Gotting HG G-193 0-B Series User manual

Inductive Guidance Sensor, Multifrequency, USB
HG G-193x0-B
Inductive track guidance along a guide wire / energy track, Variants
HG G-19370: 20/25 kHz Energy Track, ZB: CAN-Bus, YB: Profinet
HG G-19380: 140 kHz Energy Track, ZB: CAN-Bus, YB: Profinet
English, Revision 02 Date: 07.05.2018 Dev. by: LF Author(s): RAD
Guide Wire
Innovation through Guidance www.goetting-agv.com
Device Description HG G-193x0-B

Device Description HG G-193x0-B | English, Revision 02 | Date: 07.05.2018
2Overview
Summary
Characteristics of the inductive guidance sensor HG G-193x0-B:
•5 programmable simultaneously usable
frequencies (2 – 20 kHz)
•alternatively track guidance along an
existing ground installation for the con-
tact-less inductive energy transmission
HG G-19370: 20/25 kHz, 140 mm wire
spacing, 85 A
HG G-19380: 140 kHz, 110 mm wire
spacing, 45 A
•IP 54, Indoor
•Reading height: 40 – 200 mm, nominal
reading height 60 mm, customizable via
programmable gain
•Version ZB: CAN bus interface
•Version YB: Profinet interface
•USB interface
•Serial interface service/configuration
(via USB Virtual Port Driver)
•Possibility to connect and evaluate an
incremental encoder
© 2018 Götting KG, errors and modifications reserved.
The Götting KG in D-31275 Lehrte has 
a certified quality management system
according to ISO 9001.

Device Description HG G-193x0-B | English, Revision 02 | Date: 07.05.2018
3Table of Contents
Contents
1 About this Document ............................................................................. 5
1.1 Function................................................................................................................................. 5
1.2 Symbols ................................................................................................................................. 5
2 Introduction............................................................................................. 7
2.1 Variants/Versions ................................................................................................................ 7
2.2 Range of Use ........................................................................................................................ 7
2.3 Qualification of the Users................................................................................................. 8
2.4 Intended Use ........................................................................................................................ 8
2.5 Functional Principle ........................................................................................................... 9
3 Mounting ............................................................................................... 11
3.1 Guide Wire ..........................................................................................................................11
3.2 Energy Track ......................................................................................................................11
3.3 Inductive Guidance Sensor ............................................................................................11
3.3.1 Requirements..................................................................................................................................11
3.3.2 Mounting on the Vehicle .............................................................................................................12
3.3.3 Connection Cables (assembled on one side) / Terminating Resistors..........................13
4 Commissioning ..................................................................................... 14
5 Hardware ............................................................................................... 15
5.1 HG G-193x0ZB (CAN Bus)..............................................................................................15
5.1.1 LEDs...................................................................................................................................................15
5.1.2 Pin Assignment ..............................................................................................................................15
5.1.2.1 ST 1 ................................................................................................................................................16
5.1.2.2 ST 2 / ST 3 (CAN 1 / CAN 2) ...................................................................................................16
5.2 HG G-193x0YB (Profinet) ...............................................................................................17
5.2.1 LEDs...................................................................................................................................................17
5.2.2 Pin Assignment ..............................................................................................................................17
5.2.2.1 ST 1 ................................................................................................................................................18
5.2.2.2 ST 2 / ST 3 (BUS 1 / BUS 2)....................................................................................................18
6 Configuration ........................................................................................ 19
6.1 Turn-On Characteristic....................................................................................................19
6.2 Connection to a PC via the USB Interface ................................................................19
6.3 Terminal Program .............................................................................................................19
6.4 Service Program................................................................................................................20
6.4.1 Main Menu .......................................................................................................................................20
6.4.1.1 HG G-193x0ZB (CAN) ...............................................................................................................20
6.4.1.2 HG G-193x0YB (Profinet).........................................................................................................20
6.4.2 (1) Frequency Config ....................................................................................................................21
6.4.3 (2) Calibration Config ...................................................................................................................21
6.4.4 (3) Encoder Config ........................................................................................................................22
6.4.5 (4) CSV ..............................................................................................................................................23
6.4.6 HG G-193x0ZB: (5) CAN Config ................................................................................................24
6.4.7 Firmware Update ...........................................................................................................................24

