Gotting HG G-98810-C User manual

Transponder Antenna
HG G-98810-C
1.5-dimensional positioning and identification outdoor
Innovation through Guidance
English, Revision 07 Date: 12.05.2017 Dev. by: WM/AK Author(s): RAD/MN
Device Description HG G-98810-C
www.goetting-agv.com
Transponder

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
2Overview HG G-98810-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-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
3Table of Contents HG G-98810-C
Contents
1 About this Document ............................................................................. 6
2 Introduction............................................................................................. 7
2.1 Variants .................................................................................................................................. 7
2.2 System Components.......................................................................................................... 8
2.3 Introduction: Positioning with Transponders ............................................................. 8
2.3.1 Position Calculation with Transponders................................................................................... 8
2.3.2 Track Guidance with Transponders ...........................................................................................9
2.3.3 Position Determination / Navigation .......................................................................................10
2.4 Definitions ...........................................................................................................................11
3 Mounting ............................................................................................... 12
3.1 Transponder .......................................................................................................................12
3.2 Transponder Antenna ......................................................................................................12
4 Commissioning ..................................................................................... 14
5 Components and Operation ................................................................ 18
5.1 Components in the Ground ...........................................................................................18
5.1.1 Transponders ..................................................................................................................................18
5.1.2 Code structure ................................................................................................................................18
5.2 Transponder Antenna ......................................................................................................19
5.2.1 Connection.......................................................................................................................................19
5.2.1.1 Power.............................................................................................................................................19
5.2.1.1.1 Power RS 232 Variant HG G-99810YC ........................................................................19
5.2.1.1.2 Power RS 422 Variant HG G-99810ZC.........................................................................20
5.2.1.2 CAN Bus ........................................................................................................................................20
5.2.2 Turn-on characteristics................................................................................................................20
5.2.3 Interfaces .........................................................................................................................................21
5.2.3.1 Serial (RS 232) ............................................................................................................................21
5.2.3.1.1 List of the system data which can be output.............................................................21
5.2.3.1.2 List of commands ...............................................................................................................22
5.2.3.2 System Monitor ..........................................................................................................................25
5.2.3.3 CAN ................................................................................................................................................25
5.2.3.3.1 Description............................................................................................................................25
5.2.3.3.2 CAN Message Object 1 (Transmission Object)..........................................................25
5.2.3.3.3 CAN Message Object 2 (Transmission Object)..........................................................25
5.2.3.3.4 CAN Message Object 4 (Reception Object)................................................................25
5.2.3.4 Data Interface CANopen®.........................................................................................................................................................26
5.2.3.4.1 Description of the Process Data Objects (PDO)........................................................26
5.2.3.4.2 Heartbeat...............................................................................................................................27
5.2.3.4.3 Node Guarding.....................................................................................................................27
5.2.3.4.4 Description of the Service Data Objects (SDOs).......................................................27
5.2.3.4.5 Object Directory ..................................................................................................................28
5.2.3.5 Positioning Pulse........................................................................................................................28

