Gotting HG G-71910-C Operating and installation instructions

Transponder Antenna
HG G-71910-C
1-dimensional, indoor
Innovation through Guidance
English, Revision 02 Date: 21.03.2017 Dev. by: WM/AK Author(s): RAD
Device Description HG G-71910-C
www.goetting-agv.com
Transponder

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
2Overview HG G-71910-C
® 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-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
3Table of Contents HG G-71910-C
Contents
1 About this Document ............................................................................. 5
2 Introduction............................................................................................. 6
2.1 System Components.......................................................................................................... 6
2.2 Function................................................................................................................................. 7
3 Mounting ................................................................................................. 8
3.1 Transponder ......................................................................................................................... 8
3.2 Antenna HG 71910-C ........................................................................................................ 9
4 Installation / Commissioning .............................................................. 10
5 Components and Operation ................................................................ 14
5.1 Components in the Ground: Transponders...............................................................14
5.2 Transponder Antenna (Versions)..................................................................................15
5.2.1 Plug / Pin assignment ..................................................................................................................16
5.2.1.1 Connection plan of the 7-pin-socket (HG 71910ZC).......................................................16
5.2.1.2 Connection plan of the alternative 26-pin flat band round cable / of the SUB-D con-
nector (HG G-71910YC/XC/VC) .............................................................................................16
5.2.1.3 Connection Plan of the 6 Pin Hirschmann Connector (HG G-71910UC) ..................17
5.2.2 Interfaces .........................................................................................................................................17
5.2.2.1 RS 232 (all Variants)..................................................................................................................17
5.2.2.1.1 List of System Data that may be Output.....................................................................17
5.2.2.1.2 List of System Commands ...............................................................................................19
5.2.2.1.3 Programming of Transponders (serial) ........................................................................19
5.2.2.1.4 System Monitor ...................................................................................................................19
5.2.2.2 Positioning Pulse (all Variants) ..............................................................................................20
5.2.2.3 CAN (Version HG G-71910ZC) ...............................................................................................20
5.2.2.3.1 Description............................................................................................................................20
5.2.2.3.2 CAN Message Object 1 (Send-Object) .........................................................................20
5.2.2.3.3 CAN Message Object 2 (Send-Object) .........................................................................20
5.2.2.3.4 CAN Message Object 3 (Send-Object) .........................................................................21
5.2.2.3.5 CAN Message Object 4 (Reception-Object, Transponder Programming) .........21
5.2.2.4 CANopen®....................................................................................................................................21
5.2.2.4.1 Defaults..................................................................................................................................22
5.2.2.4.2 Description of the Process Data Objects (PDO)........................................................22
5.2.2.4.3 PDO_1 ....................................................................................................................................22
5.2.2.4.4 PDO_2 ....................................................................................................................................22
5.2.2.4.5 Heartbeat...............................................................................................................................23
5.2.2.4.6 Node-Guarding ....................................................................................................................23
5.2.2.4.7 Description Of The Service Data Objects (SDOs).....................................................23
5.2.2.4.8 Object Directory ..................................................................................................................23
5.2.2.4.9 Explanation of the Entries CANopen® Directory ......................................................25
5.2.2.5 Parallel Port (Versions HG 71910YC/XC/VC) .....................................................................30
6 Software ................................................................................................31

