Gotting HG G-98820ZA Technical Description

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Technical Description HG G-98820ZA

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1.5-dim. Positioning and Identification Antenna

HG G-98820ZA

English, Revision 09 Dev. by: WM

Date: 13.12.2016 Author(s): RAD/MN

Götting KG, Celler Str. 5, D-31275 Lehrte - Röddensen (Germany), Tel.: +49 (0) 51 36 / 80 96 -0, Fax: +49 (0) 51 36 / 80 96 -80, eMail: techdoc@goetting.de, Internet: www.goetting.de

Contents HG G-98820ZA

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

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

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

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

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

2 Mounting ...........................................................................8

2.1 Transponder ........................................................................... 8

2.2 Antenna HG 98820ZA ............................................................. 8

3 ............................................................... Commissioning10

4 Components and Operation .............................................14

4.1 Components in the Ground ................................................... 14

4.1.1 Transponders .............................................................................. 14

4.1.2 Code structure............................................................................. 14

4.2 Transmission-Reception Antenna HG G-98820ZA ................. 15

4.2.1 Connection .................................................................................. 15

4.2.1.1 Power..................................................................................... 15

4.2.1.2 CAN Bus................................................................................. 16

4.2.2 Turn-on characteristics ................................................................ 16

4.2.3 Interfaces .................................................................................... 16

4.2.3.1 Serial (RS 232) ....................................................................... 16

4.2.3.1.1 List of the system data which can be output.............. 17

4.2.3.1.2 List of commands ..................................................... 20

4.2.3.2 System Monitor....................................................................... 23

4.2.3.3 CAN ....................................................................................... 23

4.2.3.3.1 Description............................................................... 23

4.2.3.3.2 CAN Message Object 1 (Transmission Object).......... 24

4.2.3.3.3 CAN Message Object 2 (Transmission Object).......... 24

4.2.3.3.4 CAN Message Object 3 (Transmission Object).......... 25

4.2.3.3.5 CAN Message Object 4 (Reception Object)............... 25

4.2.3.4 Data Interface CANopen

4.2.3.4.1 Description of the Process Data Objects (PDO)......... 26

4.2.3.4.2 Heartbeat................................................................. 27

4.2.3.4.3 Node Guarding......................................................... 27

4.2.3.4.4 Description of the Service Data Objects (SDOs)........ 27

4.2.3.4.5 Object Directory ....................................................... 28

4.2.3.5 Positioning Pulse .................................................................... 28

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

4.2.5 Connection Cables ...................................................................... 28

®..................................................................................26

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Contents HG G-98820ZA

5 Software .........................................................................29

5.1 Terminal Program ................................................................. 29

5.2 System Monitor..................................................................... 30

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

5.2.1.1 Procedure Monitor only ........................................................... 31

5.2.1.2 Procedures 3964R/transparent................................................ 31

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

5.2.2.1 Main menu.............................................................................. 33

5.2.2.2 (S)erial Output ........................................................................ 35

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

5.2.2.4 (F)requency & Antenna Tuning................................................ 39

5.2.2.5 C(A)N-Parameters .................................................................. 40

5.2.2.6 CANopen

5.2.2.7 (D)isplay Systemstatus ........................................................... 42

5.2.2.8 Cs(v) ...................................................................................... 42

5.2.2.9 Display (Y)Histogram .............................................................. 43

5.2.2.10 (W)rite Transponder................................................................ 44

5.2.2.11 (L)oad User parameters to EEProm......................................... 44

5.2.2.12 (U)pdate Firmware .................................................................. 44

5.2.2.13 Import (1) / export (2) User Parameter..................................... 44

5.2.2.14 P(r)int Parameters .................................................................. 45

5.3 Software Update (Antenna Software) .................................... 45

5.3.1 Installation of the Program for Software Update ........................... 45

5.3.2 Software Update.......................................................................... 46

® .................................................................................................................41

6 Maintenance ...................................................................47

7 Trouble Shooting.............................................................48

8 Technical Data ................................................................49

9 Annex .............................................................................51

A Procedure 3964R ............................................................................. 51

A.1 Data direction Antenna -> PLC ................................................................51

A.2 Data direction PLC -> Antenna ................................................................52

B Procedure „transparent“ ................................................................... 52

B.1 Data direction antenna -> PLC .................................................................52

B.2 Data direction PLC -> antenna .................................................................53

C Overview of the CANopen® directory............................................... 53

C.1 Communication specific Entries within the Range of 0x1000 to 0x1FFF .53

C.2 Manufacturer specific Entries starting at 0x2000 .....................................55

C.3 Standardized Device Profile higher than 0x6000 .....................................55

D Details of the CANopen® directory................................................... 56

D.1 Device Type .............................................................................................56

D.2 Error Register...........................................................................................56

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Contents HG G-98820ZA

D.3 COB-ID SYNC message ..........................................................................56

D.4 Device Name............................................................................................57

D.5 Hardware Version ....................................................................................57

D.6 Software Version......................................................................................57

D.7 Save Parameters .....................................................................................57

D.8 Restore Default Parameter ......................................................................58

D.9 Producer Heartbeat Time.........................................................................58

D.10 Identity Object ..........................................................................................59

D.11 Transmit PDO_1 Parameter.....................................................................59

D.12 Transmit PDO_2 Parameter.....................................................................60

D.13 Mapping TPDO_1 ....................................................................................60

D.14 Mapping TPDO_2 ....................................................................................61

D.15 Device Parameter ....................................................................................62

D.16 Codes for System Configuration ..............................................................63

D.17 Manufacture Parameter - Node Parameter..............................................64

D.18 8 Bit Digital Input (transmission in TPDO_2)............................................64

D.19 16 Bit Status (transmission in TPDO_1)...................................................65

D.20 32 Bit Transponder Code .........................................................................65

D.21 8 Bit Analog Inputs ...................................................................................65

D.22 16 Bit Analog Inputs .................................................................................66

E EDS Configuration File..................................................................... 66

F Accuracy of the deviation calculation ............................................... 66

G Mechanical Drawing with Antenna Dimensions ............................... 68

10 List of Figures .................................................................69

11 List of Tables .................................................................. 70

12 Index ..............................................................................72

13 Handbook Conventions....................................................73

14 Copyright and Terms of Liability ......................................74

14.1 Copyright.............................................................................. 74

14.2 Exclusion of Liability ............................................................. 74

14.3 Trade Marks and Company Names........................................ 74

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Introduction HG G-98820ZA

1 Introduction

The described antenna is designed to be used for positioning and/or trackguiding vehicles. All important parameter settings, calibration and updates are carried out via an integrated serial interface or CANopen

Figure 1 Examples of automated vehicles using transponder systems

Antenna HG G-98820ZA utilizes a completely new antenna concept, which has a larger reading area with a linear transponder positioning function. The antenna is so-called

1.5 dimensional, meaning that it outputs the Transponder code as well as the linear deviation rectangular to the direction of travel as well as the information „Before tran sponder“, „Crossing of the transponder“ and „Behind transponder“.

Götting transponder antennas have a consistent output format, that also enables the user to configure additional system information. This additional information, for exam ple, 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 G-98820ZA with the firmware 98820A41.07 or higher (also refer to Figure 12 on page 33).

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Introduction HG G-98820ZA





1.1 System Components

The 1.5-dimensional Positioning and Identification System using the antenna HG G98820ZA consists of up to four different components:

Figure 2 System components (optional extras in brackets)

1. Transmitter-receiver antenna HG G-98820ZA incl. interpreter

(also refer to section 4.2 on page 15)

2. Transponder HG 71325XA/HW DEV00095/HW DEV00098 or others

(within the track; refer to section 4.1.1 on page 14)

3. Connection cables

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

4. Optional Read / Write Unit HG G-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 of 128

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

The relative Transponder position is measured via coils (this relative position does not provide the knowledge of the heading of the vehicle, as the field of the Transponder is rotation-symmetric to the longitudinal axis of the Transponder).

The internal interpreter unit decodes the Transponder code and interpolates the Transponder position rectangular to the direction of travel from the measured values. Each coordinate axis crossing in direction of travel generates a positioning pulse of adjust able 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 or sent via CAN bus.

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Introduction HG G-98820ZA

-Y <— Deviation —> +Y

<— Direction of Travel —>

Active area for positioning

Bottom

View

+X -X

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 (5 mm). With this information, an external computer is able to determine the new direction required to return to the predetermined track as soon as possible (the external computer is not part of the system, we recommend the Götting Navigation Controller HG G-73650). Rotary encoders enable changing the direction of travel whenever necessary. Thus it is possible to switch tracks at predeter mined points (T107). 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

For definition of bit Segment see Table 5 on page 19. This bit is set in the half plane -X.

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Mounting HG G-98820ZA

2Mounting

2.1 Transponder

Observe 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 possible. Please observe the data sheets and mounting instructions for the suitable transponders HG

71325XA and HW DEV000950/HW DEV0098.

2.2 Antenna HG 98820ZA

Figure 5 Antenna Mounting Holes

To prevent any adverse effects on the system:

- The Antenna itself may be mounted directly onto metal with its underside.

- No closed loop within 300 mm around the antenna, especially around the cover.

No metal surfaces nearer than 50 mm (essential antenna connection cabling and special mounting struts excluded).

- For perfect operation of the transponder system, it is essential that there are no interfering signals in the frequency range of 64 ±4 etc.)!

- Current-carrying wires have to be far enough away from the antenna (minimum 150 mm) so that their power and frequencies does not influence the antenna too much, its sum voltage in idle mode has to be below 50 and during driving below 100 (guideline: For very high or very small reading distances those values may be higher/lower. The sum voltage without a transponder in the reading area should always be smaller than half the sum voltage that is generated by a transponder within the reading area). The only exception to this rule is the connection cable of the antenna itself.

- Transponder antennas with the same energy field frequency may not be positioned too close to each other since then beat frequencies can change the energy supply to the transponders. This can e.g. be observed when the energy con

kHz (e. g. chopped engines,

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Mounting HG G-98820ZA

sumption of the antenna is not constant or via unsteady reception voltages. Tests with the antenna lateral direction) had no effect. If the distance between two antennas shrinks to 200 mm the sum voltage decreases by up to 6 %. Placing two antennas only 100

mm apart the sum voltage sways by +5% to -15%. Decoding and distance calculation still work under those conditions but there is a risk, that set thresholds are undershot.

- 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.

- For the complete mechanical drawing please see annex G on page 68.

HG G-98820ZA showed that gaps of 300 mm (in longitudinal and

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Commissioning HG G-98820ZA

3 Commissioning

NOTE! Check the operating voltage before connecting! The cables

should not lie directly next to power supply cables.

Connect the antenna with the vehicle control unit. Connect a laptop to the antenna using the serial interfaces of both devices. Then start the monitor program as described in section

Default Values As standard setting, the system uses the Monitor only setting

1. Move a transponder into reception range.

2. Remove the transponder from the reception range.

5.2 on page 30.

at 38400 baud. However, please pay attention to the fact that these may have been altered by a different user!

