Gotting HG G-19334-A User manual

Device Description HG G-19334-A
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Guidance Antenna for Inductive
Power Transmission
— with CANopen / all Variants —
HG G-19334-A
English, Revision 03 Dev. by: LM
Date: 11.05.2017 Author(s): RAD/BW
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 G-19334-A
English, Revision 03, Date: 11.05.2017 2
Contents
1 Introduction.......................................................................4
1.1 Variants Overview................................................................... 4
1.2 Functional Principle ................................................................ 5
2 Device Description ............................................................6
2.1 Casing Dimensions ................................................................. 6
2.2 Mounting Guideline................................................................. 6
2.3 LEDs on the Front Plate.......................................................... 7
2.4 Pin Allocations........................................................................ 7
2.5 CANopen® Interface............................................................... 8
2.5.1 Description of the Process Data Objects (PDOs) ............................ 8
2.5.2 Synchronous Identifier ................................................................... 9
2.5.3 Heartbeat ......................................................................................9
2.5.4 Description of Service Data Objects (SDOs) ................................. 10
2.5.5 Object Directory .......................................................................... 10
2.5.5.1 Communication Specific Entries .............................................. 11
2.5.5.2 Manufacturer Specific Entries.................................................. 13
2.5.5.3 Standardized Device Profile Area ............................................ 13
2.5.5.4 CANopen Object Dictionary..................................................... 14
2.5.5.4.1 Device Type ............................................................. 14
2.5.5.4.2 Error Register .......................................................... 14
2.5.5.4.3 COB-ID SYNC message ........................................... 14
2.5.5.4.4 Device Name ........................................................... 14
2.5.5.4.5 Hardware Version..................................................... 14
2.5.5.4.6 Software Version...................................................... 15
2.5.5.4.7 Save Parameter ....................................................... 15
2.5.5.4.8 Restore Default Parameter ....................................... 15
2.5.5.4.9 Producer Heartbeat Time ......................................... 15
2.5.5.4.10 Identity Object.......................................................... 16
2.5.5.4.11 Transmit PDO_1 Parameter...................................... 16
2.5.5.4.12 Transmit PDO_2 Parameter...................................... 17
2.5.5.4.13 Mapping TxPDO_1 ................................................... 17
2.5.5.4.14 Mapping TxPDO_2 ................................................... 18
2.5.5.4.15 Manufacture Parameter - Antenna Parameters.......... 19
2.5.5.4.16 Manufacture Parameter - Node Parameters .............. 20
2.5.5.4.17 8 Bit Digital Input (transmitted in TxPDO 1)............... 20
2.5.5.4.18 8 Bit Analog Inputs (transmitted in TxPDO 1 and TxPDO
2)..............................................................................21
2.6 Serial Communication via RS-232 ......................................... 21
3 Monitor Mode ..................................................................23
3.1 Switching to Monitor Mode .................................................... 23

Contents HG G-19334-A
English, Revision 03, Date: 11.05.2017 3
3.2 Terminal Program Display in Monitor Mode ........................... 23
3.2.1 Commands in Monitor Mode ........................................................ 23
3.2.2 Commands in the CANopen® Menu ............................................. 24
4 Technical Data ................................................................26
4.1 Guidance Antenna ................................................................ 26
4.2 Prerequisites of the Ground Installation................................. 26
5 Appendix.........................................................................27
A Casing Dimensions of the different Versions including the Mounting
Angle................................................................................................ 27
A.1 HG 19334JA.............................................................................................27
A.2 HG 19334OA / HG 19334RA ...................................................................27
A.3 HG 19334XA ............................................................................................28
A.4 HG 19334YA ............................................................................................28
B Electronic Data Sheet (EDS-File)..................................................... 28
6 List of Figures .................................................................29
7 List of Tables ..................................................................30
8 Handbook Basics ............................................................32
9 Copyright and Terms of Liability ......................................33
9.1 Copyright.............................................................................. 33
9.2 Exclusion of Liability ............................................................. 33
9.3 Trade Marks and Company Names........................................ 33