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
4Table of Contents HG G-71910-C
6.1 Terminal Program ............................................................................................................ 31
6.2 Parameter Presettings .................................................................................................... 31
6.3 System Monitor................................................................................................................. 32
6.3.1 How to start the monitor program ...........................................................................................32
6.3.1.1 Procedure 3964R or transparent...........................................................................................32
6.3.1.2 Text Files for the Procedures..................................................................................................33
6.3.2 How to work with the monitor program .................................................................................33
6.3.2.1 Main Menu....................................................................................................................................34
6.3.2.2 (C)alculation Coefficients.........................................................................................................35
6.3.2.3 (S)erial Output .............................................................................................................................35
6.3.2.4 (T)ime & Code..............................................................................................................................37
6.3.2.5 CAN.................................................................................................................................................38
6.3.2.5.1 Basic C(A)N-Parameter .....................................................................................................38
6.3.2.5.2 CAN Terminating Resistor................................................................................................39
6.3.2.5.3 CA(N) open............................................................................................................................39
6.3.2.5.4 EDS File..................................................................................................................................40
6.3.2.6 CS(V) Output................................................................................................................................40
6.3.2.7 (O)ut-Test......................................................................................................................................41
6.3.2.8 (W)rite Transponder...................................................................................................................41
6.4 Firmware Update..............................................................................................................41
6.4.1 Installation of the Flash Program..............................................................................................41
6.4.2 Using the Flash Program .............................................................................................................42
7 Trouble Shooting.................................................................................. 43
8 Technical Data ...................................................................................... 45
9 Appendix ............................................................................................... 47
A Physical Basics....................................................................................................................................... 47
A.1 Field Arrangement of the Energy Field.......................................................................................................47
A.2 Field Arrangement of the Transponder’s Reverse Signal...................................................................47
A.3 Induced Voltages in Sum and Difference Antenna...............................................................................48
B Procedure 3964R..................................................................................................................................48
B.1 Data direction antenna -> PLC .......................................................................................................................48
B.2 Data direction PLC -> Antenna.......................................................................................................................49
C Procedure „transparent“ ....................................................................................................................49
C.1 Data direction antenna -> PLC .......................................................................................................................50
C.2 Data direction SPS -> antenna .......................................................................................................................50
D Parallel Output........................................................................................................................................50
E Positioning Pulse................................................................................................................................... 50
F Variants of the Transponder Antenna (Casings / Dimensions) ........................................51
G Timing-Diagramm of the Parallel Interface...............................................................................53
10 List of Figures ....................................................................................... 54
11 List of Tables ........................................................................................ 56
12 Index ...................................................................................................... 58
13 Copyright and Terms of Liability ........................................................ 59
13.1 Copyright ............................................................................................................................ 59
13.2 Exclusion of Liability ....................................................................................................... 59
13.3 Trade Marks and Company Names............................................................................. 59

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
5Chapter 1: About this Document HG G-71910-C
1About this Document
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.
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-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
6Chapter 2: Introduction HG G-71910-C
2Introduction
The described antenna is especially suited for vehicles in indoor areas. The electronic units
are not sealed within the antenna cases, but varnished. Therefore it is possible that all im-
portant settings and adjustable values are effected after manufacturing. This leads to fair
priced systems. Software updates can be effected via a serial interface.
The one-dimensional antenna HG G-71910-C supplies the transponder code as a par-
allel signal as well as a midpoint crossover pulse, generated by an exactly measurable and
reproducible phase alteration.
The transponders used in this system are HG G-71325 resp. HW DEV00095 (read / write).
These transponders are fair priced and especially suited for the applications of this system
(track guided or rail- mounted vehicles with fairly small reading distances). This manual re-
fers to antennas with software version 1.43 or higher.
2.1 System Components
In addition to the positioning and identification antenna HG G-71910-C the following com-
ponents are available:
Figure 1 System Components
1. Transceiver antenna with preamplifier and interpreter HG 71910-C (shown above is
the version HG G-71910YC with a parallel interface)
2. Transponder HG G-71325 / HW DEV00095 (in the track)
3. Optional transponder programming device HG G-81830YA (not shown in picture)



Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
7Chapter 2: Introduction HG G-71910-C
2.2 Function
As the antenna passes over the transponder, it energizes the latter with an energy field of
128 kHz. So the transponder transmits his code at half of this frequency. The transponder
position in relation to the antenna surface is measured by a coil with orientation in direction
of travel.
The interpreter which is integrated within the antenna decodes the transponder code. Each
crossing of the coordinate axis in driving direction generates a positioning pulse with an ad-
justable duration.
The serial output signal is a non isolated RS 232. Alternatively it is possible to use a CAN
Bus. The positioning pulse is not galvanically separated but available as a +24 V (20 mA) op-
erational voltage switched output. Optional a 15 bit parallel output for the code (24 Volt
switched, non current limiting) can be effected.
Additionally transponders can be programmed. In order to do so the transponder has to stay
in the antenna field for a minimum of 30 ms after the programming has been started.