The voltage S shown in the monitor program‘s status bar should increase considerably. The code must be detected immediately and the number of readings must be continuously counted up to 255.

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

kHz are being induced.

NOTE! The causes for the interferences should be eliminated as far as

possible. If this is not possible it might be possible to avoid the critical frequency area by changing the side band (see section

5.2.2.4 on page 39).

3. In order to adjust the antenna to environmental influences it must be re-cali-

brated (also refer to section 2.2 on page 8), alternatively activate the function Auto-Tune (refer to section 5.2.2.4 on page 39).

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). Where this is applicable is described in the corresponding sections of the monitor program (section into operation. For the correct adjustment of the positioning thresholds the vehicle has to be used in its final operation environment or in a test site that very closely resembles it.

4. In order to set the positioning thresholds position the vehicle over a transponder

that is mounted in the track. Initially set the positioning thresholds that a signal that is 50 % weaker than the one received from the transponder still would trig ger the generation of a positioning pulse (see section 5.2.2.3 on page 37).

5. In order to set the positioning threshold correctly (refer to section 5.2.2.3 on

page 37), it is useful to record a complete test run over the set track. The serial interface of the antenna HG G-98820ZA may be used accordingly (refer to sec-

5.2). Now the system has been correctly put

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Commissioning HG G-98820ZA

Undisturbed Transponder Decoding

Main field

Side lobes

Transponder Reading

Transponder Number

Reception voltage US/units

tion 4.2.4 on page 28). For this function Antenna HG G-98820ZA offers the use of the serial interface (refer to section 4.2.3.1 on page 16) or the CAN bus message object 3 (see section Table 9 on page 25). Afterwards adjust the positioning thresholds so that a safe positioning is possible but that is not triggered by side lobes. this a reasonable threshold for the decoding and the positioning pulse would be between 400 and 600 units.

Figure 6 shows a corresponding driving situation, for readings like

Figure 6 Side lobes during a transponder reading

NOTE! If during the first driving tests a proper track guidance is not pos-

sible try changing the positioning thresholds accordingly.

The separately adjustable thresholds are explained in chapter 5 on page 29. In order to explain those thresholds and how to find a proper set-up below the process of a transponder crossing is described.

Every 2 ms a check is performed whether the sum voltage exceeds the value „Threshold for Decoding“. If that is the case the bit TRANS_IN_FIELD is set and the NOISE counter is incremented. Every 8 ms it is attempted to read a code. If a code is read the

NOISE counter is reset and afterwards the code is re-read until the Number of equal Codes

is reached. If this is successful the bit CODE_OK is set.

As soon as the NOISE counter exceeds the threshold Level to Noise Error the bit

RX_NOISE is set.

The bit CODE_OK is held until either the sum voltage falls below the value Threshold

for Decoding

or the bit RX_NOISE is set.

A new transponder code can only be read when the bit CODE_OK is reset.

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Commissioning HG G-98820ZA

Undisturbed Transponder Decoding

100

200

300

400

500

600

700

800

900

1000

000

1632

2049

Us C_OK code_count err_count POSI

Damped Transponder Decoding

100

200

300

400

500

600

700

800

900

1000

000

1632

2049

Us C_OK code_count err_count POSI

This means that if there are high interference voltages in the 64 kHz area the antenna will not read a new transponder code after leaving the reception range of a transpon der for the period of 2 ms * Level to Noise Error. In case a new transponder enters the reception range during this period the

NOISE counter is reset but the old

code is held.

The following diagrams show examples of recorded data:

Figure 7 Undisturbed decoding across two transponders

Figure 8 The same driving situations as shown in Figure 7 only with antenna with

wrong calibration

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Commissioning HG G-98820ZA

Transponderdecodierung mit Störspannung

100

200

300

400

500

600

700

800

900

1000

000

1632

2049

Us CODE_OK code_count err_count POS I

Figure 9 The same driving situation as shown in Figure 7, this time with high noise lev-

When comparing the diagrams one can see that the wrong calibration shown in Figure 8 on page 12 makes the sum voltage drop and thus the reception periods for Code_OK and POSI decrease. This can lead to decoding problems for higher crossing speeds.

In Figure 9 on page 13 the code of the weaker transponder is read correctly however the position measuring can no longer be performed correctly.

NOTE! Although sum and difference are called voltages those two val-

ues are in fact no voltages but logarithmic derivations of the actual voltages.

For the test runs two transponders with different signal strengths have been crossed shortly one after the other. The settings were:

Variable Set value

Level to Noise Error 250

Number of equal Codes 2

Threshold for Decoding 256

Level for Positioning/Calculation 256

Table 1 Reference values for the commissioning runs

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Components and Operation HG G-98820ZA

4 Components and Operation

4.1 Components in the Ground

4.1.1 Transponders

As reference markers, transponders with the trovan® coding are used; e. g. the HG

71325XA transponder or the types HW DEV00095/HW DEV00098 (read write/RW).

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.

4.1.2 Code structure

The antenna HG G-98820ZA is set up to receive only block number two with its 20 bits of user data.

Line (for 3 bits each) and column parities are used for data protection. The transmission time for a complete code telegram is 8 ms.

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Components and Operation HG G-98820ZA

M12 5-pin male

4.2 Transmission-Reception Antenna HG G-98820ZA

Figure 10 Photo Transmission-Reception Antenna HG G-98820ZA

The antenna systems and the pre-amplifiers are housed in a casing with the dimensions shown in annex G on page 68. The cables (the connectors) exit at one side of the antenna. The interpreter is integrated in the antenna casing. The electronics are varnished. For a mechanical drawing please see annex

G on page 68.

4.2.1 Connection

The antenna is equipped with three 5-pin M12 connection sockets. The pin allocations are as follows:

4.2.1.1 Power

Voltage Supply, Serial Interface and Positioning Pulse. 5-pin M12 connector male. The positioning pulse output is fed from +Ub (24

Power Pin Signal Annotation

1 +Ub (24 V) Power supply

2 Posi Positioning pulse output

3 TxD RS232 data output

4 RxD RS232 data input

5 GND Ground (supply)

Table 2 Power Interface

V) and limited to 20 mA.

20 mA current limited

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Components and Operation HG G-98820ZA

M12 5-pin female

M12 5-pin male

4.2.1.2 CAN Bus

The CAN bus is connected to the device with two 5-pin M12 connectors male/female. They are named CAN1 and CAN2 and are allocated as follows:

ATTENTION! Under no circumstance connect +24V with pin 4 or 5!

CAN1 CAN2 Pin Signal

1 not used

2 +Ub (24 V)

3 Ground supply

4 CAN_H

5 CAN_L

Table 3 Pin allocations CAN1 and CAN2

NOTE! The connectors of the inputs CAN1/CAN2 are connected in par-

allel, i.e. there is no input or output. If the interpreter is installed at the end of the bus line, a CAN terminator has to be installed.

Those terminators can be ordered from different manufacturers and are available for most plugs and jacks. The CAN connectors can also be used as power supply.

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 on page 28).

Following this period, the actual program starts. If configured accordingly (also refer to

Figure 16 on page 39), the transmission coils will be automatically tuned. This pro-

cedure takes another 16 seconds.

4.2.4

4.2.3 Interfaces

4.2.3.1 Serial (RS 232)

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 „Montir only“, „transparent“ or „3964R“, the content of the output telegrams is configurable for the last two. From a parameter list the required parameters may be selected.

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Components and Operation HG G-98820ZA

Byte

-------------------------

Bit

Byte

----------- -

19200

Bit

------ -

 12

-------------------------

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 19200 Bd is then calculated as follows:

Figure 11 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.

All multiple-byte variables are output either with HighByte first or LowByte 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 G-98820ZA

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

Byte # Length Value Type Description

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

2,3 2 Byte 0x.0002 signed int Y-Position: Y [mm]

within the range of -125 .. 0 .. +125 In case of an invalid value (no Transponder detected) = 32767

4,5 2 Byte 0x.0004 signed int Voltage generated by the transponder in the

positioning coil in [units] (Udif)

6,7,8,9 4 Byte 0x.0008 unsigned long 20 bit of the Transponder code (R/W Trans-

ponder)

10,11 2 Byte 0x.0010 unsigned int voltage generated by the Transponder in the

reference coil in [units] (Usum)

12 1 Byte 0x.0020 unsigned char operational voltage of the Antenna [100 mV]

13 1 Byte 0x.0040 unsigned char power consumption [10 mA]

14 1 Byte 0x.0080 signed char temperature within the antenna [oC]

15 1 Byte 0x.0100 unsigned char number of code readings during the latest

Transponder crossing

16,17 2 Byte 0x.0200 unsigned int receiver frequency [10 Hz]

18,19 2 Byte 0x.0400 unsigned int transmitter frequency [10 Hz]

20,21 2 Byte 0x.0800 unsigned int system status in binary encoding, see Table 6

on page 20

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

Table 4 Data words in a telegram with 21 byte length

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Components and Operation HG G-98820ZA

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

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 4):

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 ±10

mm is determined and this bit is set

0x0200 TRANS_IN_FIELD transponder is being detected *)

0x0400 CODE_OK Code decoded without errors *)

0x0800 SEGMENT The transponder is located within the area marked -X in

Figure 4 on page 7 *)

0x1000 POSIPULS Transponder has crossed the Antenna center

0x2000

0x4000

0x8000

Table 5 Possible system status messages

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

Antenna reception range.

Example:

System status 0x0014 means EEPROM_ERROR and RX_NOISE.

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

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Components and Operation HG G-98820ZA

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 21 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 manual alteration of parame ters.

No. Procedure Start

HEX 4D164F

3964R

ASCII MO NI

transparent

HEX 3D

ASCII = MO NI 8

HEX 541655

3964R

ASCII TU NE

transparent

HEX 3D

ASCII = TU NE 7

HEX 531654

3964R

ASCII ST 01

transparent

HEX 3D

ASCII = ST 01 8

HEX 531654

3964R

ASCII ST 02

Command Bytes

4D164F

541655

531654

Parameter Bytes

4E1649

4E1645

301631

301632

Check Sum *)

Description

Switch to monitor mode (description in section 5.2 „System Monitor“ on page

30)

Tune antenna once

Set tuning value to 1

Set tuning value to 2

transparent

Table 6 List of the system commands (part 1 of 4)

HEX 3D

ASCII = ST 02 ;

531654

301632

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Components and Operation HG G-98820ZA

No. Procedure Start

HEX 531654

3964R

ASCII ST 03

transparent

HEX 3D

ASCII = ST 03 9

HEX 531654

3964R

ASCII ST 04

transparent

HEX 3D

ASCII = ST 04 >

HEX 531654

3964R

ASCII ST 05

transparent

HEX 3D

ASCII = ST 05 ?