Device Description HG G-193x0-B | English, Revision 02 | Date: 07.05.2018
4Table of Contents
7 CAN Bus Communication (HG G-193x0ZB)....................................... 26
7.1 Telegrams ........................................................................................................................... 26
7.2 Control and Status Telegrams...................................................................................... 27
7.2.1 Incoming Telegram (IN) ...............................................................................................................27
7.2.2 Outgoing Telegram OUT1 ...........................................................................................................27
8 Profinet Communication (HG G-193x0YB) ........................................ 28
8.1 Input Bytes ......................................................................................................................... 28
8.2 Status/Detect (Byte 24) .................................................................................................. 29
9 Maintenance ......................................................................................... 30
10 Technical Data ...................................................................................... 31
11 List of Figures....................................................................................... 32
12 List of Tables ........................................................................................ 33
13 Index ...................................................................................................... 34
14 Copyright and Terms of Liability ........................................................ 36
14.1 Copyright ............................................................................................................................ 36
14.2 Exclusion of Liability ....................................................................................................... 36
14.3 Trade Marks and Company Names............................................................................. 36

Device Description HG G-193x0-B | English, Revision 02 | Date: 07.05.2018
5About this Document – Chapter 1
1About this Document
1.1 Function
This device description contains information regarding the correct mounting, electric instal-
lation, commissioning and maintenance of the inductive guidance sensor HG G-193x0-B for
the technical personnel of a manufacturer who wants to integrate the sensor into an auto-
mated guided vehicle (AGV).
This device description does not contain information regarding the usage of the superordi-
nate system, e.g. the automated guided vehicle (AGV). For this information consult the doc-
umentation of the vehicle manufacturer resp. the operator of a facility.
This device description applies to devices with firmware version 1.01 and higher (see Figure
10 on page 20).
1.2 Symbols
The following symbols and formatting are used in Götting documentations:
Note
Indicates technical information that should be followed when using the device.
ATTENTION!
Indicates dangers that may lead to damages or the destruction of the device.
BEWARE!
Indicates dangers that may lead to injuries or severe damage of property.
WARNING!
Indicates dangers that may lead to injuries, potentially with loss of life, or severe damage of
property.
Tip
Indicates information that makes handling of the device easier.

Device Description HG G-193x0-B | English, Revision 02 | Date: 07.05.2018
6Chapter 1 – About this Document
Link
Indicates additional information in the internet, e.g. on our homepage www.goetting-
agv.com. Those links are clickable in the PDF version of this documentation.
Program texts and variables are indicated through the use of a fixed width
font.
Whenever the pressing of letter keys is required for program entries, the required
etter eys are indicated as such (for any programs of Götting KG small and capital
letters are equally valid).

Device Description HG G-193x0-B | English, Revision 02 | Date: 07.05.2018
7Introduction – Chapter 2
2Introduction
The inductive guidance sensor HG G-193x0-B is used for the inductive track guidance of
Automated Guided Vehicles (AGV). Up to 5 different guide wire frequencies may be detect-
ed and evaluated simultaneously. Alternatively a ground installation for the contact-less in-
ductive energy transmission with two wires (from here on also energy track) can be used for
the track guidance.
The guide wire frequencies to be detected are configured via the USB interface. The energy
track depends on the variant of the inductive guidance sensor and is supported in the im-
plementations listed in Table 1 below. Additionally an incremental encoder for the measure-
ment of distance or speed may be connected directly to the sensor. All incremental encod-
ers can be used that have a switching threshold > 10 V between high level and low level
(typically 24V incremental encoders). The encoder values are also output via the bus.
2.1 Variants/Versions
The inductive guidance sensor is available in two different variants with different bus / in-
terface types. The variant is printed on the device‘s identification label.
2.2 Range of Use
•The inductive guidance sensor is intended for indoor usage.
•Inside the track a guide wire is layed that is operated in the frequency range 2 to
20 kHz. Alternatively there is a ground installation for the contact-less inductive
energy transmission. These energy tracks are supported in the implementations
listed in Table 1 above. A matching variant of the inductive guidance sensor has to be
used.
•The inductive guidance sensor can follow turn-offs in guide wire installations by
using different frequencies for the different wires.
•The inductive guidance sensor can not follow turn-offs in energy track installations.
Thus the energy track may not have switch points. For energy track installations with
switch points Götting has different antennas with more than one detection system.
•The inductive guidance sensor is installed so that its underside faces the roadway
and meets the nominal reading distance towards the guide wire.
Variant Interface Energy Track
HG G-19370 ZB CAN Bus 25 kHz, 140 mm wire spacing, 85 A
YB Profinet
HG G-19380 ZB CAN Bus 140 kHz, 110 mm wire spacing, 45 A
YB Profinet
Table 1 Variant Overview

