weight approx. 36 kg

Effective antenna area 1500 x 600 mm (function range positioning)

Power supply antenna 24 V -20 % +50 %, max. 1.3 A @ 24 V

Operating temperature -25 to +50 oC

heat-up time 5 minutes

Mechanical stability 5 g 11 ms / 2 g 10 to 55 Hz

Metal free area see description for Figure 5 on page 8, and sec-

tion C on page 52

Protection IP 65

Cabling max. 20 m cable

Max. pass-over speed 10 m/s tested

Reading distance (dis­tance transponder ­underside reading
antenna)

Nominal reading dis­tance

Width of the active
Antenna reading area

Static positioning accu­racy (Vx & Vy < 1 m/s)

Connection 16-pin Amphenol connector

Signal processing time 8 ms

output RS 422 / CAN The output requires 19200 or 38400 Bd. The tele-

Output positioning pulse 20 mA current source, potentially separated

150 to 350 mm (with transponder HG 70653)

200 to 250 mm (with HG 70653)

±750 mm (Y) x ±300 mm (X)

±15 mm @ nominal reading distance (with
HG

70653; also refer to section F on page 54)

gold-plated contacts

gram content may be configured. 3964R or “trans­parent“ selectable

Table 14 Technical Data Antenna HG 98860ZA

English, Revision 04, Date: 19.01.2015 48

Technical Data HG 98860ZA

8.2 Connection Cable

Connection Cable HG 09240DB

Length according to purchase order, max. 20 m

Diameter approx. 10.9 mm

Type HELUKABEL F-C-PURÖ-JZ grey, 12x 1 mm²,

EMC preferred type, tear resistant, coolant resis­tant, Cu screened, without inner sheath
Weight: 262 kg/km
Cop. Weight: 187 kg/km
(also refer to http://www.helukabel.de/)

Table 15 Technical Data Connection Cable HG 09240DB

English, Revision 04, Date: 19.01.2015 49

Appendix HG 98860ZA

(Figure

9Appendix

A Procedure 3964R

For the computer interconnection between antenna <—> SPS a 3964R-Protocol may be
used. As the antenna outputs data cyclical, this results in some simplifications during
implementation of the 3964R. The following diagrams describe the procedure.

The following settings need to be observed:

- Transponder system has lower priority

- Data transfer is set to 1 start bit, 8 Data bit, parity even, 1 stop bit, Baudrate

19200

Bd (default) or 38400 Bd.

A.1 Data direction antenna -> SPS

In this direction the antenna data is transmitted cyclically. The data sentence always
starts with an „=“-character (hex 0x3d). The cycle time is parameterizeable and should
take a complete part, or multiple thereof, of the transponder code´s transmission line.
In the present system, the duration for the transponder code transmission is 32
The minimum cycle duration depends upon the telegram length, the Baudrate and the
chosen telegram content.

ms.

In the diagram

T_ZVZ stands for the programmable character delay and

T_QVZ for the programmable acknowledgement delay.

Figure 28 Diagram procedure 3964R; antenna —> SPS

English, Revision 04, Date: 19.01.2015 50

Appendix HG 98860ZA

A.2 Data direction SPS -> Antenna

In this direction commands are transmitted only when required (by now the command
for starting the monitor program is implemented; see section
overcome the frequent cyclical data output of the antenna, the 3964R of the antenna
has a lower priority (see

Figure 28).

4.2.3.1.2 on page 22). To

Figure 29 Diagram procedure 3964R; SPS —> antenna

B Procedure „transparent“

For the interconnection antenna <—> SPS a transparent protocol can be used. The fol­lowing settings have to be observed for the data transmission:

- 1 start bit, 8 data bit, parity even, 1 stop bit, Baudrate 19200 Bd (default) or
38400

Bd.

B.1 Data direction antenna -> SPS

In this direction, cyclical antenna data is transmitted. The duration is parameterize­able, it should take an integral part or multiple of the transponder code transmission.
The minimum cycle duration depends upon the telegram length, the Baudrate and the
chosen telegram content.

The data sentence always starts with an „=“-character (hex 0x3d). Then the parame­ters chosen from the respective menu follow. The telegram is to be quit with an 8 bit
check sum over all characters. The characters are sent without delay.

B.2 Data direction SPS -> antenna

Commands are transmitted into this direction if necessary. Each command must start
with a „=“-character (hex 0x3d). The format of the commands is described in
„Possible system status messages“ on page 20. The telegram is to be quit with a 8 bit

Table 3

English, Revision 04, Date: 19.01.2015 51

Appendix HG 98860ZA





check sum over all characters. The characters are sent without delay. The characters
must be received within the parameterizeable character delaytime. Otherwise the tele
gram will be chopped.