HEX 531654

3964R

ASCII ST 06

Command Bytes

531654

Parameter Bytes

301633

301634

301635

301636

Check Sum *)

Description

Set tuning value to 3

Set tuning value to 4

Set tuning value to 5

Set tuning value to 6

transparent

HEX 3D

ASCII = ST 06 <

HEX 531654

3964R

531654

ASCII ST 07

transparent

3964R

HEX 3D

ASCII = ST 07 =

HEX 531654

531654

ASCII ST 08

transparent

3964R

HEX 3D

ASCII = ST 08 2

HEX 531654

531654

ASCII ST 09

transparent

Table 6 List of the system commands (part 2 of 4)

HEX 3D

ASCII = ST 09 3

531654

301636

301637

301638

301639

Set tuning value to 7

Set tuning value to 8

Set tuning value to 9

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Components and Operation HG G-98820ZA

No. Procedure Start

HEX 531654

3964R

ASCII ST 10

transparent

HEX 3D

ASCII = ST 10 ;

HEX 531654

3964R

ASCII ST 11

transparent

HEX 3D

ASCII = ST 11 :

HEX 531654

3964R

ASCII ST 12

transparent

HEX 3D

ASCII = ST 12 9

HEX 531654

3964R

ASCII ST 13

Command Bytes

531654

Parameter Bytes

311630

311631

311632

311633

Check Sum *)

Description

Set tuning value to 10

Set tuning value to 11

Set tuning value to 12

Set tuning value to 13

transparent

3964R

HEX 3D

ASCII = ST 13 8

HEX 531654

531654

ASCII ST 14

transparent

3964R

HEX 3D

ASCII = ST 14 ?

HEX 531654

531654

ASCII ST 15

transparent

3964R

HEX 3D

ASCII = ST 15 >

HEX 531654

531654

ASCII ST 16

transparent

Table 6 List of the system commands (part 3 of 4)

HEX 3D

ASCII = ST 16 =

531654

311633

311634

311635

311636

Set tuning value to 14

Set tuning value to 15

Set tuning value to 16

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Components and Operation HG G-98820ZA

No. Procedure Start

HEX 531650

3964R

Command Bytes

Parameter Bytes

0 ... 3E8

ASCII SP **)

transparent

HEX 3D

ASCII = SP **) **)

531650

0 ... 3E8

**) No ASCII-coded values ***) Check sum 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

3964R

transparent

3964R

transparent

HEX 50164C

ASCII PL

HEX 3D

50164C

ASCII = PL

HEX 501648

ASCII PH

HEX 3D

501648

ASCII = PH

Code in the format tt

16tt16

For code „1234“ e.g. 12

163416

Code in the format tt

16tt16

For code „1234“ e.g. 12

163416

Check Sum *)

***)

Description

Set postioning level (0 <= level < 1024)

Supply of the 16 programmable lower bits of the transponder code

Supply of the programmable higher bits of the transponder code and start of the programming proce

dure

Table 6 List of the system commands (part 4 of 4)

*) XOR operation of all bytes including the start character. Depend-

ing on the parameters used.

**) No ASCII-coded values

4.2.3.2 System Monitor

The system may be configured via menus in monitor mode. Refer to section 5.2 „System Monitor“ on page 30.

4.2.3.3 CAN

4.2.3.3.1 Description

The internal CAN module is based on the CAN specifications V2.0 part B. Standard or Extended frames are transmitted (configurable). It is also possible to configure the bit timing as well as the identifier within the system monitor (refer to section

30).

5.2 on page

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Components and Operation HG G-98820ZA

Different CAN message objects can be output. In addition it is configurable whether telegrams are to be output permanently at the set update rate or only as long as a Tran sponder is within range. Remote operation is also possible. Objects are activated within the CAN menu, through the input of an address unequal 0 (refer to section 5.2.2.5 on page 40).

Message Object 3 is used for the analysis of the system behavior.

4.2.3.3.2 CAN Message Object 1 (Transmission Object)

Byte # Length Type Description

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

Table 5 on page 19

3,4,5,6 4 Byte unsigned long 20 Bit Transponder code (R/W Trans-

ponder)

7,8 2 Byte signed int Deviation Y [mm]

Table 7 Structure of the CAN Message Object 1

4.2.3.3.3 CAN Message Object 2 (Transmission Object)

Byte # Length Type Description

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

ated by the Transponder

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

generated by the Transponder

5 1 Byte unsigned char Number of code readings during the

last valid Transponder crossing

6 1 Byte unsigned char Operating voltage (refer to Telegram

description in

Table 4 on page 18)

7 1 Byte unsigned char Operating current (refer to Telegram

description in

Table 4 on page 18)

8 1 Byte signed char Operating temperature (refer to Tele-

gram description in Table 4 on page

18)

Table 8 Structure of the CAN Message Object 2

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Components and Operation HG G-98820ZA

4.2.3.3.4 CAN Message Object 3 (Transmission Object)

Byte # Length Type Description

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

Table 5 on page 19

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

code

5,6 2 Byte unsigned int Voltage in the sum coil generated 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

Table 9 Structure of the CAN Message Object 3

4.2.3.3.5 CAN Message Object 4 (Reception Object)

It is possible to send commands to the antenna via Message Object 4. It has the same ID as Message Object 1 and a length of 6 bytes.

Byte # Length Type Description

1,2 2 Byte Unsigned int Command (see Table 11 below)

3,4,5,6 4 Byte Unsigned long Parameter (see Table 11 below)

Table 10 Structure of the CAN Message Object 4

Command Meaning Parameter

0000

0001

0002

No command —

Tune antenna once —

Set tuning value Tuning value

0000.000116 to

0004

0000.0010

Set positioning level Positioning level

0000.000016 to

0008

0000.03E8

Program transponder Transponder code in the

range 0x0000.000016 to 0x000F.FFFF

Table 11 Coding of the commands of CAN Message Object 4

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Components and Operation HG G-98820ZA

The programming is started by sending 000816 in the command bytes of CAN Message Object 4. The code to be programmed has to be sent in the 4 parameter bytes. All those bytes should be reset after 8 to 100 ms.

The one-time programming process takes 100 to max. 200 ms. Afterwards the new code can be read immediately via the corresponding Message Object.

If the programming process fails it is to be repeated. A new programming is only triggered whenever the command byte is switched from 000016 to 000816.

4.2.3.4 Data Interface CANopen

The node ID and the transmission rate have to be selected either according to the above described serial monitor or the corresponding SDOs. The measured values of the system are transmitted via so-called TxPDOs. SDOs are used for parameter set ting. The CAN identifiers are derived from the node address (1..127).

4.2.3.4.1 Description of the Process Data Objects (PDO)

Fixed places are allocated within the PDO for the measured values. Dynamical mapping is not possible. It is possible to operate the PDO mode either cyclic, synchronous or asynchronous. In order to avoid excessive bus usage due to frequent changes during asynchronous non-cyclic transmission (Event-Time = 0), it is possible to set the so-called possible to transmit a PDO cyclically. In this case, it is necessary to select the Event Time accordingly and also set the Inhibit Time = 0.

It is possible to permanently deactivate a TxPDO by selecting the asynchronous mode (255) with Inhibt Time = 0, Event time = 0 and storing the parameters. In addition, it is possible to temporarily deactivate/activate the TxPDO by setting/deleting the highest ranking bit within the corresponding PDO COB Identifier.

PDO_1 is transmitted with identifier 0x180 + node address. It contains 8 bytes, which include, amongst others, the status indicated in serial monitor. The transmission se quence is status, transponder code and deviation of the transponder position.

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

Value Variable Value range Comment

Status unsigned 16 0..0xffff Status bits according to Table 5 on page 19

Code unsigned 32 0...ffff.ffff 20 bit transponder code (R/W Transponder)

Deviation signed 16 0xff83...0x007d Y-deviation, ±125 mm

In case of an invalid value (e.g. no transponder detected) = 32767

Table 12 Variables of PDO_1

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Components and Operation HG G-98820ZA

PDO_2 is transmitted with identifier 0x280 + node address. It contains 8 bytes according to the following table.

Value Variable Value range Comment

Sum Voltage unsigned 16 0...1023 Voltage of the reference antenna coil

Dif Voltage signed 16 0...±1023 Voltage of the positioning coil

Codes read unsigned 8 0...255 Number of code readings

Voltage unsigned 8 0...255 Operating voltage of the antenna [100 mV]

Power unsigned 8 0...255 Power consumption of the antenna [10 mA]

Temperature signed 8 -23...61 Board temperature [o C]

Table 13 Variables of PDO_2

The synchronous identifier is 0x80. It is possible to read out this parameter under index [1005,00], but it is not possible to change it.

4.2.3.4.2 Heartbeat

The heartbeat mode is supported. Whenever a heartbeat time > 0 is set in the CAN menu, the device status is transmitted under identifier (0x700 + node address) each time the heartbeat timer has expired. The guard time is set to 0 afterwards.

Node status Code

stopped 0x04

preoperational 0x7f

operational 0x05

Table 14 Coding of the Node status

4.2.3.4.3 Node Guarding

Whenever the Heartbeat time is set to 0, the device replies to a Remote Transmission Request of the Identifier (0x700 + Node address) with the device status (refer to 14 above), while the highest bit changes. The device does not monitor the timely reception of RTR Frames.

4.2.3.4.4 Description of the Service Data Objects (SDOs)

The service data opject is used to access to the object index. An SDO is always transmitted with a confirmation, i. e. each reception of the message is acknowledged. The identifiers for read and write access are:

Table

Read access 0x600 + Node address

Write access 0x580 + Node address

Table 15 Identifiers for read and write access

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The SDO telegrams are described in the CiA standard DS-301. The error codes in case of faulty communication are listed in the following table:

Name Number Description

SDO_ABORT_UNSUPPORTED 0x06010000 non-supported access to an object

SDO_ABORT_READONLY 0x06010001 write access to a read-only object

SDO_ABORT_NOT_EXISTS 0x06020000 object not implemented

SDO_ABORT_PARA_VALUE 0x06090030 Parameter value range exceeded

SDO_ABORT_PARA_TO_HIGH 0x06090031 Parameter value too high

SDO_ABORT_SIGNATURE 0x08000020 The signature ’load’ or ’save’ was not used for load-

ing or saving parameters.

Table 16 Error codes

4.2.3.4.5 Object Directory

All objects relevant for the device are included in the CANopen Object Directory. Each entry is indicated by a 16 bit index. Sub-components are indicated by a 8 bits subin dex. RO indicates only readable entries. The complete object directory is listed in appendix C on page 53.

4.2.3.5 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 value of „deviation“ in the serial telegrams at the time of the positioning pulse for an adjustable number of telegrams (refer to section „(S)erial Output“ on page 35 and 5.2.2.5 „C(A)N-Parameters“ on page 40).

5.2.2.2

4.2.4 Software Download

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

4.2.5 Connection Cables

Connection cables are not part of the scope of supply. The needed kind of cables are commercially obtainable at many manufacturers (e. 2 m PUR 5 x 025), the standard length is 2 m..