Device Description HG G-193x0-B | English, Revision 02 | Date: 07.05.2018
8Chapter 2 – Introduction
2.3 Qualification of the Users
The personnel intended to operate the inductive guidance sensor
•has been provided with this documentation.
•is familiar with the functionality of the inductive guidance sensor.
•is trained sufficiently in mounting and configuring the inductive guidance sensor and
qualified to perform those tasks.
•knows the risks posed by driverless vehicles and is trained in the necessary safety
precautions to assess the safe operational state of the system.
All personnel in the area of influence of the inductive guidance sensor is instructed regard-
ing the kind of the vehicle and the risks resulting from the driverless operation.
2.4 Intended Use
The inductive guidance sensor HG G-193x0-B is intended for the track guidance of auto-
mated guided vehicles (AGV) along guide wires or ground installations for the contact-less
inductive energy transmission (energy track). The sensor detects the magnetic field above
a guide wire or energy track with active current flowing through it and continually calculates
the actual deviation from the center of the track. This deviation information is output via the
bus.
WARNING!
The inductive guidance sensor does not contain functionality to detect obstacles or persons
in front of a vehicle! The vehicle manufacturer resp. operator has to include suitable safety
equipment.
BEWARE!
Interferences as specified in section 3.3.1 on page 11 may lead to inaccurate outputs
whereby the vehicle may leave the track. The vehicle manufacturer has to include function-
ality to detect this and stop the vehicle if needed. As an aid the Detect signal may be used
(see below).
Note
In case the inductive guidance sensor is used for other purposes than specified above or is
modified all warranties against the Götting KG are null and void.
The sensor is only used according to section 2.2 on page 7. The sensor is only mounted,
configured, commissioned, operated, maintained and dismounted by personnel according
to section 2.3 on page 8.

Device Description HG G-193x0-B | English, Revision 02 | Date: 07.05.2018
9Introduction – Chapter 2
2.5 Functional Principle
Note
The functional principle below is explained using a guide wire installation. An energy track
installation has slightly different voltage curves but the basic principle is the same.
A frequency generator feeds a current into a guide wire installed in the ground. Along this
wire an alternating magnetic field is generated. The sensor measures the magnitude of the
induced voltage in two horizontal coils.
Figure 1 Principle of the guide wire track guidance
By evaluating the voltages induced in the two horizontal coils for each frequency a sum and
difference signal are calculated – Usum and Udiff – and output via the bus. The difference
signal shows maxima at both sides of the wire (one positive and one negative) and crosses
zero directly above the wire. Thus it may be used to control the vehicle.
Figure 2 Voltage curves guide wire track guidance: Sum / difference signal and Detect
Frequency
Generator Vehicle
Inductive Guidance Sensor
Guide Wire
Magnetic Field
Frame
‐300
‐200
‐100
0
100
200
300
400
‐150 ‐100 ‐50 0 50 100 150
U
sum
U
diff
Detect 0/1
(output via bus)
Usum, signal strength decides
when to set Detect to 1
Udiff, vehicle control

Device Description HG G-193x0-B | English, Revision 02 | Date: 07.05.2018
10 Chapter 2 – Introduction
Due to the two coils the sum voltage may show two maxima. This depends on the distance
to the guide wire. The sum voltage is solely used to detect a guide wire (Detect signal). For
this a detector circuit is implemented. The detector sets the Detect signal to 1 for valid fre-
quencies if the sum voltage exceeds a defined threshold.
Note
Vehicle manufacturers may use the Detect signal as an aid to detect whether the vehicle
leaves the track.