Gotting HG G-19370ZA User manual

Inductive Guidance Sensor
HG G-19370ZA
Inductive track guidance along a guide wire
Multifrequency, USB, CAN, incremental encoder input
English, Revision 01 Date: 17.05.2017 Dev. by: LF Author(s): RAD
Device Description HG G-19370ZA
Guide Wire
Innovation through Guidance www.goetting-agv.com

Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com
2Overview HG G-19370ZA
Summary
Characteristics of the inductive guidance sensor HG G-19370ZA:
•6 programmierbare, gleichzeitig nutz-
bare Frequenzen
•Programmierbare Verstärkung
•Indoor
•Anschluss für Inkrementalgeber
•CAN-Bus Schnittstelle
•USB Schnittstelle
•Serielle Schnittstelle (über USB Virtual
Port Driver)
® 2017 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-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com
3Table of Contents HG G-19370ZA
Contents
1 About this Document ............................................................................. 5
1.1 Function................................................................................................................................. 5
1.2 Symbols ................................................................................................................................. 5
2 Introduction............................................................................................. 7
2.1 Range of Use ........................................................................................................................ 7
2.2 Qualification of the Users................................................................................................. 7
2.3 Intended Use ........................................................................................................................ 8
2.4 Functional Principle ........................................................................................................... 8
3 Mounting ............................................................................................... 10
3.1 Guide Wire ..........................................................................................................................10
3.2 Inductive Guidance Sensor ............................................................................................10
3.2.1 Requirements..................................................................................................................................10
3.2.2 Mounting on the Vehicle .............................................................................................................11
3.2.3 Connection Cables (assembled on one side) / CAN Terminating Resistor ..................12
4 Commissioning ..................................................................................... 13
5 CAN Bus Communication .................................................................... 14
5.1 Telegrams............................................................................................................................14
5.2 Control and Status Telegrams ......................................................................................15
5.2.1 Incoming Telegram (IN) ...............................................................................................................15
5.2.2 Outgoing Telegram OUT1 ...........................................................................................................15
6 Hardware ............................................................................................... 16
6.1 LEDs ......................................................................................................................................16
6.2 Pin Assignment .................................................................................................................16
6.2.1 ST 1 ....................................................................................................................................................17
6.2.2 CAN 1 / CAN 2 ................................................................................................................................17
7 Configuration ........................................................................................ 18
7.1 Turn-On Characteristic....................................................................................................18
7.2 Connection to a PC via the USB Interface ................................................................18
7.3 Terminal Program .............................................................................................................18
7.4 Service Program................................................................................................................19
7.4.1 (1) Frequency Config ....................................................................................................................20
7.4.2 (2) CAN Config................................................................................................................................20
7.4.3 (3) Calibration Config ...................................................................................................................21
7.4.4 (4) Encoder Config ........................................................................................................................22
7.4.5 (6) Serial Data-Stream..................................................................................................................22
7.4.6 Firmware Update ...........................................................................................................................23
8 Maintenance.......................................................................................... 24

Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com
4Table of Contents HG G-19370ZA
9 Technical Data ...................................................................................... 25
10 List of Figures....................................................................................... 26
11 List of Tables ........................................................................................ 27
12 Copyright and Terms of Liability ........................................................ 28
12.1 Copyright ............................................................................................................................ 28
12.2 Exclusion of Liability ....................................................................................................... 28
12.3 Trade Marks and Company Names............................................................................. 28

Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com
5Chapter 1: About this Document HG G-19370ZA
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-19370ZA
for the technical personnel of a manufacturer who wants to integrate the sensor into an au-
tomated 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 1.10 and higher (see Figure
8 on page 19).
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-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com
6Chapter 1: About this Document HG G-19370ZA
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-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com
7Chapter 2: Introduction HG G-19370ZA
2Introduction
The inductive guidance sensor HG G-19370ZA is used for the inductive track guidance of
Automated Guided Vehicles (AGV). Up to 6 different guide wire frequencies may be detect-
ed and evaluated simultaneously. The frequencies may be chosen from the range 2 to
20 kHz and are configured via the USB interface. Additionally am incremental encoder for
the measurement of distance or speed may be connected directly to the sensor. All incre-
mental encoders 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 CAN bus.
2.1 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.
•The magnetic sensor is installed so that its underside faces the roadway and meets
the nominal reading distance towards the guide wire.
2.2 Qualification of the Users
The personnel intended to operate the magnetic 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 magnet 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 magnetic sensor is instructed regarding the kind
of the vehicle and the risks resulting from the driverless operation.

Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com
8Chapter 2: Introduction HG G-19370ZA
2.3 Intended Use
The inductive guidance sensor HG G-19370ZA is intended for the track guidance of auto-
mated guided vehicles (AGV) along guide wires. The sensor uses two horizontal coils to de-
tect the magnetic field above a guide wire with active current flowing through it and thus
continually calculates the actual deviation from the center of the track. This deviation infor-
mation is output via the CAN bus.
WARNING!
The inductive guidance sensor does not contain functionality to detect obstacles or persons
in front of a vehicle! The vehicle manufacturer has to include suitable safety equipment.
BEWARE!
Interferences as specified in section 3.2.1 on page 10 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 2.1 on page 7. The sensor is only mounted,
configured, commissioned, operated, maintained and dismounted by personnel according
to section 2.2 on page 7.
2.4 Functional Principle
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
Frequency
Generator Vehicle
Inductive Guidance Sensor
Guide Wire
Magnetic Field
Frame

Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com
9Chapter 2: Introduction HG G-19370ZA
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 CAN bus. The differ-
ence 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 direct the vehicle.
Figure 2 Voltage curves sum and difference signal and Detect
Due to the two coils the sum voltage may show to 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. The Detect signal for all frequen-
cies is output via the CAN bus.
Note
Vehicle manufacturers may use the Detect signal as an aid to detect whether the verhicle
leaves the track.
‐300
‐200
‐100
0
100
200
300
400
‐150 ‐100 ‐50 0 50 100 150
U
sum
U
diff
Detect 0/1
(output via CAN)
Usum, signal strength decides
when to set Detect to 1
Udiff, vehicle control

Device Description HG G-19370ZA | English, Revision 01 | Date: 17.05.2017 | www.goetting-agv.com
10 Chapter 3: Mounting HG G-19370ZA
3Mounting
3.1 Guide Wire
The guidelines for the ground installation of guide wires are explained in a separate docu-
ment. You can download the PDF file from the following address (section Application Ex-
amples and Downloads):
Link
http://www.goetting-agv.com/components/inductive/introduction
3.2 Inductive Guidance Sensor
3.2.1 Requirements
Note
Additional magnetic fields close to the sensor can affect the system characteristics. There-
fore:
– The limit value for the magnetic field of e.g. transverters/engines/wire connections at
the position of the inductive guidance sensor is circa 0,01 A/m.