NOTE! If a high interference level is expected shielded cables ought to

be used.

g. Binder 79-3444-32-05 M12 line

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Software HG G-98820ZA

M12 5-pin male

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. Once all the connections have been set up, start a terminal program on the PC.

For the connection to be established the serial interface of the PC has to be connected to the serial interface of the antenna. The serial interface of the antenna is integrated into its power interface. The user needs to tailor cables for connecting the antenna pins listed below to the PC and a power supply.

Antenna

Power Pin Signal

9-pol. Sub D Interface PC, pins not listed are not to be connected

1 +Ub (24 V) 24V, 2A

2 Posi

3 TxD Pin 2

4 RxD Pin 3

5 GND Pin 5 Ground

Table 17 Power Interface

5.1 Terminal Program

In the following we refer to the program HyperTerminal® (http://www.hilgraeve.com/

hyperterminal/). At http://www.goetting-agv.com/components/transponderconf you

can download matching configuration files for HyperTerminal®.

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

The following parameter settings are necessary.

Table 18 below.

Power supply

Terminal settings monitor program (refer to section 5.2)

baud rate 19200 or 38400 Bd

depending on the system configuration, default 38400 Bd

terminal emulation VT52

parity even

data bits 8

stop bits 1

Table 18 Terminal settings for the monitor program

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Software HG G-98820ZA

Terminal settings monitor program (refer to section 5.2)

character delay 1 ms

line delay 0 ms

PC interface (port) COM1

can vary depending on the PC (see below)

Table 18 Terminal settings for the monitor program

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.

. Save the altered values if you are asked for it

5.2 System Monitor

In monitor mode the system can be configured using the corresponding menu. To use the monitor mode you need to know which protocol is set in your antenna.

The possible communication procedures are:

Modus Description

Monitor only Default mode, see section 5.2.2 on page 32

3964R For direct PLC communication, see annex A on

page 51

Transparent For direct PLC communication, see annex B on

page 52

Table 19 Monitor modes

For changes to the modes and data rates see section 5.2.2.2 on page 35.

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Software HG G-98820ZA

5.2.1 How to start the monitor program

Depending on the currently active procedure, the monitor program is started differently.

5.2.1.1 Procedure Monitor only

If the antenna is set to the procedure „Monitor only“, the monitor mode is started 10 s after switch on. In this case no files have to be transmitted and section ignored.

5.2.1.2 Procedures 3964R/transparent

The command to switch to monitor mode should be entered directly via a PC. To do so, start your terminal program. For the startup, as set of configuration files is neces sary (small text files and HyperTerminal configuration files). These files are accessible always in the latest version from our internet server at

components/transponderconf for download.

Start your terminal program. If you are using HyperTerminal (see section 5.1 on page

29) it can now be started directly by double clicking the respective *.ht file (Moni-

tor19200.ht at 19200 Bd and Monitor38400.ht at 38400 Bd). If necessary, adapt the COM-port.

Following the switching on and a minimum period of 10 (respectively 26 when autotune is activated) seconds, you may transfer the required *.txt file using the terminal program. The following four files are available:

http://www.goetting-agv.com/

5.2.1.2 may be

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

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

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

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Software HG G-98820ZA

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 (if the correct file has been selected) the monitor program will be started. The menus will then appear directly within the HyperTerminal Window. First, the main menu from on page 33 will appear.

5.2.2 How to work with the monitor program

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

Figure 12

After the transfer of the *.txt file (refer to section 5.2.1) 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 the Antenna.

s (resp. 26 s) after activating

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Software HG G-98820ZA

S:0007 D:-007 D_Y:+32767 Code: 00000000 Read: 0: N: 0 Frx[/Hz]:66800 Ftx[/Hz]:127990 U[/mV]:24200 I[/mA]: 300 T[Grd.C]:+24 E: 0800 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,Y,Tr,Co,S-,Pos,N,E,Cnt<crlf>] (abort with <a>) display (Y)Histogram (W)rite Transponder

(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

Software Version 98820A41.07 / Oct 31 2016 Serial Number: 110191

5.2.2.1 Main menu

Figure 12 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 20), as they also appear in the output telegram (described in section 4.2.3.1.1 on page 17). The bottom line of 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 millimeters (max. ±125,

32767 when position invalid)

Code The data bits of the Transponder in hexa decimal coding. The code is recorded as soon

as voltage S exceeds the Threshold for Decoding (refer to

Read The number of code readings per Transponder crossing (max. 255). This value is being

N Number of reading errors per Transponder crossing. This value is stored until a new Tran-

stored until a new Transponder code has been detected. May be deleted by noise

sponder has been detected

Frx [Hz] and Ftx

[Hz]

Table 20 Description of system variables (monitor program) (part 1 of 2)

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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)

Figure 15 on page 37)

Software HG G-98820ZA

Description of the system variables

U [mV] Supply voltage of the processor board measured with an accuracy of 100 mV. This volt-

age is, due to various safety measures, always a little 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

E Hexa decimal system status. The description of the individual bits is included in Table 5

on page 19

Noise Output of a counter:

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

increase every 8

- Whenever S falls under this threshold, the counter counts backwards towards 0. 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 exceeds an adjustable value (refer to section page 37), the system status bit RX_NOISE is set.

Table 20 Description of system variables (monitor program) (part 2 of 2)

ms until it reaches the value of Level to Noise Error.

5.2.2.3 „(T)ime & Code“ on

Further menus are activated via input of the (characters in brackets). Before altered values are transferred into the permanent memory, they have to saved as described in section the values are saved after alteration and input of the password.

Input of  will exit each menu.

The following sections describe the submenus

- ()erial Output (section 5.2.2.2 on page 35)

- ()ime & code (section 5.2.2.3 on page 37)

- ()requency & Antenna tuning (section 5.2.2.4 on page 39)

- C()N Parameters (section 5.2.2.5 on page 40)

- CA()open Parameters (section 5.2.2.6 on page 41)

- isplay Systemstatus (5.2.2.7 on page 42)

- Cs() (section 5.2.2.8 on page 42)

- display ()Histogram (section 5.2.2.9 on page 43)

- ()rite transponder (section 5.2.2.10 on page 44)

- ()oad values to EEProm (section 5.2.2.11 on page 44)

5.2.2.11 on page 44. This prevents unwanted alterations of values. With 

- ()pdate Firmware (section 5.2.2.12 on page 44)

- () Import / () Export User Parameter (section 5.2.2.13 on page 44) and

- P()int Parameters (section 5.2.2.14 on page 45).

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Software HG G-98820ZA

S:0007 D:+007 D_Y:+32767 Code: 00000000 Read: 0: N: 0 Frx[/Hz]:66800 Ftx[/Hz]:127990 U[/mV]:24200 I[/mA]:2550 T[Grd.C]:+28 E: 0002 Noise 0

(B)audrate: 38400 (P)rocedure 3964R (O)rder of Data Transfer (0= HiByte first): 0 (T)elegram Content Mask [0..FFF]: 00000fff (D)isplay Telegram Content (C)har-Delaytime [1..220ms]: 220

(A)ck-Delaytime (3964R) [1.1680ms]: 1680 Co(n)tinous Telegrams 0 (S)erial Data Period [4.500mS]: 8 (F)reeze Values for n Telegrams:[0..10]: 0

(Q)uit Menue

5.2.2.2 (S)erial Output

Any changes within 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

5.2.1 on page 31).

Figure 13 Menu: (S)erial Output

Pressing  switches between 19200 and 38400 Bd.

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

.

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

changed automatically.

According to the values given in Table 4 „Data words in a telegram with 21 byte length“ on page 18, it is possible to set the customized contents of the telegram  using hexadecimal addition. The parameter sequence cannot be influenced. It is always the same sequence as shown in the table!

Example Only the Lateral Displacement Y, the Code and the System

Status are to be output.



Add, according to the table the values 0x0000.0001, 0x0000.0002, 0x0000.0008 and 0x0000.0800. The result is 0x080b. Therefore the input for the “(

)elegram Content Mask“

is 0x080b.

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S:0007 D:-007 D_Y:+32767 Code: 00000000 Read: 0: N: 0 Frx[/Hz]:66800 Ftx[/Hz]:127990 U[/mV]:24200 I[/mA]:2550 T[Grd.C]:+28 E: 0002 Noise 0

STX 1 Bytes from Position: 1 Delta_Y 2 Bytes from Position: 2 Udif 2 Bytes from Position: 4 CODE 4 Bytes from Position: 6 Usum 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

(Q)uit Menue

Using “()isplay Telegram Content“ it is possible to review the generated telegram (see

Figure 14 below). The shown case has a mask value of 0x0000.0fff and the tele-

gram length is 21. Pressing any key generates the return to menu Serial Output.

Figure 14 Menu: „(D)isplay Telegram Content“

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

A „Procedure 3964R“ on page 51) and the timeout time for incoming characters transparent mode (refer to appendix, section B „Procedure „transparent““ on page 52).

 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 value at the time

of the positioning pulse output is preserved.

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Software HG G-98820ZA

S:0006 D:-006 D_Y:+32767 Code: 00000001 Read: 123: N: 0 Frx[/Hz]:66800 Ftx[/Hz]:127990 U[/mV]:23800 I[/mA]: 600 T[Grd.C]:+28 E: 0800 Noise 0

(B)Level to Noise Error [0..1000]: 1000 (S)elect Code Channel S (H)igh-Nibble of RW-Code [0..F,>F]: 10 (N)umber of equal Codes [0..15]: 1 (T)hreshold for Decoding [20.1023]: 256

PosiPulse (a)fter Decoding 1 (L)evel for Positioning/Calculation [20.1023]: 256 (P)osi-Pulse Time [n*1ms]: 100 (O)ne Positioning Pulse per Crossing 0 (X) Timed Positioning Pulse 1 (C)CODE_OK -> POSI_OUT 1

Th(r)eshold MAX-Detection [10.1023]: 400

(Q)uit Menue

5.2.2.3 (T)ime & Code

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

Figure 15 Menu: (T)ime & Code

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

word as described in With  it is possible to select which of the two existing receiver channels is used for

the code transfer. Usually this will be the S-channel (sum channel). It is, however, pos sible to select the difference channel for reasons of interference minimization.

NOTE! If you are using the difference channel, the code will fall away in

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

1. When using RW transponders it is possible to verify the four highest bits via a

preset value (0-F). grammed 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

. With 0 the received code is immediately output, with 1 the code is com-

with pared with the very last code received just before this one, etc. Note, that this procedure reduces the maximum crossing speed, because the necessary trans mission time increases accordingly with (n+1) x 8 ms.

Table 20 on page 33 under ’Noise’.

the middle (at the zero point) within a very limited area.

 enables setting this value, which then has to be pro-

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Software HG G-98820ZA

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

ing pulse output in order to eliminate false calculations due to antenna side lobes (see Figure 6 on page 11).

 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. This filter function reduces the maximum crossing speed, since the preset number of codes has to be read in time before the antenna center is reached.