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
8Chapter 3: Mounting HG G-71910-C
3Mounting
3.1 Transponder
The maximum reading distance for all transponders can only be achieved when the mini-
mum distance to metal surfaces is maintained. There are some transponder types especial-
ly optimized for the mounting directly on metal. To clarify the configuration, it is essential to
carry out tests!
As mentioned above, it is recommendable to maintain the minimum distances within the
metal-free area (Figure 2). The impact on positioning accuracy and range also depends on
the size and distance of metal parts.
Figure 2 Minimum spacings around the transponders (in-track mounting)
Alternatively the transponder can be mounted on the surface of the road. In this case, the
antenna has to be placed into an accordingly higher position to ensure the nominal reading
distance.
Note
Electric power lines (for example for charging points) may not be passed in this area, as the
reading of the code will be complicated or the code will be falsified by pulses which may
occur.

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
9Chapter 3: Mounting HG G-71910-C
3.2 Antenna HG 71910-C
When mounting the antenna, first remove the cover. Inside there are four predrilled holes
for 4 M4 screws. They can be mounted directly onto the metal surface.
ATTENTION!
Make sure that the antenna is mounted correctly with regard to its reading side!
Figure 3 Mounting possibilities for the antenna
In order to prevent any adverse effects on the system:
– The space above the antenna should be metal-free for at least 50 mm. Make sure
that no electrically conductive devices are within this room.
– Do not operate the reading antenna while the upper side (reading side) is located
directly above a metal surface, as this would de-tune the antenna severely in such a
way that the power consumption of the output stage would increase considerably.
– To guarantee a 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. pulsed engines,
etc)!
4 screws type M4
(not included in scope of supply)
Reading (facing transponder)
Mounting (facing e. g. vehicle)

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
10 Chapter 4: Installation / Commissioning HG G-71910-C
4Installation / Commissioning
Note
Check the operating voltage before connecting! Although the RS 232 interface reacts large-
ly insensitive to interferences, the cable should not lie directly beside power supply cables.
Connect all necessary cables. For the next commissioning steps connect a Laptop with the
antenna. Then start the monitor program as described in section 6.3 on page 32.
Default values By default the system uses the values from the first file (Mon3964r.txt;
as listed in section 6.3.1 on page 32) at 9,600 Baud.Please keep in mind, that another user
might have changed those settings inside the antenna.
1. Move a transponder into reception range.
The voltage Sshould increase significantly. The code should be detected immedi-
ately and the number of readings have to be continuously counted up to 255. When
moving the transponder in driving direction over the center axis of the antenna, a
positioning pulse should be generated.
2. Remove the transponder.
The voltage Sshould decrease to very small values if there is no transponder within
the field. The code display must disappear; the display of the number of readings will
be preserved. If this is not the case, there are interferences in the frequency band of
64 kHz.
If no errors have occurred, exit the monitor program. Don’t forget to save altered values. If
certain parameters have been altered, a system reset will be necessary (switch off and re-
activate the antenna) as mentioned in the corresponding sections of the monitor program
(described in section 6.3).
Afterwards it is recommended to log a full trip through the site. Depending on the antenna
variant there are different possibilities available to do so:
Parallel Interface (antenna versions V, X, Y)
Here the serial interface can be used for logging (see section 6.3.2.6 on page 40).
CAN-Bus (antenna version Z)
Here the serial interface (see section 6.3.2.6 on page 40) as well as the CAN-Bus
Message Object 3 (see section 5.2.2.3.4 on page 21) can be used for logging.
Serial Interface (antenna version U, Z)
Since the same serial interface is used for logging and user data output (version Z
only when the serial interface is chosen, see above), you have to operate the vehicle
in manual mode.

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
11Chapter 4: Installation / Commissioning HG G-71910-C
The following diagrams show examples of logged system data:
Figure 4 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 5 Diagram: Commissioning Protocol / undisturbed Transponder decoding
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
Low Interference Level
Undisturbed Transponder Decoding

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
12 Chapter 4: Installation / Commissioning HG G-71910-C
on the setting for Number of Equal Codes within the menu Time & Code. In this
example, this parameter is = 2, i. e. the newly received code is compared to two codes
which were already received.
Once the center of the antenna has been crossed, the POSI Pulse is generated. Its du-
ration is adjustable. The bits TRANS_IN_FIELD and CODE_OK are deleted, whenever
the sum voltage falls below 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-Pulse. The veloc-
ity of crossing was 1.1 m/s (180 mm antenna length / (20 x 8 ms)
The following diagrams show the influences of high interference levels on the antenna per-
formance.
Figure 6 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 tran-
sponder 207 is decoded (see Figure 7 on page 13). For the slow crossing speed 0.5 m/s
[140 mm / (33 x 8 m/s)] it is still sufficient for generating a POSI Pulse, but at high speed
it would no longer be possible to decode this transponder with 3 m/s.
High Interference Level