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
4Table of Contents HG G-98810-C
5.2.4 Software Download ......................................................................................................................28
5.2.5 Connection Cables.........................................................................................................................28
6 Software................................................................................................ 29
6.1 Terminal Program ............................................................................................................ 29
6.2 Parameter Presettings .................................................................................................... 30
6.3 System Monitor................................................................................................................. 30
6.3.1 How to start the monitor program ...........................................................................................31
6.3.1.1 Procedure Monitor only............................................................................................................31
6.3.1.2 Procedures 3964R/transparent..............................................................................................31
6.3.2 How to work with the monitor program .................................................................................32
6.3.2.1 Main menu....................................................................................................................................32
6.3.2.2 (S)erial Output .............................................................................................................................34
6.3.2.3 (T)ime & Code..............................................................................................................................36
6.3.2.4 (F)requency & Antenna Tuning ..............................................................................................38
6.3.2.5 C(A)N-Parameters ......................................................................................................................39
6.3.2.6 CANopen® .................................................................................................................................................................................................. 40
6.3.2.7 (D)isplay Systemstatus .............................................................................................................41
6.3.2.8 Cs(v)................................................................................................................................................41
6.3.2.9 Display (Y)Histogram.................................................................................................................42
6.3.2.10 (L)oad User parameters to EEProm ......................................................................................42
6.3.2.11 (U)pdate Firmware .....................................................................................................................42
6.3.2.12 Import (1) / export (2) User Parameter ................................................................................43
6.3.2.13 P(r)int Parameters ......................................................................................................................43
6.4 Software Update (Antenna Software)........................................................................ 43
6.4.1 Installation of the Program for Software Update.................................................................43
6.4.2 Software Update ............................................................................................................................44
7 Maintenance ......................................................................................... 45
8 Trouble Shooting.................................................................................. 46
9 Technical Data ...................................................................................... 47
10 Appendix ............................................................................................... 48
A Procedure 3964R ..................................................................................................................................48
A.1 Data direction Antenna -> PLC.......................................................................................................................48
A.2 Data direction PLC -> Antenna.......................................................................................................................49
B Procedure „transparent“ ....................................................................................................................49
B.1 Data direction antenna -> PLC .......................................................................................................................49
B.2 Data direction PLC -> antenna .......................................................................................................................49
C Overview of the CANopen®directory..........................................................................................50
C.1 Communication specific Entries within the Range of 0x1000 to 0x1FFF ..................................50
C.2 Manufacturer specific Entries starting at 0x2000 .................................................................................51
C.3 Standardized Device Profile higher than 0x6000 ..................................................................................51
D Details of the CANopen®directory ...............................................................................................52
D.1 Device Type.............................................................................................................................................................52
D.2 Error Register..........................................................................................................................................................52
D.3 COB-ID SYNC message.....................................................................................................................................52
D.4 Device Name...........................................................................................................................................................52
D.5 Hardware Version.................................................................................................................................................52
D.6 Software Version ..................................................................................................................................................52
D.7 Save Parameters...................................................................................................................................................52
D.8 Restore Default Parameter...............................................................................................................................53

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
5Table of Contents HG G-98810-C
D.9 Producer Heartbeat Time ................................................................................................................................. 53
D.10 Identity Object .......................................................................................................................................................53
D.11 Transmit PDO_1 Parameter ............................................................................................................................54
D.12 Transmit PDO_2 Parameter ............................................................................................................................54
D.13 Mapping TPDO_1.................................................................................................................................................54
D.14 Mapping TPDO_2.................................................................................................................................................55
D.15 Device Parameter.................................................................................................................................................55
D.16 Codes for System Configuration ................................................................................................................... 56
D.17 Manufacture Parameter - Node Parameter..............................................................................................56
D.18 8 Bit Digital Input (transmission in TPDO_2)........................................................................................... 57
D.19 16 Bit Status (transmission in TPDO_1) ....................................................................................................57
D.20 32 Bit Transponder Code..................................................................................................................................57
D.21 8 Bit Analog Inputs ..............................................................................................................................................57
D.22 16 Bit Analog Inputs............................................................................................................................................57
E EDS Configuration File........................................................................................................................58
F Accuracy of the deviation calculation..........................................................................................58
G Mechanical Drawing with Antenna Dimensions.....................................................................60
11 List of Figures ....................................................................................... 61
12 List of Tables......................................................................................... 62
13 Index ......................................................................................................64
14 Copyright and Terms of Liability ........................................................ 65
14.1 Copyright .............................................................................................................................65
14.2 Exclusion of Liability........................................................................................................65
14.3 Trade Marks and Company Names .............................................................................65