C Influence of a metal plate on the antenna

1 mm thickness of the plate

-

Distance
(metal <—> antenna)
[mm]

150 5 180 240 320

200 5 480 250 810

300 385 650 300 900

400 490 650 420 900

Table 16 Influence of metal on the antenna

Measurements have been carried out with a steel plate above the antenna in variable
distances. The transponder was positioned at nominal reading distance (250
derneath the antenna. Current consumption was retuned to maximum value, see sec­tion 5.3.2.4 on page 38. The measured displacement signal of the transponder is not
influenced through metal as long as the surface of the antenna is covered evenly.

Transponder HG 70653 @ 250 mm
[S /units]

without with retuning without with retuning

650 900

antenna current
[mA]

mm) un-

D Influence of a metal frame on the antenna

Size of frame: 1600 mm x 800 mm, 30 mm hollow profile, 1 mm wall thickness

Distance
(metal <—> antenna)
[mm]

150 215 520 290 800

200 340 540 350 830

300 510 585 580 880

400 595 605 840 900

Table 17 Influence of metal on the antenna

English, Revision 04, Date: 19.01.2015 52

Transponder HG 70653 @ 250 mm
[S /units]

without with retuning without with retuning

640 900

antenna current
[mA]

Appendix HG 98860ZA

Measurements have been carried out with a steel frame above the antenna in variable
distances. The transponder was positioned at nominal reading distance (250
derneath the antenna. Current consumption was retuned to maximum value, see sec­tion 5.3.2.4 on page 38. The measured displacement signal of the transponder is not
influenced through metal as long as the surface of the antenna is covered evenly.

E Influence of reinforcement steel mesh below the transpon-

der

Figure 30 Test setup with Transponder and reinforcement mat

mm) un-

The measurement was performed with a reinforcement mat with the meshes sized at
90 x 240
value of reference coil Us, value of positioning coil Ud and whether the antenna is able
to decode the Transponder code. The position of the transponder was X = -100 mm,
Y = 0 mm.

The transponder was located in a distance of 20 cm below the antenna, and the mat
was lowered in intervals of 5 cm.

Distance between mat
and transponder / cm

mm. The measured parameters were: Tuning value, current consumption,

Tuning value
antenna

Current consumption
antenna / mA

Us / units Ud / units decoding

Without mat 4 980 850 920 yes

25 6 920 750 830 yes

20 6 890 700 780 yes

15 7 860 640 710 yes

10 8 780 460 530 yes

5 9 770 400 460 no

0 12 660 0 0 no

Table 18 Influence of reinforcement steel mesh on the transponder

English, Revision 04, Date: 19.01.2015 53

Appendix HG 98860ZA

F Accuracy of the deviation calculation

Figure 31 Typical accuracy of theY-deviation

Figure 32 Typical accuracy of the X-deviation

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List of Figures HG 98860ZA

10 List of Figures

Figure 1 Examples of automated vehicles using transponder systems............ 5

Figure 2 System components (optional extras in brackets) .............................. 6

Figure 3 Track guiding a vehicle with one antenna........................................... 7

Figure 4 Polarity of the deviation ....................................................................... 7

Figure 5 Antenna dimensions............................................................................ 8

Figure 6 Application of the washers while mounting the antenna..................... 8

Figure 7 Diagram: Commissioning Protocol / insignificant interference level;

shown is the sum voltage over the travelled distance....................... 11

Figure 8 Diagram: Commissioning Protocol / undisturbed Transponder deco-

ding.................................................................................................... 11

Figure 9 Diagram: Commissioning Protocol / high interference level; shown is

the sum voltage over the traveled distance ...................................... 12

Figure 10 Diagram: Commissioning Protocol / jammed decoding (function still

ensured)............................................................................................. 13

Figure 11 Diagram: Commissioning Protocol / false POSI Pulse generated

through noise and threshold set too low ...........................................13

Figure 12 Photo Transmitter-Receiver Antenna HG 98860ZA........................... 15

Figure 13 Drawing Antenna HG 98860ZA (with casing dimensions)................ 16

Figure 14 16-pin Antenna connection socket.................................................... 17

Figure 15 Formula: Minimum update rate.......................................................... 18

Figure 16 CAN Bus Infrastructure (Example) .................................................... 25

Figure 17 Main menu of the monitor program ................................................... 33

Figure 18 Menu: (S)erial Output......................................................................... 35

Figure 19 Menu: „(D)isplay Telegram Content“ ................................................. 36

Figure 20 Menu: (T)ime & Code ........................................................................ 37

Figure 21 Menu: (F)requency & Antenna Tuning .............................................. 38

Figure 22 Formula: Calculation of the receiver frequency................................. 38

Figure 23 Menu: C(A)N-Parameters .................................................................. 39

Figure 24 Menu: display (X)Histogram .............................................................. 41

Figure 25 Menu: display (Y)Histogram .............................................................. 42