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

The duration of the positioning pulse is adjustable by pressing  within a 1 ms pattern. 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. In order to release this again the voltage S would then have to fall under the Threshold for Calculation-Positioning (refer to section

35).

With  it can be chosen whether the Posipulse and the corresponding bit in the system status are turned off after the preset time  or after the sinking of voltage S below the threshold determined with

.

g. during a back-and-forth move-

5.2.2.2 on page

 is used to define the behavior of the Posipulse output. With  the positioning pulse

is switched to the output, with

 the bit CODE_OK is switched to the output.

 enables setting a threshold for the scan coils which has to be reached in order to

activate the calculation of the lateral deviation in Y direction.

NOTE! For the determination of he thresholds see chapter 3 on page 10.

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Software HG G-98820ZA

S:0008 D:-006 D_Y:+32767 Code: 00000000 Read: 0: N: 1 Frx[/Hz]:66800 Ftx[/Hz]:128000 Csel:1 U[/mV]:23100 I[/mA]: 530 T[Grd.C]:+24 E: 0002 Noise 0

(R)x_Frequency [/Hz]: 1553000 ( 66750 Hz)

A(u)to-Tune 0 (A)ntenna-Tuning [0..15,+,-]: 4 switch (T)ransmitter: 1

(Q)uit Menue

4FZF64 kHz– +-

--- -





=

5.2.2.4 (F)requency & Antenna Tuning

Figure 16 Menu: (F)requency & Antenna Tuning

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

kHz according to the following formula:

Figure 17 Formula: Calculation of the receiver frequency

As this is a SSB-reception, according to the above mentioned formula the lower sideband should be set to 1553000 Hz and the higher sideband to 1575000 Hz (see chapter 3 on page 10).

NOTE! It is possible to enter values between 0 and 1600000. This is nec-

essary for testing purposes. In practice 1553000 Hz resp. 1575000 Hz have proven to be optimal.

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. 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 checked (as long as there is no transponder within the field) and re-tuned if necessary. For correct operation the antenna has to be re-started after activating this function.

 enables

 is automatically set to

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Software HG G-98820ZA

S:0007 D:-007 D_Y:+32767 Code: 0000affe Read: 7: N: 0 Frx[/Hz]:66760 Ftx[/Hz]:127980 U[/mV]:24000 I[/mA]: 270 T[Grd.C]:+33 E: 0802 Noise 0

SR = 08: NO ERROR / TXOK / / /

(!)Antenna-ID: front (01) (C)AN active YES E(X)tended CAN STANDARD (I)dentifier: TX [0..2047]: 0 (A)-Identifier: TX [0..2047]: 0 (D)-Identifier: TX [0..2047]: 0 (S)-Identifier: TX [0..2047]: 10 CAN-(B)aud [20,50,125,250,500,1000 kB]: 500.0 B(R)P Baudrate Prescaler [0..63]: 0 S(J)W Sync Jump Width [0..3]: 0 Tseg(1) [2..15]: 15 Tseg(2) [1..7]: 2 sp: 80 % (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 (O)rder of Data Transfer (0= HiByte first): 1 (Q)uit Menue

5.2.2.5 C(A)N-Parameters

This menu enables setting the various CAN Bus parameters. In order to be able to use the CAN bus interface it is necessary to activate it by pressing

.

Figure 18 Menu: C(A)N-Parameters

NOTE! The functions  and  refer to a special function that is not part

of the scope of the current documentation.

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 (Table 7 on page 24). The identifier selectable under  refers to the Message Object 2 (Table 8 on page 24),  refers to the Message Object 3 (Table 9 on page 25). Input of 0 deactivates the corresponding Message Object.

CAN audrate: You can either select a predefined data rate or configure the bit timing with

///. The resulting baudrate and sample point are displayed immediately.

NOTE! Usually the predefined baud rates should work for most applica-

tions. Only change the bit timings if you really know what you do!

 switches between a permanent output according to the Clock for Sampling  with (1) and only generating the output whenever a Transponder is decoded within

the field (0).

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Software HG G-98820ZA

S:0007 D:-007 D_Y:+32767 Code: 00000000 Read: 0: N: 0 Frx[/Hz]:66760 Ftx[/Hz]:127990 U[/mV]:24200 I[/mA]:2550 T[Grd.C]:+28 E: 0000 Noise 0

CAN offline : / int.Status: ffff

(C)ANopen active 0 (N)ode ID: [1..127]: 1 CAN-(B)aud [20,50,125,250,500,1000 kB]: 125.0

(1) TPDO 1 mode [1..240,255]: 255 (2) TPDO 1 Event time [0,8..32000 ms]: 8 (3) TPDO 1 Inhibit time [0,8..32000 ms]: 0 (4) TPDO 2 mode [1..240,255]: 255 (5) TPDO 2 Event time [0,8..32000 ms]: 8 (6) TPDO 2 Inhibit time [0,8..32000 ms]: 0

(H)eartbeat time [0,10..32000 ms]: 1000 (A)utostart 1 (F)reeze Values for n Telegrams [0..20]: 0 (O)rder of Data Transfer (0= HiByte first): 0 (Q)uit Menue

 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.

 allows to ’freeze’ the output for 0 to 20 telegrams, i. e. the values at the time of the

positioning pulse output are preserved.

 allows to switch the byte order of multibyte values.

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

5.2.2.6 CANopen

Figure 19 Screenshot: CANopen menu

In addition to the status line described in the previous section, the state of the CAN bus is displayed:

Bus online changes to Bus offline if e.g. the CAN bus is unplugged or because of a lacking terminator. Besides that the CAN open Node states stopped, preoperational or operational are displayed.

NOTE! Before being able to use the CANopen interface it must be acti-

vated by pressing . The basic CAN will automatically be disabled.

The following keys have a specific function:

- with  the node address in a range from 1 to 127 can be chosen.

- by pressing  the listed baudrates can be chosen, the function autobaud is not

implemented. Deviating baudrates and sample points can be configured via the basic CAN menu (see

5.2.2.5 on page 40).

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Software HG G-98820ZA

- by using key  the PDO_1 operational mode can be selected. Choosing a value

between 1 and 240 the synchronous, cyclical mode can be picked. By selecting 255 the asynchronous mode is set. The two following modes are only available in the asynchronous mode:

-  is the cycle time of the PDO_1 transmission. If both values are 0, PDO_1

will no be transmitted.

-  is the inhibit time of PDO_1. In PDO_1 the system status and the cal-

culated distances are transmitted. The inhibt time is the shortest time period between two periods that can be achieved.

- by pressing  the operational mode of PDO_2 is selected. Choosing a value

between 1 and 240 the synchronous, cyclical mode can be chosen. By selecting 255 the asynchronous mode is set. The two following modes are only available in the asynchronous mode:

-  is the time of the cycle of the PDO_2 transmission. If both values are 0,

PDO_2 will no be transmitted.

-  is the inhibit time of PDO_2. In PDO_2 the four analog antenna voltages

are transmitted. The inhibt time is the shortest time period between two periods that can be achieved.

-  changes the so called Heartbeat time. A control message is sent. If the

time equals 0 no message is sent and the node guarding is active (see on page 27).

- with  the autostart is (de)activated.

- if autostart is deactivated only the Heartbeat message (if activated) is

sent after turning on the device. The device is in

- if autostart is activated the Heartbeat message (if activated) and the PDOs are sent immediately after turning on the device. The device is in operational state.

-  offers the option to ‘freeze‘ the output of the Y deviation for 0 to 20 telegrams,

so that e.g. the value at the time of the positioning pulse output is preserved.

- by pressing  the order of the bytes within the PDOs is changed: by choosing

Lowbyte first = 1 the low order byte of a 16bit word is transmitted first.

5.2.2.7 (D)isplay Systemstatus

Here the status bit is output (see. Table 5 on page 19). All status values that are set are shown. As soon as a value is reset it is immediately removed from the output.

5.2.2.8 Cs(v)

For diagnosis, it is possible to start the output of the values Code, U Transponder in field, Code OK, SEGMENT-, Positioning pulse (also refer

Table 5 on page 19), number of code readings (Read), number of code reading fail-

ures (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

preoperational state.

Sum

, U

Dif

4.2.3.4.3

, the states

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Software HG G-98820ZA

Y_Histogram, press any key to return

> 1400................................

> 1300................................

> 1200................................

> 1100................................

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

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

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

> 700:............o.OOoooO............

> 600:..........O.OOOOOOOOo...........

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

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

> 300:......OoOOOOOOOOOOOOOOOOOo......

> 200:Oo...oOOOOOOOOOOOOOOOOOOOO.o....

> 100:OOo.OOOOOOOOOOOOOOOOOOOOOOOO.Ooo <<<<<<<M>>>>>>>>

-10 -4 8 18

carried out with 38.400 Bd, 8 bit and even parity, until it is terminated by pressing the

 key, after which the Antenna is reset to its original condition (not monitor mode) with

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 spreadsheet program (e.

When opening the file, the spreadsheet 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 spreadsheet file.

5.2.2.9 Display (Y)Histogram

This menu displays the voltages induced by a Transponder into the individual scan coils.

5.1 on page 29). To do so, use the function record text ... of menu

g. Microsoft® Excel®, OpenOffice® Calc®, ...).

Figure 20 Menu: display (Y)Histogram

Each column represents one coil. A voltage value is represented by a row of Os. These values were already converted using the correction values.

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.

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Software HG G-98820ZA

5.2.2.10 (W)rite Transponder

Transponders can not only be programmed using the corresponding system command (see Table 6 on page 20 / Table 11 on page 25) but also by entering . Therefore, enter a max. 5 digit code as hex number. Then put a RW transponder in reading distance in the antenna field and run the programming with

5.2.2.11 (L)oad User parameters to EEProm

This submenu enables saving the parameters within a non-volatile memory once the corresponding password 815 has been entered. This is necessary in order to store changes as permanent settings.

5.2.2.12 (U)pdate Firmware

This item offers the option of a software update without having to disconnect and reconnect the power supply. However, first it is necessary to install the update program as described in section

1. Close the COM port connection in HyperTerminal.

2. Open the flash program.

3. Select the COM-Port in the flash program, via which the antenna is currently connected to your PC.

5.3 on page 45. Then prepare the flash program as follows:

.

4. Select the hex file to be programmed.

5. Now return to Hyperterm and open the COM port again.

Then press  within the main menu. The password to be entered is the same as listed in section

- Within the next 20 sec. close the COM-Port in Hyperterm e.g. by using the icon

- Once the programming is completed, return to Hyperterm, wait 10 sec., re-con-

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

It is possible to store or load all user parameters on or from a host PC via XMODEM file transfer protocol:

- With  you can import a parameter file from a host. After pressing that key you

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

5.2.2.11. Explanatory text is shown.

, switch over to the flash program and start the programming.

nect the COM-Port (e. g. via the icon ) and then re-start the monitor mode (as explained in section 5.2.1 on page 31).

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 into the parameter RAM. To pre serve the loaded values you should transfer them into the EEPROM (see 5.2.2.11 on page 44).