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
6Chapter 1: About this Document HG G-98810-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-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
7Chapter 2: Introduction HG G-98810-C
2Introduction
The transponder antenna is designed to be used for the positioning with and evaluation of
passive transponders (RFID). This information can be used by superordinate navigation sys-
tems (e.g. the Götting navigation controller HG G-73650). Those systems can then guide
Automated Guided Vehicles (AGV) contact-free. All important parameter settings, calibra-
tions and updates are carried out via an integrated serial interface or CANopen®.
Figure 1 Examples of automated vehicles using transponder systems
The antenna HG G-98810-C is a so-called 1.5 dimensional, meaning that it outputs the
Transponder code as well as the linear deviation rectangular to the direction of travel as well
as the information Before transponder, Crossing of the transponder (PosiPulse) and Behind
transponder.
This system description refers to Transponder Positioning Antenna HG G-98810-C with the
firmware 98810C11.004 or higher (also refer to Figure 16 on page 32).
2.1 Variants
The serial signal is made available via potentially separated RS 422 or RS 232 interfaces. In
addition, the positioning pulse is galvanically insulated. Furthermore a CAN Bus interface,
galvanically insulated as well, is included. The variants shown in Table 1 below are available,
they can be distinguished by the second to last character of the product number, e.g. HG G-
98810ZC.
Variant Interfaces
HG G-98810ZC RS 422, CAN
HG G-98810YC RS 232, CAN
Table 1 Variants overview

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
8Chapter 2: Introduction HG G-98810-C
2.2 System Components
The 1.5-dimensional Positioning and Identification System using the antenna HG G-98810-
Cconsists of up to four different components:
Figure 2 System components (optional extras in brackets)
1. Transmitter-receiver antenna HG G-98810-C incl. interpreter
(also refer to section 5.2 on page 19)
2. Transponder (within the track; refer to section 5.1.1 on page 18)
1. HW DEV00095/HW DEV00098 or
2. HG G-71325XA
3. Connection cables
(not in this picture; refer to section 5.2.5 on page 28)
4. Optional Read / Write Unit HG G-81830YA
(not in this picture; refer to separate data sheet)
2.3 Introduction: Positioning with Transponders
The positioning with transponders is based on the fact that the transponder antenna can
detect a transponder at the nominal reading distance and calculate its position in the anten-
na field. Usually the transponders are installed at fixed positions on the ground and the an-
tenna moves above them, e.g. when it is mounted underneath a vehicle that drives along
the track. Alternatively the antenna may be installed at a fixed position and the transponder
is moved relatively to it, e.g. by a robot‘s arm or on a monorail. In this description we refer
to the application with AGVs with transponders on or within the roadway.
2.3.1 Position Calculation with Transponders
The functional principle behind the transponder positioning is that the antenna permanently
sends out an energy field with its transmission frequency onto the area underneath its read-
ing side. The transponders are passive and don‘t need an internal power supply. As soon as
the antenna moves over a transponder the transponder is supplied with energy inductively.
It automatically awakes and uses the transmitted energy to send back its code at half the

.1
.2

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
9Chapter 2: Introduction HG G-98810-C
antenna‘s frequency. This means that only certain transponders and antennas can work to-
gether that use matching frequencies. Furthermore there are different systems for the
transmission and decoding of the code.
Figure 3 Sketch: 1.5-dimensional Positioning with transponders (no X deviation calculation)
As soon as a transponder starts sending inside the antenna field the antenna reads the tran-
sponder‘s individual code and interpolates the position of the transponder‘s electro-mag-
netic field inside the antenna field. The antenna forwards this information to the superordi-
nate vehicle control via its interfaces. Thus the vehicle knows at which point underneath the
antenna the transponder is (Y deviation). Additionally the antenna outputs the information
Before transponder, Crossing of the transponder in direction of travel (PosiPulse) and Behind
transponder.
2.3.2 Track Guidance with Transponders
Driverless vehicles (AGV) follow a pre-defined course. The vehicles usually are equipped
with sensors for the position estimation via distance measurement, a so-called odometry1.
Incremental encoders count the revolutions of the wheels. A superordinate control unit then
calculates the traveled distance and the orientation of the vehicle by taking into account the
circumference of the wheels and the steering angle. The odometry has the advantage that
it is available nonstop. However the position accuracy calculated by the odometry deterio-
rates the further the vehicle travels, e.g. because of slippage.
At this point the transponder system comes into operation. The transponders in the ground
are placed at exactly measured positions and are used punctual to determine the exact po-
sition of the vehicle. The superordinate navigation system or the navigation controller (both
not part of the scope of supply of the transponder antenna) resets its estimated position at
these points to the exact position.
1. Odometry (from old greek όδός hodós „route“ and μέτρον métron „measure“ — thus „distance mea-
surement“) refers to a method to estimate the position and orientation of a mobile system on the basis
of its drive system.
1
3
2
Transponder
Transponder
Lcal coordinate system
Antenna
Ground
X
Vehicle
Direction of travel
Antenna
SIDE VIEW
Y
X3
X2
X1
Y2Y1Y3
Transponder
midpoint
Y
Transponder
Antenna
TOP VIEW
Center axis
PosiPulse
Before Transp.
Behind Transp.