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
13Chapter 4: Installation / Commissioning HG G-71910-C
Figure 7 Diagram: Commissioning Protocol / jammed decoding (function still ensured)
The following diagram shows a case in which false POSI Pulses are generated through
wrong parameters for Threshold for Decoding and/or Threshold for Position-
ing.
Figure 8 Diagram: Commissioning protocol / false POSI Pulse generated through noise and threshold
set too low
For this example, the thresholds are set to 100 units. The bit TRANS_IN_FIELD is perma-
nently set. After a successful transponder decoding, initially a correct POSI Pulse is gen-
erated. However, as the software does not realize that the transponder leaves the antenna
field, each zero crossing of the difference voltage (not shown in the diagram) will generate
another POSI Pulse.
Defective Decoding (function still available)
False POSI Pulse generated by noise and threshold set too low

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
14 Chapter 5: Components and Operation HG G-71910-C
5Components and Operation
5.1 Components in the Ground: Transponders
As reference markers transponders of the types HG G-71325 or HW DEV00095 can be used.
Please refer to the corresponding data sheets to get more information about these tran-
sponders.
Range and accuracy of the system are influenced by:
– any large metal pieces (sheets) on the ground
– proximity of any floor reinforcement (see chapter 3 „Mounting“ on page 8, section 3.1
„Transponder“ on page 8)
– Inductive loops, as they are created e.g. by steel building mats have a great influence.
Individual metal poles have little effect. Those may be partly within the metal-free
area (see Figure 2 on page 8)
– Cable with pulsed currents with spectral parts between 64 kHz ±4 kHz.
The following environmental conditions have no effect on the system:
– Snow, ice, water
– Oil, tar, earth, dirt, etc.
Code structure
The system decodes and outputs the entire code string of 20 bits; when using the parallel
interface only the 15 lowest bits are output. The data protection within the transponders is
done by line (of 3 bit each) and column parity. To achieve a better data protection, it is there-
fore recommended to implement an additional code check. The transmission duration for
one complete telegram is 8 ms.

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
15Chapter 5: Components and Operation HG G-71910-C
5.2 Transponder Antenna (Versions)
Figure 9 Positioning antenna HG G-71910-C (version HG 71910YC with parallel interface)
The antenna and interpreter electronics are housed in a 160 x 80 x 85 mm casing. The
reading area is the upper side of the housing. The cover is located on top of the casing. The
following table lists the available variants of the antenna with their respective interfaces and
cable connections:
Note
Drawings of all variants can be found in section F on page 51.
Figure 10 Outline antenna HG G-71910-C (version HG G-71910YC with a parallel interface)
Variant Description
HG G-71910ZC Serial interface and CAN-Bus on the narrow side of the antenna
(Binder female connector 723 series)
HG G-71910YC Parallel interface, cable entry on the narrow side of the antenna
(25-pol. SUB-D male connector)
HG G-71910XC Parallel interface, cable entry on the side of the antenna
(25-pol. SUB-D male connector)
HG G-71910VC Parallel interface, male connector on the narrow side of the antenna
(25-pol. SUB-D male connector)
HG G-71910UC Serial interface, cable entry on the narrow side of the antenna
(Hirschmann male connector GO 51 WF)
Table 1 Overview variants antenna HG G-71910-C
1
4
8
50
1
6
0
80
View from
underneath
(mounting drill holes)
24
Minimum 50mm
85
3
5
40
Possible Directions of Travel
Transponder

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
16 Chapter 5: Components and Operation HG G-71910-C
5.2.1 Plug / Pin assignment
5.2.1.1 Connection plan of the 7-pin-socket (HG 71910ZC)
The allocation of the contacts is as follows:
5.2.1.2 Connection plan of the alternative 26-pin flat band round cable / of the SUB-
D connector (HG G-71910YC/XC/VC)
Note
The metal parts of the Sub-D connector are connected to the shielding of the cable.
Contact Description
1 +24 V
2GND
3CAN H
4CAN L
5POSI
6TxD (RS 232)
7RxD (RS 232)
Table 2 HG G-71910ZC: Connection plan of the 7-pin Binder antenna socket
Contact #
(SUB-D) Core # (cable) Description Contact # (SUB-D) Core # (cable) Description
1 1 Data Ready 14 2 D14
2 3 D13 15 4 D12
3 5 D11 16 6 D10
4 7 D9 17 8 D8
5 9 D7 18 10 D6
611 D5 19 12 D4
713 D3 20 14 D2
815 D1 21 16 D0
917 TxD (RS232) 22 18 RxD (RS232)
10 19 POSI 23 20 Nc
11 21 +24V 24 22 +24V
12 23 GND 25 24 GND
13 25 Chassis -26 Chassis
Table 3 HG G-71910YC/XC/VC: Connection plan of the 26-pin flat band round cable / of the SUB-D
connector