Introduction HG G-19334-A
English, Revision 03, Date: 11.05.2017 4
1 Introduction
The track guidance antenna HG G-19334-A was especially developed for FTS facili-
ties, which use inductive power transmission in such a way that the available ground
installation is also used for track guiding vehicles.
1.1 Variants Overview
The antenna HG G-19334-A exists in several versions that are differentiated by the
second to last character of the type identifier, e.g. HG 19334OA. You can detect the
variant of a given antenna by looking for the type identifier on the label. These versions
are available:
NOTE! For small casings (s. Table 1 above) it is not possible to have the
connectors on the top.
Vers.
Nominal
reading
height
above loop
(approx.)
Loop
frequency
Loop
distance
Loop
current Casing Working area
JA 35 mm 20 kHz 80 mm 75 A Small (s. Figure 8 on page 27)±30 mm
OA 35 mm 20 kHz 100 mm 75 A Big (s. Figure 9 on page 27)±40 mm
RA 35 mm 20 kHz 100 mm 125 A Big (s. Figure 9 on page 27)±40 mm
XA 35 mm 25 kHz 140 mm 60 A Small (s. Figure 10 on page 28)±50 mm
YA 50 mm 25 kHz 140 mm 85 A Small (s. Figure 11 on page 28)±50 mm
Table 1 Variants overview

Introduction HG G-19334-A
English, Revision 03, Date: 11.05.2017 5
1.2 Functional Principle
The guidance antenna consists of three systems with one cross-coil antenna each.
Each of these systems generates one “Detect” signal and two output values for the
measured sum and difference signal that are proportional to the horizontal or vertical
components of the magnetic field. In addition to this in a working area of max. ±30 /
±40 / ±50 mm at nominal reading height the two values for sum and difference volt-
age are used to calculate and output the actual offset (in millimeters) from the nominal
track.
Figure 1 Schematic diagram
Example
Figure 2 Diagram: Voltage curve of the three antenna systems (example)
By using three antenna systems, branching from the main course is made possible.
The three antenna systems work synchronously and their measured values are perma-
nently cyclically transmitted via CAN-Bus and via the serial interface. The decision
which of the signals is to be evaluated at a particular time is carried out by the vehicle
controller.
80 mm
Power CAN
RR
L
RLL
H
L
SYSTEM 3 SYSTEM 2 SYSTEM 1
NODE-ID
HG 19334-A
INDUCTIVE GUIDANCE SENSOR
GÖTTING KG
Celler Str. 5, D-31275 Lehrte
80 / 100 / 140 mm35 mm
Energy loop
Depending on the
Working area
±30 / ±40 / ±50 mm
variant:
Center deviation [mm] Sum Difference
System 1 System 2 System 3
Center Right
In direction of travel: Left
Sum
255
00
127
-128
Difference

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 6
2 Device Description
2.1 Casing Dimensions
The casing dimensions including the mounting angle are listed in section A on page
27 in the appendix.
2.2 Mounting Guideline
The guidance antenna HG G-19334-A is calibrated for a fixed height 35 mm above the
energy loop. The guidance antenna should be mounted on the vehicle in such a way,
that the monitor mode shows values of approx. 0 digits for all three systems in the mid-
dle of the track (see markers in Figure 6 on page 23). Also you should make sure that
there are no metal parts in an area of 50 mm around the mounting place of the guid-
ance antenna!
ATTENTION! Make sure that there are no closed metal frames around the
guidance antenna!
If, due to construction needs, you can‘t avoid closed metal frames close to the guid-
ance antenna those metal frames should be sliced with a cut that then is re-screwed
using nonconductive material. Pickup coils also distort the electrical field during load
cycles and should not be mounted close to the guidance antenna.
In general all metal parts distort the magnetic field, which means that there‘s no uni-
form magnetic field around the guidance antenna. In those cases the guidance anten-
na should be mounted somewhere else or the offsets have to be adjusted (section
3.2.1 on page 23)!

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 7
2.3 LEDs on the Front Plate
Figure 3 LEDs
On the front plate you can find two LEDs per antenna system (red + green) that indi-
cate the zero crossing point of the difference signal (both LEDs are lit at once). In ad-
dition to those you can find one LED that indicates sufficient power supply (Power) and
a LED that indicates CAN communication:
2.4 Pin Allocations
Depending on the version of the guidance antenna (see Table 1 on page 4) the circular
connectors are placed on the top resp. the back side of the casing. The following in-
terfaces are available.
Figure 4 Placement of the circular connectors
CAN - Is lit continuously in the state „operational“
- Blinks in the state „pre-operational“
- Flashes in the state „stopped“
- Stays dark in case of CAN bus errors
Table 2 Dsiplay options of the CAN LED
Power CAN
RR
L
RLL
H
L
SYSTEM 3 SYSTEM 2 SYSTEM 1
NODE-ID
HG 19334-A
INDUCTIVE GUIDANCE SENSOR
GÖTTING KG
Celler Str. 5, D-31275 Lehrte
ST1
M12x1 circular connector
5-pin (male)
A-coded
ST2
M12x1 circular connector
5-pin (female)
A-coded
ST3
M12x1 circular connector
5-pin (male)
A-coded
Power