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
10 Chapter 2: Introduction HG G-98810-C
Figure 4 Sketch: Track guidance with odometry and transponders
The distances between the transponders thus can only be so long that it is still ensured that
the vehicle guided with the odometry does not deviate so far from the track that the tran-
sponder antenna does not hit the next transponder. The closer the transponders are placed
the higher the accuracy of the track guidance. However since the installation of the tran-
sponders is relatively elaborate that for each combination of track and vehicle an average
value is to be determined. Still for sections with extensive driving maneuvers many tran-
sponders are needed.
Tip
When using two transponder antennas on one vehicle especially omnidirectional vehicles
are able to determine their position and orientation clearly. For this to work it must be en-
sured that under each antennas there is a transponder simultaneously.
2.3.3 Position Determination / Navigation
A superordinate navigation system (e.g. the Götting navigation controller, see below) calcu-
lates the position of the vehicle on the track by taking the following things into account: The
known position of the antenna underneath the vehicle (usually with offset towards the nav-
igation point), the measured relative position of the transponder in the antenna field and the
known position of the transponder in the local coordinate system (definition via transponder
list). As soon as several transponders have been read consecutively the orientation of the
vehicle can also be calculated.
Figure 5 Sketch: Free navigation with transponders
Transponder-Antenna
Transponder
Navigation point
Virtual track
Wheels with incremental encoders
Bogie Pivot point
Steering angle (from navigation controller)
Offset antenna midpoint <—> Navigation point in X and Y direction
Deviation odometry
to actual position
Vehicle
Direction of travel (X direction)
T
T
T
T
T
T
T
T
T
T
Transponder antenna
Transponder
Navigation point
Vitual track
Calculation of the path
Virtual support points on the track for the navigation
Vehicle
Direction of travel (X direction)
with turnoff
to the support point

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
11Chapter 2: Introduction HG G-98810-C
For the path planning the navigation controller has the driving course in its memory. The
driving course is subdivided into segments. The segments themselves are subdivided into
virtual support points that form the virtual track. The navigation controller then calculates
the route to targets as sequences of segments that the vehicle has to travel along. While
driving the navigation controller leads the vehicle from support point to support point. For
this it interpolates the route across several support points, sets the driving speed and calcu-
lates the steering angles for curves. Every time a transponder is reached it determines the
difference between the position from the odometry and the actual position and calculates
the correction path that brings the navigation point back to the virtual track.
Tip
Götting has developed the navigation controller HG G-73650 which can process the data
from common incremental encoders. Additionally it is able to use different Götting position-
ing systems to calculate the actual position of the vehicle.
It can e.g. use the transponder antenna described in this document, the laser scanner, guide
wire sensors, magnet sensors and even GPS signals for the position determination. Addi-
tionally it manages tracks and converts the positions of the sensors installed on the vehicle
into the coordinate system of the site. It also takes into account the technical possibilities of
a specific vehicle (possible curve radius, wheel circumference, maximum speed, etc.) when
calculating paths. Then it can tell the vehicle controller into which direction and with which
speed the vehicle should move.
Link
You can find more information about the navigation controller here:
http://www.goetting-agv.com/components/73650
2.4 Definitions
The definitions and signatures used for this system and in this device description are de-
fined according to the following drawing:
Figure 6 Polarity of the deviation
For definition of bit Segment see Table 7 on page 22. This bit is set in the half plane -X.
-Y <– Deviation –> +Y
<– Direction of Travel –>
Active area for positioning
Bottom
View
+X -X

