Gotting HG 98860ZA Parts list manual

Technical Description HG 98860ZA
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2-dim. Positioning and
Identification Antenna Outdoor
HG 98860ZA
English, Revision 04 Dev. by: WM / MH / DF
Date: 19.01.2015 Author(s): RAD / AF
Götting KG, Celler Str. 5, D-31275 Lehrte - Röddensen (Germany), Tel.: [phone] / 80 96 -0,
Fax: [phone] / 80 96 -80, eMail: [email protected], Internet: www.goetting.de

Contents HG 98860ZA
English, Revision 04, Date: 19.01.2015 2
Contents
1 Introduction.......................................................................5
1.1 System Components............................................................... 6
1.2 Function ................................................................................. 6
1.3 Application Example ............................................................... 7
1.4 Definitions .............................................................................. 7
2 Installation ........................................................................8
2.1 Transponder HG 70653ZA ...................................................... 8
2.2 Antenna HG 98860ZA ............................................................. 8
3 Installation / Commissioning ............................................10
4 Components and Operation .............................................15
4.1 Components in the Ground ................................................... 15
4.1.1 Transponders .............................................................................. 15
4.2 Transmitter-Receiver Antenna HG 98860ZA .......................... 15
4.2.1 Connection .................................................................................. 17
4.2.2 Turn-on characteristics ................................................................ 17
4.2.3 Interfaces .................................................................................... 18
4.2.3.1 Serial (RS 422) ....................................................................... 18
4.2.3.1.1 List of the system data which can be output .............. 18
4.2.3.1.2 List of commands ..................................................... 22
4.2.3.1.3 System Monitor ........................................................ 25
4.2.3.2 CAN Bus................................................................................. 25
4.2.3.2.1 Description of the CAN Protocol ............................... 25
4.2.3.2.2 CAN Bus Infrastructure............................................. 25
4.2.3.2.3 CAN Message Object 1 (Transmission Object).......... 25
4.2.3.2.4 CAN Message Object 2 (Transmission Object).......... 26
4.2.3.2.5 CAN Message Object 3 (Transmission Object).......... 26
4.2.3.2.6 CAN Message Object 4 (Reception Object)............... 27
4.2.3.3 Positioning Pulse .................................................................... 27
4.2.3.4 Analysis Interface ................................................................... 27
4.2.4 Software Download...................................................................... 28
4.2.5 Connection Cable HG 09240DB ................................................... 28
5 Software .........................................................................30
5.1 Terminal Program ................................................................. 30
5.2 Parameter Settings ............................................................... 30
5.3 System Monitor..................................................................... 31
5.3.1 How to start the monitor program ................................................. 31
5.3.2 How to work with the monitor program ......................................... 32

Contents HG 98860ZA
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5.3.2.1 Main menu.............................................................................. 33
5.3.2.2 (S)erial Output ........................................................................ 35
5.3.2.3 (T)ime & Code ........................................................................ 37
5.3.2.4 (F)requency & Antenna Tuning................................................ 38
5.3.2.5 C(A)N-Parameters .................................................................. 39
5.3.2.6 Cs(v) ...................................................................................... 40
5.3.2.7 Display (X)Histogram / (-)........................................................ 41
5.3.2.8 Display (Y)Histogram / (+)....................................................... 42
5.3.2.9 (L)oad values to EEProm ........................................................ 43
5.3.2.10 (U)pdate Firmware .................................................................. 43
5.3.2.11 Import (1) / export (2) User Parameter..................................... 43
5.3.2.12 P(r)int Parameters .................................................................. 43
5.4 Software Update (Antenna Software) .................................... 44
5.4.1 Installation of the ST10-Flasher Program for Software Update ...... 44
5.4.2 Software Update.......................................................................... 44
6 Maintenance ...................................................................46
7 Trouble Shooting.............................................................47
8 Technical Data ................................................................48
8.1 Transmitter-Receiver Antenna............................................... 48
8.2 Connection Cable ................................................................. 49
9 Appendix.........................................................................50
A Procedure 3964R ............................................................................. 50
A.1 Data direction antenna -> SPS.................................................................50
A.2 Data direction SPS -> Antenna ................................................................51
B Procedure „transparent“ ................................................................... 51
B.1 Data direction antenna -> SPS.................................................................51
B.2 Data direction SPS -> antenna.................................................................51
C Influence of a metal plate on the antenna........................................ 52
D Influence of a metal frame on the antenna....................................... 52
E Influence of reinforcement steel mesh below the transponder......... 53
F Accuracy of the deviation calculation ............................................... 54
10 List of Figures .................................................................55
11 List of Tables ..................................................................56
12 Index ..............................................................................57
13 Handbook Conventions....................................................58
14 Copyright and Terms of Liability ......................................59
14.1 Copyright.............................................................................. 59
14.2 Exclusion of Liability ............................................................. 59