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
17Chapter 5: Components and Operation HG G-71910-C
5.2.1.3 Connection Plan of the 6 Pin Hirschmann Connector (HG G-71910UC)
The allocation of the contacts is as follows:
Note
Rx (RS232) and Tx (RS232) refer to the data direction as seen from the antenna!
5.2.2 Interfaces
5.2.2.1 RS 232 (all Variants)
The serial output may be configured in several ways. The transmission rate is adjustable be-
tween 9600 and 19200 Baud, the output protocol may be chosen as either „transparent“ or
„3964 R“ (see also sections C on page 49 and B on page 48). Apart from that, the content
of the telegrams is configurable, as the user may choose from a list of parameters. Serial
commands are used for activating a system monitor.
5.2.2.1.1 List of System Data that may be Output
A telegram of the serial RS 232 output consists of max. 15 bytes. The minimum update rate
at 9,6 KB is then calculated as follows:
Figure 11 Formula: Minimum update rate
As the transmission is binary, it is possible – when using the 3964R procedure – to add fur-
ther (DLE) characters by this 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. It then
includes the start character. The start character, as well as the check sum (transparent pro-
tocol) cannot be removed from the data block.
The protocol is adjustable, irrespective of whether telegrams are output permanently by an
adjustable update rate or whether one transponder is located within the field.
Contact Description
1Shielding
2+24 V
3Rx (RS232)
4Tx (RS232)
5GND
Pos
Table 4 HG G-71910UC: Connection plan of the 6 pin Hirschmann connector
15 Byte
Telegram
---------------11
Bit
Byte
------- 9600Bit
s
----- 17 2 ms
Telegram
---------------,=

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
18 Chapter 5: Components and Operation HG G-71910-C
Table listing the data words of a telegram of 14(15) byte length:
The following table shows a list of the binary codes used to describe the system status (for
bytes # 13 and 14 from Table 5):
Example:
Error 0006 stands for CODE_CRC_ERR and CODE_PAR_ERR.
Errors 0002 and 0004 may also arise during ordinary transponder crossings, if the code
transmission is aborted due to decreasing power output level.
Byte # Length Valency Type Description
11 Byte 0000.0001 unsigned char Start character ASCII-061: „=“
2,3 2 Byte 0000.0002 signed int Dummy value
4,5,6,7 2 Byte 0000.0004 unsigned long 32 Bit transponder code
8,9 2 Byte 0000.0008 unsigned int Voltage generated by the transponder
within the frame antenna in samples
10,11 2 Byte 0000.0010 signed int Voltage generated by the transponder
within the difference antenna in samples
12 1 Byte 0000.0020 unsigned char Number of code readings during the latest
transponder crossing
13,14 2 Byte 0000.0040 unsigned int System status in binary encoding
(15) 1 Byte unsigned char Check sum, only for transparent protocol!!
Table 5 Data words in a telegram of 15 byte length (corresponding to 14 data byte)
Value Name Description
0001 DEC_HW_ERROR Decoder hardware error
0002 CODE_CRC_ERR Reception of transponder code with longitudinal parity
error
0004 CODE_PAR_ERR Reception of transponder code with cross parity error
0008 CODE_NIB_ERR Reception of RW transponder code with High- Nibble error
0010 EEPROM_ERROR Parameter E² not addressable
0020 PARAM_CRC_ER Parameter block no longer safe
0040
0080
0100 RW_TRANSPONDER Transponder is writeable *)
0200 TRANS_IN_FIELD Transponder is detected *)
0400 CODE_OK Decoded code correct *)
0800 SEGMENT- A transponder is located under the connector / cable side
of the antenna
1000 POSIPULS Transponder has crossed the center of the antenna *)
2000
4000
8000 RESET Set after antenna is switched on *)
*) These bits are deleted when the transponder leaves the antenna field.
Table 6 Possible system status / error messages