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
12 Chapter 3: Mounting HG G-98810-C
3Mounting
3.1 Transponder
Observe the required minimum distances from metal, as the influence on positioning accu-
racy and range is dependent upon size and distance of metal parts. For the same reason,
the transponder should be mounted as vertically aligned as possible. Please observe the
data sheets and mounting instructions for the suitable transponders HG G-71325XA and
HW DEV000950/HW DEV0098.
3.2 Transponder Antenna
Figure 7 Antenna Mounting Holes
The transponder antenna can be installed with four M6 screws (not in the scope of supply).
Those are inserted from the reading side. On the mounting side there are constrictions in-
side the antenna casing (approx. 2 cm long), through which the screw head does not slide.
Here the screw head seats solidly. Then the screws can be fixated from the vehicle side.
To prevent any adverse effects on the system:
– The Antenna itself may be mounted directly onto metal with its mounting side.
– No closed loop within 300 mm around the antenna, especially around the cover. No
metal surfaces nearer than 50 mm (essential antenna connection cabling and special
mounting struts excluded).
– For optimal operation of the transponder system, it is essential that there are no inter-
fering signals in the frequency range of 64 ±4 kHz (e. g. chopped engines, etc.)!
– Current-carrying wires except the connection cable of the antenna itself have to be
far enough away from the antenna (minimum 150 mm) so that their power and fre-
quencies does not influence the antenna too much, its sum voltage in idle mode has
to be below 50 and during driving below 100 (guideline: For very high or very small
200
580
6,5
O
Top View / Reading Side
Position of Mounting Holes

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
13Chapter 3: Mounting HG G-98810-C
reading distances those values may be higher/lower. The sum voltage without a tran-
sponder in the reading area should always be smaller than half the sum voltage that
is generated by a transponder within the reading area).
– Transponder antennas with the same energy field frequency may not be positioned
too close to each other since then beat frequencies can change the energy supply to
the transponders. This can e.g. be observed when the energy consumption of the
antenna is not constant or via unsteady reception voltages. Tests with the antenna
HG G-98810-C showed that gaps of 300 mm (in longitudinal and lateral direction)
had no effect. If the distance between two antennas shrinks to 200 mm the sum volt-
age decreases by up to 6 %. Placing two antennas only 100 mm apart the sum volt-
age sways by +5% to -15%. Decoding and distance calculation still work under those
conditions but there is a risk, that set thresholds are undershot.
– 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.
– For the complete mechanical drawing please see annex G on page 60.

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
14 Chapter 4: Commissioning HG G-98810-C
4Commissioning
Note
Check the operating voltage before connecting! The cables should not lie directly next to
power supply cables.
Connect the antenna with the vehicle control unit. Connect a laptop to the antenna using
the serial interfaces of both devices. Then start the monitor program as described in section
6.3 on page 30.
Default Values: As standard setting, the system uses the Monitor only setting at 38400
baud. However, please pay attention to the fact that these may have been altered by a dif-
ferent user!
1. Move a transponder into reception range.
The voltage Sshown in the monitor program‘s status bar should increase consider-
ably. The code must be detected immediately and the number of readings must be
continuously counted up to 255.
2. Remove the transponder 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 readings, if applica-
ble, remains identical. If this is not the case, interferences in the frequency range of
64 kHz are being induced.
Note
The causes for the interferences should be eliminated as far as possible. If this is not possi-
ble it might be possible to avoid the critical frequency area by changing the side band (see
section 6.3.2.4 on page 38).
3. In order to adjust the antenna to environmental influences it must be re-calibrated
(also refer to section 3.2 on page 12), alternatively activate the function Auto-Tune
(refer to section 6.3.2.4 on page 38).
As long as no errors have occurred, save any altered parameters and exit the monitor pro-
gram. If certain parameters are altered, a system reset is necessary (turn off and reactivate
the antenna). Where this is applicable is described in the corresponding sections of the
monitor program (section 6.3). Now the system has been correctly put into operation. For
the correct adjustment of the positioning thresholds the vehicle has to be used in its final
operation environment or in a test site that very closely resembles it.