Contents HG 98860ZA
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14.3 Trade Marks and Company Names........................................ 59

Introduction HG 98860ZA
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1 Introduction
The described antenna is designed to be used for positioning and/or trackguiding ve-
hicles in rough outdoor environment, as all electronic components are fully sealed as
well as equipped with an extended temperature range. All important parameter set-
tings, calibration and updates are carried out via an integrated serial interface.
Figure 1 Examples of automated vehicles using transponder systems
Antenna HG 98860ZA utilizes a completely new antenna concept, which has a large
reading area with a linear transponder positioning function. The antenna is so-called
2-dimensional, meaning that it outputs the Transponder code as well as the linear de-
viation rectangular to the direction of travel, in direction of travel and in addition the
information “Crossing of the transponder“.
NOTE! The accuracy of the measured value for the position X (in direc-
tion of travel) only meets the specified accuracy (see Table 14 on
page 48) for travelling speeds of up to 1 m/s! For higher speeds
the positioning pulse has to be used as the reference which has
an accuracy within the millimeter range.
NOTE! The point at which the positioning pulse is generated is not
exactly the same point at which the position X is equal to zero (X
= 0) since these points are calculated using different procedures.
For the above described antenna, the use of Transponders of the type HG 70653ZA
(Read Write — RW) is mandatory.
The transponder antenna has an output format, which enables the user to configure
additional system information. This additional information, for example, may be used
by an external visualization system (e.g. vehicle control unit with display) and enables
statements regarding the condition and availability of antennas and transponders.
This system description refers to Transponder Positioning Antenna HG 98860ZA with
the firmware 98860MA1.0 or higher (also refer to Figure 17 on page 33).

Introduction HG 98860ZA
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1.1 System Components
The 2-dimensional Positioning and Identification System using the antenna
HG 98860ZA consists of up to four different components:
Figure 2 System components (optional extras in brackets)
1. Transmitter-receiver antenna HG 98860ZA incl. interpreter
(refer to section 4.2 on page 15)
2. Transponder HG 70653ZA
(within the track; refer to section 4.1.1 on page 15)
3. Connection cable HG 09240DB
(not in this picture; refer to section 4.2.5 on page 28)
4. Washer set for mounting
(not in this picture, refer to section 2.2 on page 8)
5. Optional Read / Write Unit HG_81830YA
(not in this picture; refer to separate data sheet)
1.2 Function
As the antenna passes over the Transponder, it energizes the latter with an energy field
of 128 kHz. The transponder transmits its code back at half this frequency.
The relative Transponder position is measured. This relative position does not provide
the knowledge of the heading of the vehicle, as the field of the Transponder is rotation-
symmetric to the longitudinal axis of the Transponder. Via a cable with the max. length
of 20 meters (RS 422, CAN) Antenna HG 98860 is connected to the vehicle control
electronic.

HG 70653ZA


Introduction HG 98860ZA
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The internal interpreter unit decodes the Transponder code and interpolates the Tran-
sponder position rectangular to the direction of travel and in direction of travel from the
measured values.
Each coordinate axis crossing in direction of travel generates a positioning pulse of
adjustable duration.
In addition, various parameters of the antenna, such as current consumption and pow-
er supply voltage are measured and may be added to the serial output protocol.
1.3 Application Example
Figure 3 Track guiding a vehicle with one antenna
The figure shows a vehicle with an antenna frame for track guidance.
With the aid of the transponder (T 105) the deviation from the predeter-
mined track is determined. With this information, an external computer is
able to determine the new direction required to return to the predeter-
mined track as soon as possible (the external computer is not part of the
system). Rotary encoders enable changing the direction of travel when-
ever necessary. Thus it is possible to switch tracks at predetermined
points. Again, the vehicle corrects its position independently upon
reaching the next transponder.
1.4 Definitions
The definitions and signatures used for this system and in this user´s
manual are defined according to the following drawing:
Figure 4 Polarity of the deviation
-Y <— Deviation —> +Y
-X <— Direction of Travel —> +X