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 8
2.5 CANopen® Interface
The transfer rate has to be selected by using the serial monitor (see 3 on page 23) or
the corresponding SDOs. The default baud rate is 125 kBaud.
The measured values of the system are transmitted via 2 so called TxPDOs. They can
be parametrized using the SDOs. The CAN identifier can be deduced from the node
address (1 to 127), it can be set using two Hex switches. Selecting address 0 the CAN
bus will be deactivated.
2.5.1 Description of the Process Data Objects (PDOs)
2 transmission data objects are available. The measured data are allocated to partic-
ular places in the PDO, a dynamic mapping is not envisaged. The PDO operating
mode can be set to cyclical-synchronous or to asynchronous. To avoid high bus loads
due to permanent alteration during non- cyclical transmission (asynchronous mode)
(Event_Time=0) the inhibit time in the CAN menu can be adjusted (see section 3.2.2
on page 24). A PDO can also be transmitted cyclically. The corresponding event time
has to be selected accordingly and the inhibit time has to be set to 0.
A TxPDO can be activated permanently by choosing the asynchronous mode (255)
with Inhibit-Time = 0, Event_time = 0.
Additionally it can be activated / deactivated temporarily by setting / deleting the high-
est bit in the corresponding PDO-COB- identifier [1800,01] or [1801,01].
PDO_1 is sent with the identifier 0x180 + node address. It contains 4 bytes in which
the displayed status on the serial monitor as well as three distance values are includ-
ed. The transmission sequence is XL, XM, XR, status.
Connector Pin Function
ST1 (plug)
A-coded
1+UB
2 —
3TxD
4RxD
5GND
ST2 (socket)
ST3 (plug) A-coded
1Shielding
2+UB
3CAN_GND / GND
4CAN_H
5CAN_L
Table 3 Pin allocations ST1, ST2 and ST3
51
2
3
4
52
1
4
3
51
2
3
4

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 9
The meaning of the status bits is specified as follows:
PDO_2 is sent with identifier 0x280 + node address. It contains exactly seven 8 bit val-
ues in the order SL, DL, SM, DM, SR, DR, status.
2.5.2 Synchronous Identifier
The synchronous identifier to be received is 0x80. It can be read from index [1005,00].
2.5.3 Heartbeat
The device supports the heartbeat mode. If a heartbeat time > 0 is set in the CAN
menu the device status is sent to the identifier 0x700 + node address after the heart-
beat timer expires.
Value Type Value range Function
XL signed 8 -128 ... +127 Lateral deviation left system [mm]
XM signed 8 -128 ... +127 Lateral deviation center system [mm]
XR signed 8 -128 ... +127 Lateral deviation right system [mm]
Status unsigned 8 0 ... 0xff Detect signals and error message (s. Table 5
below)
Table 4 CAN: Numerical representation for PDO_1
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Error System 1
Left
System 1
Right
System 2
Left
System 2
Right
System 3
Left
System 3
Right
Table 5 CAN: Meaning of the status bits
Value Type Value range Function
SL unsigned 8 0 ... 255 Sum left system
DL signed 8 -128 ... +127 Difference left system
SM unsigned 8 0 ... 255 Sum center system
DM signed 8 -128 ... +127 Difference center system
SR unsigned 8 0 ... 255 Sum right system
DR signed 8 -128 ... +127 Difference right system
Status unsigned 8 0 ... 0xff Detect signals and error
message
(s. Table 5 on page 9)
Table 6 CAN: Numerical representation for PDO_2