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
15Chapter 4: Commissioning HG G-98810-C
4. In order to set the positioning thresholds position the vehicle over a transponder that
is mounted in the track. Initially set the positioning thresholds that a signal that is
50 % weaker than the one received from the transponder still would trigger the gen-
eration of a positioning pulse (see section 6.3.2.3 on page 36).
5. In order to set the positioning threshold correctly (refer to section 6.3.2.3 on page 36),
it is useful to record a complete test run over the set track. The serial interface of the
antenna HG G-98810-C may be used accordingly (refer to section 5.2.4 on page 28).
For this function Antenna HG G-98810-C offers the use of the serial interface (refer to
section 5.2.3.1 on page 21) or the CAN bus message object 3 (see section Table 10
on page 25). Afterwards adjust the positioning thresholds so that a safe positioning is
possible but that is not triggered by side lobes. Figure 8 shows a corresponding driv-
ing situation, for readings like this a reasonable threshold for the decoding and the
positioning pulse would be between 400 and 600 units.
Figure 8 Side lobes during a transponder reading
Note
If during the first driving tests a proper track guidance is not possible try changing the po-
sitioning thresholds accordingly.
The separately adjustable thresholds are explained in chapter 6 on page 29. In order to ex-
plain those thresholds and how to find a proper set-up below the process of a transponder
crossing is described.
Every 2 ms a check is performed whether the sum voltage exceeds the value „Threshold for
Decoding“. If that is the case the bit TRANS_IN_FIELD is set and the NOISE counter is in-
cremented. Every 8 ms it is attempted to read a code. If a code is read the NOISE counter
is reset and afterwards the code is re-read until the Number of equal Codes is reached.
If this is successful the bit CODE_OK is set.
As soon as the NOISE counter exceeds the threshold Level to Noise Error the bit
RX_NOISE is set.
Undisturbed Transponder Decoding
Main field
Side lobes
Transponder Reading
Transponder Number
Reception voltage US/units

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
16 Chapter 4: Commissioning HG G-98810-C
The bit CODE_OK is held until either the sum voltage falls below the value Threshold for
Decoding or the bit RX_NOISE is set.
A new transponder code can only be read when the bit CODE_OK is reset.
This means that if there are high interference voltages in the 64 kHz area the antenna will
not read a new transponder code after leaving the reception range of a transponder for the
period of 2 ms * Level to Noise Error. In case a new transponder enters the reception
range during this period the NOISE counter is reset but the old code is held.
The following diagrams show examples of recorded data:
Figure 9 Undisturbed decoding across two transponders
Figure 10 The same driving situations as shown in Figure 9 only with antenna with wrong calibration
Undisturbed Transponder Decoding
0
100
200
300
400
500
600
700
800
900
1000
0 0 0 0
1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 2049 2049 2049 2049 2049
Us C_OK code_count err_count POSI
Damped Transponder Decoding
0
100
200
300
400
500
600
700
800
900
1000
0 0 0 0
1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 2049 2049 2049 2049 2049
Us C_OK code_count err_count POSI