Installation HG 98860ZA
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2 Installation
2.1 Transponder HG 70653ZA
Pay attention to the required minimum distances from metal, as the influence on posi-
tioning accuracy and range is dependent upon size and distance of metal parts. For
the same reason, the transponder should be mounted as vertically aligned as possi-
ble. Please refer to the data sheet/mounting instructions for the transponder.
2.2 Antenna HG 98860ZA
Figure 5 Antenna dimensions
ATTENTION! When mounting the antenna, the washers that are part of the
scope of supply have to be used on both sides of each mounting
hole (see picture and text below)!
Figure 6 Application of the washers while mounting the antenna
Antenna body

Installation HG 98860ZA
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To preserve the antenna body and especially avoid any dents or cracks in the area of
the mounting holes we would strongly recommend the following steps:
1. Apply the combined rubber / plastic washers with approx. 90 mm diameter to
secure a better distribution of the pressure. Place the rubber side on the
antenna to avoid surface damages.
2. Apply metal washers with approx. 30 - 40 mm diameter under head of screw/
nut.
3. Use self-locking nuts or screw locking varnish to fix screw fittings.
ATTENTION! Do not exceed maximum torque of 10 NM.
To prevent any adverse effects on the system:
-The Antenna itself may not be mounted directly onto metal, on each side of the
Antenna, a minimum distance of 300 mm to any larger electrically conductive
structures must be maintained (essential cabling and special mounting struts
excluded). The influence of metal behind the antenna is shown in the appendices,
see section C on page 52.
-For perfect operation of the transponder system, it is essential that there are no
interfering signals in the frequency range of 64 ±4 kHz (e. g. chopped engines,
etc.)!
-Steel reinforcement structures located very close to the surface of the runway may
transform the Antenna energy in the ground to deviating locations in such a way
that the measured Transponder position is a faulty one, see section E on page 53.

Installation / Commissioning HG 98860ZA
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3 Installation / Commissioning
NOTE! Check the operating voltage before connecting! Although the
RS 422 / CAN interface is largely insensitive to interferences, the
cable should not lie directly next to power supply cables.
Connect the antenna with the vehicle control unit using the delivered cable.
Connect a laptop to the antenna using the serial interfaces of both devices. The aid of
a suitable RS 422 to RS 232 converter may be necessary for this step (the interface
converter is not part of the scope of supply). Then start the monitor program as de-
scribed in section 5.3 on page 31.
Default Values The standard setting of the system is „Monitor only“ as listed in
section 5.3.1 on page 31 at 38400 bd. Thus it will start without the
need for the user to download a command file. However, please
pay attention to the fact that these may have been altered by a
different user!
1. If the antenna is mounted next to metal, it must be re-calibrated (also refer to
section 2.2 on page 8). In order to set the positioning threshold (refer to section
5.3.2.3 on page 37), it is useful to record a complete test run over the set track.
The serial interface of antenna HG 98860ZA may be used accordingly (refer to
section 5.3.2.6 on page 40). In addition to this you can use the TxD 232 debug
interface (section 4.2.3.4 on page 27).
2. Move a transponder into reception range.
The voltage Sshould increase considerably. The code must be detected imme-
diately and the number of readings must be continuously counted up to 255.
3. Remove the transponder again from the reception range.
While no transponder is located within the antenna field, the voltage Smust
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.
As long as no errors have occurred, save any altered parameters and exit the monitor
program. If certain parameters are altered, a system reset is necessary (turn off and
reactivate the antenna) as described in the corresponding section of the monitor pro-
gram (section 5.3). Now the system has been correctly put into operation.

Installation / Commissioning HG 98860ZA
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The following diagrams show examples of logged system data:
Figure 7 Diagram: Commissioning Protocol / insignificant interference level; shown is
the sum voltage over the travelled distance
The above diagram shows the sum voltage (in units) over the travelled distance. The
noise is in this case approx. 50 units, the transponder signal approx. 950 units. The
Transponder decoding is perfect, as also shown in the following diagram:
Figure 8 Diagram: Commissioning Protocol / undisturbed Transponder decoding
Low Interference Level
Undisturbed Transponder Decoding