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 10
2.5.4 Description of Service Data Objects (SDOs)
To access the object directory the service data object (SDO) is used. An SDO is trans-
ferred with an acknowledgement, i.e. each incoming message is confirmed. The iden-
tifiers for read and write access are:
Read access: 0x600 + Node-address,
Write access: 0x580 + Node-address.
The SDO telegrams are described in CiA standard DS-301. The error codes which
may occur due to an erroneous communication are listed in the following table.
2.5.5 Object Directory
The CANopen object directory comprises all relevant objects for the device. Each en-
try is marked by a 16 bit index. Sub components are marked by a 8 bit subindex. Read
only entries are marked by RO.
NOTE! In the tables parameters that can be stored in the EEProm are
marked with a ’’.
The object directory is divided into the following parts:
Device state Code
stopped 0x04
pre-operational 0x7f
operational 0x05
Table 7 CAN: Heartbeat device states
Name Number Meaning
SDO_ABORT_UNSUPPORTED 0x06010000 Non-supported access to an object
SDO_ABORT_READONLY 0x06010001 Write access to read-only object
SDO_ABORT_NOT_EXISTS 0x06020000 Object is not implemented
SDO_ABORT_TRANSFER 0x08000020 During saving / loading of parameters the signature
"load" or "save" has not been used. When calling
calibration, signature "cali" has not been used.
SDO_ABORT_PARA_VALUE 0x06090030 Parameter value range exceeded
SDO_ABORT_PARA_TO_HIGH 0x06090031 Parameter value too high
Table 8 CAN: SDO error codes

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 11
2.5.5.1 Communication Specific Entries
Communication Specific Entries located from 0x1000 to 0x1FFF
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 Number of Entries of Device Name
1 RO Device Name 1
2 RO Device Name 2
3 RO Device Name 3
0x1009 0 RO Hardware Version
0x100A 0 RO Software Version
0x1010 0 RO Number of entries of Save Parameter
1 RW Save all
0x1011 0 RO Number of entries of Restore Default Parameter
1 RW Restore Default all
0x1017 0 RW Producer Heartbeat Time 
0x1018 0 RO Number of entries of Identity Object
1 RO Vendor ID
2 RO Product Code
3 RO Revision
0x1800 0 RO Number of entries of Transmit PDO_1
1RW* COB-ID
2 RW Transmission Type 
3 RW Inhibit Time 
5 RW Event Time 
Table 9 CAN: Overview of object directory, communication specific entries in the
range of 0x1000 to 0x1FFF (part 1 of 2)

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 12
0x1801 0 RO Number of entries of Transmit PDO_2
1RW* COB-ID
2 RW Transmission Type 
3 RW Inhibit Time 
5 RW Event Time 
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
4 RO Specification of Appl. Object 4
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
7 RO Specification of Appl. Object 7
*) Here only the highest bit can be changed to (de-)activate the PDO temporarily.
Communication Specific Entries located from 0x1000 to 0x1FFF
Index Subindex Access Content EEProm
Table 9 CAN: Overview of object directory, communication specific entries in the
range of 0x1000 to 0x1FFF (part 2 of 2)

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 13
2.5.5.2 Manufacturer Specific Entries
2.5.5.3 Standardized Device Profile Area
Manufacturer specific entries from 0x2000
Index Subindex Access Content EEProm
0x2000 0 RO Number of Parameter
1 RW Detect Level 
2 RW Offset Left 
3 RW Offset Center 
4 RW Offset Right 
0x2001 0 RO Number of Parameter
1 RW Node Baud rate 
2 RW Node Config 
Table 10 CAN: Overview of object directory, manufacturer specific entries from
0x2000
Standardized Device Profile Area 0x6000
Index Subindex Access Content
0x6000 0 RO Number of 8 Bit Digital Inputs
1 RO System status
0x6400 0 RO Number of 8 Bit analog Inputs
1 RO Analog Input XL
2 RO Analog Input XM
3 RO Analog Input XR
4 RO Analog Input SL
5 RO Analog Input DL
6 RO Analog Input SM
7 RO Analog Input DM
8 RO Analog Input SR
9 RO Analog Input DR
Table 11 CAN: Overview of object directory, standardized device profile area ab
0x6000