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.

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Software HG G-98820ZA

5.2.2.14 P(r)int Parameters

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

5.3 Software Update (Antenna Software)

It is possible to update the software of the integrated interpreters via the serial interface 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 unit will return to the normal operating program.

Data received during this period of 10 seconds are examined for their validity.

NOTE! Only the update program described below may be used for the

software update!

5.3.1 Installation of the 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 execute the file ST-Flasher2_setup.exe.

In order to use the flash program afterwards, start ST10-Flasher.exe.

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Software HG G-98820ZA

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 Close-

Com: Ok

5.3.2 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). Connect the antenna with your PC. Start the update program on your PC as described in section

5.3.1 on page 45.

Figure 21 Update program: Operating Elements

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

Figure 22 Update program: programming procedure

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

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Maintenance HG G-98820ZA

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

5.2.2.12 on page 44 or 5.3 on page 45). Date and version of the current antenna soft-

ware can be obtained from the main menu.

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Trouble Shooting HG G-98820ZA

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.

Output values are not reproducible, lack of accuracy

Transponders are detected unreliably / no reliable positioning pulses

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

tively labeled clamps ideally close to the M12 plugs.

1. Wrong setting of transfer parameters

2. Wrong procedure.

Radio interference Check value for S in the monitor

1. Interfering frequencies

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

3. Tuning not carried out.

Figure 15 on page 37)

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.

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

1. See one point up

2. Carry out the commissioning as described in section 10

3. See one point up

kHz.

3 on page

Set values not used after antenna reset

Table 21 Trouble shooting

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Changed values have not been stored permanently

Save all values as described in sectoin 5.2.2.11 on page 44

Technical Data HG G-98820ZA

8 Technical Data

Antenna HG G-98820ZA

Operational safety According to the German norm BGV B11 Area 1 Casing see annex G on page 68 Weight approx. 3.2 kg Effective antenna area 250 x 110 mm (function range positioning) Power supply antenna - 18 to 36 V, approx. 300 mA @ 24 V

- 1 A peak while programming transponders Operating temperature 0 to +50 oC Mechanical stability 5 g 11 ms / 2 g 10 to 55 Hz Protection class IP 65 Metal and interference

free area

Max. pass-over speed 2 m/s Reading distance (dis-

tance transponder underside reading antenna)

Nominal reading distance

Width of the active Antenna reading area

Static positioning accuracy

Connection 3 M12 connectors Signal processing time 8 ms output RS 232 The connection speed is 19200 or 38400 Bd. The telegram content may be

Output positioning pulse 20 mA current source, isolated

Table 22 Technical Data Antenna HG G-98820ZA (part 1 of 2)

- no closed loop within 300 mm around the antenna, especially around

the cover

- no metal surfaces nearer than 50 mm

- Current-carrying wires have to be far enough away from the antenna

(minimum 150 mm) so that their power and frequencies does not influ ence the antenna too much, its sum voltage in idle mode has to be below 50 and during driving below 100 (guideline: For very high or very small reading distances those values may be higher/lower. The sum voltage without a transponder in the reading area should always be smaller than half the sum voltage that is generated by a transponder within the reading area). The only exception to this rule is the connection cable of the antenna itself.

- 20 to 50 mm (with HW DEV00095/HW DEV00098)

- 20 to 80 mm (with HG G-71325XA)

30 to 40 mm

±125 mm

±5 mm @ a height of 40 mm (with HG G-71325XA, HW DEV00095; also refer to section

configured. 3964R or “transparent“ protocol selectable

F on page 66)



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Technical Data HG G-98820ZA

Antenna HG G-98820ZA

CAN interface Not electrical isolated, Terminating resistor (Terminator) not integrated

Full CAN

Basic CAN According to ISO/DIS 11898 Identifier, Data rate, Basic/Extended CAN;

configurable via serial interface

CANopen

Table 22 Technical Data Antenna HG G-98820ZA (part 2 of 2)

CANopen, Device Profil DS 401 Node ID and transmission rate via serial interface or SDOs can be configured

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Annex HG G-98820ZA

(Figure 24)

9Annex

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, baud rate

38400

Bd (default) or 19200 Bd.

A.1 Data direction Antenna -> PLC

In this direction the antenna data is transmitted cyclically. The data sentence always starts with an „=“-character (hex 0x3d). The cycle time is 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 baud rate and the chosen telegram content.

ms.

In the diagram

T_ZVZ stands for the programmable character delay time and

T_QVZ for the programmable acknowledgement delay time.

Figure 23 Diagram procedure 3964R; antenna —> PLC

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Annex HG G-98820ZA

A.2 Data direction PLC -> Antenna

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

Figure 23).

4.2.3.1.2 page 20). In or-

Figure 24 Diagram procedure 3964R; PLC —> antenna

B Procedure „transparent“

For the interconnection antenna <—> PLC 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 38400 Bd (default) or 19200

Bd.

B.1 Data direction antenna -> PLC

In this direction, cyclical antenna data is transmitted. The duration is parameterizeable, it should ideally last an integer part of the transponder code transmission or a plural thereof. The minimum cycle duration depends upon the telegram duration and thus is defined by the baud rate 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 finished with an 8 bit check sum over all characters including the start character. For the check sum XOR is performed over all characters. The characters are sent without delay.

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Annex HG G-98820ZA

B.2 Data direction PLC -> 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 on page 20. The telegram is to be finished with a 8 bit check sum over all characters. The characters have be received within the parameterizeable character delaytime. Otherwise the telegram will be rejected.

C Overview of the CANopen® directory

All objects of the antenna are included in the CANopen Object Index. Each entry is indicated by a 16 bit index. Sub-components are indicated by a 8 bits subindex. RO indicates read only entries.

- Communication parameters are indicated by a C in the corresponding tables.

- Manufacture parameters are indicated by a M in the corresponding tables.

The object index is subdivided into the following areas:

C.1 Communication specific Entries within the Range of 0x1000 to 0x1FFF

4.2.3.1.2

Index Subindex Access Content EEProm

0x1000 0 RO Device Type

0x1001 0 RO Error Register

0x1005 0 RO COB ID Sync Message

0x1008 0 RO Device Name

0x1009 0 RO Hardware Version

0x100A 0 RO Software Version

0x1010 0 RO Number of entries of Store Parameter

1 RW Save all

0x1011 0 RO Number of entries of Restore Default Parameter

1 RW Restore Default all

2 RW Restore Default Communication Parameter

3 RW Restore Default Manufacture Parameter

0x1017 0 RW Producer Heartbeat Time C

Table 23 Overview object index I (part 1 of 2)

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Annex HG G-98820ZA

Index Subindex Access Content EEProm

0x1018 0 RO Number of entries of Identity Object

1 RO Vendor ID

2 RO Product Code

3 RO Revision

4 RO Serial Number

0x1800 0 RO Number of entries of Transmit PDO_1

1 RW* COB-ID

2 RW Transmission Type C

3 RW Inhibit Time C

5 RW Event Time C

0x1801 0 RO Number of entries of Transmit PDO_2

1 RW* COB-ID

2 RW Transmission Type C

3 RW Inhibit Time C

5 RW Event Time C

0x1A00 0 RO Number of Objects mapped to Transmit PDO_1

1 RO Specification of Appl. Object 1

2 RO Specification of Appl. Object 2

3 RO Specification of Appl. Object 3

0x1A01 0 RO Number of Objects mapped to Transmit PDO_2

1 RO Specification of Appl. Object 1

2 RO Specification of Appl. Object 2

3 RO Specification of Appl. Object 3

4 RO Specification of Appl. Object 4

5 RO Specification of Appl. Object 5

6 RO Specification of Appl. Object 6

*) Only the highest bit may be altered, in order to (de)activate the PDO temporarily.

Table 23 Overview object index I (part 2 of 2)

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Annex HG G-98820ZA

C.2 Manufacturer specific Entries starting at 0x2000

Index Subindex Access Content EEProm Refer to

0x2000 0 RO Number of parameters

1 RW Prog Transponder M

2 RW Threshold for decoding M 5.2.2.3 page 37

3 RW Threshold for positioning M 5.2.2.3 page 37

4 RW Posipulse time M 5.2.2.3 page 37

5 RW High nibble of RW code M 5.2.2.3 page 37

6 RW Number of equal codes M 5.2.2.3 page 37

7 RW Level to noise error M 5.2.2.3 page 37

8 RW Rx frequency M 5.2.2.4 page 39

9 RW Antenna tuning M 5.2.2.4 page 39

a RW Freeze values for n tele-

grams

b RW Threshold max detection Y M 5.2.2.3 page 37

c RW Config M Table 41 page 63

0x2001 0 RO Number of Parameter

1 RW Node Baudrate C

2 RW Node ID C

Table 24 Overview object index II

C.3 Standardized Device Profile higher than 0x6000

0x6000 0 RO Number of 8 Bit Digital Inputs Refer to

1 RO Number of codes read Table 20 page 33

0x6100 0 RO Number of 16 Bit Digital Inputs

1 RO System Status Table 20 page 33

0x6120 0 RO Number of 32 Bit Digital Inputs

1 RO Code Table 20 page 33

M 5.2.2.6 page 41

Table 25 Overview object index III (part 1 of 2)

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Annex HG G-98820ZA

0x6400 0 RO Number of 8 Bit analog Inputs

1 RO Supply voltage Table 20 page 33

2 RO Supply current Table 20 page 33

3 RO Board Temperature Table 20 page 33

0x6401 0 RO Number of 16 Bit analog Inputs

1 RO Y deviation Table 20 page 33

2 RO Sum voltage Table 20 page 33

3 RO Dif voltage Table 20 page 33

Table 25 Overview object index III (part 2 of 2)

D Details of the CANopen® directory

D.1 Device Type

Index Sub Index Name Type Attr. Map Default Description

0x1000 00 Device Type Unsigned 32 RO No 0x00050191 Digital/analog

Inputs - DS 401

Table 26 CANopen® Directory: Device Type

D.2 Error Register

Index Sub Index Name Type Attr. Map Default Description

0x1001 00 Error Register Unsigned 8 RO No 0x00 Error Register

Table 27 CANopen® Directory: Error Register

NOTE! The error register is not used, thus the value 0 is transmitted.