Figure 26 Update program: Operating Elements .............................................. 45

Figure 27 Update program: programming procedure ...................................... 45

Figure 28 Diagram procedure 3964R; antenna —> SPS .................................... 50

Figure 29 Diagram procedure 3964R; SPS —> antenna .................................... 51

Figure 30 Test setup with Transponder and reinforcement mat........................ 53

Figure 31 Typical accuracy of theY-deviation ................................................... 54

Figure 32 Typical accuracy of the X-deviation .................................................. 54

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List of Tables HG 98860ZA

11 List of Tables

Table 1 Allocation of the 16 pin Antenna Connection Socket ........................ 17

Table 2 Data words in a telegram with 21 byte length ................................... 19

Table 3 Possible system status messages..................................................... 20

Table 4 List of the system commands ............................................................ 22

Table 5 Structure of the CAN Message Object 1........................................... 25

Table 6 Structure of the CAN Message Object 2........................................... 26

Table 7 Structure of the CAN Message Object 3........................................... 26

Table 8 Structure of the CAN Message Object 4........................................... 27

Table 9 Coding of commands ........................................................................ 27

Table 10 Connection cable pin allocation........................................................ 28

Table 11 Terminal settings for the monitor program ........................................ 30

Table 12 Description of system variables (monitor program) .......................... 33

Table 13 Trouble shooting................................................................................ 47

Table 14 Technical Data Antenna HG 98860ZA.............................................. 48

Table 15 Technical Data Connection Cable HG 09240DB.............................. 49

Table 16 Influence of metal on the antenna .....................................................52

Table 17 Influence of metal on the antenna .....................................................52

Table 18 Influence of reinforcement steel mesh on the transponder............... 53

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Index HG 98860ZA

12 Index

Numbers

3964R 50

A

accuracy 54
Analyis Interface 27
Antenna

Dimensions 16
Interfaces 18
Mounting 8
Technical Data 48

C

Company names 59
Connection Cable 28

Technical Data 49

Copyright 59

E

Exclusion of Liability 59

F

Function 6

M

Maintenance 46
Monitor Program 31

Parameter Settings 30
Usage 32

P

Positioning Pulse 27
Procedure „transparent“ 51
Procedure 3964R 50

R

Receiver Frequency

Calculation of the 38

S

Software 30
Software update 44
Softwareupdate 44
System Commands 22
System Components 6
System Monitor 31
System Variables 33

H

HG

09240 6, 28, 49
70653 8, 48
81830 6
98860 5, 6, 8, 17

I

Installation 10
Interfaces

CAN 25

T

Technical Data 48
Telegram 18, 19
Terminal Program 30
trade marks 59
transparent 51
Transponder 8
Trouble Shooting 47

U

Update Rate 18

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Handbook Conventions HG 98860ZA

13 Handbook Conventions

In documentations of Götting KG the following symbols and assignments are being
used at the time of printing this manual:

 Security advices have the following symbols, depending on the emphasis and the

degree of exposure:

NOTE!

ATT ENTION!

CAUTION!

WARNING!

 Continuative information and tips are identified as follows:

Tip!

 Program texts and variables are highlighted by using the font ’Courier’.
 Whenever input of key combinations is required for the operation of programms,

the corresponding
possible to use small and capitalized characters equally).

 Sections, figures and tables are automatically numbered consecutively through-

out the entire document. In addition, 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
back. In certain cases (for long and/or complicated documents) a subject index is
added.

 Each document provides a table block with metainformation on the front page,

indicating the system designer, author, revision and date of issue. In addition, the
information regarding revision and date of issue are included within the footer of
each page, enabling the exact allocation of the information with a date and cer
tain system revision.

 Online-Version (PDF) and printed manual are generated from the same source.

Due to the consistent use of Adobe FrameMaker for the generation of documenta
tion, all directory entries (including page numbers and subject index) and cross
references in the PDF file can be clicked on with the mouse and will lead to the
corresponding linked contents.

eys are ighlighted (in Götting KG programs it is usually

-

-

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Copyright and Terms of Liability HG 98860ZA

14 Copyright and Terms of Liability

14.1 Copyright

This manual is protected by copyright. All rights reserved. Violations are subject to pe­nal legislation of the Copyright.

14.2 Exclusion of Liability

Any information given is to be understood as system description only, but is not to be
taken as guaranteed features. Any values are reference values. The product charac
teristics are only valid if the systems 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 for con
sequential defects is excluded. We reserve the right for changes encouraging techni­cal improvements. We also reserve the right to change the contents of this manual
without having to give notice to any third party.

14.3 Trade Marks and Company Names

-

-

Unless stated otherwise, the herein mentioned logos and product names are legally
protected trade marks of Götting
be trade marks or registered trade marks of the corresponding companies.

KG. All third party product or company names may

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