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 14
2.5.5.4 CANopen Object Dictionary
2.5.5.4.1 Device Type
2.5.5.4.2 Error Register
Always returns 0 (no error)
2.5.5.4.3 COB-ID SYNC message
2.5.5.4.4 Device Name
2.5.5.4.5 Hardware Version
Index Subindex Name Type Attr. Map Default Meaning
0x1000 00 Device Type unsigned 32 RO No 0x00050191 Digital/analog
inputs - DS 401
Table 12 CAN: Device Type
Index Subindex Name Type Attr. Map Default Meaning
0x1001 00 Error Regis-
ter
unsigned 8 RO No 0x00 Error register
Table 13 CAN: Error Register
Index Subindex Name Type Attr. Map Default Meaning
0x1005 00 COB-ID
SYNC
unsigned 32 RO No 0x80000080 Sync consumer,
Sync ID = 0x80
Table 14 CAN: COB-ID SYNC message
Index Subindex Name Type Attr. Map Default Meaning
0x1008 00 Device Name unsigned 8 RO NO 3 Number of sub
indexes
01 Name 1 Vis.-String RO NO „G_19“ „Name of the
device“
02 Name 2 Vis.-String RO NO „334—“
03 Name 3 Vis.-String RO NO „A “
Table 15 CAN: Device Name
Index Subindex Name Type Attr. Map Default Meaning
0x1009 00 Hardware
Version
Vis.-String RO NO „A2“ „Version of the
circuit board“
Table 16 CAN: Hardware Version

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 15
2.5.5.4.6 Software Version
2.5.5.4.7 Save Parameter
By writing the signature „save“ in ASCII code (hex-Code: 0x65766173) or „evas“ (hex-
Code: 0x73617665) on subindex 1 the current parameters are permanently stored. A
successful saving process will be confirmed after 2 ms by the TxSDO (1st Byte =
0x60).
2.5.5.4.8 Restore Default Parameter
By writing the signature „load" in ASCII- Code (hex-Code: 0x64616F6C) or „daol" (hex-
Code:0x6CdF6164 on sub index1 the corresponding default parameters are loaded.
A reset is recommended. Additionally „Restore All“ sets the baud rate to 125 Kbaud.
2.5.5.4.9 Producer Heartbeat Time
If 0 is entered for the time, this feature is disabled.
Index Subindex Name Type Attr. Map Default Meaning
0x100A 00 Software
Version
Vis.-String RO NO „1.00“ „Version of the
controller firm-
ware“
Table 17 CAN: Software Version
Index Sub Index Name Type Attr. Map Default Meaning
0x1010 00 Save
Parameter
unsigned 8 RO No 0x01 Number of sub
indexes
01 Save All unsigned 32 RW No 0x00000001 Save all is possi-
ble
Table 18 CAN: Save Parameter
Index Sub Index Name Type Attr. Map Default Meaning
0x1011 00 Restore
Parameter
unsigned 8 RO No 0x01 Number of sub
indexes
01 Restore All unsigned 32 RW No 0x00000001 Restore all is pos-
sible
Table 19 CAN: Restore Default Parameter
Index Sub Index Name Type Attr. Map Default Meaning
0x1017 00 Producer
Heartbeat
Time
unsigned 16 RW No 1000 Heartbeat time in
ms (approx.)
0, 10 ... 65535
Table 20 CAN: Producer Heartbeat Time

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 16
2.5.5.4.10 Identity Object
2.5.5.4.11 Transmit PDO_1 Parameter
Index Sub Index Name Type Attr. Map Default Meaning
0x1018 00 Identity
Object
unsigned 8 RO No 0x03 Number of sub
indexes
01 Vendor ID unsigned 32 RO No 0x00000202 Manufacturer
number assigned
by CiA
02 Product
Code
unsigned 32 RO No 0x00019334 Name of the
device
03 Revision unsigned 32 RO No 0x00000001 Revision of the
device
Table 21 CAN: Identity Object
Index Sub Index Name Type Attr. Map Default Meaning
0x1800 00 TxPDO_1
Parameter
unsigned 8 RO No 0x04 Number of sub
indexes
01 COB ID unsigned 32 RW No 0x40000180
+ Node-ID
PDO_1 valid,
ID = 0x180 +
Node-ID
02 Transmis-
sion Type
unsigned 8 RW No 255 Asynchronous
event controlled
03 Inhibit Time unsigned 16 RW No 100 Shortest time
period between
two transmis-
sions in multiples
of 100 μs
05 Event Time unsigned 16 RW No 10 Cycle time in ms
Table 22 CAN: Transmit PDO_1 Parameter