Installation / Commissioning HG 98860ZA
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During each Transponder crossing, the sum voltage increases initially. Once the
threshold Threshold for Decoding has been exceeded, the bit
TRANS_IN_FIELD is set. Following 4 x 8 ms (= 4 data points) the Transponder code
is decoded. The duration depends on the setting for Number of Equal Codes within
the menu Time & Code. In this example, this parameter is = 2, i. e., the newly re-
ceived code is compared to 2 already received codes.
Once the center of the Antenna has been crossed, the POSI-Puls is generated. Its
duration is adjustable. The bits TRANS_IN_FIELD and CODE_OK are deleted, when-
ever the sum voltage decreases under the value for Threshold for Decoding. In
the shown example there is spare time of 6 x 8 ms for the generation of the POSI-
Puls.
The following protocols show the influences of high interference levels on the Antenna
performance.
Figure 9 Diagram: Commissioning Protocol / high interference level; shown is the
sum voltage over the traveled distance
The interference level reaches up to 300 units. At Transponder 207 the noise is at such
a level that it even influences the Transponder signal. As a result it takes 9 x 8 ms until
the Transponder 207 has been decoded (refer to Figure 10 on page 13). For the slow
crossing speed 9 x 8 ms is still sufficient for generating a POSI-Puls, but at high
speed it would no longer be possible to decode this Transponder.
High Interference Level

Installation / Commissioning HG 98860ZA
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Figure 10 Diagram: Commissioning Protocol / jammed decoding (function still en-
sured)
The following diagram shows a case in which false POSI-Pulses are generated
through wrongly set parameters for Threshold for Decoding and/or
Threshold for Positioning.
Figure 11 Diagram: Commissioning Protocol / false POSI Pulse generated through
noise and threshold set too low
Jammed Decoding (function still ensured)
False POSI Pulse generated by noise and threshold set too low

Installation / Commissioning HG 98860ZA
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For this example, the thresholds are set to 100 units. The bit TRANS_IN_FIELD is per-
manently set. Following a successful Transponder decoding, initially a correct POSI-
Puls is generated. However, as the software does not realize that the Transponder
leaves the Antenna field (the noise is stronger than the set 100 units for the threshold),
each zero crossing of the difference voltage (not shown in the diagram) will generate
another POSI-Puls.

Components and Operation HG 98860ZA
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4 Components and Operation
4.1 Components in the Ground
4.1.1 Transponders
As reference markers only transponders of the type HG 70653ZA can be used. These
are special high signal types due to the large reading distance possible with this an-
tenne. Please refer to the separately available data sheet for HG 70653ZA for further
information about the transponder.
Range and accuracy of positioning are influenced by:
-any large metal pieces (sheets) on the ground.
-proximity of any floor reinforcement
-inductive loops, as they are created e. g. by steel building mats, have a greater
influence. Individual metal poles have little effect. Those may partially be within
the metal-free area.
The following environmental conditions have no effect on the system:
-snow, ice, water.
-oil, tar, earth, dirt, etc.
4.2 Transmitter-Receiver Antenna HG 98860ZA
This antenna has RS 422 and CAN interfaces.
Figure 12 Photo Transmitter-Receiver Antenna HG 98860ZA

Components and Operation HG 98860ZA
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The antenna systems and the pre-amplifiers are housed in a casing with the below giv-
en dimensions. In order to limit the weight, the casing has been filled with construction
foam, which serves as sealing compound as well as the stabilizing elements. The ca-
ble (the connecter) exits at one side of the antenna.
Figure 13 Drawing Antenna HG 98860ZA (with casing dimensions)
The interpreter is integrated in the antenna casing. The electronics are varnished. A
thermostat controlled heater is included.

Components and Operation HG 98860ZA
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4.2.1 Connection
Figure 14 16-pin Antenna connection socket
The antenna is equipped with a 16 pin connection socket. The pin allocation is as fol-
lows:
The two positioning pins are lead through separately and internally neither connected
to +24 V nor to GND, as in some applications it is essential that strict potential sepa-
ration is maintained. For security reasons, a 20 mA current limitation for these outputs
is implemented within the Antenna. Thus if, e. g., a 24 V voltage output is required it is
possible to connect pin 9 with +24 V and pin 10 via a 1 KOhm resistance with GND.
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 5.4 on
page 44).
Contact HG 98860ZA (RS 422)
A+24 V (antenna)
BGND (antenna)
Cn.c.
DSL Rx
ERx 422+ *)
FRx 422- *)
GTx 422+ *)
HTx 422- *)
J+20 mA Positioning Pulse
K-20 mA Positioning Pulse
LCAN_H
MCAN_L
NSignal Ground
PSL TX
RTx RS 232 output for data logging
SCasing
Casing shield
*) = Rx and Tx are related to the antenna.
Table 1 Allocation of the 16 pin Antenna Connection Socket
Socket (pin)
front view