D.3 COB-ID SYNC message

Index Sub Index Name Type Attr. Map Default Description

0x1005 00 COB-ID

SYNC

Table 28 CANopen® Directory: COB-ID SYNC message

Unsigned 32 RO No 0x80000080 Sync Consumer,

Sync ID = 0x80

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Annex HG G-98820ZA

D.4 Device Name

Index Sub Index Name Type Attr. Map Default Description

0x1008 00 Device Name Visible string RO No „9882“ Device name:

„G98820ZA“

Table 29 CANopen® Directory: Device Name

D.5 Hardware Version

Index Sub Index Name Type Attr. Map Default Description

0x1009 00 Hardware Version Visible_String R0 No „0ZA2“ Version number

Table 30 CANopen® Directory: Hardware Version

D.6 Software Version

Index Sub Index Name Type Attr. Map Default Description

0x100A 00 Software Version Visible_String R0 No „1.00“ Version number

Table 31 CANopen® Directory: Software Version

D.7 Save Parameters

Index Sub Index Name Type Attr. Map Default Description

0x1010 00 Save Parame-

ter

Unsigned 8 RO No 0x01 number of sub

indexes

01 Save All Unsigned 32 RW No 0x00000001 Save All is

possible

Table 32 CANopen® Directory: Save Parameters

By writing the signature ’save’ in ASCII Code (hex-Code: 0x65766173) onto subindex 1, the currently set parameters are permanently saved. A successful recording proce dure is acknowledged by a TxSDO (1. Byte = 0x60). The saving process is performed after that acknowledgement.

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Annex HG G-98820ZA

D.8 Restore Default Parameter

Index Sub Index Name Type Attr. Map Default Description

0x1011 00 Restore

Parameter

01 Restore All

Parameter

02 Restore Com.

Parameter

Unsigned 8 RO No 0x03 Number of sub-

indexes

Unsigned 32 RW No 0x00000001 Restore All is

possible

Unsigned 32 RW No 0x00000001 Restore Com-

munication is possible

03 Restore

Manufacture Parameter

Table 33 CANopen® Directory: Restore Default Parameter

By writing the signature ’load’ in ASCII Code (hex-Code: 0x64616F6C) onto subindex 1, 2 or 3, the corresponding default parameters are loaded. A reset should be carried out afterwards.

With ’Restore All’, the Node ID is also set to 1 and the baud rate to 125 Kbaud.

Unsigned 32 RW No 0x00000001 Restore Manu-

facture is possible

D.9 Producer Heartbeat Time

Index Sub Index Name Type Attr. Map Default Description

0x1017 00 Producer Heart-

Unsigned 16 RW No 1000 Heartbeat time in

beat Time

Table 34 CANopen® Directory: Producer Heartbeat Time

With 0 this function is deactivated.

ms (approx.)

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Annex HG G-98820ZA

D.10 Identity Object

Index Sub Index Name Type Attr. Map Default Description

0x1018 00 Identity Object Unsigned 8 RO No 0x04 Number of sub-

indexes

01 Vendor ID Unsigned 32 RO No 0x00000202 Manufacturer

number given by CiA

02 Product Code Unsigned 32 RO No 0x00098820 HG Number

98820

03 Revision Unsigned 32 RO No 0x00000100 Version 1.00

04 Serial Number Unsigned 32 RO No 9999999 Serial number

Table 35 CANopen® Directory: Identity Object

D.11 Transmit PDO_1 Parameter

Index Sub Index Name Type Attr. Map Default Description

0x1800 00 TxPDO_1

Parameter

01 COB ID Unsigned 32 RW No 0x40000180 +

02 Transmis-

sion Type

03 Inhibit Time Unsigned 16 RW No 100 shortest time

05 Event Time Unsigned 16 RW No 10 Cycle time [ms]

Table 36 CANopen® Directory: Transmit PDO_1 Parameter

Unsigned 8 RO No 0x05 Number of sub-

Unsigned 8 RW No 255 Asynchronous

Node-ID

indexes

PDO_1 valid, ID = 0x180 + Node ID

event-driven

between trans missions [s]

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Annex HG G-98820ZA

D.12 Transmit PDO_2 Parameter

Index Sub Index Name Type Attr. Map Default Description

0x1801 00 TxPDO_2

Parameter

01 COB ID Unsigned 32 RW No 0x40000181 +

02 Transmis-

sion Type

03 Inhibit Time Unsigned 16 RW No 100 shortest time

05 Event Time Unsigned 16 RW No 10 Cycle time [ms]

Table 37 CANopen® Directory: Transmit PDO_2 Parameter

D.13 Mapping TPDO_1

Index Sub Index Name Type Attr. Map Default Description

1A00 00 Number of

mapped objects

Unsigned 8 RO No 0x05 Number of sub-

indexes

PDO_2 valid,

Node-ID

Unsigned 8 RW No 255 Asynchronous

Unsigned 8 RO No 0x03 Number of subin-

ID = 0x181 + Node ID

event-driven

between trans missions [s]

dexes

01 1st mapped

object

02 2nd mapped

object

03 3rd mapped

object

Table 38 CANopen® Directory: Mapping TPDO_1

Unsigned 32 RO No 0x61000110 mapped on index

Unsigned 32 RO No 0x61200120 mapped on index

Unsigned 32 RO No 0x64010110 mapped on index

0x6100,01 with 16 bit length (sta tus)

0x6102,01 with 32 bit length (Code)

0x6401,01 with 16 bit length (Y deviation)

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Annex HG G-98820ZA

D.14 Mapping TPDO_2

Index Sub Index Name Type Attr. Map Default Description

1A01 00 Number of

mapped objects

01 1st mapped

object

02 2nd mapped

object

03 3rd mapped

object

04 4th mapped

object

05 5th mapped

object

Unsigned 8 RO No 0x06 Number of subin-

dexes

Unsigned 32 RO No 0x64010210 mapped on index

0x6401,02 with 16 bit length (SUM voltage)

Unsigned 32 RO No 0x64010310 mapped on index

0x6401,03 with 16 bit length (DIF voltage)

Unsigned 32 RO No 0x60000108 mapped on index

0x6000,01 with 8 bit length (Codes read)

Unsigned 32 RO No 0x64000108 mapped on index

0x6400,01 with 8 bit length (Sup ply voltage)

Unsigned 32 RO No 0x64000208 mapped on index

0x6400,02 with 8 bit length (Sup ply current)

06 6th mapped

object

Table 39 CANopen® Directory: Mapping TPDO_2

Unsigned 32 RO No 0x64000308 mapped on index

0x6400,03 with 8 bit length (Board temperature)

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Annex HG G-98820ZA

D.15 Device Parameter

Index Sub Index Name Type Attr. Map Default Description

2000 00 Number of

parameters

01 Prog trans-

ponder code

02 Threshold

for decoding

03 Level for

positioning

04 Poispulse

time

05 High nibble

of RW code

06 Number of

equal codes

07 Level to

noise error

08 Rx fre-

quency

09 Antenna

tuning

Unsigned 8 RO No 12 Number of subin-

dexes

Unsigned 32 RW No Write transpon-

der *)

Unsigned 16 RW No 256 5.2.2.3 page 37

Unsigned 16 RW No 100 5.2.2.3 page 37

Unsigned 8 RW No 16 5.2.2.3 page 37

Unsigned 8 RW No 1 5.2.2.3 page 37

Unsigned 16 RW No 1000 5.2.2.3 page 37

Unsigned 32 RW No 1553000 5.2.2.4 page 39

Unsigned 8 RW No 5.2.2.4 page 39

10 Freeze

values

11 Threshold

max detec tion Y

12 Config Unsigned 32 RW No Table 41 page 63

*) To program a transponder, position it in the normal reading range and write the 20 bit code to index 0x2000,01.

Table 40 CANopen® Directory: Device Parameter

Unsigned 8 RW No 0 5.2.2.6 page 41

Unsigned 16 RW No 400 5.2.2.3 page 37

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Annex HG G-98820ZA

D.16 Codes for System Configuration

Value Name Description

0x0001 HILOW Change order of bytes within multi-byte values

0x0002 CODE_SELECT Select code channel, see 5.2.2.3 on page 37

0x0004

0x0008

0x0010 POSI_TIMED Timed or level driven positioning pulse, see 5.2.2.3 on

page 37

0x0020

0x0040

0x0080

0x0100

0x0200 POSI_MASK One positioning pulse per crossing, see 5.2.2.3 on page

0x0400 AUTO_TUNE see 5.2.2.4 on page 39

0x0800

0x1000

0x2000 POSI_TRNSP Posi pulse after decoding, see 5.2.2.3 on page 37

0x4000

0x8000

0x10000 AUTOSTART If set the node is starting in operational state see 5.2.2.6

on page 41

Table 41 CANopen® Directory: Codes for System Configuration

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Annex HG G-98820ZA

D.17 Manufacture Parameter - Node Parameter

Index Sub Index Name Type Attr. Map Default Description

0x2001 00 number of

Unsigned 8 RO No 0x02 number of subindexes

parameter

01 Node Bau-

drate

Unsigned 8 RW No 0x04 125 kbaud according

Table 43 below *)

02 Node ID Unsigned 8 RW No 0x01 Node address 1 *)

*) After changing these values, they have to be saved with <save all> and a node reset has to be proceeded

Table 42 CANopen® Directory: Manufacture Parameter - Node Parameter

Input / Output Value Baud rate / kBaud

7 20

6 50

4 (Default) 125

3 250

2 500

0 1000

Table 43 CANopen® Directory: Manufacture Parameter - Node Parameter / Coding

of baud rates

D.18 8 Bit Digital Input (transmission in TPDO_2)

Index Sub Index Name Type Attr. Map Default Description

0x6000 00 number of 8

Unsigned 8 RO No 0x01 number of 8 Bit inputs

bit inputs

01 Codes read Unsigned 8 RO Yes ./. Amount of read

codes, see on page 33

Table 44 CANopen® Directory: 8 Bit Digital Input (transmission in TPDO_2)

Table 20

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Annex HG G-98820ZA

D.19 16 Bit Status (transmission in TPDO_1)

Index Sub Index Name Type Attr. Map Default Description

0x6100 00 number of 16

bit inputs

01 16 bit digital

input

Table 45 CANopen® Directory: 16 Bit Status (transmission in TPDO_1)

D.20 32 Bit Transponder Code

Index Sub Index Name Type Attr. Map Default Description

0x6120 00 number of 8

bit inputs

01 Transponder

code

Table 46 CANopen® Directory: 32 Bit Transponder Code

D.21 8 Bit Analog Inputs

Index Sub Index Name Type Attr. Map Default Description

Unsigned 8 RO No 0x01 number of 16 bit

inputs

Unsigned 16 RO Yes ./. System status / TxP-

DO_1 accord. to Table 5 on page 19

Unsigned 8 RO No 0x01 number of 32 Bit

inputs

Unsigned 32 RO Yes ./. 32 bit transponder

code

0x6400 00 number of 16 bit

analog inputs

01 Supply voltage Unsigned 8 RO Yes ./. Voltage [100 mV]

02 Supply current Unsigned 8 RO Yes ./. Current [10 mA]

03 Board tempera-

ture

Table 47 CANopen® Directory: 8 Bit Analog Inputs

Unsigned 8 RO No 0x03 number of the ana-

Integer 8 RO Yes ./. Temperature [o C]

log 8 bit inputs

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Annex HG G-98820ZA

Antenna 98820A2 with transponder HW DEV00095

absolute Error

D.22 16 Bit Analog Inputs

Index Sub Index Name Type Attr. Map Default Description

0x6401 00 number of 16 bit

Unsigned 8 RO No 0x03 number of the ana-

analog inputs

01 Y deviation Integer 16 RO Yes ./. Y deviation [mm]

02 Sum voltage Unsigned 16 RO Yes ./. Sum voltage [units]

03 Dif voltage Integer 16 RO Yes ./. Dif voltage [units]

Table 48 CANopen® Directory: 16 Bit Analog Inputs

E EDS Configuration File

Electronic Data Sheet: The so-called EDS-File is available via the internet via the site

http://www.goetting-agv.com/components/98820. The file name is 98820ZA.EDS

F Accuracy of the deviation calculation

log 16 bit inputs

Figure 25 Typical accuracy of the calculation of the deviation with transponder

DEV00095

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Annex HG G-98820ZA

Figure 26 Typical accuracy of the calculation of the deviation with transponder

HG G-71325XA

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Annex HG G-98820ZA

G Mechanical Drawing with Antenna Dimensions

Figure 27 Mechanical Drawing with Antenna Dimensions

English, Revision 09, Date: 13.12.2016 68

List of Figures HG G-98820ZA

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 Mounting Holes ..................................................................... 8