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 17
2.5.5.4.12 Transmit PDO_2 Parameter
2.5.5.4.13 Mapping TxPDO_1
Index Sub Index Name Type Attr. Map Default Meaning
0x1801 00 TxPDO_2
Parameter
unsigned 8 RO No 0x04 Number of sub
indexes
01 COB ID unsigned 32 RW No 0x40000280
+ Node-ID
PDO_2 valid,
ID = 0x280 +
Node-ID
02 Transmis-
sion Type
unsigned 8 RW No 255 Asynchronous
event controlled
03 Inhibit Time unsigned 16 RW No 100 Shortest time
period between
two transmis-
sions in multiples
of 100 μs
05 Event Time unsigned 16 RW No 10 Cycle time in ms
Table 23 CAN: Transmit PDO_2 Parameter
Index Sub Index Name Type Attr. Map Default Meaning
0x1A00 00 Number of
mapped
objects
unsigned 8 RO No 0x04 Number of sub
indexes
01 1st mapped
object
signed 8 RO No 0x64000108 mapped to Index
0x6400,01 with 8
Bit length (XL)
02 2nd mapped
object
signed 8 RO No 0x64000208 mapped to Index
0x6400,02 with 8
Bit length (XR)
03 3rd mapped
object
signed 8 RO No 0x64000308 mapped to Index
0x6400,03 with 8
Bit length (XR)
04 4th mapped
object
unsigned 8 RO No 0x60000108 mapped to Index
0x6000,01 with 8
Bit length (Sta-
tus)
Table 24 CAN: Mapping TxPDO_1

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 18
2.5.5.4.14 Mapping TxPDO_2
Index Sub Index Name Type Attr. Map Default Meaning
0x1A01 00 number of
mapped
objects
unsigned 8 RO No 0x07 Number of sub
indexes
01 1st mapped
object
unsigned 8 RO No 0x64000408 mapped to Index
0x6400,04 with 8
Bit length (SL)
02 2nd mapped
object
signed 8 RO No 0x64000508 mapped to Index
0x6400,05 with 8
Bit length (DL)
03 3rd mapped
object
unsigned 8 RO No 0x64000608 mapped to Index
0x6400,06 with 8
Bit length (SM)
04 4th mapped
object
signed 8 RO No 0x64000708 mapped to Index
0x6400,07 with 8
Bit length (DM)
05 5th mapped
object
unsigned 8 RO No 0x64000808 mapped to Index
0x6400,08 with 8
Bit length (SR)
06 6th mapped
object
signed 8 RO No 0x64000908 mapped to Index
0x6400,09 with 8
Bit length (DR)
07 7th mapped
object
unsigned 8 RO No 0x60000108 mapped to Index
0x6000,01 with 8
Bit length (Sta-
tus)
Table 25 CAN: Mapping TxPDO_2

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 19
2.5.5.4.15 Manufacture Parameter - Antenna Parameters
Index Sub Index Name Type Attr Map Default Meaning
0x2000 00 number of
parameter
unsigned 8 RO No 0x04 Number of sub
indexes
01 Detect level unsigned 8 RW No 50 Detection thresh-
old
02 Offset left signed 8 RW No 0Offset left sys-
tem [mm]
03 Offset cen-
ter
signed 8 RW No 0Offset center sys-
tem
04 Offset right signed 8 RW No 0Offset right sys-
tem [mm]
Table 26 CAN: Manufacture parameter - antenna parameters

Device Description HG G-19334-A
English, Revision 03, Date: 11.05.2017 20
2.5.5.4.16 Manufacture Parameter - Node Parameters
2.5.5.4.17 8 Bit Digital Input (transmitted in TxPDO 1)
Index Sub Index Name Type Attr. Map Default Meaning
0x2001 00 Number of
Parameter
unsigned 8 RO No 0x02 Number of sub
indexes
01 Node Baud-
rate
unsigned 8 RW No 0x04 125 Kbaud *)
02 Node Config unsigned 8 RW No 0x01 Start in state
„operational“ **)
*)
**)
Table 29 CAN: Manufacture parameters - node parameters
Index Sub Index Name Type Attr. Map Default Meaning
0x6000 00 number of 8
bit inputs
unsigned 8 RO No 0x01 Number of 8 bit
inputs
01 8 bit digital
input
unsigned 8 RO Yes ./. System status
Table 30 CAN: 8 Bit digital input (transmitted in TxPDO 1)
Input/output value Baud rate / kBaud
720
650
4 (Default) 125
3250
2500
1800
0 1000
Table 27 CAN: Coding of the node baud rate
Value Meaning
xxxx.xxx0 Start in state „pre-operational“
xxxx.xxx1 Start in state „operational“
Table 28 CAN: Coding of the node config byte