Components and Operation HG 98860ZA
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Following this period of time, the actual program starts. If configured accordingly (also
refer to Figure 21 on page 38), the transmission coils will be automatically tuned. This
procedure takes another 16 seconds.
4.2.3 Interfaces
4.2.3.1 Serial (RS 422)
The serial output may be configured in various ways. The transmission rate is adjust-
able at 19200 or 38400 Bd, the output protocol may be chosen as either „transparent“
or „3964R“. Apart from that, the content of the output telegrams is configurable. From
a parameter list the required parameters may be selected.
4.2.3.1.1 List of the system data which can be output
One Telegram consists of max. 21 user bytes. The minimum update rate at 38400 Bd
is then calculated as follows:
Figure 15 Formula: Minimum update rate
As the transmission is binary, it is possible to add further (DLE) characters to the pro-
cedure when using the 3964R-procedure.
All multiple-byte variables are output either with the highest byte or the lowest byte first
(adjustable)!
The 8 bit check sum is only output when using the transparent protocol and includes
the start pulse. The start pulse, as well as the check sum (protocol transparent), can-
not be removed from the data block.
21 Byte
Telegram
-------------------------11 Bit
Byte
------------38400Bit
s
------- 6ms
Telegram
-------------------------=

Components and Operation HG 98860ZA
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Table of the data words of a telegram with 21 byte length.
Byte # Length Value Type Description
11 Byte 0x0000.0001 ASCII-061 : „=“ Start pulse (Default: „=“)
2,3 2 Byte 0x0000.0002 signed short Y-Position: Y [mm] (lateral deviation)
within the range of -750 .. 0 .. +750
In case of an invalid value (no Transponder
detected) = 32767 *)
4,5 2 Byte 0x0000.0004 signed short X-Position: X [mm] (longitudinal deviation)
within the range of -300 .. 0 .. +300
In case of an invalid value (no Transponder
detected) = 32767 *)
6,7 2 Byte 0x0000.0008 unsigned short 16 bit Transponder code
8,9 2 Byte 0x0000.0010 signed short Voltage generated by the transponder in the
reference coils in [units]
10,11 2 Byte 0x0000.0020 unsigned short voltage generated by the Transponder in the
positioning coils in [units]
12 1 Byte 0x0000.0040 unsigned char operational voltage for the Antenna [100 mV]
13 1 Byte 0x0000.0080 unsigned char power consumption [10 mA]
14 1 Byte 0x0000.0100 signed char temperature within the antenna [oC]
15 1 Byte 0x0000.0200 unsigned char number of readings during the latest Transpon-
der crossing
16,17 2 Byte 0x0000.0400 unsigned short receiver frequency [10 Hz]
18,19 2 Byte 0x0000.0800 unsigned short transmitter frequency [10 Hz]
20, 21 2 Byte 0x0000.1000 unsigned short system status in binary encoding
(22) 1 Byte unsigned char check sum, only in transparent protocol!
XOR operation of all bytes including the start
character.
*) = In case that either the position for x or y exceeds its valid range, both values are set to 32767.
Table 2 Data words in a telegram with 21 byte length

Components and Operation HG 98860ZA
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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 Table 2):
*) These bits are deleted as soon as the Transponder leaves the
Antenna reception range.
Example:
System status 0x0018
Description NO_SLAVE_COM and EEPROM_ERROR.
This status message 0x0002 may also occur during an ordinary transponder cross-
ing, if the code transmission is aborted due to decreasing output level.
The connection between „number of readings“ and „system status“ is as follows:
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
received
0x0004 RX_NOISE Set whenever TRANS_IN_FIELD was set but no codes
were received
0x0008 NO_SLAVE_COM No communication with slave processor
0x0010 EEPROM_ERROR parameter E²Prom not addressable
0x0020 PARAM_CRC_ER parameter block not safe
0x0040 POT_ERROR IIC-Bus Potis not addressable
0x0080 F_ERROR Transmitting or receiving oscillator not tuned to the set fre-
quency
0x0100 ESTIMATE If the exact Transponder Position cannot be determined
due to wrong reading distances or e. g. steel reinforce-
ments in the ground, an estimated value with the accuracy
of ±46 mm is determined and this bit is set
0x0200 TRANS_IN_FIELD transponder is being detected *)
0x0400 CODE_OK Code decoded without errors *)
0x0800
0x1000 POSIPULS Transponder has crossed the Antenna center
0x2000
0x4000
0x8000 HEATER_ON Internal heating active
Table 3 Possible system status messages