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
19Chapter 5: Components and Operation HG G-71910-C
5.2.2.1.2 List of System Commands
A Command telegram always consists of four bytes, including the command itself, its pa-
rameters and at last the check sum (XOR relation of all bytes with starting sign). When
choosing the procedure "transparent" (see appendix, section C on page 49) a start sign has
to be sent as well.
Note
The monitor mode should not be used during normal operation (e.g. from a PLC) as the fol-
lowing output is not carried out according to a transparent or 3964 R protocol but only suit-
able for display on a VT 52- terminal and used for the manual alteration of parameters.
There are 3 predefined commands:
5.2.2.1.3 Programming of Transponders (serial)
The programming procedure is started by sending 005016 in command byte 2. Put the code
to be programmed into the 3 parameter bytes.
The one-time programming process lasts 100 to a maximum of 200 ms. Afterwards the
new code can be read out immediately.
In case the programming process wasn‘t successful repeat the programming procedure. A
new programming can only be initiated if the command 3 CLR_PROG has been sent first.
5.2.2.1.4 System Monitor
In monitor mode the system is configurable via a menu. Please refer to section 6.3 „System
Monitor“ on page 32.
Note
The monitor mode should not be used during normal operation (e.g. from a PLC) since the
output is no longer according to the transparent or 3964R protocol but switches to a proto-
col suitable for the display on a VT52 terminal and only serves for the manual configuration
of parameters.
No Meaning Procedure Start
sign
Command
byte Parameter Check sum
1
Switch to monitor mode
(described in 6.3 „Sys-
tem Monitor“ on page
32)
3964R HEX 4D16 4F164E164916
ASCII MONI
transpar-
ent
HEX 3D16 4D16 4F164E164916 3816
ASCII = M ONI 8
2
Programming the code
ttttt
x= reserved for future
applications, at the
moment variable
3964R HEX 5016 Code in the form
xt16tt16tt16
For the code
„12345“ e.g.
011623164516
transpar-
ent
HEX 3D16 5016 0A16
3
CLR_PROG, reset of the
previous programming
command
3964R HEX 0016
001600160016transpar-
ent
HEX 3D16 0016 3D16
Table 7 List of system commands

Device Description HG G-71910-C | English, Revision 02 | Date: 21.03.2017 | www.goetting-agv.com
20 Chapter 5: Components and Operation HG G-71910-C
5.2.2.2 Positioning Pulse (all Variants)
The digital positioning output indicates the crossing of the center line of the antenna in di-
rection of travel (X-direction). Its duration is adjustable within a millisecond pattern. In addi-
tion it can be limited to one pulse per crossing.
5.2.2.3 CAN (Version HG G-71910ZC)
Note
If the antenna is the last device on the CAN bus you need to activate a terminating resistor.
You can find it on the board of the antenna, see section 6.3.2.5.2 on page 39.
5.2.2.3.1 Description
Either Basic- or Full-CAN mode is configurable. The system monitor is used for setting the
CAN parameters (also refer to section 6.3.2.5.1 on page 38). The internal CAN module is
based on the CAN specifications V2.0 part B. It is possible to transmit either standard or ex-
tended frames (adjustable). The system monitor is used for setting the bit timing as well as
the identifier.
3 different CAN message objects can be output and 1 can be sent. In addition it is to be set
whether telegrams are to be output permanently at the set update rate or only as long as a
transponder is within range. Remote operation is also possible. Objects are activated within
the CAN menu, through the input of an address unequal 0 (refer to section 6.3.2.5.1 on page
38).
5.2.2.3.2 CAN Message Object 1 (Send-Object)
5.2.2.3.3 CAN Message Object 2 (Send-Object)
Byte # Length Type Description
1,2 2 Byte unsigned int Possible system status messages according
to Table 6 on page 18
3,4,5,6 4 Byte unsigned long 32 bit transponder code
71 Byte unsigned char Number of code readings of the last tran-
sponder crossing
Table 8 Structure of the CAN message object 1
Byte # Length Type Description
1,2 2 Byte unsigned int Possible system status messages according
to Table 6 on page 18
3,4,5,6 4 Byte unsigned long 32 bit transponder code
7,8 2 Byte signed int Dummy value
Table 9 Structure of the CAN message object 2