Gotting HG G-19370-B User manual

Inductive Guidance Sensor, Multifrequency, USB
HG G-19370-B/HG G-19380-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 03 Date: 05.05.2020 Dev. by: LF Author(s): RAD
Guide Wire
Innovation through Guidance www.goetting-agv.com
Device Description HG G-19370-B/HG G-19380-B

Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020
2Overview
Summary
Characteristics of the inductive guidance sensor HG G-19370-B/HG G-19380-B:
•5 programmable simultaneously usable
frequencies (2 – 20 kHz)
•If there is an existing ground installation
for the contact-less inductive energy
transmission (energy track) this can also
be used for the track guidance:
HG G-19370: 20/25 kHz, 140 mm wire
spacing, 85 A
HG G-19380: 140 kHz, 110 mm wire
spacing, 45 A
Within the zone of influence of an
active energy track guide wire signals
can not be used.
•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
© 2020 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-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020
3
Table of Contents
Contents
1 About this Document........................................................................ 5
1.1 Function ................................................................................................................................... 5
1.2 Presentation of Information .............................................................................................. 5
1.2.1 Warning Notices ............................................................................................................... 5
1.2.2 Symbols ............................................................................................................................... 6
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 ..............................................................................................11
3.3.3 Connection Cables (assembled on one side) / Terminating Resistors...........12
4 Commissioning ............................................................................... 14
5 Hardware ......................................................................................... 15
5.1 HG G-19370ZB/HG G-19380ZB (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-19370YB/HG G-19380YB (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-19370/80ZB (CAN)......................................................................................... 20
6.4.1.2 HG G-19370/80YB (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-19370ZB/HG G-19380ZB: (5) CAN Config .................................................. 24
6.4.7 Firmware Update ............................................................................................................24
7 CAN Bus Communication (HG G-19370ZB/HG G-19380ZB) ........ 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 ............................................................................................28

Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020
4Table of Contents
8 Profinet Communication (HG G-19370YB/HG G-19380YB)..........29
8.1 Input Bytes ............................................................................................................................29
8.2 Status/Detect (Byte 24) .....................................................................................................30
9 Maintenance ....................................................................................31
10 Technical Data.................................................................................32
11 List of Figures..................................................................................33
12 List of Tables ...................................................................................34
13 Index ................................................................................................35
14 Copyright and Terms of Liability....................................................37
14.1 Copyright ...............................................................................................................................37
14.2 Exclusion of Liability ..........................................................................................................37
14.3 Trade Marks and Company Names ...............................................................................37

Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020
5
About this Document – Chapter 1
1About this Document
1.1 Function
This device description contains information regarding the correct mounting, elec-
tric installation, commissioning and maintenance of the inductive guidance sensor
HG G-19370-B/HG G-19380-B for the technical personnel of a manufacturer who
wants to integrate the sensor into an automated guided vehicle (AGV).
This device description does not contain information regarding the usage of the su-
perordinate system, e.g. the automated guided vehicle (AGV). For this information
consult the documentation of the vehicle manufacturer resp. the operator of a facil-
ity.
This device description applies to devices with firmware version 1.01 and higher
(see Figure 10 on page 20).
1.2 Presentation of Information
For you to be able to use your product simply and safely this device description uses
consistent warning notices, symbols, terms and abbreviations. Those are described
in the following sections.
1.2.1 Warning Notices
In this device description warning notices appear before sequences of actions that
may lead to damage to persons or property. The listed actions for the danger preven-
tion have to be observed.
Warning notices have the following structure:
The warning symbol (warning triangle) indicates danger to life or risk of injury.
The signal word indicates the severity of the danger.
The paragraph kind or source of the danger names the kind or source of the
danger.
The paragraph consequences describes the consequences of not observing
the warning notice.
The paragraphs for danger prevention explain, how to avoid the danger.
SIGNAL WORD
Kind or source of the danger
Consequences
Danger prevention

Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020
6Chapter 1 – About this Document
The signal words have the following meanings:
1.2.2 Symbols
In this device description the following symbols and formatting are used:
If this information is ignored,
the product may not be operated in an optimal way.
Indicates one or more links to the Internet.
–www.goetting.de/xxx
–www.goetting.de/yyy
Indicates tips for easier
operation of the product.
The check mark lists a requirement.
The arrow shows an action step.
The indentation shows the result of an action or an action sequence.
Program texts and variables are indicated through the use of a fixed width
font.
Menu items and parameters are shown in cursive characters.
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 working).
Table 1 Hazard classification according to ANSI Z535.6-2006
Warning Symbol, Signal Word Meaning
DANGER
DANGER indicates a hazardous situation
which, if not avoided, will result in death or
serious injury.
WARNING
WARNING indicates a hazardous situation
which, if not avoided, could result in death or
serious injury.
CAUTION
CAUTION indicates a hazardous situation
which, if not avoided, could result in minor or
moderate injury.
NOTICE
NOTICE indicates property damage: The
product or the environment could be dam-
aged.

Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020
7
Introduction – Chapter 2
2Introduction
The inductive guidance sensor HG G-19370-B/HG G-19380-B is used for the induc-
tive track guidance of Automated Guided Vehicles (AGV). Up to 5 different guide wire
frequencies may be detected and evaluated simultaneously. If there is an existing
ground installation for the contact-less inductive energy transmission with two wires
(from here on also energy track) this can also be used for the track guidance. Within
the zone of influence of an active energy track guide wire signals can not be used.
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 support-
ed in the implementations listed in Table 2 below. Additionally an incremental en-
coder for the measurement of distance or speed may be connected directly to the
sensor. All incremental encoders can be used that have a switching threshold > 10
V between high level and low level (typically 24V incremental encoders). The encod-
er values are also output via the bus.
2.1 Variants/Versions
The inductive guidance sensor is available in two different variants with different
bus / interface 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. If there is an existing ground installation for the contact-less inductive
energy transmission this can also be used for the track guidance. These energy
tracks are supported in the implementations listed in Table 2 above. A matching
variant of the inductive guidance sensor has to be used. Within the zone of
influence of an active energy track guide wire signals can not 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 installa-
tions. Thus the energy track may not have switch points. For energy track instal-
lations 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 road-
way and meets the nominal reading distance towards the guide wire.
Table 2 Variant Overview
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

Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020
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 sen-
sor 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
regarding the kind of the vehicle and the risks resulting from the driverless operation.
2.4 Intended Use
The inductive guidance sensor HG G-19370-B/HG G-19380-B is intended for the
track guidance of automated guided vehicles (AGV) along guide wires or ground in-
stallations for the contact-less inductive energy transmission (energy track). The
sensor detects the magnetic field above a guide wire or energy track with active cur-
rent flowing through it and continually calculates the actual deviation from the cen-
ter of the track. This deviation information is output via the bus.
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 per-
sonnel according to section 2.3 on page 8.
DANGER
Missing protection equipment
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.
DANGER
The vehicle leaving the track
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 resp. operator has to include functionality to detect
this and stop the vehicle if needed
As an aid the Detect signal may be used (see below)

Device Description HG G-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020
9
Introduction – Chapter 2
2.5 Functional Principle
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 ‐10 0 ‐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-19370-B/HG G-19380-B | English, Revision 03 | Date: 05.05.2020
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 (De-
tect signal). For this a detector circuit is implemented. The detector sets the Detect
signal to 1 for valid frequencies if the sum voltage exceeds a defined threshold.
Vehicle manufacturers may use the Detect signal as an aid to detect whether the ve-
hicle leaves the track.