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
17Chapter 4: Commissioning HG G-98810-C
Figure 11 The same driving situation as shown in Figure 9, this time with high noise level
When comparing the diagrams one can see that the wrong calibration shown in Figure 10
on page 16 makes the sum voltage drop and thus the reception periods for Code_OK and
POSI decrease. This can lead to decoding problems for higher crossing speeds.
In Figure 11 on page 17 the code of the weaker transponder is read correctly however the
position measuring can no longer be performed correctly.
Note
Although sum and difference are called voltages those two values are in fact no voltages
but logarithmic derivations of the actual voltages.
For the test runs two transponders with different signal strengths have been crossed shortly
one after the other. The settings were:
Variable Set value
Level to Noise Error 250
Number of equal Codes 2
Threshold for Decoding 256
Level for Positioning/Calculation 256
Table 2 Reference values for the commissioning runs
Transponderdecodierung mit Störspannung
0
100
200
300
400
500
600
700
800
900
1000
0 0 0 0
1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 1632 2049 2049 2049 2049 2049 2049 2049 2049
Us CODE_OK code_count err_count POSI

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
18 Chapter 5: Components and Operation HG G-98810-C
5Components and Operation
5.1 Components in the Ground
5.1.1 Transponders
As reference markers, transponders with the trovan® coding are used; e. g. the HG G-
71325XA transponder or the types HW DEV00095/HW DEV00098 (read write/RW).
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 influ-
ence. 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.
5.1.2 Code structure
The antenna HG G-98810-C is set up to receive only block number two with its 20 bits of
user data.
Line (for 3 bits each) and column parities are used for data protection. The transmission time
for a complete code telegram is 8 ms.

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
19Chapter 5: Components and Operation HG G-98810-C
5.2 Transponder Antenna
Figure 12 Photo Transponder Antenna
The antenna systems and the pre-amplifiers are housed in a casing with the dimensions
shown in annex G on page 60. The cables (the connectors) exit at one side of the antenna.
The interpreter is integrated in the antenna casing. The electronics are varnished. For a me-
chanical drawing please see annex G on page 60.
5.2.1 Connection
The antenna is equipped with three M12 connection sockets. Both antenna variants have
the same two CAN sockets. The pin assignment of the Power socket depends on the vari-
ant. The pin allocations are as follows:
5.2.1.1 Power
Voltage Supply, Serial Interface and Positioning Pulse. The positioning pulse output is fed
from +Ub (24 V) and limited to 20 mA.
5.2.1.1.1 Power RS 232 Variant HG G-99810YC
Power Pin Signal Annotation
1+Ub (24 V) Power supply
2Posi Positioning pulse output
20 mA current limited
3TxD RS232 data output
4RxD RS232 data input
5GND Ground (supply)
Table 3 Power Interface RS 232 Variant HG G-98810YC
M12 5-pin male

Device Description HG G-98810-C | English, Revision 07 | Date: 12.05.2017 | www.goetting-agv.com
20 Chapter 5: Components and Operation HG G-98810-C
5.2.1.1.2 Power RS 422 Variant HG G-99810ZC
5.2.1.2 CAN Bus
The CAN bus is connected to the device with two 5-pin M12 connectors male/female. They
are named CAN1 and CAN2 and are allocated as follows:
ATTENTION!
Under no circumstance connect +24V with pin 4 or 5!
Note
The connectors of the inputs CAN1/CAN2 are connected in parallel, i.e. there is no input or
output. If the interpreter is installed at the end of the bus line, a CAN terminator has to be
installed.
Those terminators can be ordered from different manufacturers and are available for most
plugs and jacks. The CAN connectors can also be used as power supply.
5.2.2 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 5.2.4 on page 28).
Following this period, the actual program starts. If configured accordingly (also refer to Fig-
ure 20 on page 38), the transmission coils will be automatically tuned. This procedure takes
another 16 seconds.
Power Pin Signal Annotation
1+Ub (24 V) Power supply
2GND Ground (supply)
3RX422+ RS422 data input
4RX422-
5TX422+ RS422 data output
6TX422-
7Posi Positioning pulse output
20 mA current limited
8Do not connect
Table 4 Power Interface RS 232 Variant HG G-98810ZC
CAN1 CAN2 Pin Signal
1not used
2+Ub (24 V)
3Ground supply
4CAN_H
5CAN_L
Table 5 Pin allocations CAN1 and CAN2
M12 8-pin male
45°
1
2
3
4
567
8
M12 5-pin female
M12 5-pin male