Figure 6 Side lobes during a transponder reading ......................................... 11

Figure 7 Undisturbed decoding across two transponders..............................12

Figure 8 The same driving situations as shown in Figure 7 only with antenna with

wrong calibration ............................................................................... 12

Figure 9 The same driving situation as shown in Figure 7, this time with high noi-

se level............................................................................................... 13

Figure 10 Photo Transmission-Reception Antenna HG G-98820ZA ................. 15

Figure 11 Formula: minimum update rate.......................................................... 17

Figure 12 Main menu of the monitor program ................................................... 33

Figure 13 Menu: (S)erial Output......................................................................... 35

Figure 14 Menu: „(D)isplay Telegram Content“................................................. 36

Figure 15 Menu: (T)ime & Code ........................................................................ 37

Figure 16 Menu: (F)requency & Antenna Tuning .............................................. 39

Figure 17 Formula: Calculation of the receiver frequency................................. 39

Figure 18 Menu: C(A)N-Parameters .................................................................. 40

Figure 19 Screenshot: CANopen menu............................................................. 41

Figure 20 Menu: display (Y)Histogram .............................................................. 43

Figure 21 Update program: Operating Elements .............................................. 46

Figure 22 Update program: programming procedure ...................................... 46

Figure 23 Diagram procedure 3964R; antenna —> PLC.................................... 51

Figure 24 Diagram procedure 3964R; PLC —> antenna.................................... 52

Figure 25 Typical accuracy of the calculation of the deviation with transponder

HW DEV00095 ................................................................................... 66

Figure 26 Typical accuracy of the calculation of the deviation with transponder

HG G-71325XA.................................................................................. 67

Figure 27 Mechanical Drawing with Antenna Dimensions ................................ 68

English, Revision 09, Date: 13.12.2016 69

List of Tables HG G-98820ZA

11 List of Tables

Table 1 Reference values for the commissioning runs .................................. 13

Table 2 Power Interface.................................................................................. 15

Table 3 Pin allocations CAN1 and CAN2 ....................................................... 16

Table 4 Data words in a telegram with 21 byte length ................................... 18

Table 5 Possible system status messages..................................................... 19

Table 6 List of the system commands ............................................................ 20

Table 7 Structure of the CAN Message Object 1........................................... 24

Table 8 Structure of the CAN Message Object 2........................................... 24

Table 9 Structure of the CAN Message Object 3........................................... 25

Table 10 Structure of the CAN Message Object 4 ........................................... 25

Table 11 Coding of the commands of CAN Message Object 4....................... 25

Table 12 Variables of PDO_1............................................................................ 26

Table 13 Variables of PDO_2............................................................................ 27

Table 14 Coding of the Node status................................................................. 27

Table 15 Identifiers for read and write access ................................................. 27

Table 16 Error codes ........................................................................................ 28

Table 17 Power Interface.................................................................................. 29

Table 18 Terminal settings for the monitor program ........................................ 29

Table 19 Monitor modes ................................................................................... 30

Table 20 Description of system variables (monitor program) .......................... 33

Table 21 Trouble shooting................................................................................ 48

Table 22 Technical Data Antenna HG G-98820ZA .......................................... 49

Table 23 Overview object index I ..................................................................... 53

Table 24 Overview object index II .................................................................... 55

Table 25 Overview object index III ................................................................... 55

Table 26 CANopen® Directory: Device Type .................................................. 56

Table 27 CANopen® Directory: Error Register ................................................ 56

Table 28 CANopen® Directory: COB-ID SYNC message ............................... 56

Table 29 CANopen® Directory: Device Name................................................. 57

Table 30 CANopen® Directory: Hardware Version.......................................... 57

Table 31 CANopen® Directory: Software Version............................................ 57

Table 32 CANopen® Directory: Save Parameters ........................................... 57

Table 33 CANopen® Directory: Restore Default Parameter ............................ 58

Table 34 CANopen® Directory: Producer Heartbeat Time.............................. 58

Table 35 CANopen® Directory: Identity Object............................................... 59

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List of Tables HG G-98820ZA

Table 36 CANopen® Directory: Transmit PDO_1 Parameter........................... 59

Table 37 CANopen® Directory: Transmit PDO_2 Parameter........................... 60

Table 38 CANopen® Directory: Mapping TPDO_1.......................................... 60

Table 39 CANopen® Directory: Mapping TPDO_2.......................................... 61

Table 40 CANopen® Directory: Device Parameter.......................................... 62

Table 41 CANopen® Directory: Codes for System Configuration ................... 63

Table 42 CANopen® Directory: Manufacture Parameter - Node Parameter... 64

Table 43 CANopen® Directory: Manufacture Parameter - Node Parameter / Co-

ding of baud rates ............................................................................. 64

Table 44 CANopen® Directory: 8 Bit Digital Input (transmission in TPDO_2) . 64

Table 45 CANopen® Directory: 16 Bit Status (transmission in TPDO_1) ........ 65

Table 46 CANopen® Directory: 32 Bit Transponder Code.............................. 65

Table 47 CANopen® Directory: 8 Bit Analog Inputs........................................ 65

Table 48 CANopen® Directory: 16 Bit Analog Inputs...................................... 66

English, Revision 09, Date: 13.12.2016 71

Index HG G-98820ZA

12 Index

Numbers

3964R 51

accuracy 66 Analyis Interface 28 Antenna

Interfaces 16 Mounting 8 Technical Data 49

Company names 74 Connection Cable 28 Copyright 74

EDS 66 Electronic Data Sheet 66 Exclusion of Liability 74

Function 6

71325 14, 49, 67 81830 6 98820 5, 6, 8, 15 HW DEV00095 6, 14 HW DEV00098 6, 14

Installation 10 Interfaces

CAN 23 CANopen 26

Serial 16

Maintenance 47 Monitor Program 30

Parameter Settings 29 Usage 32

Positioning Pulse 28 Procedure „transparent“ 52 Procedure 3964R 51

Receiver Frequency

Calculation of the 39

Software 29 Software update 45 Softwareupdate 45 System Commands 20 System Components 6 System Monitor 30 System Variables 33

Technical Data 49 Telegram 17, 18 Terminal Program 29 trade marks 74 transparent 52 Transponder 8 Trouble Shooting 48

Update Rate 17

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Handbook Conventions HG G-98820ZA

13 Handbook Conventions

In documentations of Götting KG the following symbols were used at the time of printing this manual:

• Safety notes have the following symbols, depending on the emphasis and the degree of exposure:

WARNING!

CAUTION!

ATTENTION!

NOTE!

• 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 programs, the

corresponding eys are ighlighted (in Götting ble to use small and capitalized characters equally).

• Sections, figures and tables are automatically numbered consecutively throughout 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 and translator, 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 a certain system revision.

KG programs it is usually possi-

 The online version (PDF) and the printed manual are generated from the same

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

English, Revision 09, Date: 13.12.2016 73

14 Copyright and Terms of Liability

14.1 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

English, Revision 09, Date: 13.12.2016 74

Gotting HG G-98820ZA Technical Description

Specifications and Main Features

Frequently Asked Questions

User Manual

1.5-dim. Positioning and Identification Antenna

HG G-98820ZA

English, Revision 09 Dev. by: WM

Date: 13.12.2016 Author(s): RAD/MN

Contents

1 Introduction

Figure 1 Examples of automated vehicles using transponder systems

1.1 System Components

Figure 2 System components (optional extras in brackets)

1.2 Function

1.3 Application Example

Figure 3 Track guiding a vehicle with one antenna

1.4 Definitions

Figure 4 Polarity of the deviation

2Mounting

2.1 Transponder

2.2 Antenna HG 98820ZA

Figure 5 Antenna Mounting Holes

3 Commissioning

Figure 6 Side lobes during a transponder reading

Figure 7 Undisturbed decoding across two transponders

Variable Set value

Table 1 Reference values for the commissioning runs

4 Components and Operation

4.1 Components in the Ground

4.1.1 Transponders

4.1.2 Code structure

4.2 Transmission-Reception Antenna HG G-98820ZA

Figure 10 Photo Transmission-Reception Antenna HG G-98820ZA

4.2.1 Connection

4.2.1.1 Power

Power Pin Signal Annotation

Table 2 Power Interface

4.2.1.2 CAN Bus

ATTENTION! Under no circumstance connect +24V with pin 4 or 5!

CAN1 CAN2 Pin Signal

Table 3 Pin allocations CAN1 and CAN2

4.2.2 Turn-on characteristics

4.2.3 Interfaces

4.2.3.1 Serial (RS 232)

4.2.3.1.1 List of the system data which can be output

Figure 11 Formula: minimum update rate

Byte # Length Value Type Description

Table 4 Data words in a telegram with 21 byte length

Value Name Description

Table 5 Possible system status messages

4.2.3.1.2 List of commands

No. Procedure Start

Check Sum *)

Description

Table 6 List of the system commands (part 1 of 4)

4.2.3.2 System Monitor

4.2.3.3 CAN

4.2.3.3.1 Description

4.2.3.3.2 CAN Message Object 1 (Transmission Object)

Byte # Length Type Description

Table 7 Structure of the CAN Message Object 1

4.2.3.3.3 CAN Message Object 2 (Transmission Object)

Byte # Length Type Description

Table 8 Structure of the CAN Message Object 2

4.2.3.3.4 CAN Message Object 3 (Transmission Object)

Byte # Length Type Description

Table 9 Structure of the CAN Message Object 3

4.2.3.3.5 CAN Message Object 4 (Reception Object)

Byte # Length Type Description

Table 10 Structure of the CAN Message Object 4

Command Meaning Parameter

Table 11 Coding of the commands of CAN Message Object 4

4.2.3.4.1 Description of the Process Data Objects (PDO)

Value Variable Value range Comment

Table 12 Variables of PDO_1

Value Variable Value range Comment

Table 13 Variables of PDO_2

4.2.3.4.2 Heartbeat

Node status Code

Table 14 Coding of the Node status